navigator_messages.h

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/*********************************************************
 *
 * This source code is part of the Carnegie Mellon Robot
 * Navigation Toolkit (CARMEN)
 *
 * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
 * Roy, and Sebastian Thrun
 *
 * CARMEN is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU General Public 
 * License as published by the Free Software Foundation; 
 * either version 2 of the License, or (at your option)
 * any later version.
 *
 * CARMEN is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied 
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 * PURPOSE.  See the GNU General Public License for more 
 * details.
 *
 * You should have received a copy of the GNU General 
 * Public License along with CARMEN; if not, write to the
 * Free Software Foundation, Inc., 59 Temple Place, 
 * Suite 330, Boston, MA  02111-1307 USA
 *
 ********************************************************/

// @{

#ifndef CARMEN_NAVIGATOR_MESSAGES_H
#define CARMEN_NAVIGATOR_MESSAGES_H

#include <carmen/global.h>
#include <carmen/map.h>

#ifdef __cplusplus
extern "C" {
#endif
  
#define CARMEN_NAVIGATOR_STATUS_QUERY_NAME     "carmen_navigator_status_query"
typedef carmen_default_message carmen_navigator_status_query_message;
#define CARMEN_NAVIGATOR_PLAN_QUERY_NAME       "carmen_navigator_plan_query"
typedef carmen_default_message carmen_navigator_plan_query_message;
#define CARMEN_NAVIGATOR_STOP_NAME             "carmen_navigator_stop"
typedef carmen_default_message carmen_navigator_stop_message;
#define CARMEN_NAVIGATOR_GO_NAME               "carmen_navigator_go"
typedef carmen_default_message carmen_navigator_go_message;
  
typedef struct {
  int autonomous;                
  int goal_set;                  
  carmen_point_t goal;           
  carmen_traj_point_t robot;     
  double timestamp;
  char *host;
} carmen_navigator_status_message;
  
#define CARMEN_NAVIGATOR_STATUS_NAME       "carmen_navigator_status"
#define CARMEN_NAVIGATOR_STATUS_FMT        "{int,int,{double, double, double},{double, double, double, double, double},double,string}"
  
typedef struct {
  carmen_traj_point_t *path;
  int path_length;
  double timestamp;
  char *host;
} carmen_navigator_plan_message;
  
#define      CARMEN_NAVIGATOR_PLAN_NAME       "carmen_navigator_plan"
#define      CARMEN_NAVIGATOR_PLAN_FMT        "{<{double, double, double, double, double}:2>,int,double,string}"

typedef struct {
  double x, y;           
  double timestamp;
  char *host;
} carmen_navigator_set_goal_message;
  
#define      CARMEN_NAVIGATOR_SET_GOAL_NAME         "carmen_navigator_set_goal"
#define      CARMEN_NAVIGATOR_SET_GOAL_FMT          "{double,double,double,string}"
  
typedef struct {
  carmen_point_t goal;   
  double timestamp;
  char *host;
} carmen_navigator_set_goal_triplet_message;
  
#define      CARMEN_NAVIGATOR_SET_GOAL_TRIPLET_NAME         "carmen_navigator_set_goal_triplet"
#define      CARMEN_NAVIGATOR_SET_GOAL_TRIPLET_FMT          "{{double,double,double},double,string}"
  
typedef enum{CARMEN_NAVIGATOR_GOAL_REACHED_v,
               CARMEN_NAVIGATOR_USER_STOPPED_v,
               CARMEN_NAVIGATOR_UNKNOWN_v} carmen_navigator_reason_t;
  
typedef struct {
  carmen_navigator_reason_t reason; 
  double timestamp;
  char *host;
} carmen_navigator_autonomous_stopped_message;
  
#define      CARMEN_NAVIGATOR_AUTONOMOUS_STOPPED_NAME "carmen_navigator_autonomous_stopped"
#define      CARMEN_NAVIGATOR_AUTONOMOUS_STOPPED_FMT "{int,double,string}"
  
typedef enum {CARMEN_NAVIGATOR_MAP_v, CARMEN_NAVIGATOR_ENTROPY_v, 
              CARMEN_NAVIGATOR_COST_v, CARMEN_NAVIGATOR_UTILITY_v,
              CARMEN_LOCALIZE_LMAP_v, CARMEN_LOCALIZE_GMAP_v} 
  carmen_navigator_map_t;
  
typedef struct {
  carmen_navigator_map_t map_type;
  double timestamp;
  char *host;
} carmen_navigator_map_request_message;
  
#define CARMEN_NAVIGATOR_MAP_REQUEST_NAME "carmen_navigator_map_request"
#define CARMEN_NAVIGATOR_MAP_REQUEST_FMT "{int,double,string}"

  typedef struct {
    unsigned char *data;    
    int size;
    int compressed;
    carmen_map_config_t config;
    carmen_navigator_map_t map_type;
    double timestamp;
    char *host;
  } carmen_navigator_map_message;  
  
#define CARMEN_NAVIGATOR_MAP_NAME "carmen_navigator_map"
#define CARMEN_NAVIGATOR_MAP_FMT "{<char:2>,int,int,{int,int,double,string},int,double,string}"
  
typedef struct {
  char *placename;
  double timestamp;
  char *host;
} carmen_navigator_placename_message;
  
#define CARMEN_NAVIGATOR_SET_GOAL_PLACE_NAME "carmen_navigator_set_goal_place"
#define CARMEN_NAVIGATOR_SET_GOAL_PLACE_FMT "{string,double,string}"
  
typedef struct {
  int code;
  char *error;
  double timestamp;
  char *host;
} carmen_navigator_return_code_message;
  
#define CARMEN_NAVIGATOR_RETURN_CODE_NAME "carmen_navigator_return_code"
#define CARMEN_NAVIGATOR_RETURN_CODE_FMT "{int,string,double,string}"
  
typedef struct {
  char *attribute;
  int value;
  char *status_message;
  int reset_all_to_defaults;
  double timestamp;
  char *host;
} carmen_navigator_display_config_message;
  
#define CARMEN_NAVIGATOR_DISPLAY_CONFIG_NAME "carmen_navigator_display_config"
#define CARMEN_NAVIGATOR_DISPLAY_CONFIG_FMT "{string, int, string, int, double, string}"
  
#ifdef __cplusplus
}
#endif

#endif

// @}

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