box_detect/UserSharedMemory.h at master · markmlee/box_detect · GitHub

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#ifndef USERSHAREDMEMORY_H
#define USERSHAREDMEMORY_H

#define USER_SHM_NAME         "USER_SHARED_MEMORY"

#ifndef __LAN_STRUCT_GENERAL_COMMAND_DEF__
#define __LAN_STRUCT_GENERAL_COMMAND_DEF__

typedef struct __LAN_STRUCT_GENERAL_COMMAND_
{
    char    param_c[10];
    int     param_i[10];
    float   param_f[10];
    int     cmd;
} LAN_GENERAL_COMMAND, *pLAN_GENERAL_COMMAND;

#endif

typedef struct _VISION2GUI_
{
    float pos[3];
    float ori[4];
} VISION2GUI, *pVISION2GUI;

typedef struct _MOTION2GUI_
{
    float   curFootR[6];
    float   curFootL[6];
    float   curZMP[3];
    float   curPEL[3];
    float   _INIT_PEL[3];
    float   _INIT_COM[3];
    float   _ADDCOM;
    float   _qPEL[4];

    float   DRILL_Data[10];

    double  pRF[3];
    double  pLF[3];
    double  pRH[3];
    double  pLH[3];
    double  qRF[4];
    double  qLF[4];
    double  qRH[4];
    double  qLH[4];
    double  qPel[4];
    double  Relb;
    double  Lelb;
    double  rWST;
    double  pCOM[3];
    double  pPelZ;

    int     valveMode;
    //Car Descending
    float ROI_max_X;
    float ROI_min_X;
    float ROI_max_Y;
    float ROI_min_Y;
    float ROI_max_Z;
    float ROI_min_Z;

    float   obj_pos[3];

    /* Mission_Door */
    float LPF_Fz;
    float LPF_Fy;
    float LPF_Fx;
    float Des_posX;
    float Des_velX;

    /*InverseCheck*/
    double OutputX;
    double OutputY;
    double OutputZ;
    double OutputRoll;
    double OutputPitch;
    double OutputYaw;

    //VISION
    VISION2GUI V2G;
} MOTION2GUI, *pMOTION2GUI;

typedef struct _GUI2MOTION_
{
    double  walkingDSP[400];

    int StepNum;
    double StepLength;
    double StepOffset;
    double StepAngle;
    double StepTime;
    int WalkingModeCommand;
    int WalkingStopModeCommand;
    int WalkingGoalGoModeCommand;
    double GoalPosX;
    double GoalPosY;
    double GoalAngle;


    /*InverseCheck*/
    double InputX;
    double InputY;
    double InputZ;
    double InputRoll;
    double InputPitch;
    double InputYaw;
    int OnOff[6];

    LAN_GENERAL_COMMAND ros_cmd;
} GUI2MOTION, *pGUI2MOTION;

typedef struct _USER_SHM_
{
    MOTION2GUI  M2G;
    GUI2MOTION  G2M;

    double          WalkReadyCOM[3];
    double          ZMPInitAnlge[50];  // ZMP init. control input
    double          terrain_variable[10];

    int             WheelDoneFlag;
    int             WalkDoneFlag;
    int             EmergencyFlag; // 0=pause 1=resume 2=stop
    int             WheelUpPosDoneFlag;

    int             Laser1Line_raw[1500];
    double          Laser1Line_angle[1500];
    double          Laser1Line_xyz[1500][3];
    int             Laser1Line_size;
    bool            Laser1Line_isUpdated;

    int             Laser2Line_raw[1500];
    double          Laser2Line_angle[1500];
    double          Laser2Line_xyz[1500][3];
    int             Laser2Line_size;
    bool            Laser2Line_isUpdated;

    float           odom_data[6];
    float           vel_cmd[2];
} USER_SHM, *pUSER_SHM;


#endif // USERSHAREDMEMORY_H