kuon.h File Reference

RoadNarrows Kuon robot top-level header file. More...

#include "rnr/rnrconfig.h"
#include "rnr/units.h"
#include "rnr/log.h"

Go to the source code of this file.

Namespaces
	kuon
	The Kuon namespace encapsulates all Kuon related constructs.

Macros
#define	KUON_VERSION(major, minor, revision)   ((((major)&0xff)<<24) | (((minor)&0xff)<<16) | ((revision)&0xffff))
	Convert version triplet to integer equivalent. More...
#define	KUON_VER_MAJOR(ver)   (((ver)>>24) &0xff)
	Get version major number from version. More...
#define	KUON_VER_MINOR(ver)   (((ver)>>16) &0xff)
	Get version minor number from version. More...
#define	KUON_VER_REV(ver)   ((ver) & 0xffff)
	Get revision number from version. More...

Enumerations
enum	kuon::KuonTriState {   kuon::KuonTriStateUnknown = -1,   kuon::KuonTriStateFalse = 0,   kuon::KuonTriStateOff = 0,   kuon::KuonTriStateDisabled = 0,   kuon::KuonTriStateLow = 0,   kuon::KuonTriStateOpen = 0,   kuon::KuonTriStateDark = 0,   kuon::KuonTriStateTrue = 1,   kuon::KuonTriStateOn = 1,   kuon::KuonTriStateEnabled = 1,   kuon::KuonTriStateHigh = 1,   kuon::KuonTriStateClosed = 1,   kuon::KuonTriStateLight = 1 }
	Kuon tri-state type. More...
enum	kuon::KuonRobotMode {   kuon::KuonRobotModeUnknown = -1,   kuon::KuonRobotModeManual = 1,   kuon::KuonRobotModeAuto = 2 }
	Kuon mode of operation. More...
enum	kuon::KuonAsyncTaskState {   kuon::KuonAsyncTaskStateIdle = 0,   kuon::KuonAsyncTaskStateWorking = 1 }
	Asynchronous task state. More...

Variables
static const int	kuon::KUON_OK = 0
	not an error, success
static const int	kuon::KUON_ECODE_GEN = 1
	general, unspecified error
static const int	kuon::KUON_ECODE_SYS = 2
	system (errno) error
static const int	kuon::KUON_ECODE_INTERNAL = 3
	internal error (bug)
static const int	kuon::KUON_ECODE_BAD_VAL = 4
	bad value general error
static const int	kuon::KUON_ECODE_TOO_BIG = 5
	value/list/size too big
static const int	kuon::KUON_ECODE_TOO_SMALL = 6
	value/list/size too small
static const int	kuon::KUON_ECODE_RANGE = 7
	value out-of-range
static const int	kuon::KUON_ECODE_BAD_OP = 8
	invalid operation error
static const int	kuon::KUON_ECODE_TIMEDOUT = 9
	operation timed out error
static const int	kuon::KUON_ECODE_NO_DEV = 10
	device not found error
static const int	kuon::KUON_ECODE_NO_RSRC = 11
	no resource available error
static const int	kuon::KUON_ECODE_BUSY = 12
	resource busy error
static const int	kuon::KUON_ECODE_NO_EXEC = 13
	cannot execute error
static const int	kuon::KUON_ECODE_PERM = 14
	no permissions error
static const int	kuon::KUON_ECODE_MOTOR = 15
	motor error
static const int	kuon::KUON_ECODE_MOT_CTLR = 16
	motor controller error
static const int	kuon::KUON_ECODE_BATT = 17
	battery error
static const int	kuon::KUON_ECODE_FORMAT = 18
	bad format
static const int	kuon::KUON_ECODE_BOTSENSE = 19
	botsense error
static const int	kuon::KUON_ECODE_NO_FILE = 20
	file not found
static const int	kuon::KUON_ECODE_XML = 21
	XML error.
static const int	kuon::KUON_ECODE_ALARMED = 22
	robot is alarmed
static const int	kuon::KUON_ECODE_INTR = 23
	operation interrupted
static const int	kuon::KUON_ECODE_COLLISION = 24
	robot link(s) in collision
static const int	kuon::KUON_ECODE_ESTOP = 25
	robot emergency stopped
static const int	kuon::KUON_ECODE_BADEC = 26
	bad error code
static const int	kuon::KUON_ECODE_NUMOF = 27
	number of error codes
static const int	kuon::KUON_ALARM_NONE = 0x00
	no alarms
static const int	kuon::KUON_ALARM_VOLTAGE = 0x01
	under/over voltage
static const int	kuon::KUON_ALARM_TEMP = 0x02
	under/over temperature
static const int	kuon::KUON_ALARM_COMM = 0x04
	communication
const char *const	kuon::KuonProdFamily = "Kuon"
	product family name
static const int	kuon::KuonProdIdUnknown = 0
	unknown/undefined product id
static const int	kuon::KuonProdIdStd = 1
	standard Kuon product id
static const int	kuon::KuonProdIdNarrow = 2
	narrow Kuon product id
const char *const	kuon::KuonProdModelStd = "Standard"
	standard model
const char *const	kuon::KuonProdModelNarrow = "Narrow"
	narrow model
const char *const	kuon::KuonImageDir = "/usr/local/share/Kuon/images"
	image directory
const char *const	kuon::KuonIconDir = "/usr/local/share/Kuon/images/icons"
	icon directory
const char *const	kuon::KuonEtcCfg = "/etc/kuon/kuon.conf"
const char *const	kuon::KuonXslUrl
	xml configuration file More...
const char *const	kuon::KuonXsiUrl
	xml schema instance url More...
const char *const	kuon::KuonDevMotorCtlr0 = "/dev/kmot0"
	motor controller 0 device name
const char *const	kuon::KuonDevMotorCtlr1 = "/dev/kmot1"
	motor controller 1 device name
const int	kuon::KuonBaudRateMotorCtlr = 38400
	motor controllers baud rate
static const int	kuon::KuonMotorIdNone = -1
	no motor id
static const int	kuon::KuonMotorIdLF = 0
	left front
static const int	kuon::KuonMotorIdRF = 1
	right front
static const int	kuon::KuonMotorIdLR = 2
	left rear
static const int	kuon::KuonMotorIdRR = 3
	right rear
static const int	kuon::KuonMotorCtlrIdNone = -1
	no motor controller id
static const int	kuon::KuonMotorCtlrId0 = 0
	motor controller id 0
static const int	kuon::KuonMotorCtlrId1 = 1
	motor controller id 1
static const int	kuon::KuonMotorDirUnknown = 0
	unknown
static const int	kuon::KuonMotorDirCcw = 1
	counter-clockwise
static const int	kuon::KuonMotorDirCw = -1
	clockwise

Detailed Description

RoadNarrows Kuon robot top-level header file.

LastChangedDate

2011-01-13 11:05:37 -0700 (Thu, 13 Jan 2011)

Rev

657

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Rob Shiely (rob@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Daniel Packard (danie.nosp@m.l@ro.nosp@m.adnar.nosp@m.rows.nosp@m..com)

Copyright

© 2010-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file kuon.h.