Browse Source

passage au tout objet + messagerie

Sébastien DI MERCURIO 2 years ago
parent
commit
a8b1fb8f44
100 changed files with 436 additions and 9255 deletions
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      software/raspberry/superviseur-robot/.dep.inc
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  3. BIN
      software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur
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  5. 0
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      software/raspberry/superviseur-robot/gdbsudo.sh
  6. 86
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      software/raspberry/superviseur-robot/lib/camera.cpp
  7. 52
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      software/raspberry/superviseur-robot/lib/camera.h
  8. 189
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+ 5
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software/raspberry/superviseur-robot/.dep.inc View File

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+# This code depends on make tool being used
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+DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES}))
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+ifneq (${DEPFILES},)
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+include ${DEPFILES}
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+endif

software/raspberry/superviseur-robot/lib/TPRT.Doxyfile → software/raspberry/superviseur-robot/TPRT.Doxyfile View File


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software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur View File


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software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur-robot View File


software/raspberry/superviseur-robot/superviseur/gdbsudo.sh → software/raspberry/superviseur-robot/gdbsudo.sh View File


+ 86
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software/raspberry/superviseur-robot/lib/camera.cpp View File

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+/*
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+ * Copyright (C) 2018 dimercur
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+ *
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+ * This program is free software: you can redistribute it and/or modify
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+ * it under the terms of the GNU General Public License as published by
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+ * the Free Software Foundation, either version 3 of the License, or
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+ * (at your option) any later version.
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+ *
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+ * This program is distributed in the hope that it will be useful,
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+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
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+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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+ * GNU General Public License for more details.
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+ *
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+ * You should have received a copy of the GNU General Public License
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+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
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+ */
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+
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+#include "camera.h"
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+#include "img.h"
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+
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+using namespace cv;
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+
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+void Camera::setSize(int size) {
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+    this->size = size;
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+    switch (size){
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+        case xs:
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+            this->width = 480;
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+            this->height = 360;
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+            break;
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+        case sm:
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+            this->width = 640;
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+            this->height = 480;
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+            break;
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+        case md:
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+            this->width = 1024;
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+            this->height = 768;
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+            break;
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+        case lg:
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+            this->width = 1280;
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+            this->height = 960;
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+            break;
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+        default:
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+            this->width = 480;
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+            this->height = 360;
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+
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+    }
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+}
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+
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+
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+int Camera::open_camera() {
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+    this->cap.open(0);
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+}
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+
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+Camera::Camera(int size) {
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+    this->setSize(size);
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+    this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
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+    this->cap.set(CV_CAP_PROP_FRAME_WIDTH,width);
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+    this->cap.set(CV_CAP_PROP_FRAME_HEIGHT,height);
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+}
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+
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+int Camera::close_camera() {
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+    cap.release();
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+    return 0;
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+}
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+
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+Img Camera::grab_image() {
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+    ImageMat frame;
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+    cap >> frame;
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+    Img capture = Img(frame);
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+    return capture;
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+}
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+
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+
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+bool Camera::isOpen() {
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+    return cap.isOpened();
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+}
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+
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+int Camera::getWidth() const {
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+    return width;
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+}
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+
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+int Camera::getHeight() const {
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+    return height;
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+}
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+
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+

+ 52
- 0
software/raspberry/superviseur-robot/lib/camera.h View File

@@ -0,0 +1,52 @@
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+/*
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+ * Copyright (C) 2018 dimercur
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+ *
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+ * This program is free software: you can redistribute it and/or modify
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+ * it under the terms of the GNU General Public License as published by
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+ * the Free Software Foundation, either version 3 of the License, or
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+ * (at your option) any later version.
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+ *
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+ * This program is distributed in the hope that it will be useful,
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+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
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+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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+ * GNU General Public License for more details.
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+ *
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+ * You should have received a copy of the GNU General Public License
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+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
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+ */
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+
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+#ifndef __CAMERA_H__
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+#define __CAMERA_H__
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+
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+#include <opencv2/highgui/highgui.hpp>
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+#include <opencv2/imgproc/imgproc.hpp>
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+
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+#include "img.h"
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+
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+enum captureSize {xs, sm, md, lg};
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+
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+class Camera {
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+public:
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+
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+    Camera(int size);
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+
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+    int open_camera();
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+
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+    int getWidth() const;
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+
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+    int getHeight() const;
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+
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+    bool isOpen();
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+    void setSize(int size);
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+
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+    int close_camera();
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+    Img grab_image();
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+    
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+private:
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+    cv::VideoCapture cap;
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+    int size = sm;
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+    int width;
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+    int height;
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+};
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+
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+#endif //__CAMERA_H__

