00001 #ifndef __V24_COMMANDS_H__
00002 #define __V24_COMMANDS_H__
00003
00004
00005
00006 #define V24_COMMAND_SYNC_COMMAND 0x00 // sync command (FROM GUI)
00007 #define V24_COMMAND_SYNC_OK_COMMAND 0xff // acknowledge synchronization (TO GUI)
00008
00009 #define V24_COMMAND_LED_ON 0x01 // LED Test "on" (FROM GUI)
00010 #define V24_COMMAND_LED_OFF 0x02 // LED Test "off" (FROM GUI)
00011
00012 #define V24_COMMAND_GET_GAMMA 0x03 // set gamma to GUI (FROM GUI)
00013 #define V24_COMMAND_SET_GAMMA 0x04 // set local gamma (FROM GUI, TO GUI)
00014
00015 #define V24_COMMAND_SET_GRIDSIZE 0x05 // set grid size (TO GUI)
00016 #define V24_COMMAND_GET_GRIDSIZE 0x06 // send grid size to GUI (FROM GUI)
00017
00018 #define V24_COMMAND_START_WALKING 0x07 // walk current policy (FROM GUI)
00019 #define V24_COMMAND_STOP_WALKING 0x08 // stop walking (FROM GUI)
00020
00021 #define V24_COMMAND_SET_STATE 0x09 // set a state (value+rewards) (FROM GUI, TO GUI)
00022 #define V24_COMMAND_GET_STATE 0x0A // send a state to the GUI (value+rewards) (FROM GUI)
00023
00024 #define V24_COMMAND_WRITE_RAM_BYTES 0x0B // (Ramtest) write 16 bytes into the memory (FROM GUI, TO GUI)
00025 #define V24_COMMAND_READ_RAM_BYTES 0x0C // (Ramtest) send 16 bytes from the memory to the GUI (FROM GUI)
00026
00027 #define V24_COMMAND_EXPLORE_FEEDBACK 0x0D // explore environment (FROM GUI)
00028
00029 #define V24_COMMAND_COMMAND_OK 0x0E // signal that command arrived successfully (TO GUI)
00030 #define V24_COMMAND_COMMAND_ERROR 0x0F // signal that command that an error occured (TO GUI)
00031
00032 #define V24_COMMAND_GET_CURRENT_STATE_MODE_ITERATIONS 0x10 // get current state, mode (FROM GUI)
00033 #define V24_COMMAND_SET_CURRENT_STATE_MODE_ITERATIONS 0x11 // send current state, mode and iteration# to GUI and iteration# (TO GUI)
00034
00035 #define V24_COMMAND_SET_ALL_STATES_AND_GAMMA 0x12 // set all states (values+rewards) (FROM GUI, TO GUI)
00036 #define V24_COMMAND_GET_ALL_STATES_AND_GAMMA 0x13 // get all states (values+rewards) (FROM GUI)
00037
00038 #define V24_COMMAND_GET_RAMSIZE 0x14 // get memory size (FROM GUI)
00039 #define V24_COMMAND_SET_RAMSIZE 0x15 // send memory size (TO GUI)
00040
00041 #define V24_COMMAND_START_LEARNING 0x16 // robot should only perform value-iteration (FROM GUI)
00042
00043 #define V24_COMMAND_GET_DISTANCE 0x17 // get distance covered (FROM GUI)
00044 #define V24_COMMAND_SET_DISTANCE 0x18 // set distance covered (TO GUI)
00045 #define V24_COMMAND_RESET_DISTANCE_COUNTER 0x19 // reset distance counter (FROM GUI)
00046
00047 #define V24_COMMAND_SET_EXPLORATION_CONFIG 0x1A // set exploration mode+parameter (FROM GUI, TO GUI)
00048 #define V24_COMMAND_GET_EXPLORATION_CONFIG 0x1C // get exploration mode+parameter (FROM GUI)
00049
00050 #define V24_COMMAND_WALK_AND_RETURN 0x1B // perform next action and return reward (FROM GUI)
00051 #define V24_COMMAND_WALK_AND_RETURN_RESPONSE 0x1C // returns reward + successor state (TO GUI)
00052
00053
00054 #define V24_COMMAND_GET_DEBUG 0x1D // returns user defined debug information (FROM GUI)
00055
00056 #define V24_COMMAND_GET_CURRENT_STATE 0x1E // request for current robot state (FROM GUI)
00057 #define V24_COMMAND_SET_CURRENT_STATE 0x1F // response for current robot state (TO GUI)
00058
00059
00060
00061 #define V24_DATA_SERVO_X 0x01
00062 #define V24_DATA_SERVO_Y 0x02
00063 #define V24_DATA_SERVO_Z 0x03
00064
00065
00066 #define V24_ERRORCODE_UNKNOWN_COMMAND 0x01
00067 #define V24_ERRORCODE_GRIDSIZE_TOO_LARGE 0x02
00068 #define V24_ERRORCODE_SIZE_ERROR 0x03
00069
00070
00071 #endif