text: /*
   *  Copyright (c) 2006-2013 Harald Roeck <harald.roeck@gmail.com>
   *                      and Rainer Trummer <rainer.trummer@gmail.com>
   *
   *  Department of Computer Sciences, www.cs.uni-salzburg.at
   *  University of Salzburg, www.uni-salzburg.at
   *
   */
  
  /*
   *  This program is free software; you can redistribute it and/or modify
   *  it under the terms of the GNU General Public License as published by
   *  the Free Software Foundation; either version 2 of the License, or
   *  (at your option) any later version.
   *
   *  This program is distributed in the hope that it will be useful,
   *  but WITHOUT ANY WARRANTY; without even the implied warranty of
   *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   *  GNU General Public License for more details.
   *
   *  You should have received a copy of the GNU General Public License
   *  along with this program; if not, write to the Free Software
   *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307, USA
   *
   */
  
  #ifndef JAVIATOR_PORT_H
  #define JAVIATOR_PORT_H
  
  #include "comm_channel.h"
  #include "communication.h"
  #include "javiator_data.h"
  #include "motor_signals.h"
  
  //#define SHORT_JAVIATOR_DATA
  
  int javiator_port_init( comm_channel_t *channel );
  #ifdef SHORT_JAVIATOR_DATA
  int javiator_port_get_data( javiator_sdat_t *data );
  #else
  int javiator_port_get_data( javiator_ldat_t *data );
  #endif
  int javiator_port_send_ctrl_period( int period );
  
  int javiator_port_send_enable_sensors( int enable );
  
  int javiator_port_send_motor_signals( const motor_signals_t *signals );
  
  int javiator_port_forward( const comm_packet_t *packet );
  
  #endif /* !JAVIATOR_PORT_H */
  
  /* End of file */
  