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<div class="textblock"><code>#include &quot;<a class="el" href="robot_8h_source.html">robot.h</a>&quot;</code><br />
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Include dependency graph for robot.cpp:</div>
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<p><a href="robot_8cpp_source.html">Go to the source code of this file.</a></p>
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Functions</h2></td></tr>
<tr class="memitem:a116eceb372bf4bda7e6a360286e762b1"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a116eceb372bf4bda7e6a360286e762b1">getChar</a> (char *c)</td></tr>
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<tr class="memitem:a2e1339c58b604c970f67096c7d143c2a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a2e1339c58b604c970f67096c7d143c2a">readSerial</a> (char *msg)</td></tr>
<tr class="separator:a2e1339c58b604c970f67096c7d143c2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab87123df26d91967d4d7507ad10326ac"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#ab87123df26d91967d4d7507ad10326ac">checkSumGO</a> (char *msg)</td></tr>
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<tr class="memitem:adf885bd17005f841896acf2e49350db7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#adf885bd17005f841896acf2e49350db7">receiveMsg</a> (void)</td></tr>
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<tr class="memitem:ac9d64c6d05c20ae9fdb8c158e2ee7098"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#ac9d64c6d05c20ae9fdb8c158e2ee7098">sendCmd</a> (char cmd, const char *arg)</td></tr>
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<tr class="memitem:a9360e75fe324da14faaa87105771140e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a9360e75fe324da14faaa87105771140e">open_communication_robot</a> (const char *path)</td></tr>
<tr class="memdesc:a9360e75fe324da14faaa87105771140e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ouvre la communication avec le robot. <a href="#a9360e75fe324da14faaa87105771140e">More...</a><br /></td></tr>
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<tr class="memitem:a3fbce7530a62f9287f8a3b85b9c7e4d7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a3fbce7530a62f9287f8a3b85b9c7e4d7">close_communication_robot</a> (void)</td></tr>
<tr class="memdesc:a3fbce7530a62f9287f8a3b85b9c7e4d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ferme la communication avec le robot. <a href="#a3fbce7530a62f9287f8a3b85b9c7e4d7">More...</a><br /></td></tr>
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<tr class="memitem:a68c01c5d6226d21fc0d141f681806677"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a68c01c5d6226d21fc0d141f681806677">send_command_to_robot</a> (char cmd, const char *arg)</td></tr>
<tr class="memdesc:a68c01c5d6226d21fc0d141f681806677"><td class="mdescLeft">&#160;</td><td class="mdescRight">Envoi une commande au robot et attends sa réponse. <a href="#a68c01c5d6226d21fc0d141f681806677">More...</a><br /></td></tr>
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<h2 class="groupheader">Function Documentation</h2>
<a id="ab87123df26d91967d4d7507ad10326ac"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab87123df26d91967d4d7507ad10326ac">&#9670;&nbsp;</a></span>checkSumGO()</h2>
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<td class="memname">char checkSumGO </td>
<td>(</td>
<td class="paramtype">char *&#160;</td>
<td class="paramname"><em>msg</em></td><td>)</td>
<td></td>
</tr>
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<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00237">237</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3fbce7530a62f9287f8a3b85b9c7e4d7">&#9670;&nbsp;</a></span>close_communication_robot()</h2>
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<td class="memname">int close_communication_robot </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<p>Ferme la communication avec le robot. </p>
<p>Ferme le descripteur de fichier du port serie contrôlant le robot.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">void</td><td>aucun </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Retourne -1 en cas d'erreur ou 0 en cas de fermeture effectué </dd></dl>
<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00064">64</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a116eceb372bf4bda7e6a360286e762b1">&#9670;&nbsp;</a></span>getChar()</h2>
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<td class="memname">int getChar </td>
<td>(</td>
<td class="paramtype">char *&#160;</td>
<td class="paramname"><em>c</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00199">199</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9360e75fe324da14faaa87105771140e">&#9670;&nbsp;</a></span>open_communication_robot()</h2>
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<td class="memname">int open_communication_robot </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>path</em> = <code><a class="el" href="robot_8h.html#a32c8768c18732c59b503f8ee7515a693">serialPort</a></code></td><td>)</td>
<td></td>
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<p>Ouvre la communication avec le robot. </p>
<p>Ouvre le serial port passé en paramétre. Par defaut cette fonction ouvre le port ttySO connecté au module xbee.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">*path</td><td>chaine de caractère indiquant le path du port serie à ouvrir. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return -1 si l'ouverture c'est mal passé et 0 si le port est ouvert. </dd></dl>
<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00036">36</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2e1339c58b604c970f67096c7d143c2a">&#9670;&nbsp;</a></span>readSerial()</h2>
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<td class="memname">int readSerial </td>
<td>(</td>
<td class="paramtype">char *&#160;</td>
<td class="paramname"><em>msg</em></td><td>)</td>
<td></td>
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</table>
</div><div class="memdoc">
<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00216">216</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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<a id="adf885bd17005f841896acf2e49350db7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adf885bd17005f841896acf2e49350db7">&#9670;&nbsp;</a></span>receiveMsg()</h2>
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<td class="memname">int receiveMsg </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
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</div><div class="memdoc">
<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00168">168</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
</div>
</div>
<a id="a68c01c5d6226d21fc0d141f681806677"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a68c01c5d6226d21fc0d141f681806677">&#9670;&nbsp;</a></span>send_command_to_robot()</h2>
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<td class="memname">int send_command_to_robot </td>
<td>(</td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>cmd</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>arg</em> = <code>NULL</code>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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</div><div class="memdoc">
<p>Envoi une commande au robot et attends sa réponse. </p>
<p>Envoi une commande au robot en ajoutant le checksum et lis la réponse du robot en verifiant le checksum. Le premier paramétre <em>cmd</em> correspond au type de commande ex : PING, SETMOVE ... Le second paramétre <em>*arg</em> correspond aux arguments à la commande ex : SETMOVE, "100" La fonction retourne un code confirmation transmise par le robot (ROBOT_CHEKSUM, ROBOT_ERROR, ROBOT_TIMED_OUT, ROBOT_OK, ROBOT_UKNOW_CMD)</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">cmd</td><td>Entête de la commande </td></tr>
<tr><td class="paramname">*arg</td><td>Argument de la commande </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>retourne un code confirmation. </dd></dl>
<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00074">74</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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<a id="ac9d64c6d05c20ae9fdb8c158e2ee7098"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac9d64c6d05c20ae9fdb8c158e2ee7098">&#9670;&nbsp;</a></span>sendCmd()</h2>
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<td class="memname">int sendCmd </td>
<td>(</td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>cmd</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>arg</em>&#160;</td>
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<tr>
<td></td>
<td>)</td>
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<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00138">138</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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<h2 class="groupheader">Variable Documentation</h2>
<a id="a6f8059414f0228f0256115e024eeed4b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6f8059414f0228f0256115e024eeed4b">&#9670;&nbsp;</a></span>fd</h2>
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<td class="memname">int fd</td>
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<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00028">28</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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