LoIO.h

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00001 /**
00002    \file  Robots/LoBot/irccm/LoIO.h
00003    \brief Serial I/O API for Robolocust control program running on iRobot
00004    Create Command Module.
00005 
00006    This file defines an API for serial port I/O to be used by the various
00007    modules of the Robolocust control program for the iRobot Create
00008    Command Module.
00009 */
00010 
00011 /*
00012  ************************************************************************
00013  * The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   *
00014  * by the University of Southern California (USC) and the iLab at USC.  *
00015  * See http:  iLab.usc.edu for information about this project.          *
00016  *                                                                      *
00017  * Major portions of the iLab Neuromorphic Vision Toolkit are protected *
00018  * under the U.S. patent ``Computation of Intrinsic Perceptual Saliency *
00019  * in Visual Environments, and Applications'' by Christof Koch and      *
00020  * Laurent Itti, California Institute of Technology, 2001 (patent       *
00021  * pending; application number 09/912,225 filed July 23, 2001; see      *
00022  * http:  pair.uspto.gov/cgi-bin/final/home.pl for current status).     *
00023  ************************************************************************
00024  * This file is part of the iLab Neuromorphic Vision C++ Toolkit.       *
00025  *                                                                      *
00026  * The iLab Neuromorphic Vision C++ Toolkit is free software; you can   *
00027  * redistribute it and/or modify it under the terms of the GNU General  *
00028  * Public License as published by the Free Software Foundation; either  *
00029  * version 2 of the License, or (at your option) any later version.     *
00030  *                                                                      *
00031  * The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  *
00032  * that it will be useful, but WITHOUT ANY WARRANTY; without even the   *
00033  * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      *
00034  * PURPOSE.  See the GNU General Public License for more details.       *
00035  *                                                                      *
00036  * You should have received a copy of the GNU General Public License    *
00037  * along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   *
00038  * to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   *
00039  * Boston, MA 02111-1307 USA.                                           *
00040  ************************************************************************
00041 */
00042 
00043 /*
00044    Primary maintainer for this file: mviswana usc edu
00045    $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/irccm/LoIO.h $
00046    $Id: LoIO.h 13744 2010-08-02 02:55:15Z mviswana $
00047 */
00048 
00049 #ifndef LOBOT_IRCCM_IO_DOT_H
00050 #define LOBOT_IRCCM_IO_DOT_H
00051 
00052 /*----------------------------- CONSTANTS -----------------------------*/
00053 
00054 // The different I/O error states/codes
00055 enum {
00056    LOBOT_IO_OK,
00057    LOBOT_IO_TIMEOUT,
00058 } ;
00059 
00060 /*-------------------------- INITIALIZATION ---------------------------*/
00061 
00062 /// Set up the serial port
00063 void lo_init_comm(void) ;
00064 
00065 /// Reset communication speed on both Create robot and Command Module
00066 void lo_reset_baud(int baud_rate) ;
00067 
00068 /// Flush the RX and TX buffers
00069 void lo_clear_buffers(void) ;
00070 
00071 /*------------------------- SEND/RECEIVE API --------------------------*/
00072 
00073 /// Transmit a byte over the serial port
00074 void lo_tx(char byte) ;
00075 
00076 /// Receive the specified number of bytes over the serial port, waiting a
00077 /// maximum number of milliseconds before giving up. If the timeout is
00078 /// zero, wait forever for the data to come in.
00079 ///
00080 /// The function returns the number of bytes successfully read.
00081 ///
00082 /// Clients should setup a large enough buffer to accommodate the amount
00083 /// of data they require and check the return value before using the data
00084 /// in the buffer. If the number of bytes read is less than the number
00085 /// requested, clients can query the I/O error to see what went wrong.
00086 ///
00087 /// NOTE: Since we're using 8-bit integers, only a maximum of 255 bytes
00088 /// can be retrieved at one time. For the purposes of this control
00089 /// program, that number is more than enough.
00090 unsigned char lo_rx(char* buf, unsigned char n, unsigned int timeout) ;
00091 
00092 /// Receive a single byte over the serial port, waiting a maximum number
00093 /// of milliseconds before giving up. If the timeout is zero, wait
00094 /// forever for the data byte to come in.
00095 ///
00096 /// Clients should check the I/O error flag before using the byte
00097 /// returned by this function.
00098 char lo_rx1(unsigned int timeout) ;
00099 
00100 /*------------------------- USART REDIRECTION -------------------------*/
00101 
00102 /**
00103    Since the Command Module has only one USART, it needs to be switched
00104    between talking to the USB port and the iRobot Create's serial port.
00105 
00106    Usually, the low-level Robolocust control program that runs on the
00107    command module will listen for incoming high-level motor commands over
00108    the USB port. But every time it needs to actually execute one of those
00109    commands, it will have to switch the USART to talk to the Create's
00110    serial port and then back again to continue listening to the higher
00111    layers of the Robolocust controller.
00112 
00113    These functions switch the USART between the Command Module's USB port
00114    and the Create's serial port.
00115 */
00116 //@{
00117 void lo_io_to_usb(void) ;
00118 void lo_io_to_create(void) ;
00119 //@}
00120 
00121 /*-------------------------- ERROR CHECKING ---------------------------*/
00122 
00123 /// Retrieve current I/O status. After each I/O operation, clients should
00124 /// use this function to check for errors.
00125 char lo_io_error(void) ;
00126 
00127 /*---------------------------------------------------------------------*/
00128 
00129 #endif
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