passage au tout objet + messagerie

software/raspberry/superviseur-robot/.dep.inc

@@ -0,0 +1,5 @@
+# This code depends on make tool being used
+DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES}))
+ifneq (${DEPFILES},)
+include ${DEPFILES}
+endif

software/raspberry/superviseur-robot/lib/camera.cpp

@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "camera.h"
+#include "img.h"
+
+using namespace cv;
+
+void Camera::setSize(int size) {
+    this->size = size;
+    switch (size){
+        case xs:
+            this->width = 480;
+            this->height = 360;
+            break;
+        case sm:
+            this->width = 640;
+            this->height = 480;
+            break;
+        case md:
+            this->width = 1024;
+            this->height = 768;
+            break;
+        case lg:
+            this->width = 1280;
+            this->height = 960;
+            break;
+        default:
+            this->width = 480;
+            this->height = 360;
+
+    }
+}
+
+
+int Camera::open_camera() {
+    this->cap.open(0);
+}
+
+Camera::Camera(int size) {
+    this->setSize(size);
+    this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
+    this->cap.set(CV_CAP_PROP_FRAME_WIDTH,width);
+    this->cap.set(CV_CAP_PROP_FRAME_HEIGHT,height);
+}
+
+int Camera::close_camera() {
+    cap.release();
+    return 0;
+}
+
+Img Camera::grab_image() {
+    ImageMat frame;
+    cap >> frame;
+    Img capture = Img(frame);
+    return capture;
+}
+
+
+bool Camera::isOpen() {
+    return cap.isOpened();
+}
+
+int Camera::getWidth() const {
+    return width;
+}
+
+int Camera::getHeight() const {
+    return height;
+}
+
+

software/raspberry/superviseur-robot/lib/camera.h

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

software/raspberry/superviseur-robot/lib/comgui.cpp

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

software/raspberry/superviseur-robot/lib/comgui.h

@@ -0,0 +1,104 @@
+ /*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __COMGUI_H__
+#define __COMGUI_H__
+
+#include "messages.h"
+#include <string>
+
+using namespace std;
+     
+/**
+ * Class used for generating a server and communicating through it with GUI
+ * 
+ * @brief Communication class with GUI (server)
+ * 
+ */
+class ComGui {
+public:
+    /**
+     * Constructor
+     */
+    ComGui() {}
+    
+    /**
+     * Destructor
+     */
+    virtual ~ComGui() {}
+    
+    /**
+     * Create a server and open a socket over TCP
+     * 
+     * @param port Port used for communication
+     * @return Socket number
+     * @throw std::runtime_error if it fails
+     */
+    int Open(int port);
+    
+    /**
+     * Close socket and server
+     */
+    void Close();
+    
+    /**
+     * Wait for a client to connect
+     * @return Client number 
+     * @throw std::runtime_error if it fails
+     */
+    int AcceptClient();
+    
+    /**
+     * Send a message to GUI
+     * 
+     * @param msg Message to send to GUI
+     * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
+     * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously  
+     */
+    void Write(Message* msg);
+    
+    /**
+     * Function called at beginning of Write method
+     * Use it to do some synchronization (call of mutex, for example)
+     */
+    virtual void Write_Pre() {}
+    
+    /**
+     * Function called at end of Write method
+     * Use it to do some synchronization (release of mutex, for example)
+     */
+    virtual void Write_Post() {}
+protected:
+    /**
+     * Socket descriptor
+     */
+    int socketFD = -1;
+    
+    /**
+     * Socket descriptor
+     */
+    int clientID = -1;
+    
+    /**
+     * Method used internally to convert a message content to a string that can be sent over TCP
+     * @param msg Message to be converted
+     * @return A string, image of the message
+     */
+    string *MessageToString(Message *msg);
+};
+
+#endif /* __COMGUI_H__ */

