24 #include <interfaces/NavigatorInterface.h>
26 #include <core/exceptions/software.h>
80 NavigatorInterface::NavigatorInterface() : Interface()
82 data_size =
sizeof(NavigatorInterface_data_t);
84 data = (NavigatorInterface_data_t *)
data_ptr;
87 enum_map_DriveMode[(int)MovingNotAllowed] =
"MovingNotAllowed";
88 enum_map_DriveMode[(int)Forward] =
"Forward";
89 enum_map_DriveMode[(int)AllowBackward] =
"AllowBackward";
90 enum_map_DriveMode[(int)Backward] =
"Backward";
91 enum_map_DriveMode[(int)ESCAPE] =
"ESCAPE";
93 enum_map_OrientationMode[(int)OrientDuringTravel] =
"OrientDuringTravel";
111 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
132 unsigned char tmp_hash[] = {0x5f, 0xf9, 0xaa, 0x1e, 0xb4, 0x6a, 0x4a, 0xa3, 0xe5, 0xe0, 0x2b, 0xbd, 0x73, 0x17, 0x66, 0xea};
137 NavigatorInterface::~NavigatorInterface()
149 case MovingNotAllowed:
return "MovingNotAllowed";
150 case Forward:
return "Forward";
151 case AllowBackward:
return "AllowBackward";
152 case Backward:
return "Backward";
153 case ESCAPE:
return "ESCAPE";
154 default:
return "UNKNOWN";
166 case OrientDuringTravel:
return "OrientDuringTravel";
167 default:
return "UNKNOWN";
330 return data->dest_ori;
360 return data->dest_dist;
456 return data->error_code;
488 return data->max_velocity;
518 return data->max_rotation;
548 return data->security_distance;
579 return data->escaping_enabled;
642 return data->auto_drive_mode;
674 return data->stop_at_target;
734 return data->target_frame;
761 if ( strncmp(
"StopMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
763 }
else if ( strncmp(
"TurnMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
765 }
else if ( strncmp(
"CartesianGotoMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
767 }
else if ( strncmp(
"CartesianGotoWithToleranceMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
769 }
else if ( strncmp(
"CartesianGotoWithFrameMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
771 }
else if ( strncmp(
"CartesianGotoWithFrameWithToleranceMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
773 }
else if ( strncmp(
"PolarGotoMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
775 }
else if ( strncmp(
"PlaceGotoMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
777 }
else if ( strncmp(
"PlaceWithOriGotoMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
779 }
else if ( strncmp(
"ObstacleMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
781 }
else if ( strncmp(
"ResetOdometryMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
783 }
else if ( strncmp(
"SetMaxVelocityMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
785 }
else if ( strncmp(
"SetMaxRotationMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
787 }
else if ( strncmp(
"SetEscapingMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
789 }
else if ( strncmp(
"SetSecurityDistanceMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
791 }
else if ( strncmp(
"SetDriveModeMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
793 }
else if ( strncmp(
"SetStopAtTargetMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
795 }
else if ( strncmp(
"SetOrientationModeMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
797 }
else if ( strncmp(
"ResetParametersMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
801 "message type for this interface type.",
type);
817 memcpy(data, oi->data,
sizeof(NavigatorInterface_data_t));
823 if (strcmp(enumtype,
"DriveMode") == 0) {
824 return tostring_DriveMode((
DriveMode)val);
826 if (strcmp(enumtype,
"OrientationMode") == 0) {
848 data = (StopMessage_data_t *)
data_ptr;
850 data->msgid = ini_msgid;
852 enum_map_DriveMode[(int)
Forward] =
"Forward";
854 enum_map_DriveMode[(int)
Backward] =
"Backward";
855 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
866 data = (StopMessage_data_t *)
data_ptr;
869 enum_map_DriveMode[(int)
Forward] =
"Forward";
871 enum_map_DriveMode[(int)
Backward] =
"Backward";
872 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
892 data = (StopMessage_data_t *)
data_ptr;
969 data = (TurnMessage_data_t *)
data_ptr;
971 data->angle = ini_angle;
972 data->velocity = ini_velocity;
974 enum_map_DriveMode[(int)
Forward] =
"Forward";
976 enum_map_DriveMode[(int)
Backward] =
"Backward";
977 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
989 data = (TurnMessage_data_t *)
data_ptr;
992 enum_map_DriveMode[(int)
Forward] =
"Forward";
994 enum_map_DriveMode[(int)
Backward] =
"Backward";
995 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1016 data = (TurnMessage_data_t *)
data_ptr;
1059 return data->velocity;
1107 data_size =
sizeof(CartesianGotoMessage_data_t);
1110 data = (CartesianGotoMessage_data_t *)
data_ptr;
1114 data->orientation = ini_orientation;
1116 enum_map_DriveMode[(int)
Forward] =
