Pioneer 2 / PeopleBot manual SERAUXpac and Getaux

ActivMedia Robotics

Send the CONFIG command #18 with or without an argument to have P2OS send back a special server information packet containing the robot's operational parameters. The CONFIGpac SIP packet type is 32 (0x20). The next chapter gives details about the configuration packet data.

/* Send commands and retrieve responses via the P2OS AUX serial port */

#define SERAUXpac 0xB0 int serbytes, inbufptr; char inbuf[200];

...

/* Replace Saphira's default packet processor with

our own that can detect and parse SERAUXpac packets */ void myStartupFn(void)

{

sfInitProcess(myPackets, "GetAuxPkt");

sfRemoveTask("packets"); /* default packet processing */

...

}

/* SERAUXpac packet processor */ void myPackets(void)

{

char packet_type; if (sfIsConnected)

{

while(sfHaveClientPacket())

{

packet_type = sfReadClientByte(); if (packet_type == SERAUXpac)

{

/* get aux serbytes into inbuf */ while (inbufptr++ < serbytes)

inbuf[inbufptr] = sfReadClientByte();

}

/* If not SERAUXpac, send along to default */ else

sfProcessClientPacket(packet_type);

}

}

void main(int argc, char **argv)

{

/* Initialize client and connect with robot */

...	/* flush the aux buffer */
sfRobotComInt(43,0);

sfRobotComStrn(42,"fictitious command",18); /* send command to AUX device */ inbufptr = 0;

serbytes = 10; /* number of response bytes to retrieve */ sfRobotComInt(43,serbytes); /* Expect a 10 byte response */

...

}

SERAUXpac and GETAUX

P2OS 1.4 implemented two-way communications through the AUX serial port on the microcontroller. And with those earlier versions of P2OS, you are able to send a string of data (a command or otherwise) from the Host port-connected client to an AUX port- connected serial device (TTY2 command number 42), but you could not get data back from that device.

Now P2OS maintains a circular buffer for incoming serial data from the AUX port and sends successive portions of the buffer to your client via the Host port depending on the

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