frame_comm.h

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/* frame_comm.h --- 
 * 
 * Filename: frame_comm.h
 * Description: 
 * Author: Bryce Himebaugh
 * Maintainer: 
 * Created: Tue Oct 31 10:47:20 2006
 * Version: 
 * Last-Updated: 
 *           By: 
 *     Update #: 0
 * Keywords: 
 * Compatibility: 
 * 
 */

/* Commentary: 
 * 
 * 
 * 
 */

/* Change log:
 * 
 * 
 */

/* This program 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, or (at your option)
 * any later version.
 * 
 * This program 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 this program; see the file COPYING.  If not, write to the
 * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

/* Code: */

#define MAX_MSG_LENGTH  500

typedef struct ControlFrame {
  long msgCount;        // count of messages sent by the cart
  long timeStamp;       // cart-maintained clock (ms since start-up)

  float cmdAngle;       // desired wheel (degrees from center)
  float curAngle;       // current wheel angle
  char angleLimitErr[10];
  
  float cmdSpeed;       // desired speed (m/s)
  float curSpeed;       // current speed
  float pcntThrottle;   // % of full throttle
  char speedLimitErr[10];
  
  float GPSLat;         // GPS latitude (degrees)
  float GPSLon;         // GPS longitude (degrees)
  float GPSVelEast;     // eastward velocity (m/s)
  float GPSVelNorth;    // northward velocity (m/s)
  float GPSEpe;         // GPS estimated position error (m)
  char GPSStatus[10];   // availability/error status reported by the GPS
  
  char connStatus[10];  // status of the cart/driver connection
  char cmdSystemMode[10];       // desired cart mode
  char systemMode[10];  // cart's driving mode
  
  int  errorCode;                       // number of the current error
} ControlFrame_t ;


void writeMessage(ControlFrame_t *,char *);
int strChecksum(char *, int, int);
int readMessage(ControlFrame_t *,  char *);
void initControlFrame(ControlFrame_t *);

extern ControlFrame_t msg;


/* frame_comm.h ends here */

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