player_interfaces.h

00001 /* START OF AUTOGENERATED CODE */
00002 /* This file or section was automatically generated by playerinterfacegen.py
00003 To modify the interfaces in this file please edit their interface definition in libplayercore/interfaces/ */
00004 
00007 #define PLAYER_DIO_CODE 20
00008 
00011 #define PLAYER_DIO_STRING "dio" 
00012 
00013 // /////////////////////////////////////////////////////////////////////////////
00028 #define PLAYER_DIO_DATA_VALUES 1
00029 
00030 
00031 #define PLAYER_DIO_CMD_VALUES 1
00032 
00033 
00038 typedef struct player_dio_data
00039 {
00041   uint32_t count;
00043   uint32_t bits;
00044 } player_dio_data_t;
00045 
00050 typedef struct player_dio_cmd
00051 {
00053   uint32_t count;
00055   uint32_t digout;
00056 } player_dio_cmd_t;
00057 
00066 #define PLAYER_RANGER_CODE 62
00067 
00070 #define PLAYER_RANGER_STRING "ranger" 
00071 
00072 // /////////////////////////////////////////////////////////////////////////////
00106 #define PLAYER_RANGER_DATA_RANGE 1
00107 
00109 #define PLAYER_RANGER_DATA_RANGEPOSE 2
00110 
00112 #define PLAYER_RANGER_DATA_INTNS 3
00113 
00115 #define PLAYER_RANGER_DATA_INTNSPOSE 4
00116 
00118 #define PLAYER_RANGER_DATA_GEOM 5
00119 
00121 #define PLAYER_RANGER_REQ_GET_GEOM 1
00122 
00124 #define PLAYER_RANGER_REQ_POWER 2
00125 
00127 #define PLAYER_RANGER_REQ_INTNS 3
00128 
00130 #define PLAYER_RANGER_REQ_SET_CONFIG 4
00131 
00133 #define PLAYER_RANGER_REQ_GET_CONFIG 5
00134 
00135 
00136 
00140 typedef struct player_ranger_geom
00141 {
00143   player_pose3d_t pose;
00145   player_bbox3d_t size;
00147   uint32_t sensor_poses_count;
00149   player_pose3d_t *sensor_poses;
00151   uint32_t sensor_sizes_count;
00153   player_bbox3d_t *sensor_sizes;
00154 } player_ranger_geom_t;
00155 
00159 typedef struct player_ranger_data_range
00160 {
00162   uint32_t ranges_count;
00164   double *ranges;
00165 } player_ranger_data_range_t;
00166 
00171 typedef struct player_ranger_data_rangepose
00172 {
00174   player_ranger_data_range_t data;
00176   player_ranger_geom_t geom;
00177 } player_ranger_data_rangepose_t;
00178 
00182 typedef struct player_ranger_data_intns
00183 {
00185   uint32_t intensities_count;
00187   double *intensities;
00188 } player_ranger_data_intns_t;
00189 
00194 typedef struct player_ranger_data_intnspose
00195 {
00197   player_ranger_data_intns_t data;
00199   player_ranger_geom_t geom;
00200 } player_ranger_data_intnspose_t;
00201 
00205 typedef struct player_ranger_power_config
00206 {
00208   uint8_t state;
00209 } player_ranger_power_config_t;
00210 
00217 typedef struct player_ranger_intns_config
00218 {
00220   uint8_t state;
00221 } player_ranger_intns_config_t;
00222 
00226 typedef struct player_ranger_config
00227 {
00229   double min_angle;
00231   double max_angle;
00233   double resolution;
00235   double max_range;
00237   double range_res;
00239   double frequency;
00240 } player_ranger_config_t;
00241 
00242 
00243  
00249 #define PLAYER_BLINKENLIGHT_CODE 33
00250 
