#ifndef T_RUN_CTRL_H
#define T_RUN_CTRL_H

/*!
  \file
  \brief ターゲット用の走行制御プログラム

  \author Satofumi KAMIMURA

  $Id: tRunCtrl.h 286 2008-10-20 09:40:22Z satofumi $
*/


#ifndef PACKAGE_NUM_VERSION
#define PACKAGE_NUM_VERSION 210
#endif
#ifndef PACKAGE_STR_VERSION
#define PACKAGE_STR_VERSION "2.1.0"
#endif

#define V_COMMAND_REPLY \
"V\n"\
"0\n"\
"VEND:Tsukuba Intelligent Robot Laboratory\n"\
"PROD:Run Control Board\n"\
"FIRM:" PACKAGE_STR_VERSION " (tRunCtrl)\n"\
"PROT: 00001,(SCIP 1.0),V command only\n"\
"SERI: 00000 (dummy)\n\n"


enum SystemParameter {
  RUN_CTRL_TARGET_ID = 0x00100200,
  SMP_MSEC = 1,
  SMP_USEC = SMP_MSEC * 1000,

  INT_SCI_LEVEL = 6,
  INT_MTU_LEVEL = 4,
};


enum SymulatorParameter {
  SIMULATOR_T_RUN_CTRL_PORT = 49754,
};


#endif /* !T_RUN_CTRL_H */
