common_kerl.h File Reference

Common definitions. More...

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Data Structures
struct	ClientQuery
Defines
#define	DBUG(x, args...)
#define	BENCH(x, args...)
#define	ECASE(error, message) case error : return message
#define	FNLENGTH 20
#define	IDLENGTH 50
#define	DOMAINLENGTH 50
#define	SUCCESS 0
#define	GENERICFAIL -1
#define	BROKENCODE -2
#define	NAMEINUSE -64
#define	NOSUCHCLIENT -65
#define	NOTSTORED -66
#define	DEVICENOTINITIALISED -67
#define	NOSUCHDEVICE -68
#define	ERRORQUERYINGDEVICES -69
#define	INVALIDINDEX -70
#define	ERRORCONNECTING -128
#define	PLAYERFAIL -127
#define	NOSOCKET -126
#define	UNDEFINEDFUNCTION -192
#define	UNDEFINEDOPTION -193
#define	SUPPOSITION 0x1
#define	SUPLASERS 0x2
#define	SUPSONAR 0x4
#define	SUPFIDUCIAL 0x8
Functions
char *	errorToString (int errorno)

Detailed Description

Common definitions.

Author:: Thomas Lorentsen, Sten Gruener

This file contains common definitions and functions needed for kerl.

Error numbers start from severl ranges depending on where they were caused, this makes debugging easier as we can tell if it is a player problem, ei problem or a kerl problem.

Errors caused in kerl code start from -64 Errors returned from the player server start from -128 Errors returned from ei start from -192

Define Documentation

#define BENCH	(	x,
		args...		)

Issue a benchmark message is benchmarking is enabled.

#define BROKENCODE -2

Broken code - see code for details

#define DBUG	(	x,
		args...		)

Issue a debug message if debugging is enabled.

#define DEVICENOTINITIALISED -67

Error: Device not initialised

#define DOMAINLENGTH 50

Maximum length of the domainname of player

#define ECASE	(	error,
		message		)	case error : return message

Error case definition - on error return message.

#define ERRORCONNECTING -128

Player error: Error connecting

#define ERRORQUERYINGDEVICES -69

Error: Error querying devices

#define FNLENGTH 20

Maximum length of a funciton name in driver_kerl

#define GENERICFAIL -1

Generic failure return value

#define IDLENGTH 50

Maximum length of the robot id

#define INVALIDINDEX -70

Error: Invalid index specified

#define NAMEINUSE -64

Error: Name in use

#define NOSOCKET -126

Player error: No socket

#define NOSUCHCLIENT -65

Error: No such client

#define NOSUCHDEVICE -68

Error: No such device

#define NOTSTORED -66

Error: Not stored

#define PLAYERFAIL -127

Player error: Player failure

#define SUCCESS 0

Success return value

#define SUPFIDUCIAL 0x8

Supported device: Fiducial sensors

#define SUPLASERS 0x2

Supported device: Laser range finder

#define SUPPOSITION 0x1

Supported device: Position sensor

#define SUPSONAR 0x4

Supported device: Sonar range finder

#define UNDEFINEDFUNCTION -192

Erlang interface error: Undefined function

#define UNDEFINEDOPTION -193

Erlang interface error: Undefined option

Function Documentation

errorToString ( int errorno )

Parameters:

errorno

the error value passed

Returns:: the string representation of the error Converts a error defined in common_kerl.h into a human readable form All spaces must be replaced with underscores to be passed as erlang atoms If the error is not found it should return the number as a string. You can also pass SUCCESS to get a string representation that will work in Erlang, just dont pass it back as an error {error, ok} otherwise it will seem rather silly