52 #include "playerconfig.h"
64 #define PLAYER_MAX_MESSAGE_SIZE 8388608
66 #define PLAYER_MAX_PAYLOAD_SIZE (PLAYER_MAX_MESSAGE_SIZE - sizeof(player_msghdr_t))
68 #define PLAYER_MAX_DRIVER_STRING_LEN 64
70 #define PLAYER_MAX_DEVICES 4096
72 #define PLAYER_MSGQUEUE_DEFAULT_MAXLEN 1024
74 #define PLAYER_IDENT_STRING "Player v."
76 #define PLAYER_IDENT_STRLEN 32
78 #define PLAYER_KEYLEN 32
91 #define PLAYER_MSGTYPE_DATA 1
95 #define PLAYER_MSGTYPE_CMD 2
102 #define PLAYER_MSGTYPE_REQ 3
108 #define PLAYER_MSGTYPE_RESP_ACK 4
113 #define PLAYER_MSGTYPE_SYNCH 5
121 #define PLAYER_MSGTYPE_RESP_NACK 6
389 #define PLAYER_CAPABILTIES_REQ 255
408 #define PLAYER_GET_INTPROP_REQ 254
409 #define PLAYER_SET_INTPROP_REQ 253
410 #define PLAYER_GET_DBLPROP_REQ 252
411 #define PLAYER_SET_DBLPROP_REQ 251
412 #define PLAYER_GET_STRPROP_REQ 250
413 #define PLAYER_SET_STRPROP_REQ 249
414 #define PLAYER_GET_BOOLPROP_REQ 248
415 #define PLAYER_SET_BOOLPROP_REQ 247
506 #include <libplayerinterface/player_interfaces.h>
double y0
Endpoints [m].
Definition: player.h:292
struct player_segment player_segment_t
A line segment, used to construct vector-based maps.
double y1
Endpoints [m].
Definition: player.h:312
double sl
Length [m].
Definition: player.h:246
uint8_t state
state
Definition: player.h:332
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition: player.h:149
double ppitch
pitch [rad]
Definition: player.h:235
Vectormap feature data.
Definition: player.h:261
A rectangular bounding box, used to define the size of an object.
Definition: player.h:250
Generic message header.
Definition: player.h:157
char value
The property value.
Definition: player.h:425
A rectangular bounding box, used to define the origin and bounds of an object.
Definition: player.h:303
uint32_t key_count
The property key's length.
Definition: player.h:443
A color descriptor.
Definition: player.h:316
double value
The property value.
Definition: player.h:447
double px
X [m].
Definition: player.h:216
struct player_uint32 player_uint32_t
Structure for messages returning a single integer.
struct player_point_3d player_point_3d_t
A point in 3D space.
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:160
double py
Y [m].
Definition: player.h:229
double proll
roll [rad]
Definition: player.h:205
double y1
Endpoints [m].
Definition: player.h:296
Request to get a double property.
Definition: player.h:440
A pose in the plane.
Definition: player.h:213
double x1
Endpoints [m].
Definition: player.h:310
struct player_bbox2d player_bbox2d_t
A rectangular bounding box, used to define the size of an object.
uint32_t data_count
Entry data length.
Definition: player.h:276
An angle in 3D space.
Definition: player.h:202
double x0
Endpoints [m].
Definition: player.h:290
A device address.
Definition: player.h:141
double pyaw
yaw [rad]
Definition: player.h:209
double py
Y [m].
Definition: player.h:195
uint32_t key_count
Length of key in bytes.
Definition: player.h:264
struct player_color player_color_t
A color descriptor.
struct player_bbox3d player_bbox3d_t
A rectangular bounding box, used to define the size of an object.
struct player_pose2d player_pose2d_t
A pose in the plane.
uint8_t alpha
Alpha (transparency) channel.
Definition: player.h:319
uint8_t green
Green color channel.
Definition: player.h:323
struct player_msghdr player_msghdr_t
Generic message header.
uint32_t group_count
Second identifier count.