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-          <td class="memname">#define CAM_ARENA_CONFIRM&#160;&#160;&#160;'x'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00057">57</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="#ac836c6abc7e32d2cf7f59ed2a8383ca7">&#9670;&nbsp;</a></span>CAM_ARENA_INFIRM</h2>
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-<div class="memitem">
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-          <td class="memname">#define CAM_ARENA_INFIRM&#160;&#160;&#160;'z'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00058">58</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a6418778d1f34e618aebd9ca1861ab500"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a6418778d1f34e618aebd9ca1861ab500">&#9670;&nbsp;</a></span>CAM_ASK_ARENA</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define CAM_ASK_ARENA&#160;&#160;&#160;'y'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00056">56</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a675009273c3923e8ad1a6d2818063b61"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a675009273c3923e8ad1a6d2818063b61">&#9670;&nbsp;</a></span>CAM_CLOSE</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">#define CAM_CLOSE&#160;&#160;&#160;'I'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00055">55</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a74fdb9d00556feb699d3c72bd7b5d5e5"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a74fdb9d00556feb699d3c72bd7b5d5e5">&#9670;&nbsp;</a></span>CAM_COMPUTE_POSITION</h2>
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-<div class="memitem">
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-      <table class="memname">
-        <tr>
-          <td class="memname">#define CAM_COMPUTE_POSITION&#160;&#160;&#160;'p'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00059">59</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a2a7149bbe097fae8e799ce2ab6f69390"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a2a7149bbe097fae8e799ce2ab6f69390">&#9670;&nbsp;</a></span>CAM_OPEN</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">#define CAM_OPEN&#160;&#160;&#160;'A'</td>
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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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-<a id="ae864cfaefbf5a210e67678b2144a289f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae864cfaefbf5a210e67678b2144a289f">&#9670;&nbsp;</a></span>CAM_STOP_COMPUTE_POSITION</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define CAM_STOP_COMPUTE_POSITION&#160;&#160;&#160;'s'</td>
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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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-</div>
-<a id="a1b18773c1ce9068c4d38c2cbd2900263"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1b18773c1ce9068c4d38c2cbd2900263">&#9670;&nbsp;</a></span>CLOSE_COM_DMB</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define CLOSE_COM_DMB&#160;&#160;&#160;'C'</td>
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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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-<a id="ab34c46794a9de6746a96752668c73754"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ab34c46794a9de6746a96752668c73754">&#9670;&nbsp;</a></span>DMB_BAT_HIGH</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_BAT_HIGH&#160;&#160;&#160;2</td>
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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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-<a id="a66c0c4960c1e81c8da8c8e1d4a202352"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a66c0c4960c1e81c8da8c8e1d4a202352">&#9670;&nbsp;</a></span>DMB_BAT_LOW</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_BAT_LOW&#160;&#160;&#160;0</td>
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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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-</div>
-</div>
-<a id="aea6ef1c13db1a8a4a29b065d0c3f73e4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aea6ef1c13db1a8a4a29b065d0c3f73e4">&#9670;&nbsp;</a></span>DMB_BAT_MEDIUM</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_BAT_MEDIUM&#160;&#160;&#160;1</td>
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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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-<a id="a3327443cd321f0c356a5d3d74377892b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a3327443cd321f0c356a5d3d74377892b">&#9670;&nbsp;</a></span>DMB_BUSY</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">#define DMB_BUSY&#160;&#160;&#160;1</td>
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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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-<a id="a07650c5f6647c5143bac535fdbeb77d5"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a07650c5f6647c5143bac535fdbeb77d5">&#9670;&nbsp;</a></span>DMB_DO_NOTHING</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define DMB_DO_NOTHING&#160;&#160;&#160;0</td>
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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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-</div>
-<a id="af1737e8fe4da4e8bc2d5db9d26c42462"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af1737e8fe4da4e8bc2d5db9d26c42462">&#9670;&nbsp;</a></span>DMB_GET_VBAT</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_GET_VBAT&#160;&#160;&#160;'v'</td>
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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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-<a id="a499f41cc19a4459de033687049cbbe71"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a499f41cc19a4459de033687049cbbe71">&#9670;&nbsp;</a></span>DMB_GO_BACK</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">#define DMB_GO_BACK&#160;&#160;&#160;'B'</td>
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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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-</div>
-<a id="ae363a29a4961cd8a646a0ca9199bc6cf"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae363a29a4961cd8a646a0ca9199bc6cf">&#9670;&nbsp;</a></span>DMB_GO_FORWARD</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_GO_FORWARD&#160;&#160;&#160;'F'</td>
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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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-<a id="aefcb838e73a335f1a2a6c914ee2ff752"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aefcb838e73a335f1a2a6c914ee2ff752">&#9670;&nbsp;</a></span>DMB_GO_LEFT</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_GO_LEFT&#160;&#160;&#160;'L'</td>
