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component.h

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/*
DASI Library Copyright (C) 2004  Derek Jones
This software is free for educational use only--no commercial use allowed.

This library 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.  
*/

#ifndef COMPONENT_H
#define COMPONENT_H
#include <types.h>
// move all objects that will have a JAUS component ID to beginning of list.
// so not every object in object list needs to be a component.
// but every JAUS component will be on object list.
/* This class works in tandem with the Object_List class.  To make a class a JAUS component,
        - initialize object list 'Object_List::add(this,cOBJECT);'
        - make class a friend to object list.
        - add a public method "  void JAUS_Message(jaus_message& imsg);"

\par Note
   particular components must be friend to class Object_List; this is because object list 
has the responsibility to initialize the components attributes.  The JAUS_Message should implement
  all defined input/output messages defined for that component.

*/
// Range_Sensor_Component Subtypes
#define OOMRM_OBJECT_MAX 30

enum OBJECT {
   Error_Component=0,
   Node_Manager_Component=1,
   cEncodedMotor=2,
   cA2D=3,
   cCameraGB=4,
   cCompassDV=5,
   cConsole=6,
   cDialgue=7,
   cEncoder=8,
   cKeypad=9,
   cLCD=10,                                // 0x0A
   cDCmotor=11,                            // 0x0B
   cProcessor=12,                          // 0x0C
   cPWM=13,                                // 0x0D
   cSchedule=14,                           // 0x0E
   cServo=15,                              // 0x0F
   cSharpGP2D12=16,                        // 0x10
   cSonarDV=17,                            // 0x11
   cTimer=18,                              // 0x12
   cUART=19,                               // 0x13
   cTPU=20,                                // 0x14
   cVBR=21,                                // 0x15
   cWorld_Model_Store_Component=22,        // 0x16
   cMotion_Driver=23,                      // 0x17
   cIR=24,                                 // 0x18
   cIR_chain=25,                           // 0x19
   cSwitch=26,                             // 0x1A
   cSimulator=27,                          // 0x1B
   cSpeaker=28,                            // 0x1C
   cTTSemic=29,                            // 0x1D
   cCameraC328=30,                         // 0x1E
   Subsystem_Commander_Component=32,       // 0x20
   Primitive_Driver_Component=33,          // 0x21  cDCmotor
   Communicator_Component=35,              // 0x23
   Visual_Sensor_Component=37,             // 0x25  Camera component.
   Global_Pose_Sensor_Component=38,        // 0x26
   System_Commander_Component=40,          // 0x28
   Local_Pose_Sensor_Component=41,         // 0x29
   Velocity_State_Sensor_Component=42,     // 0x2A
   Reflexive_Driver_Component=43,          // 0x2B
   Local_Vector_Driver_Component=44,       // 0x2C
   Local_Waypoint_Driver_Component=46,     // 0x2E cCommand_Driver
   Binary_Status_Component=47,             // 0x2F (ie LED, power light, etc.)
   Range_Sensor_Component=50,              // 0x32 IR_base (may use confidence to differentiate IR from Sonar).
   Manipulator_Joint_Position_Sensor_Component=51, // 0x33
   Manipulator_Joint_Velocity_Sensor_Component=52, // 0x34
   Manipulator_Joint_Force_Sensor_Component=53,    // 0x35
   Manipulator_Joint_Positions_Driver_Component=54,// 0x36
   Manipulator_End_Effector_Pose_Driver_Component=55, // 0x37
   Manipulator_Joint_Velocities_Driver_Component=56, // 0x38
   Manipulator_End_Effector_Velocity_State_Driver_Component=57, // 0x39
   Manipulator_Joint_Move_Driver_Component=58,                  // 0x3A
   Manipulator_End_Effector_Discrete_Pose_Driver_Component=59,  // 0x3B
   cLAST_JAUS_COMPONENT=60                                      // 0x3C
};
#define JAUS_COMPONENT_ID OBJECT

#ifdef DOS
void display_component(uint8 comp);

#endif

#endif

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