Definition: player.h:268
uint32_t host
The "host" on which the device resides.
Definition: player.h:144
A point in the plane.
Definition: player.h:180
double py
Y [m].
Definition: player.h:185
uint32_t timestamp_usec
Time of entry creation.
Definition: player.h:282
Structure for messages returning a single integer.
Definition: player.h:336
uint32_t timestamp_sec
Time of entry creation.
Definition: player.h:280
uint32_t key_count
The property key's length.
Definition: player.h:421
double sw
Width [m].
Definition: player.h:253
double px
X [m].
Definition: player.h:227
double x1
Endpoints [m].
Definition: player.h:294
double pa
yaw [rad]
Definition: player.h:220
uint32_t key_count
The property key's length.
Definition: player.h:432
uint32_t size
Size in bytes of the payload to follow.
Definition: player.h:170
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:162
uint32_t robot
The "robot" or device collection in which the device resides.
Definition: player.h:147
char * group
Second identifier.
Definition: player.h:270
double pz
Z [m].
Definition: player.h:197
struct player_point_2d player_point_2d_t
A point in the plane.
A rectangular bounding box, used to define the size of an object.
Definition: player.h:241
double px
X [m].
Definition: player.h:183
Request to get a boolean property.
Definition: player.h:418
int32_t value
The property value.
Definition: player.h:436
char * key
Identifier for the entry.
Definition: player.h:266
double x0
Origin x [m].
Definition: player.h:306
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:166
char * value
The property value.
Definition: player.h:460
uint16_t type
Entry data type.
Definition: player.h:272
double px
X [m].
Definition: player.h:193
uint32_t value_count
The property's length.
Definition: player.h:458
double pyaw
yaw [rad]
Definition: player.h:237
double ppitch
pitch [rad]
Definition: player.h:207
double sl
Length [m].
Definition: player.h:255
Structure containing a single capability request.
Definition: player.h:392
struct player_orientation_3d player_orientation_3d_t
An angle in 3D space.
A boolean variable, 0 for false anything else for true.
Definition: player.h:329
double sw
Width [m].
Definition: player.h:244
struct player_bool player_bool_t
A boolean variable, 0 for false anything else for true.
struct player_devaddr player_devaddr_t
A device address.
double sh
Height [m].
Definition: player.h:257
double y0
Origin y [m].
Definition: player.h:308
struct player_pose3d player_pose3d_t
A pose in space.
uint32_t seq
For keeping track of associated messages.
Definition: player.h:168
uint32_t key_count
The property key's length.
Definition: player.h:454
A pose in space.
Definition: player.h:224
uint8_t * data
Entry data.
Definition: player.h:278
char * key
The property key.
Definition: player.h:434
A point in 3D space.
Definition: player.h:190
double py
Y [m].
Definition: player.h:218
char * key
The property key.
Definition: player.h:423
Request to get a string property.
Definition: player.h:451
Request to get an integer property.
Definition: player.h:429
struct player_blackboard_entry player_blackboard_entry_t
Vectormap feature data.
uint8_t subtype
Message subtype; interface specific.
Definition: player.h:164
uint8_t blue
Blue color channel.
Definition: player.h:325
double proll
roll [rad]
Definition: player.h:233
double pz
Z [m].
Definition: player.h:231
uint8_t red
Red color channel.
Definition: player.h:321
A line segment, used to construct vector-based maps.
Definition: player.h:287
char * key
The property key.
Definition: player.h:445
uint32_t type
The type of the requested capability (i.e.
Definition: player.h:395
uint32_t subtype
The subtype of the requested capability (i.e.
Definition: player.h:397
uint16_t subtype
Entry data subtype.
Definition: player.h:274
char * key
The property key.
Definition: player.h:456
struct player_extent2d player_extent2d_t
A rectangular bounding box, used to define the origin and bounds of an object.
uint16_t index
Which device of that interface.
Definition: player.h:151