## @package EnumMsgPltfCtrl
#  Several Enumerations useful to communicate with the PltfCtrl Server
#
# -----------------------------------------------------------------------------------
#
#        Copyright (c) 2009 Neobotix (www.neobotix.de)
#
#      This software is allowed to be used and modified only in association with a Neobotix
#      robot platform. It is allowed to include the software into applications and
#      to distribute it with a Neobotix robot platform. 
#      
#      This software is provided WITHOUT ANY WARRANTY; without even the
#           implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
#           PURPOSE. See the Neobotix License (Version 1.0) for more details.
#
#      You should have received a copy of the Neobotix License
#      along with this software; if not, write to the 
#      Gesellschaft fuer Produktionssysteme, Neobotix, Nobelstrasse 12, 70569 Stuttgart, Germany
#
# -----------------------------------------------------------------------------------
class EnMsgPltfCtrl(object):
    ########################################################
    # Warning : do not put a ',' separator between lines ! #
    ########################################################
    
    
    # CAN communication
    CMD_CONNECT_TO_PLTF = 0
    CMD_SHUTDOWN_PLTF = 1
    CMD_INIT_PLTF = 2
    CMD_SET_BRAKE = 3
    CMD_SET_DIGOUT = 4
    
    CMD_START_ULTRASONIC = 5
    CMD_STOP_ULTRASONIC = 6
    
    CMD_ADD_CAN_LISTENING_ID = 7
    CMD_REMOVE_CAN_LISTENING_ID = 8
    CMD_SEND_CAN_MESSAGE = 9
    CMD_GET_CAN_MESSAGES = 10
    
    # platform operation
    CMD_START = 11
    CMD_BREAK = 12
    CMD_CONTINUE = 13
    CMD_STOP = 14
    
    CMD_SET_MODE = 15
    CMD_EXIT = 16
    CMD_CLOSE_SOCKET = 17
    
    # request status
    CMD_GET_STATUS = 18
    
    # motion commands
    CMD_MOVE_PATH = 19
    CMD_MOVE_TO_STATION = 20
    CMD_MOVE_ABS = 21
    CMD_MOVE_REL = 22
    CMD_MOVE_VEL_WHEEL = 23
    CMD_MOVE_VEL = 24
    
    # platform data
    CMD_SET_MAP = 25
    CMD_GET_MAP = 26
    CMD_LOAD_MAP = 27
    CMD_SAVE_MAP = 28
    
    CMD_MAPPING_START = 29
    CMD_MAPPING_RESET = 30
    CMD_MAPPING_STOP = 31
    
    CMD_SET_ROADMAP = 32
    CMD_GET_ROADMAP = 33
    CMD_LOAD_ROADMAP = 34
    CMD_SAVE_ROADMAP = 35
    
    CMD_SET_FRM_PLTF = 36
    
    CMD_SET_PLTF_PARAM = 37
    CMD_GET_PLTF_PARAM = 38
    CMD_GET_PLTF_PARAM_VEC = 39
    
    CMD_SET_PROGRAM = 40
    CMD_GET_PROGRAM = 41
    CMD_LOAD_PROGRAM = 42
    CMD_SAVE_PROGRAM = 43
    
    # special functions
    CMD_SPEAK_TEXT = 44
    CMD_PLAY_SOUND = 45
    CMD_GRAB_IMAGE = 46
    
    CMD_SET_POS_HEAD_DRIVE = 47
    CMD_SET_VEL_HEAD_DRIVE = 48
    
    CMD_SET_POS_PAN_TILT_CAMERA = 49
    
    # group debug
    CMD_GET_DEBUG_DATA = 50
    
    CMD_DEBUG1 = 51
    CMD_DEBUG2 = 52
    CMD_DEBUG3 = 53
    CMD_DEBUG4 = 54
    
    CMD_MOUSE_MOVE = 55
    
    CMD_SET_LOG_ENABLED = 56
    
    CMD_SET_POST_PROCESS_FILENAME = 57
    
    CMD_SET_EVENT = 58

    CMD_GET_CAMERA = 59
    
    CMD_GET_MAPIMAGE = 60
    
    CMD_ENABLE_EXT_MAPPING = 61
    CMD_DISABLE_EXT_MAPPING = 62
    CMD_EXT_WRITE_MAPPING = 63
    CMD_EXT_READ_MAPPING = 64
    