00253 #define PLAYER_BLINKENLIGHT_STRING "blinkenlight" 
00254 
00255 // /////////////////////////////////////////////////////////////////////////////
00274 #define PLAYER_BLINKENLIGHT_DATA_STATE 1
00275 
00276 
00277 #define PLAYER_BLINKENLIGHT_CMD_STATE 1
00278 
00279 
00280 #define PLAYER_BLINKENLIGHT_CMD_POWER 2
00281 
00282 
00283 #define PLAYER_BLINKENLIGHT_CMD_COLOR 3
00284 
00285 
00286 #define PLAYER_BLINKENLIGHT_CMD_FLASH 4
00287 
00288 
00292 typedef struct player_blinkenlight_data
00293 {
00295   uint8_t enable;
00297   float period;
00299   float dutycycle;
00301   player_color_t color;
00302 } player_blinkenlight_data_t;
00303 
00307 typedef struct player_blinkenlight_cmd
00308 {
00310   uint16_t id;  
00312   uint8_t enable;
00314   float period;
00316   float dutycycle;
00318   player_color_t color;
00319 } player_blinkenlight_cmd_t;
00320 
00324 typedef struct player_blinkenlight_cmd_power
00325 {
00327   uint16_t id;  
00329   uint8_t enable;
00330 } player_blinkenlight_cmd_power_t;
00331 
00335 typedef struct player_blinkenlight_cmd_color
00336 {
00338   uint16_t id;  
00340   player_color_t color;
00341 } player_blinkenlight_cmd_color_t;
00342         
00346 typedef struct player_blinkenlight_cmd_flash
00347 {
00349   uint16_t id;  
00351   float period;
00353   float dutycycle;  
00354 } player_blinkenlight_cmd_flash_t;
00355 
00356 
00357  
00363 #define PLAYER_BLACKBOARD_CODE 64
00364 
00367 #define PLAYER_BLACKBOARD_STRING "blackboard" 
00368 
00369 // /////////////////////////////////////////////////////////////////////////////
00383 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY 1
00384 
00386 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY 2
00387 
00389 #define PLAYER_BLACKBOARD_REQ_SET_ENTRY 3
00390 
00392 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP 4
00393 
00395 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP 5
00396 
00398 #define PLAYER_BLACKBOARD_DATA_UPDATE 1
00399 
00400 
00401 
00402 
00403  
00409 #define PLAYER_WIFI_CODE 23
00410 
00413 #define PLAYER_WIFI_STRING "wifi" 
00414 
00415 // /////////////////////////////////////////////////////////////////////////////
00431 #define PLAYER_WIFI_REQ_MAC 1
00432 
00434 #define PLAYER_WIFI_REQ_IWSPY_ADD 2
00435 
00437 #define PLAYER_WIFI_REQ_IWSPY_DEL 3
00438 
00440 #define PLAYER_WIFI_REQ_IWSPY_PING 4
00441 
00443 #define PLAYER_WIFI_DATA_STATE 1
00444 
00445 
00446 
00448 #define PLAYER_WIFI_QUAL_DBM     1
00449 
00450 #define PLAYER_WIFI_QUAL_REL     2
00451 
00452 #define PLAYER_WIFI_QUAL_UNKNOWN 3
00453 
00455 #define PLAYER_WIFI_MODE_UNKNOWN 0
00456 
00457 #define PLAYER_WIFI_MODE_AUTO    1
00458 
00459 #define PLAYER_WIFI_MODE_ADHOC   2
00460 
00461 #define PLAYER_WIFI_MODE_INFRA   3
00462 
00463 #define PLAYER_WIFI_MODE_MASTER  4
00464 
00465 #define PLAYER_WIFI_MODE_REPEAT  5
00466 
00467 #define PLAYER_WIFI_MODE_SECOND  6
00468 
00474 typedef struct player_wifi_link
00475 {
00477   uint32_t mac_count;
00478   uint8_t mac[32];
00480   uint32_t ip_count;
00481   uint8_t ip[32];
