atlas2000_interface.h File Reference

Definition of the interface of the module base. This file specifies the interface to subscribe the messages of that module and to receive its data via ipc. More...

#include <lar/lar.h>
#include <lar/atlas2000_messages.h>

Include dependency graph for atlas2000_interface.h:

Functions
void	robot_subscribe_reset_distance_traveled (carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	Subscrive distance_traveled resets.
void	robot_subscribe_motion_command (robot_motion_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	robot_subscribe_lights_command (robot_lights_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	subscribe function to receive lights activation commands
void	robot_subscribe_vert_sign_command (robot_vert_sign_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	subscribe function to receive vertical signs activations commands
void	robot_subscribe_status (robot_status_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	robot_subscribe_brake_toggle (robot_brake_toggle_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	robot_publish_reset_distance_traveled (void)
	This functions publishes reset distance traveled commands.
void	robot_publish_motion_command (robot_motion_command_message *msg)
void	robot_publish_lights_command (robot_lights_command_message *msg)
void	robot_publish_vert_sign_command (robot_vert_sign_command_message *msg)
	function that publishes vertecal sign command, to interface with robot lights
void	robot_publish_status (robot_motion_command_message motion, robot_lights_command_message lights, robot_vert_sign_command_message vert_sign, unsigned char cross_sensor, double distance_traveled, double real_velocity)
void	robot_publish_brake_toggle (char toggle)
	function that publishes a toggle command for low level braking
void	robot_reset (void)

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Detailed Description

Definition of the interface of the module base. This file specifies the interface to subscribe the messages of that module and to receive its data via ipc.