    # Python interpreter functions:
    # only for debugging...
    CMD_EXEC_PYSTRING = 65

    # starts uploaded file
    CMD_START_PYFILE = 66

    # upload file
    CMD_SET_PYFILE = 67

    # download file
    CMD_GET_PYFILE = 68

    # restart interpreter to stop execution
    CMD_STOP_INTERPRETER = 69

    # write on 2nd Line of LCD
    CMD_WRITE_LCD = 70

    CMD_AUTOMATIC_CHARGE = 71
    
    # start/stop motionthread to decrease load of computer for other tasks
    CMD_STOP_MOTIONTHREAD = 72
    CMD_RESTART_MOTIONTHREAD = 73

    # send current position of platform only
    CMD_GET_POSITION = 74

    # group debug
    CMD_SHUTDOWN_HOST = 99
    
    
class MotionModes(object):
    MODE_MOTION_NO = 0
    MODE_MOTION_JOYHARD = 1
    MODE_MOTION_JOYSOFT = 2
    MODE_MOTION_VEL = 3
    MODE_MOTION_AUTOMATIC = 4
    MODE_MOTION_PROGRAM = 5
    MODE_MOTION_POST_PROCESS_REPLAY = 6
    
    
class BoardType(object):
    ##############################################################
    # Trick : "a, b, c, d, .... = range(n)" gives a=1, b=2, etc  #
    ##############################################################
    TYPE_IOBOARD, \
    TYPE_RELAYBOARD, \
    TYPE_USBOARD, \
    TYPE_RADARBOARD1, \
    TYPE_RADARBOARD2, \
    TYPE_GYROBOARD = range(6)
    
    
class PlannerStates(object):
    PLANNER_STANDBY = 0
    PLANNER_PLANNING = 1
    PLANNER_NO_PATH = 2
    PLANNER_PATH_FOUND = 3
    PLANNER_COLLISION_START = 4
    PLANNER_COLLISION_TARGET = 5
    
    
class EventTypes(object):
    EV_START_CHARGE, \
    EV_STOP_ALARM, \
    EV_START_POST_PROCESS_RECORDING, \
    EV_STOP_POST_PROCESS_RECORDING, \
    EV_START_POST_PROCESS_REPLAY, \
    EV_STOP_POST_PROCESS_REPLAY, \
    EV_BREAK_POST_PROCESS_REPLAY, \
    EV_CONTINUE_POST_PROCESS_REPLAY, \
    EV_START_ZERO_GYRO, \
    EV_STOP_ZERO_GYRO = range(10)
    
    
class AppErrTypes(object):
    APP_ERR_NONE = 0
    APP_ERR_DOCKING = 1
    
    
class MouseEvent(object):
    MOUSE_PRESSED_BUTTON1, \
    MOUSE_PRESSED_BUTTON2, \
    MOUSE_PRESSED_BUTTON3, \
    MOUSE_RELEASED_BUTTON1, \
    MOUSE_RELEASED_BUTTON2, \
    MOUSE_RELEASED_BUTTON3, \
    MOUSE_DRAGGED_BUTTON1, \
    MOUSE_DRAGGED_BUTTON2, \
    MOUSE_DRAGGED_BUTTON3 = range(9)
    
    
class StateOperation(object):
    ST_OP_STOPPED, \
    ST_OP_RUNNING, \
    ST_OP_BREAKED, \
    ST_OP_NOT_INITIALIZED = range(4)
    
    
class StateEmergency(object):
    ST_EM_NOT_ACTIVE, \
    ST_EM_SCANNER_ACTIVE, \
    ST_EM_STOP_ACTIVE, \
    ST_EM_SCANNER_RESET, \
    ST_EM_STOP_RESET = range(5)
    
    
class PltfParams(object):
    
    # Types
    BOOLEAN = 0
    INTEGER = 1 
    DOUBLE = 2
    
    # Categories
    GEOM = 0
    PLANNING = 1
    IPO = 2
    LOCALIZATION = 3
    TRACKING_DETECTION = 4
    COLLISION = 5
    SURVEILLANCE = 6 
    MOTION_CTRL = 7
    MAPPING = 8
    USONIC = 9
    INFRARED = 10
    