00483   uint32_t essid_count;
00484   uint8_t essid[32];
00486   uint32_t mode;
00488   uint32_t freq;
00490   uint32_t encrypt;
00492   uint32_t qual;
00494   uint32_t level;
00496   uint32_t noise;
00497 } player_wifi_link_t;
00498 
00502 typedef struct player_wifi_data
00503 {
00505   uint32_t links_count;
00507   player_wifi_link_t *links;
00509   uint32_t throughput;
00511   uint32_t bitrate;
00513   uint32_t mode;
00515   uint32_t qual_type;
00517   uint32_t maxqual;
00519   uint32_t maxlevel;
00521   uint32_t maxnoise;
00523   char ap[32];
00524 } player_wifi_data_t;
00525 
00527 typedef struct player_wifi_mac_req
00528 {
00530   uint32_t mac_count;
00531   uint8_t mac[32];
00532 } player_wifi_mac_req_t;
00533 
00535 typedef struct player_wifi_iwspy_addr_req
00536 {
00538   char      address[32];
00539 } player_wifi_iwspy_addr_req_t;
00540 
00541 
00542  
00548 #define PLAYER_PLANNER_CODE 44
00549 
00552 #define PLAYER_PLANNER_STRING "planner" 
00553 
00554 // /////////////////////////////////////////////////////////////////////////////
00569 #define PLAYER_PLANNER_DATA_STATE 1
00570 
00572 #define PLAYER_PLANNER_CMD_GOAL 1
00573 
00575 #define PLAYER_PLANNER_REQ_GET_WAYPOINTS 1
00576 
00578 #define PLAYER_PLANNER_REQ_ENABLE 2
00579 
00580 
00581 
00582 
00587 typedef struct player_planner_data
00588 {
00590   uint8_t valid;
00592   uint8_t done;
00594   player_pose2d_t pos;
00596   player_pose2d_t goal;
00598   player_pose2d_t waypoint;
00602   int32_t waypoint_idx;
00604   uint32_t waypoints_count;
00605 } player_planner_data_t;
00606 
00610 typedef struct player_planner_cmd
00611 {
00613   player_pose2d_t goal;
00614 } player_planner_cmd_t;
00615 
00621 typedef struct player_planner_waypoints_req
00622 {
00624   uint32_t waypoints_count;
00626   player_pose2d_t *waypoints;
00627 } player_planner_waypoints_req_t;
00628 
00634 typedef struct player_planner_enable_req
00635 {
00637   uint8_t state;
00638 } player_planner_enable_req_t;
00639 
00640 
00641  
00647 #define PLAYER_LOG_CODE 45
00648 
00651 #define PLAYER_LOG_STRING "log" 
00652 
00653 // /////////////////////////////////////////////////////////////////////////////
00671 #define PLAYER_LOG_REQ_SET_WRITE_STATE 1
00672 
00674 #define PLAYER_LOG_REQ_SET_READ_STATE 2
00675 
00677 #define PLAYER_LOG_REQ_GET_STATE 3
00678 
00680 #define PLAYER_LOG_REQ_SET_READ_REWIND 4
00681 
00683 #define PLAYER_LOG_REQ_SET_FILENAME 5
00684 
00685 
00686 
00688 #define  PLAYER_LOG_TYPE_READ       1
00689 
00690 #define  PLAYER_LOG_TYPE_WRITE      2
00691 
00692 
00697 typedef struct player_log_set_write_state
00698 {
00700   uint8_t state;
00701 } player_log_set_write_state_t;
00702 
00707 typedef struct player_log_set_read_state
00708 {
00710   uint8_t state;
00711 } player_log_set_read_state_t;
00712 
00718 typedef struct player_log_set_read_rewind
00719 {
00720 } player_log_set_read_rewind_t;
00721 
00726 typedef struct player_log_get_state
00727 {
00730   uint8_t type;
00732   uint8_t state;
00733 } player_log_get_state_t;
00734 
