vehicleSim.h

/*****************************************************************************
 *  Copyright (c) 2008, University of Florida
 *  All rights reserved.
 *  
 *  This file is part of OpenJAUS.  OpenJAUS is distributed under the BSD 
 *  license.  See the LICENSE file for details.
 * 
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 *  are met:
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 *       notice, this list of conditions and the following disclaimer.
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 *       with the distribution.
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#ifndef VEHICLE_SIM_H
#define VEHICLE_SIM_H

#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif

#define VEHICLE_SIM_LOAD_CONFIGURATION_ERROR	-1
#define VEHICLE_SIM_MALLOC_ERROR				-2
#define VEHICLE_SIM_THREAD_CREATE_ERROR			-4

#define VEHICLE_SIM_THREAD_TIMEOUT_SEC			1.0

#define VEHICLE_SIM_UNDEFINED_STATE		-1
#define VEHICLE_SIM_UNKNOWN_STATE		-1
#define VEHICLE_SIM_INVALID_STATE		-1
#define VEHICLE_SIM_MANUAL_STATE		0
#define VEHICLE_SIM_HOMING_STATE		1
#define VEHICLE_SIM_READY_STATE			2
#define VEHICLE_SIM_SHUTDOWN_STATE		3

#define VEHICLE_SIM_RUN		0
#define VEHICLE_SIM_PAUSE	1

#define VEHICLE_SIM_AUTO_STATE	1

#include "utm/pointLla.h"
#include "utm/pointUtm.h"
#include "utm/utmLib.h"

int vehicleSimStartup(void);
int vehicleSimShutdown(void);

double vehicleSimGetUpdateRate(void);
int vehicleSimGetState(void);

PointLla vehicleSimGetPositionLla(void);
double vehicleSimGetX(void);
double vehicleSimGetY(void);
double vehicleSimGetH(void);
double vehicleSimGetSpeed(void);

double vehicleSimGetRotateEffort(void);

int vehicleSimGetRunPause(void);
void vehicleSimToggleRunPause(void);
void vehicleSimSetCommand(double, double, double);
double vehicleSimGetLinearEffortX(void);
double vehicleSimGetResistiveEffortX(void);
double vehicleSimGetRotationalEffort(void);

#endif // VEHICLE_SIM_H