"Forward";
1118 enum_map_DriveMode[(int)
Backward] =
"Backward";
1119 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1120 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1129 data_size =
sizeof(CartesianGotoMessage_data_t);
1132 data = (CartesianGotoMessage_data_t *)
data_ptr;
1135 enum_map_DriveMode[(int)
Forward] =
"Forward";
1137 enum_map_DriveMode[(int)
Backward] =
"Backward";
1138 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1139 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1160 data = (CartesianGotoMessage_data_t *)
data_ptr;
1232 return data->orientation;
1281 data_size =
sizeof(CartesianGotoWithToleranceMessage_data_t);
1284 data = (CartesianGotoWithToleranceMessage_data_t *)
data_ptr;
1288 data->orientation = ini_orientation;
1289 data->translation_tolerance = ini_translation_tolerance;
1290 data->orientation_tolerance = ini_orientation_tolerance;
1292 enum_map_DriveMode[(int)
Forward] =
"Forward";
1294 enum_map_DriveMode[(int)
Backward] =
"Backward";
1295 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1296 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1307 data_size =
sizeof(CartesianGotoWithToleranceMessage_data_t);
1310 data = (CartesianGotoWithToleranceMessage_data_t *)
data_ptr;
1313 enum_map_DriveMode[(int)
Forward] =
"Forward";
1315 enum_map_DriveMode[(int)
Backward] =
"Backward";
1316 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1317 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1340 data = (CartesianGotoWithToleranceMessage_data_t *)
data_ptr;
1412 return data->orientation;
1442 return data->translation_tolerance;
1462 change_field(data->translation_tolerance, new_translation_tolerance);
1472 return data->orientation_tolerance;
1492 change_field(data->orientation_tolerance, new_orientation_tolerance);
1520 data_size =
sizeof(CartesianGotoWithFrameMessage_data_t);
1523 data = (CartesianGotoWithFrameMessage_data_t *)
data_ptr;
1527 data->orientation = ini_orientation;
1528 strncpy(data->target_frame, ini_target_frame, 64-1);
1529 data->target_frame[64-1] = 0;
1531 enum_map_DriveMode[(int)
Forward] =
"Forward";
1533 enum_map_DriveMode[(int)
Backward] =
"Backward";
1534 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1535 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1545 data_size =
sizeof(CartesianGotoWithFrameMessage_data_t);
1548 data = (CartesianGotoWithFrameMessage_data_t *)
data_ptr;
1551 enum_map_DriveMode[(int)
Forward] =
"Forward";
1553 enum_map_DriveMode[(int)
Backward] =
"Backward";
1554 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1555 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1577 data = (CartesianGotoWithFrameMessage_data_t *)
data_ptr;
1649 return data->orientation;
1679 return data->target_frame;
1729 data_size =
sizeof(CartesianGotoWithFrameWithToleranceMessage_data_t);
1732 data = (CartesianGotoWithFrameWithToleranceMessage_data_t *)
data_ptr;
1736 data->orientation = ini_orientation;
1737 strncpy(data->target_frame, ini_target_frame, 64-1);
1738 data->target_frame[64-1] = 0;
1739 data->translation_tolerance = ini_translation_tolerance;
1740 data->orientation_tolerance = ini_orientation_tolerance;
1742 enum_map_DriveMode[(int)
Forward] =
"Forward";
1744 enum_map_DriveMode[(int)
Backward] =
"Backward";
1745 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1746 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1758 data_size =
sizeof(CartesianGotoWithFrameWithToleranceMessage_data_t);
1761 data = (CartesianGotoWithFrameWithToleranceMessage_data_t *)
data_ptr;
1764 enum_map_DriveMode[(int)
Forward] =
"Forward";
1766 enum_map_DriveMode[(int)
Backward] =
"Backward";
1767 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1768 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1792 data = (CartesianGotoWithFrameWithToleranceMessage_data_t *)
data_ptr;
1864 return data->orientation;
1894 return data->target_frame;
1924 return data->translation_tolerance;
1944 change_field(data->translation_tolerance, new_translation_tolerance);
1954 return data->orientation_tolerance;
1974 change_field(data->orientation_tolerance, new_orientation_tolerance);
2001 data_size =
sizeof(PolarGotoMessage_data_t);
2004 data = (PolarGotoMessage_data_t *)
data_ptr;
2006 data->phi = ini_phi;
2007 data->dist = ini_dist;
2008 data->orientation = ini_orientation;
2010 enum_map_DriveMode[(int)
Forward] =
"Forward";
2012 enum_map_DriveMode[(int)
Backward] =
"Backward";
2013 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2014 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2023 data_size =
sizeof(PolarGotoMessage_data_t);
2026 data = (PolarGotoMessage_data_t *)
data_ptr;
2029 enum_map_DriveMode[(int)
Forward] =
"Forward";
2031 enum_map_DriveMode[(int)
Backward] =
"Backward";