00739 typedef struct player_log_set_filename
00740 {
00742   uint32_t filename_count;
00744   char filename[256];
00745 } player_log_set_filename_t;
00746 
00747 
00748  
00754 #define PLAYER_MCOM_CODE 26
00755 
00758 #define PLAYER_MCOM_STRING "mcom" 
00759 
00760 // /////////////////////////////////////////////////////////////////////////////
00786 #define PLAYER_MCOM_REQ_PUSH 1
00787 
00789 #define PLAYER_MCOM_REQ_POP 2
00790 
00792 #define PLAYER_MCOM_REQ_READ 3
00793 
00795 #define PLAYER_MCOM_REQ_CLEAR 4
00796 
00798 #define PLAYER_MCOM_REQ_SET_CAPACITY 5
00799 
00800 
00801 
00803 #define  MCOM_EMPTY_STRING          "(EMPTY)"
00804 
00806 typedef struct player_mcom_data
00807 {
00809   char full;
00811   uint32_t data_count;
00813   char *data;
00814 } player_mcom_data_t;
00815 
00817 typedef struct player_mcom_config
00818 {
00820   uint32_t command;
00822   uint32_t type;
00824   uint32_t channel_count;
00826   char *channel;
00828   player_mcom_data_t data;
00829 } player_mcom_config_t;
00830 
00832 typedef struct player_mcom_return
00833 {
00835   uint32_t type;
00837   uint32_t channel_count;
00839   char *channel;
00841   player_mcom_data_t data;
00842 } player_mcom_return_t;
00843 
00844 
00845  
00851 #define PLAYER_SPEECH_CODE 12
00852 
00855 #define PLAYER_SPEECH_STRING "speech" 
00856 
00857 // /////////////////////////////////////////////////////////////////////////////
00872 #define PLAYER_SPEECH_CMD_SAY 1
00873 
00874 
00875 
00880 typedef struct player_speech_cmd
00881 {
00883   uint32_t string_count;
00885   char *string;
00886 } player_speech_cmd_t;
00887 
00888 
00889  
00895 #define PLAYER_IR_CODE 22
00896 
00899 #define PLAYER_IR_STRING "ir" 
00900 
00901 // /////////////////////////////////////////////////////////////////////////////
00917 #define PLAYER_IR_REQ_POSE 1
00918 
00920 #define PLAYER_IR_REQ_POWER 2
00921 
00923 #define PLAYER_IR_DATA_RANGES 1
00924 
00925 
00926 
00930 typedef struct player_ir_data
00931 {
00933   uint32_t voltages_count;
00935   float *voltages;
00937   uint32_t ranges_count;
00939   float *ranges;
00940 } player_ir_data_t;
00941 
00945 typedef struct player_ir_pose
00946 {
00948   uint32_t poses_count;
00950   player_pose3d_t *poses;
00951 } player_ir_pose_t;
00952 
00957 typedef struct player_ir_power_req
00958 {
00960   uint8_t state;
00961 } player_ir_power_req_t;
00962 
00963  
00969 #define PLAYER_POSITION3D_CODE 30
00970 
00973 #define PLAYER_POSITION3D_STRING "position3d" 
00974 
00975 // /////////////////////////////////////////////////////////////////////////////
00991 #define PLAYER_POSITION3D_DATA_STATE 1
00992 
00994 #define PLAYER_POSITION3D_DATA_GEOMETRY 2
00995 
00997 #define PLAYER_POSITION3D_CMD_SET_VEL 1
00998 
01000 #define PLAYER_POSITION3D_CMD_SET_POS 2
01001 
01003 #define PLAYER_POSITION3D_REQ_GET_GEOM 1
01004 
01006 #define PLAYER_POSITION3D_REQ_MOTOR_POWER 2
01007 
01009 #define PLAYER_POSITION3D_REQ_VELOCITY_MODE 3
01010 
01012 #define PLAYER_POSITION3D_REQ_POSITION_MODE 4
01013 