    # Parameters
    PltfLength = ('PltfLength', GEOM, INTEGER)
    DistWheels = ('DistWheels', GEOM, INTEGER)
    DistPltfCenterToWheelAxis = ('DistPltfCenterToWheelAxis', GEOM, INTEGER)
    
    PlanningEnabled = ('PlanningEnabled', PLANNING, BOOLEAN)
    ViewPlanObstEnabled = ('ViewPlanObstEnabled', PLANNING, BOOLEAN)
    SimuOnlineEnabledPostDis = ('SimuOnlineEnabledPostDis', PLANNING, BOOLEAN)
    
    IpoTransVel = ('IpoTransVel', IPO, INTEGER)
    IpoTransAcc = ('IpoTransAcc', IPO, INTEGER)
    IpoRotVel = ('IpoRotVel', IPO, DOUBLE)
    IpoRotAcc = ('IpoRotAcc', IPO, DOUBLE)
    MotionBackwardEnabled = ('MotionBackwardEnabled', IPO, BOOLEAN)
    
    LineExtractMinSegLen = ('LineExtractMinSegLen', LOCALIZATION, DOUBLE)
    LineExtractMaxCov = ('LineExtractMaxCov', LOCALIZATION, INTEGER)
    LocalLocalization = ('LocalLocalization', LOCALIZATION, BOOLEAN)
    GlobalLocalization = ('GlobalLocalization', LOCALIZATION, BOOLEAN)
    MappingMode = ('MappingMode', LOCALIZATION, INTEGER)
    
    TrackingEnabled = ('TrackingEnabled', TRACKING_DETECTION, BOOLEAN)
    PersonDetectionEnabled = ('PersonDetectionEnabled', TRACKING_DETECTION, BOOLEAN)
    BallDetectionEnabled = ('BallDetectionEnabled', TRACKING_DETECTION, BOOLEAN)
    ChargeStationDetectEnabled = ('ChargeStationDetectEnabled', TRACKING_DETECTION, BOOLEAN)
    
    CollLaserMinDist = ('CollLaserMinDist', COLLISION, INTEGER)
    CollLaserMaxDist = ('CollLaserMaxDist', COLLISION, INTEGER)
    CollLaserEnabled = ('CollLaserEnabled', COLLISION, BOOLEAN)
    CollUSEnabled = ('CollUSEnabled', COLLISION, BOOLEAN)
    CollOptoEnabled = ('CollOptoEnabled', COLLISION, BOOLEAN)
    CollType = ('CollType', COLLISION, INTEGER)
    CollCircleMinDist = ('CollCircleMinDist', COLLISION, INTEGER)
    CollRectDistToFront = ('CollRectDistToFront', COLLISION, INTEGER)
    CollRectDistToBack = ('CollRectDistToBack', COLLISION, INTEGER)
    CollRectDistToSide = ('CollRectDistToSide', COLLISION, INTEGER)

    PIRSensorsEnabled = ('PIRSensorsEnabled', SURVEILLANCE, BOOLEAN)
    RadarSensorsEnabled = ('RadarSensorsEnabled', SURVEILLANCE, BOOLEAN)
    ScannerSurveillance = ('ScannerSurveillance', SURVEILLANCE, BOOLEAN)
    FlashlightEnabled = ('FlashlightEnabled', SURVEILLANCE, BOOLEAN)
    SurveillanceModeEnabled = ('SurveillanceModeEnabled', SURVEILLANCE, BOOLEAN)
    
    MotionCtrlType = ('MotionCtrlType', MOTION_CTRL, INTEGER)
    PositionStabilizationEnabled = ('PositionStabilizationEnabled', MOTION_CTRL, BOOLEAN)
    PathFollowParam1 = ('PathFollowParam1', MOTION_CTRL, DOUBLE)
    PathFollowParam2 = ('PathFollowParam2', MOTION_CTRL, DOUBLE)
    NonLinearCtrlParam1 = ('NonLinearCtrlParam1', MOTION_CTRL, DOUBLE)
    NonLinearCtrlParam2 = ('NonLinearCtrlParam2', MOTION_CTRL, DOUBLE)
    NonLinearCtrlParam3 = ('NonLinearCtrlParam3', MOTION_CTRL, DOUBLE)
    
    MinLineLenMap = ('MinLineLenMap', MAPPING, INTEGER)
    MinLineLenAux = ('MinLineLenAux', MAPPING, INTEGER)