+ 189
- 0
software/raspberry/superviseur-robot/lib/comgui.cpp View File

@@ -0,0 +1,189 @@
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+/*
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+ * Copyright (C) 2018 dimercur
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+ *
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+ * This program is free software: you can redistribute it and/or modify
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+ * it under the terms of the GNU General Public License as published by
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+ * the Free Software Foundation, either version 3 of the License, or
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+ * (at your option) any later version.
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+ *
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+ * This program is distributed in the hope that it will be useful,
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+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
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+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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+ * GNU General Public License for more details.
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+ *
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+ * You should have received a copy of the GNU General Public License
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+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
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+ */
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+
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+#include "comgui.h"
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+#include <iostream>
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+#include <sys/socket.h>
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+
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+#include <netdb.h>
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+#include <unistd.h>
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+#include <arpa/inet.h>
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+#include <netinet/in.h>
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+
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+#include <algorithm>
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+#include <stdexcept>
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+#include <string>
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+
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+/*
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+ * Constants used for sending commands to gui
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+ */
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+const string LABEL_GUI_ANGULAR_POSITION = "AngularPosition";
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+const string LABEL_GUI_ANGULAR_SPEED = "AngularSpeed";
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+const string LABEL_GUI_BATTERY_LEVEL = "Battery";
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+const string LABEL_GUI_LINEAR_SPEED = "LinearSpeed";
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+const string LABEL_GUI_USER_PRESENCE = "User";
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+const string LABEL_GUI_BETA_ANGLE = "Beta";
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+const string LABEL_GUI_TORQUE = "Torque";
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+const string LABEL_GUI_EMERGENCY_STOP = "Emergency";
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+const string LABEL_GUI_LOG = "Log";
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+
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+/**
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+ * Create a server and open a socket over TCP
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+ * 
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+ * @param port Port used for communication
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+ * @return Socket number
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+ * @throw std::runtime_error if it fails
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+ */
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+int ComGui::Open(int port) {
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+    struct sockaddr_in server;
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+
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+    socketFD = socket(AF_INET, SOCK_STREAM, 0);
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+    if (socketFD < 0) {
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+        throw std::runtime_error{"ComGui::Open : Can not create socket"};
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+    }
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+
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+    server.sin_addr.s_addr = INADDR_ANY;
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+    server.sin_family = AF_INET;
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+    server.sin_port = htons(port);
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+
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+    if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) {
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+        throw std::runtime_error{"ComGui::Open : Can not bind socket on port " + std::to_string(port)};
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+    }
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+
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+    listen(socketFD, 1);
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+
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+    return socketFD;
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+}
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+
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+/**
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+ * Close socket and server
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+ */
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+void ComGui::Close() {
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+    close(socketFD);
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+
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+    socketFD = -1;
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+}
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+
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+/**
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+ * Wait for a client to connect
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+ * @return Client number 
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+ * @throw std::runtime_error if it fails
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+ */
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+int ComGui::AcceptClient() {
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+    struct sockaddr_in client;
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+    int c = sizeof (struct sockaddr_in);
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+
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+    clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c);
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+
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+    if (clientID < 0)
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+        throw std::runtime_error {
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+        "ComGui::AcceptClient : Accept failed"
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+    };
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+
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+    return clientID;
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+}
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+
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+/**
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+ * Send a message to GUI
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+ * 
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+ * @param msg Message to send to GUI
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+ * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
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+ * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously  
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+ */
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+void ComGui::Write(Message* msg) {
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+    string *str;
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+
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+    // Call user method before Write
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+    Write_Pre();
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+
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+    /* Convert message to string to send to GUI */
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+    str = MessageToString(msg);
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+
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+    //cout << "Message sent to GUI: " << str->c_str() << endl;
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+    write(clientID, str->c_str(), str->length());
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+
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+    delete(str);
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+
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+    // Call user method after write
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+    Write_Post();
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+}
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+
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+/**
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+ * Method used internally to convert a message content to a string that can be sent over TCP
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+ * @param msg Message to be converted
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+ * @return A string, image of the message
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+ */
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+string *ComGui::MessageToString(Message *msg) {
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+    int id;
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+    string *str;
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+
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+    if (msg != NULL) {
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+        id = msg->GetID();
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+
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+        switch (id) {
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+            case MESSAGE_ANGLE_POSITION:
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+                str = new string(LABEL_GUI_ANGULAR_POSITION + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
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+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
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+                break;
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+            case MESSAGE_ANGULAR_SPEED:
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+                str = new string(LABEL_GUI_ANGULAR_SPEED + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
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+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
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+                break;
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+            case MESSAGE_BATTERY:
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+                str = new string(LABEL_GUI_BATTERY_LEVEL + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
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+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
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+                break;
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+            case MESSAGE_BETA:
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+                str = new string(LABEL_GUI_BETA_ANGLE + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
152
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
153
+                break;
154
+            case MESSAGE_LINEAR_SPEED:
155
+                str = new string(LABEL_GUI_LINEAR_SPEED + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
156
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
157
+                break;
158
+            case MESSAGE_TORQUE:
159
+                str = new string(LABEL_GUI_TORQUE + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
160
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
161
+                break;
162
+            case MESSAGE_EMERGENCY_STOP:
163
+                str = new string(LABEL_GUI_EMERGENCY_STOP + "=");
164
+                if (((MessageBool*) msg)->GetState())
165
+                    str->append("True\n");
166
+                else
167
+                    str->append("False\n");
168
+                break;
169
+            case MESSAGE_USER_PRESENCE:
170
+                str = new string(LABEL_GUI_USER_PRESENCE + "=");
171
+                if (((MessageBool*) msg)->GetState())
172
+                    str->append("True\n");
173
+                else
174
+                    str->append("False\n");
175
+                break;
176
+            case MESSAGE_EMPTY:
177
+                str = new string(""); //empty string
178
+                break;
179
+            case MESSAGE_LOG:
180
+                str = new string(LABEL_GUI_LOG + "=" + ((MessageString*) msg)->GetString() + "\n");
181
+                break;
182
+            default:
183
+                str = new string(""); //empty string
184
+                break;
185
+        }
186
+    }
187
+
188
+    return str;
189
+}