2032 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2033 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2054 data = (PolarGotoMessage_data_t *)
data_ptr;
2126 return data->orientation;
2171 data_size =
sizeof(PlaceGotoMessage_data_t);
2174 data = (PlaceGotoMessage_data_t *)
data_ptr;
2176 strncpy(data->place, ini_place, 64-1);
2177 data->place[64-1] = 0;
2179 enum_map_DriveMode[(int)
Forward] =
"Forward";
2181 enum_map_DriveMode[(int)
Backward] =
"Backward";
2182 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2183 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2190 data_size =
sizeof(PlaceGotoMessage_data_t);
2193 data = (PlaceGotoMessage_data_t *)
data_ptr;
2196 enum_map_DriveMode[(int)
Forward] =
"Forward";
2198 enum_map_DriveMode[(int)
Backward] =
"Backward";
2199 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2200 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2219 data = (PlaceGotoMessage_data_t *)
data_ptr;
2277 data_size =
sizeof(PlaceWithOriGotoMessage_data_t);
2280 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
2282 strncpy(data->place, ini_place, 64-1);
2283 data->place[64-1] = 0;
2284 data->orientation = ini_orientation;
2286 enum_map_DriveMode[(int)
Forward] =
"Forward";
2288 enum_map_DriveMode[(int)
Backward] =
"Backward";
2289 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2290 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2298 data_size =
sizeof(PlaceWithOriGotoMessage_data_t);
2301 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
2304 enum_map_DriveMode[(int)
Forward] =
"Forward";
2306 enum_map_DriveMode[(int)
Backward] =
"Backward";
2307 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2308 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2328 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
2370 return data->orientation;
2417 data_size =
sizeof(ObstacleMessage_data_t);
2420 data = (ObstacleMessage_data_t *)
data_ptr;
2424 data->width = ini_width;
2426 enum_map_DriveMode[(int)
Forward] =
"Forward";
2428 enum_map_DriveMode[(int)
Backward] =
"Backward";
2429 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2430 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2439 data_size =
sizeof(ObstacleMessage_data_t);
2442 data = (ObstacleMessage_data_t *)
data_ptr;
2445 enum_map_DriveMode[(int)
Forward] =
"Forward";
2447 enum_map_DriveMode[(int)
Backward] =
"Backward";
2448 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2449 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2470 data = (ObstacleMessage_data_t *)
data_ptr;
2585 data_size =
sizeof(ResetOdometryMessage_data_t);
2588 data = (ResetOdometryMessage_data_t *)
data_ptr;
2591 enum_map_DriveMode[(int)
Forward] =
"Forward";
2593 enum_map_DriveMode[(int)
Backward] =
"Backward";
2594 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2595 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2613 data = (ResetOdometryMessage_data_t *)
data_ptr;
2640 data_size =
sizeof(SetMaxVelocityMessage_data_t);
2643 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
2645 data->max_velocity = ini_max_velocity;
2647 enum_map_DriveMode[(int)
Forward] =
"Forward";
2649 enum_map_DriveMode[(int)
Backward] =
"Backward";
2650 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2651 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2658 data_size =
sizeof(SetMaxVelocityMessage_data_t);
2661 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
2664 enum_map_DriveMode[(int)
Forward] =
"Forward";
2666 enum_map_DriveMode[(int)
Backward] =
"Backward";
2667 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2668 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2687 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
2699 return data->max_velocity;
2744 data_size =
sizeof(SetMaxRotationMessage_data_t);
2747 data = (SetMaxRotationMessage_data_t *)
data_ptr;
2749 data->max_rotation = ini_max_rotation;
2751 enum_map_DriveMode[(int)
Forward] =
"Forward";
2753 enum_map_DriveMode[(int)
Backward] =
"Backward";
2754 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2755 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2762 data_size =
sizeof(SetMaxRotationMessage_data_t);
2765 data = (SetMaxRotationMessage_data_t *)
data_ptr;
2768 enum_map_DriveMode[(int)
Forward] =
"Forward";
2770 enum_map_DriveMode[(int)
Backward] =
"Backward";
2771 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2772 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2791 data = (SetMaxRotationMessage_data_t *)
data_ptr;
2803 return data->max_rotation;
2848 data_size =
sizeof(SetEscapingMessage_data_t);
2851 data = (SetEscapingMessage_data_t *)
data_ptr;
2853 data->escaping_enabled = ini_escaping_enabled;
2855 enum_map_DriveMode[(int)
Forward] =
"Forward";
2857 enum_map_DriveMode[(int)
