hdt.h File Reference

Header file for the HDT functions. More...

#include "types.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

Go to the source code of this file.

Macros
#define	HDT_IDX_TABLE   0
#define	HDT_IDX_PSD   1
#define	HDT_IDX_SERVO   2
#define	HDT_IDX_MOTOR   3
#define	HDT_IDX_ENCODER   4
#define	HDT_IDX_DRIVE   5
#define	HDT_IDX_COMPASS   6
#define	HDT_IDX_IRTV   7
#define	HDT_IDX_CAM   8
#define	HDT_IDX_ADC   9
#define	HDT_IDX_COM   10
#define	HDT_MAX_COUNT   11
#define	DIFFERENTIAL_DRIVE   0
#define	ACKERMAN_DRIVE   1
#define	ACKERMANN_DRIVE   1
#define	SYNCHRO_DRIVE   2
#define	TRICYCLE_DRIVE   3
#define	OMNI_DRIVE   4
#define	HDT_DIFF_STR   "DIFFERENTIAL"
#define	HDT_ACKM_STR   "ACKERMANN"
#define	HDT_OMNI_STR   "OMNI"

Functions
int	HDTValidate (char *filename)
	checks all HDT entries in given filename. will not check for specific entry (only check entry headers). More...
int	HDTListEntry (char *filename, HDT_ENTRY *deventry, int count)
	Copy all entries to deventry. user need to free the allocated memory by using free(deventry->buffer). return value may be less than count. More...
int	HDTFindEntry (void *hdtfile, char *devname, HDT_ENTRY *deventry)
	finds an entry in the hdt file that matches given name and copies the entry to given structure. the newline character is replaced by null. user need to free the allocated memory by using free(deventry->buffer). More...
int	HDTFindTable (void *hdtfile, char *tabname, HDT_TABLE *tabentry)
	finds a table in the hdt file that matches given name and copies the table data to given structure. More...
HDT_TABLE *	HDTLoadTable (char *filename, HDT_DEVICE *pdevices)
	load all tables needed by pdevices - if found. the return value is a pointer to the first table. the tables are in a linked list allocated with dynamic memory. use HDTClearTable to free up the resources. More...
int	HDTClearTable (HDT_TABLE *ptables)
	Free the allocated resources for the tables created by HDTLoadTable. More...
HDT_CAM *	HDTLoadCAM (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearCAM (HDT_CAM *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...
HDT_MOTOR *	HDTLoadMOTOR (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearMOTOR (HDT_MOTOR *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...
HDT_ENCODER *	HDTLoadENCODER (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearENCODER (HDT_ENCODER *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...
int	HDTLinkENC2MOT (HDT_ENCODER *pencoders, HDT_MOTOR *pmotors)
	Link the encoders to the motors. More...
HDT_PSD *	HDTLoadPSD (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearPSD (HDT_PSD *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...
HDT_SERVO *	HDTLoadSERVO (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearSERVO (HDT_SERVO *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...
HDT_DRIVE *	HDTLoadDRIVE (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearDRIVE (HDT_DRIVE *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...
int	HDTLinkDRV2ENC (HDT_DRIVE *pdrives, HDT_ENCODER *pencoders)
	Link the drives to the encoders. More...
HDT_IRTV *	HDTLoadIRTV (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearIRTV (HDT_IRTV *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...
HDT_ADC *	HDTLoadADC (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearADC (HDT_ADC *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...
HDT_COM *	HDTLoadCOM (char *filename, char *devname)
	load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources. More...
int	HDTClearCOM (HDT_COM *pdevs)
	Free the allocated resources for the <device> created by HDTLoad<device>. More...

Detailed Description

Header file for the HDT functions.

Author

Remi KEAT & Marcus Pham

Function Documentation

int HDTClearADC

(

HDT_ADC *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_ADC*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearCAM

(

HDT_CAM *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_CAM*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearCOM

(

HDT_COM *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_COM*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearDRIVE

(

HDT_DRIVE *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_DRIVE*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearENCODER

(

HDT_ENCODER *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_ENCODER*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearIRTV

(

HDT_IRTV *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_IRTV*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearMOTOR

(

HDT_MOTOR *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_MOTOR*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearPSD

(

HDT_PSD *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_PSD*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearSERVO

(

HDT_SERVO *

pdevs

)

Free the allocated resources for the <device> created by HDTLoad<device>.