+ 104
- 0
software/raspberry/superviseur-robot/lib/comgui.h View File

@@ -0,0 +1,104 @@
1
+ /*
2
+ * Copyright (C) 2018 dimercur
3
+ *
4
+ * This program is free software: you can redistribute it and/or modify
5
+ * it under the terms of the GNU General Public License as published by
6
+ * the Free Software Foundation, either version 3 of the License, or
7
+ * (at your option) any later version.
8
+ *
9
+ * This program is distributed in the hope that it will be useful,
10
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
11
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
12
+ * GNU General Public License for more details.
13
+ *
14
+ * You should have received a copy of the GNU General Public License
15
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
16
+ */
17
+
18
+#ifndef __COMGUI_H__
19
+#define __COMGUI_H__
20
+
21
+#include "messages.h"
22
+#include <string>
23
+
24
+using namespace std;
25
+     
26
+/**
27
+ * Class used for generating a server and communicating through it with GUI
28
+ * 
29
+ * @brief Communication class with GUI (server)
30
+ * 
31
+ */
32
+class ComGui {
33
+public:
34
+    /**
35
+     * Constructor
36
+     */
37
+    ComGui() {}
38
+    
39
+    /**
40
+     * Destructor
41
+     */
42
+    virtual ~ComGui() {}
43
+    
44
+    /**
45
+     * Create a server and open a socket over TCP
46
+     * 
47
+     * @param port Port used for communication
48
+     * @return Socket number
49
+     * @throw std::runtime_error if it fails
50
+     */
51
+    int Open(int port);
52
+    
53
+    /**
54
+     * Close socket and server
55
+     */
56
+    void Close();
57
+    
58
+    /**
59
+     * Wait for a client to connect
60
+     * @return Client number 
61
+     * @throw std::runtime_error if it fails
62
+     */
63
+    int AcceptClient();
64
+    
65
+    /**
66
+     * Send a message to GUI
67
+     * 
68
+     * @param msg Message to send to GUI
69
+     * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
70
+     * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously  
71
+     */
72
+    void Write(Message* msg);
73
+    
74
+    /**
75
+     * Function called at beginning of Write method
76
+     * Use it to do some synchronization (call of mutex, for example)
77
+     */
78
+    virtual void Write_Pre() {}
79
+    
80
+    /**
81
+     * Function called at end of Write method
82
+     * Use it to do some synchronization (release of mutex, for example)
83
+     */
84
+    virtual void Write_Post() {}
85
+protected:
86
+    /**
87
+     * Socket descriptor
88
+     */
89
+    int socketFD = -1;
90
+    
91
+    /**
92
+     * Socket descriptor
93
+     */
94
+    int clientID = -1;
95
+    
96
+    /**
97
+     * Method used internally to convert a message content to a string that can be sent over TCP
98
+     * @param msg Message to be converted
99
+     * @return A string, image of the message
100
+     */
101
+    string *MessageToString(Message *msg);
102
+};
103
+
104
+#endif /* __COMGUI_H__ */

