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<div id="projectname">Bibliotheques TP RT
&#160;<span id="projectnumber">1.0</span>
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<div id="projectbrief">Bibliotheque de support pour TP/RT</div>
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<p>Fonctions for communicating with robot.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br />
<code>#include &lt;unistd.h&gt;</code><br />
<code>#include &lt;fcntl.h&gt;</code><br />
<code>#include &lt;termios.h&gt;</code><br />
<code>#include &lt;string.h&gt;</code><br />
<code>#include &lt;stdlib.h&gt;</code><br />
<code>#include &quot;<a class="el" href="definitions_8h_source.html">definitions.h</a>&quot;</code><br />
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Include dependency graph for robot.h:</div>
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<p><a href="robot_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_message_to_robot.html">MessageToRobot</a></td></tr>
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Macros</h2></td></tr>
<tr class="memitem:a32c8768c18732c59b503f8ee7515a693"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8h.html#a32c8768c18732c59b503f8ee7515a693">serialPort</a>&#160;&#160;&#160;&quot;/dev/ttyS0&quot;</td></tr>
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Functions</h2></td></tr>
<tr class="memitem:a0e70fa821a04d349552b8bd54f6935db"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8h.html#a0e70fa821a04d349552b8bd54f6935db">open_communication_robot</a> (const char *path=<a class="el" href="robot_8h.html#a32c8768c18732c59b503f8ee7515a693">serialPort</a>)</td></tr>
<tr class="memdesc:a0e70fa821a04d349552b8bd54f6935db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ouvre la communication avec le robot. <a href="#a0e70fa821a04d349552b8bd54f6935db">More...</a><br /></td></tr>
<tr class="separator:a0e70fa821a04d349552b8bd54f6935db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fbce7530a62f9287f8a3b85b9c7e4d7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8h.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:abe88fd581be321a9d86ae7063abd2f65"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8h.html#abe88fd581be321a9d86ae7063abd2f65">send_command_to_robot</a> (char cmd, const char *arg=NULL)</td></tr>
<tr class="memdesc:abe88fd581be321a9d86ae7063abd2f65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Envoi une commande au robot et attends sa réponse. <a href="#abe88fd581be321a9d86ae7063abd2f65">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Fonctions for communicating with robot. </p>
<dl class="section author"><dt>Author</dt><dd>L.Senaneuch </dd></dl>
<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
<dl class="section date"><dt>Date</dt><dd>06/06/2017 </dd></dl>
<p class="definition">Definition in file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
</div><h2 class="groupheader">Macro Definition Documentation</h2>
<a id="a32c8768c18732c59b503f8ee7515a693"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a32c8768c18732c59b503f8ee7515a693">&#9670;&nbsp;</a></span>serialPort</h2>
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<td class="memname">#define serialPort&#160;&#160;&#160;&quot;/dev/ttyS0&quot;</td>
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</div><div class="memdoc">
<p class="definition">Definition at line <a class="el" href="robot_8h_source.html#l00040">40</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
</div>
</div>
<h2 class="groupheader">Function Documentation</h2>
<a id="a3fbce7530a62f9287f8a3b85b9c7e4d7"></a>
<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>
</tr>
</table>
</div><div class="memdoc">
<p>Ferme la communication avec le robot. </p>
<p>Ferme le descripteur de fichier du port serie contrôlant le robot.</p>
<dl class="section return"><dt>Returns</dt><dd>Retourne -1 en cas d'erreur ou 0 en cas de fermeture effectué </dd></dl>
</div>
</div>
<a id="a0e70fa821a04d349552b8bd54f6935db"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0e70fa821a04d349552b8bd54f6935db">&#9670;&nbsp;</a></span>open_communication_robot()</h2>
<div class="memitem">
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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>
</tr>
</table>
</div><div class="memdoc">
<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 contenant 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>
</div>
</div>
<a id="abe88fd581be321a9d86ae7063abd2f65"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abe88fd581be321a9d86ae7063abd2f65">&#9670;&nbsp;</a></span>send_command_to_robot()</h2>
<div class="memitem">
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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>
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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>
</div>
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