Parameters

HDT_SERVO*

pdevs : <device> list to be cleared

Returns

int retVal : always 0

int HDTClearTable

(

HDT_TABLE *

ptables

)

Free the allocated resources for the tables created by HDTLoadTable.

Parameters

HDT_TABLE*

ptables : tables to be cleared

Returns

int retVal : always 0

int HDTFindEntry	(	void *	hdtfile,
		char *	devname,
		HDT_ENTRY *	deventry
	)

finds an entry in the hdt file that matches given name and copies the entry to given structure. the newline character is replaced by null. user need to free the allocated memory by using free(deventry->buffer).

Parameters

void*	hdtfile : hdt file fopen with "rt" flag
char*	devname : name of entry to search for
HDT_ENTRY*	deventry : storage structure for the entry

Returns

int retVal :
-1 on failure (no entry found)
[entry length] on success

int HDTFindTable	(	void *	hdtfile,
		char *	tabname,
		HDT_TABLE *	tabentry
	)

finds a table in the hdt file that matches given name and copies the table data to given structure.

Parameters

void*	hdtfile : hdt file (fopen with "rt" flag)
char*	tabname : name of table to search for
HDT_TABLE*	tabentry : storage structure for the table

Returns

int retVal :
-1 on failure (no table found)
[table size] on success

int HDTLinkDRV2ENC	(	HDT_DRIVE *	pdrives,
		HDT_ENCODER *	pencoders
	)

Link the drives to the encoders.

Parameters

HDT_DRIVE*	pdrives : list of drive methods
HDT_ENCODER*	pencoders : list of encoders

Returns

int retVal :
0 on success
Negative value on failure (number of unconnected link)

int HDTLinkENC2MOT	(	HDT_ENCODER *	pencoders,
		HDT_MOTOR *	pmotors
	)

Link the encoders to the motors.

Parameters

HDT_ENCODER*	pencoders : list of encoders
HDT_MOTOR*	pmotors : list of motors

Returns

int retVal :
0 on success
Negative value on failure (number of unconnected link)

int HDTListEntry	(	char *	filename,
		HDT_ENTRY *	deventry,
		int	count
	)

Copy all entries to deventry. user need to free the allocated memory by using free(deventry->buffer). return value may be less than count.

Parameters

char*	filename : name of HDT file to be checked for listing
HDT_ENTRY*	deventry : storage structure for the entry
int	count : number of deventry storage supplied

Returns

int retVal :
-1 on failure
(number of entries) on success

HDT_ADC* HDTLoadADC	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char*	devname : device semantics

Returns

HDT_ADC* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_CAM* HDTLoadCAM	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char*	devname : device semantics

Returns

HDT_CAM* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_COM* HDTLoadCOM	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char	*devname : device semantics

Returns

HDT_COM* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_DRIVE* HDTLoadDRIVE	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char*	devname : device semantics

Returns

HDT_DRIVE* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_ENCODER* HDTLoadENCODER	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char*	devname : device semantics

Returns

HDT_ENCODER* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_IRTV* HDTLoadIRTV	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char*	devname : device semantics

Returns

HDT_IRTV* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_MOTOR* HDTLoadMOTOR	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char*	devname : device semantics

Returns

HDT_MOTOR* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_PSD* HDTLoadPSD	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char*	devname : device semantics

Returns

HDT_IRTV* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_SERVO* HDTLoadSERVO	(	char *	filename,
		char *	devname
	)

load all <device> entry found in the hdt file if devname is null. else, load only the requested device. the return value is a pointer to the first <device>. the <devices> are in a linked list allocated with dynamic memory. use HDTClear<device> to free up the resources.

Parameters

char*	filename : hdt file to open
char*	devname : device semantics

Returns

HDT_SERVO* handle :
0x0 on failure (no <device> found)
(pointer to first <device>) if found

HDT_TABLE* HDTLoadTable	(	char *	filename,
		HDT_DEVICE *	pdevices
	)

load all tables needed by pdevices - if found. the return value is a pointer to the first table. the tables are in a linked list allocated with dynamic memory. use HDTClearTable to free up the resources.

Parameters

char*	filename : hdt file to open
HDT_DEVICE*	pdevices : devices with tablename in linked list

Returns

HDT_TABLE* table :
0x0 on failure (no table found)
(pointer to first table) if found

int HDTValidate

(

char *

filename

)

checks all HDT entries in given filename. will not check for specific entry (only check entry headers).

Parameters

char*

filename : name of HDT file to be checked

Returns

int retVal :
-1 if incorrect HDT entry found
(number of entries) if otherwise