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-<p>Various constants used in destjil project.  
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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-<div class="textblock"><p>Various constants used in destjil project. </p>
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-<dl class="section author"><dt>Author</dt><dd>PE.Hladik </dd></dl>
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-<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
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-<h2 class="memtitle"><span class="permalink"><a href="#a2a7149bbe097fae8e799ce2ab6f69390">&#9670;&nbsp;</a></span>CAM_OPEN</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00054">54</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ae864cfaefbf5a210e67678b2144a289f">&#9670;&nbsp;</a></span>CAM_STOP_COMPUTE_POSITION</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00060">60</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a1b18773c1ce9068c4d38c2cbd2900263">&#9670;&nbsp;</a></span>CLOSE_COM_DMB</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00031">31</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab34c46794a9de6746a96752668c73754">&#9670;&nbsp;</a></span>DMB_BAT_HIGH</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00064">64</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a66c0c4960c1e81c8da8c8e1d4a202352">&#9670;&nbsp;</a></span>DMB_BAT_LOW</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00062">62</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#aea6ef1c13db1a8a4a29b065d0c3f73e4">&#9670;&nbsp;</a></span>DMB_BAT_MEDIUM</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00063">63</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a3327443cd321f0c356a5d3d74377892b">&#9670;&nbsp;</a></span>DMB_BUSY</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00066">66</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a07650c5f6647c5143bac535fdbeb77d5">&#9670;&nbsp;</a></span>DMB_DO_NOTHING</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00067">67</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#af1737e8fe4da4e8bc2d5db9d26c42462">&#9670;&nbsp;</a></span>DMB_GET_VBAT</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00038">38</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a499f41cc19a4459de033687049cbbe71">&#9670;&nbsp;</a></span>DMB_GO_BACK</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00043">43</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ae363a29a4961cd8a646a0ca9199bc6cf">&#9670;&nbsp;</a></span>DMB_GO_FORWARD</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00042">42</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#aefcb838e73a335f1a2a6c914ee2ff752">&#9670;&nbsp;</a></span>DMB_GO_LEFT</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00044">44</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad681962f7b8cf4797ebd48be0405d1b9">&#9670;&nbsp;</a></span>DMB_GO_RIGHT</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00045">45</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a82b279c49221d3cd3d875d521dfb97b9">&#9670;&nbsp;</a></span>DMB_IDLE</h2>
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-          <td class="memname">#define DMB_IDLE&#160;&#160;&#160;'r'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00034">34</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad58c241121e685f26a291aa4bd5f9c80">&#9670;&nbsp;</a></span>DMB_IS_BUSY</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00039">39</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac48dee90eb71d036d001321674abbb8b">&#9670;&nbsp;</a></span>DMB_MOVE</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00040">40</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#acf7d51360dcb103fc57604725ec2816d">&#9670;&nbsp;</a></span>DMB_PING</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00033">33</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a2ca219902014ffb39aab27cca08a948f">&#9670;&nbsp;</a></span>DMB_RELOAD_WD</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00037">37</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#adee1628bbc796ba55f4a349895f4e0fa">&#9670;&nbsp;</a></span>DMB_START_WITH_WD</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00036">36</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5ebbd37042a6244b4f9d473ae7132780">&#9670;&nbsp;</a></span>DMB_START_WITHOUT_WD</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00035">35</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a7308179907a0a2989c162865e7a7979a">&#9670;&nbsp;</a></span>DMB_STOP_MOVE</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00046">46</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac6c5492c8100e73f8d30ed36072684db">&#9670;&nbsp;</a></span>DMB_TURN</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00041">41</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#aac798eaf6994ddcadd8a38ad8aba234f">&#9670;&nbsp;</a></span>OPEN_COM_DMB</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00030">30</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#af1118b8a83d446b4965347bba126a488">&#9670;&nbsp;</a></span>ROBOT_CHECKSUM</h2>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00051">51</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a4aefbbdd5d35999aa0575ab7183148d4">&#9670;&nbsp;</a></span>ROBOT_ERROR</h2>