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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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-<a id="ad681962f7b8cf4797ebd48be0405d1b9"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ad681962f7b8cf4797ebd48be0405d1b9">&#9670;&nbsp;</a></span>DMB_GO_RIGHT</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_GO_RIGHT&#160;&#160;&#160;'R'</td>
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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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-<a id="a82b279c49221d3cd3d875d521dfb97b9"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a82b279c49221d3cd3d875d521dfb97b9">&#9670;&nbsp;</a></span>DMB_IDLE</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <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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-</div>
-<a id="ad58c241121e685f26a291aa4bd5f9c80"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ad58c241121e685f26a291aa4bd5f9c80">&#9670;&nbsp;</a></span>DMB_IS_BUSY</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_IS_BUSY&#160;&#160;&#160;'b'</td>
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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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-</div>
-<a id="ac48dee90eb71d036d001321674abbb8b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac48dee90eb71d036d001321674abbb8b">&#9670;&nbsp;</a></span>DMB_MOVE</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_MOVE&#160;&#160;&#160;'M'</td>
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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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-</div>
-<a id="acf7d51360dcb103fc57604725ec2816d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#acf7d51360dcb103fc57604725ec2816d">&#9670;&nbsp;</a></span>DMB_PING</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_PING&#160;&#160;&#160;'p'</td>
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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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-</div>
-<a id="a2ca219902014ffb39aab27cca08a948f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a2ca219902014ffb39aab27cca08a948f">&#9670;&nbsp;</a></span>DMB_RELOAD_WD</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_RELOAD_WD&#160;&#160;&#160;'w'</td>
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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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-</div>
-<a id="adee1628bbc796ba55f4a349895f4e0fa"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#adee1628bbc796ba55f4a349895f4e0fa">&#9670;&nbsp;</a></span>DMB_START_WITH_WD</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define DMB_START_WITH_WD&#160;&#160;&#160;'W'</td>
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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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-</div>
-<a id="a5ebbd37042a6244b4f9d473ae7132780"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a5ebbd37042a6244b4f9d473ae7132780">&#9670;&nbsp;</a></span>DMB_START_WITHOUT_WD</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define DMB_START_WITHOUT_WD&#160;&#160;&#160;'u'</td>
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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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-</div>
-<a id="a7308179907a0a2989c162865e7a7979a"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a7308179907a0a2989c162865e7a7979a">&#9670;&nbsp;</a></span>DMB_STOP_MOVE</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_STOP_MOVE&#160;&#160;&#160;'S'</td>
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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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-</div>
-<a id="ac6c5492c8100e73f8d30ed36072684db"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac6c5492c8100e73f8d30ed36072684db">&#9670;&nbsp;</a></span>DMB_TURN</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_TURN&#160;&#160;&#160;'T'</td>
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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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-<a id="aac798eaf6994ddcadd8a38ad8aba234f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aac798eaf6994ddcadd8a38ad8aba234f">&#9670;&nbsp;</a></span>OPEN_COM_DMB</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define OPEN_COM_DMB&#160;&#160;&#160;'o'</td>
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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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-<a id="af1118b8a83d446b4965347bba126a488"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af1118b8a83d446b4965347bba126a488">&#9670;&nbsp;</a></span>ROBOT_CHECKSUM</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define ROBOT_CHECKSUM&#160;&#160;&#160;-4</td>
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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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-</div>
-<a id="a4aefbbdd5d35999aa0575ab7183148d4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a4aefbbdd5d35999aa0575ab7183148d4">&#9670;&nbsp;</a></span>ROBOT_ERROR</h2>
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-<div class="memitem">
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-          <td class="memname">#define ROBOT_ERROR&#160;&#160;&#160;-1</td>
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-: <a class="el" href="definitions_8h.html#a07650c5f6647c5143bac535fdbeb77d5">definitions.h</a>
-</li>
-<li>DMB_GET_VBAT
-: <a class="el" href="definitions_8h.html#af1737e8fe4da4e8bc2d5db9d26c42462">definitions.h</a>
-</li>
-<li>DMB_GO_BACK
-: <a class="el" href="definitions_8h.html#a499f41cc19a4459de033687049cbbe71">definitions.h</a>
-</li>
-<li>DMB_GO_FORWARD
-: <a class="el" href="definitions_8h.html#ae363a29a4961cd8a646a0ca9199bc6cf">definitions.h</a>
-</li>
-<li>DMB_GO_LEFT
-: <a class="el" href="definitions_8h.html#aefcb838e73a335f1a2a6c914ee2ff752">definitions.h</a>
-</li>
-<li>DMB_GO_RIGHT
-: <a class="el" href="definitions_8h.html#ad681962f7b8cf4797ebd48be0405d1b9">definitions.h</a>
-</li>
-<li>DMB_IDLE
-: <a class="el" href="definitions_8h.html#a82b279c49221d3cd3d875d521dfb97b9">definitions.h</a>
-</li>
-<li>DMB_IS_BUSY
-: <a class="el" href="definitions_8h.html#ad58c241121e685f26a291aa4bd5f9c80">definitions.h</a>
-</li>
-<li>DMB_MOVE
-: <a class="el" href="definitions_8h.html#ac48dee90eb71d036d001321674abbb8b">definitions.h</a>
-</li>
-<li>DMB_PING
-: <a class="el" href="definitions_8h.html#acf7d51360dcb103fc57604725ec2816d">definitions.h</a>
-</li>
-<li>DMB_RELOAD_WD
-: <a class="el" href="definitions_8h.html#a2ca219902014ffb39aab27cca08a948f">definitions.h</a>
-</li>
-<li>DMB_START_WITH_WD
-: <a class="el" href="definitions_8h.html#adee1628bbc796ba55f4a349895f4e0fa">definitions.h</a>
-</li>
-<li>DMB_START_WITHOUT_WD
-: <a class="el" href="definitions_8h.html#a5ebbd37042a6244b4f9d473ae7132780">definitions.h</a>
-</li>
-<li>DMB_STOP_MOVE
-: <a class="el" href="definitions_8h.html#a7308179907a0a2989c162865e7a7979a">definitions.h</a>
-</li>