Module pioneer

Index

Declarations

p3dx.occ:24Function calculate.checksum

INT FUNCTION calculate.checksum (VAL []BYTE data)

p3dx.occ:44Protocol P.PKT

PROTOCOL P.PKT IS INT; MOBILE []BYTE:

p3dx.occ:46Process packet.decoder

PROC packet.decoder (CHAN BYTE in?, CHAN BOOL shutdown?, CHAN P.PKT out!)

p3dx.occ:95Process packet.encoder

PROC packet.encoder (CHAN MOBILE []BYTE in?, CHAN BOOL shutdown?, CHAN BYTE out!)

p3dx.occ:118Process command.encoder

PROC command.encoder (CHAN P.PIONEER.CMD in?, CHAN MOBILE []BYTE out!)

p3dx.occ:162Process wait.for.packet

PROC wait.for.packet (VAL INT timeout.us, CHAN P.PKT pkt.in?, RESULT MOBILE []BYTE buffer)

p3dx.occ:178Process try.command

PROC try.command (VAL BYTE cmd, RESULT BOOL ready, RESULT MOBILE []BYTE buffer, CHAN P.PKT pkt.in?, CHAN P.PIONEER.CMD cmd.out!)

p3dx.occ:191Process delay.us

PROC delay.us (VAL INT delay)

p3dx.occ:199Process initialise

PROC initialise (CHAN P.PKT pkt.in?, CHAN P.PIONEER.CMD cmd.out!, RESULT BOOL ready)

p3dx.occ:212Process command.sequencer

PROC command.sequencer (VAL INT spacing, CHAN P.PIONEER.CMD in?, out!)

p3dx.occ:241Process packet.server

PROC packet.server (CHAN BOOL req?, CHAN P.PKT in?, out!)

p3dx.occ:255Protocol P.RAW.SONAR

PROTOCOL P.RAW.SONAR IS INT; MOBILE []SONAR.UPDATE:

p3dx.occ:257Process packet.processor

PROC packet.processor (CHAN BOOL req!, CHAN P.PKT in?, CHAN POS ps!, CHAN P.RAW.SONAR ss!, CHAN MOTOR ms!, CHAN GRIP gs!)

p3dx.occ:330Process position.server

PROC position.server (CHAN POS state.in?, CT.POSITION? svr)

p3dx.occ:358Process sonar.server

PROC sonar.server (VAL REAL32 range.conv.factor, CHAN P.RAW.SONAR state.in?, CT.SONAR? svr, SHARED CHAN P.PIONEER.CMD cmd.svr!)

p3dx.occ:441Function limit.int

INT FUNCTION limit.int (VAL INT v, l, u)

p3dx.occ:453Function limit.to.int17

INT FUNCTION limit.to.int17 (VAL INT v)

p3dx.occ:455Process drive.server

PROC drive.server (CHAN MOTOR state.in?, CT.DRIVE? svr, SHARED CHAN P.PIONEER.CMD cmd.svr!)

p3dx.occ:572Process gripper.server

PROC gripper.server (CHAN GRIP state.in?, CT.GRIPPER? svr, SHARED CHAN P.PIONEER.CMD cmd.svr!)

p3dx.occ:687Process p3dx

PROC p3dx (VAL []BYTE device, CHAN BOOL ok.and.ready!, CT.DRIVE? drive, CT.GRIPPER? gripper, CT.POSITION? position, CT.SONAR? sonar)