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-<div id="side-nav" class="ui-resizable side-nav-resizable">
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-  <div id="nav-tree">
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-    <div id="nav-tree-contents">
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-      <div id="nav-sync" class="sync"></div>
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-       class="ui-resizable-handle">
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-$(document).ready(function(){initNavTree('globals.html','');});
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-<div id="doc-content">
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-        name="MSearchResults" id="MSearchResults">
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-</iframe>
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-<div class="contents">
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-<div class="textblock">Here is a list of all file members with links to the files they belong to:</div>
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-
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-<h3><a id="index_a"></a>- a -</h3><ul>
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-<li>acceptClient()
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-: <a class="el" href="server_8h.html#abff9f8e931ecce919588b371dc511857">server.h</a>
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-</li>
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-<li>Arene
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-: <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">image.h</a>
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-</li>
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-</ul>
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-<h3><a id="index_c"></a>- c -</h3><ul>
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-<li>CAM_ARENA_CONFIRM
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-: <a class="el" href="definitions_8h.html#a15d9063cd3c60755685ceb75df4a7354">definitions.h</a>
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-</li>
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-<li>CAM_ARENA_INFIRM
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-: <a class="el" href="definitions_8h.html#ac836c6abc7e32d2cf7f59ed2a8383ca7">definitions.h</a>
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-</li>
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-<li>CAM_ASK_ARENA
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-: <a class="el" href="definitions_8h.html#a6418778d1f34e618aebd9ca1861ab500">definitions.h</a>
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-</li>
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-<li>CAM_CLOSE
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-: <a class="el" href="definitions_8h.html#a675009273c3923e8ad1a6d2818063b61">definitions.h</a>
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-</li>
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-<li>CAM_COMPUTE_POSITION
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-: <a class="el" href="definitions_8h.html#a74fdb9d00556feb699d3c72bd7b5d5e5">definitions.h</a>
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-</li>
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-<li>CAM_OPEN
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-: <a class="el" href="definitions_8h.html#a2a7149bbe097fae8e799ce2ab6f69390">definitions.h</a>
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-</li>
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-<li>CAM_STOP_COMPUTE_POSITION
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-: <a class="el" href="definitions_8h.html#ae864cfaefbf5a210e67678b2144a289f">definitions.h</a>
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-</li>
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-<li>Camera
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-: <a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">image.h</a>
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-</li>
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-<li>CHECK_ARENA