Backward] =
"Backward";
2858 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2859 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2866 data_size =
sizeof(SetEscapingMessage_data_t);
2869 data = (SetEscapingMessage_data_t *)
data_ptr;
2872 enum_map_DriveMode[(int)
Forward] =
"Forward";
2874 enum_map_DriveMode[(int)
Backward] =
"Backward";
2875 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2876 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2895 data = (SetEscapingMessage_data_t *)
data_ptr;
2908 return data->escaping_enabled;
2929 change_field(data->escaping_enabled, new_escaping_enabled);
2954 data_size =
sizeof(SetSecurityDistanceMessage_data_t);
2957 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
2959 data->security_distance = ini_security_distance;
2961 enum_map_DriveMode[(int)
Forward] =
"Forward";
2963 enum_map_DriveMode[(int)
Backward] =
"Backward";
2964 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2965 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2972 data_size =
sizeof(SetSecurityDistanceMessage_data_t);
2975 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
2978 enum_map_DriveMode[(int)
Forward] =
"Forward";
2980 enum_map_DriveMode[(int)
Backward] =
"Backward";
2981 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2982 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
3001 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
3013 return data->security_distance;
3033 change_field(data->security_distance, new_security_distance);
3058 data_size =
sizeof(SetDriveModeMessage_data_t);
3061 data = (SetDriveModeMessage_data_t *)
data_ptr;
3063 data->drive_mode = ini_drive_mode;
3065 enum_map_DriveMode[(int)
Forward] =
"Forward";
3067 enum_map_DriveMode[(int)
Backward] =
"Backward";
3068 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
3069 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
3076 data_size =
sizeof(SetDriveModeMessage_data_t);
3079 data = (SetDriveModeMessage_data_t *)
data_ptr;
3082 enum_map_DriveMode[(int)
Forward] =
"Forward";
3084 enum_map_DriveMode[(int)
Backward] =
"Backward";
3085 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
3086 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
3105 data = (SetDriveModeMessage_data_t *)
data_ptr;
3162 data_size =
sizeof(SetStopAtTargetMessage_data_t);
3165 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
3167 data->stop_at_target = ini_stop_at_target;
3169 enum_map_DriveMode[(int)
Forward] =
"Forward";
3171 enum_map_DriveMode[(int)
Backward] =
"Backward";
3172 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
3173 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
3180 data_size =
sizeof(SetStopAtTargetMessage_data_t);
3183 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
3186 enum_map_DriveMode[(int)
Forward] =
"Forward";
3188 enum_map_DriveMode[(int)
Backward] =
"Backward";
3189 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
3190 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
3209 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
3221 return data->stop_at_target;
3241 change_field(data->stop_at_target, new_stop_at_target);
3266 data_size =
sizeof(SetOrientationModeMessage_data_t);
3269 data = (SetOrientationModeMessage_data_t *)
data_ptr;
3271 data->orientation_mode = ini_orientation_mode;
3273 enum_map_DriveMode[(int)
Forward] =
"Forward";
3275 enum_map_DriveMode[(int)
Backward] =
"Backward";
3276 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
3277 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
3279 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
3284 data_size =
sizeof(SetOrientationModeMessage_data_t);
3287 data = (SetOrientationModeMessage_data_t *)
data_ptr;
3290 enum_map_DriveMode[(int)
Forward] =
"Forward";
3292 enum_map_DriveMode[(int)
Backward] =
"Backward";
3293 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
3294 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
3296 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
3313 data = (SetOrientationModeMessage_data_t *)
data_ptr;
3345 change_field(data->orientation_mode, new_orientation_mode);
3368 data_size =
sizeof(ResetParametersMessage_data_t);
3371 data = (ResetParametersMessage_data_t *)
data_ptr;
3374 enum_map_DriveMode[(int)
Forward] =
"Forward";
3376 enum_map_DriveMode[(int)
Backward] =
"Backward";
3377 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
3378 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
3396 data = (ResetParametersMessage_data_t *)
data_ptr;
3459 if ( m10 != NULL ) {
3463 if ( m11 != NULL ) {
3467 if ( m12 != NULL ) {
3471 if ( m13 != NULL ) {
3475 if ( m14 != NULL ) {
3479 if ( m15 != NULL ) {
3483 if ( m16 != NULL ) {
3487 if ( m17 != NULL ) {
3491 if ( m18 != NULL ) {