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-: <a class="el" href="monitor_8h.html#a22d20ac264e03c59d6941cb11386aa89">monitor.h</a>
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-</li>
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-<li>close_camera()
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-: <a class="el" href="image_8h.html#a19eac11a04cb4b86fd32e6a36445ad5d">image.h</a>
127
-</li>
128
-<li>CLOSE_COM_DMB
129
-: <a class="el" href="definitions_8h.html#a1b18773c1ce9068c4d38c2cbd2900263">definitions.h</a>
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-</li>
131
-<li>close_communication_robot()
132
-: <a class="el" href="robot_8h.html#a3fbce7530a62f9287f8a3b85b9c7e4d7">robot.h</a>
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-</li>
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-<li>closeServer()
135
-: <a class="el" href="server_8h.html#ab65b2df50051036defe0f35366f5a3d6">server.h</a>
136
-</li>
137
-<li>closesocket
138
-: <a class="el" href="monitor_8h.html#ab6b45251e218af8f09c5d627b5262398">monitor.h</a>
139
-</li>
140
-<li>compress_image()
141
-: <a class="el" href="image_8h.html#a909ca7577f0ac2e4bd0ea21291690dce">image.h</a>
142
-</li>
143
-</ul>
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-
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-
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-<h3><a id="index_d"></a>- d -</h3><ul>
147
-<li>DEFAULT_INTERFACE_FILE
148
-: <a class="el" href="monitor_8h.html#af533d8bd7d6a1d9f9efba3b259280e32">monitor.h</a>
149
-</li>
150
-<li>DEFAULT_NODEJS_PATH
151
-: <a class="el" href="monitor_8h.html#a2c47b710f0858fe41c544517c6b2a2fd">monitor.h</a>
152
-</li>
153
-<li>DEFAULT_PARITY
154
-: <a class="el" href="monitor_8h.html#a939612a13947b5bb9fc848e3222a231d">monitor.h</a>
155
-</li>
156
-<li>DEFAULT_PORT
157
-: <a class="el" href="monitor_8h.html#a16b710f592bf8f7900666392adc444dc">monitor.h</a>
158
-</li>
159
-<li>DEFAULT_SERVER_PORT
160
-: <a class="el" href="server_8h.html#af257e2a3e091629829857a2eb8931a7a">server.h</a>
161
-</li>
162
-<li>detect_arena()
163
-: <a class="el" href="image_8h.html#acad45df4061a55f17be0db97c1406249">image.h</a>
164
-</li>
165
-<li>DETECT_ARENA
166
-: <a class="el" href="monitor_8h.html#ab3be9ae187e8b98bb000ca0bca68e982">monitor.h</a>
167
-</li>
168
-<li>detect_position()
169
-: <a class="el" href="image_8h.html#af9f6e2dd4409486f2f6446d1a8a02c40">image.h</a>
170
-</li>
171
-<li>DMB_BAT_HIGH
172
-: <a class="el" href="definitions_8h.html#ab34c46794a9de6746a96752668c73754">definitions.h</a>
173
-</li>
174
-<li>DMB_BAT_LOW
175
-: <a class="el" href="definitions_8h.html#a66c0c4960c1e81c8da8c8e1d4a202352">definitions.h</a>
176
-</li>
177
-<li>DMB_BAT_MEDIUM
178
-: <a class="el" href="definitions_8h.html#aea6ef1c13db1a8a4a29b065d0c3f73e4">definitions.h</a>
179
-</li>
180
-<li>DMB_BUSY
181
-: <a class="el" href="definitions_8h.html#a3327443cd321f0c356a5d3d74377892b">definitions.h</a>
182
-</li>
183
-<li>DMB_DO_NOTHING
184
-: <a class="el" href="definitions_8h.html#a07650c5f6647c5143bac535fdbeb77d5">definitions.h</a>
185
-</li>
186
-<li>DMB_GET_VBAT
187
-: <a class="el" href="definitions_8h.html#af1737e8fe4da4e8bc2d5db9d26c42462">definitions.h</a>
188
-</li>
189
-<li>DMB_GO_BACK
190
-: <a class="el" href="definitions_8h.html#a499f41cc19a4459de033687049cbbe71">definitions.h</a>
191
-</li>
192
-<li>DMB_GO_FORWARD
193
-: <a class="el" href="definitions_8h.html#ae363a29a4961cd8a646a0ca9199bc6cf">definitions.h</a>
194
-</li>
195
-<li>DMB_GO_LEFT
196
-: <a class="el" href="definitions_8h.html#aefcb838e73a335f1a2a6c914ee2ff752">definitions.h</a>
197
-</li>
198
-<li>DMB_GO_RIGHT
199
-: <a class="el" href="definitions_8h.html#ad681962f7b8cf4797ebd48be0405d1b9">definitions.h</a>
200
-</li>
201
-<li>DMB_IDLE
202
-: <a class="el" href="definitions_8h.html#a82b279c49221d3cd3d875d521dfb97b9">definitions.h</a>
203
-</li>
204
-<li>DMB_IS_BUSY
205
-: <a class="el" href="definitions_8h.html#ad58c241121e685f26a291aa4bd5f9c80">definitions.h</a>
206
-</li>
207
-<li>DMB_MOVE
208
-: <a class="el" href="definitions_8h.html#ac48dee90eb71d036d001321674abbb8b">definitions.h</a>
209
-</li>
210
-<li>DMB_PING
211
-: <a class="el" href="definitions_8h.html#acf7d51360dcb103fc57604725ec2816d">definitions.h</a>
212
-</li>
213
-<li>DMB_RELOAD_WD
214
-: <a class="el" href="definitions_8h.html#a2ca219902014ffb39aab27cca08a948f">definitions.h</a>
215
-</li>
216
-<li>DMB_START_WITH_WD
217
-: <a class="el" href="definitions_8h.html#adee1628bbc796ba55f4a349895f4e0fa">definitions.h</a>
218
-</li>
219
-<li>DMB_START_WITHOUT_WD
220
-: <a class="el" href="definitions_8h.html#a5ebbd37042a6244b4f9d473ae7132780">definitions.h</a>
221
-</li>
222
-<li>DMB_STOP_MOVE
223
-: <a class="el" href="definitions_8h.html#a7308179907a0a2989c162865e7a7979a">definitions.h</a>
224
-</li>