01015 #define PLAYER_POSITION3D_REQ_RESET_ODOM 5
01016 
01018 #define PLAYER_POSITION3D_REQ_SET_ODOM 6
01019 
01021 #define PLAYER_POSITION3D_REQ_SPEED_PID 7
01022 
01024 #define PLAYER_POSITION3D_REQ_POSITION_PID 8
01025 
01027 #define PLAYER_POSITION3D_REQ_SPEED_PROF 9
01028 
01029 
01030 
01035 typedef struct player_position3d_data
01036 {
01038   player_pose3d_t pos;
01040   player_pose3d_t vel;
01042   uint8_t stall;
01043 } player_position3d_data_t;
01044 
01049 typedef struct player_position3d_cmd_pos
01050 {
01052   player_pose3d_t pos;
01054   player_pose3d_t vel;
01056   uint8_t state;
01057 } player_position3d_cmd_pos_t;
01058 
01063 typedef struct player_position3d_cmd_vel
01064 {
01066   player_pose3d_t vel;
01068   uint8_t state;
01069 } player_position3d_cmd_vel_t;
01070 
01074 typedef struct player_position3d_geom
01075 {
01077   player_pose3d_t pose;
01079   player_bbox3d_t size;
01080 } player_position3d_geom_t;
01081 
01092 typedef struct player_position3d_power_config
01093 {
01095   uint8_t state;
01096 } player_position3d_power_config_t;
01097 
01103 typedef struct player_position3d_position_mode_req
01104 {
01106   uint32_t value;
01107 } player_position3d_position_mode_req_t;
01108 
01116 typedef struct player_position3d_velocity_mode_config
01117 {
01119   uint32_t value;
01120 } player_position3d_velocity_mode_config_t;
01121 
01126 typedef struct player_position3d_set_odom_req
01127 {
01129   player_pose3d_t pos;
01130 } player_position3d_set_odom_req_t;
01131 
01136 typedef struct player_position3d_reset_odom_config
01137 {
01138 } player_position3d_reset_odom_config_t;
01139 
01144 typedef struct player_position3d_speed_pid_req
01145 {
01147   float kp;
01149   float ki;
01151   float kd;
01152 } player_position3d_speed_pid_req_t;
01153 
01158 typedef struct player_position3d_position_pid_req
01159 {
01161   float kp;
01163   float ki;
01165   float kd;
01166 } player_position3d_position_pid_req_t;
01167 
01172 typedef struct player_position3d_speed_prof_req
01173 {
01175   float speed;
01177   float acc;
01178 } player_position3d_speed_prof_req_t;
01179 
01180 
01181  
01187 #define PLAYER_ACTARRAY_CODE 53
01188 
01191 #define PLAYER_ACTARRAY_STRING "actarray" 
01192 
01193 // /////////////////////////////////////////////////////////////////////////////
01208 #define PLAYER_ACTARRAY_REQ_POWER 1
01209 
01210 
01211 #define PLAYER_ACTARRAY_REQ_BRAKES 2
01212 
01213 
01214 #define PLAYER_ACTARRAY_REQ_GET_GEOM 3
01215 
01216 
01217 #define PLAYER_ACTARRAY_REQ_SPEED 4
01218 
01219 
01220 #define PLAYER_ACTARRAY_REQ_ACCEL 5
01221 
01222 
01223 #define PLAYER_ACTARRAY_CMD_POS 1
01224 
01225 
01226 #define PLAYER_ACTARRAY_CMD_MULTI_POS 2
01227 
01228 
01229 #define PLAYER_ACTARRAY_CMD_SPEED 3
01230 
01231 
01232 #define PLAYER_ACTARRAY_CMD_MULTI_SPEED 4
01233 
01234 
01235 #define PLAYER_ACTARRAY_CMD_HOME 5
01236 
01237 
01238 #define PLAYER_ACTARRAY_CMD_CURRENT 6
01239 
01240 
01241 #define PLAYER_ACTARRAY_CMD_MULTI_CURRENT 7
01242 
01243 
01244 #define PLAYER_ACTARRAY_DATA_STATE 1
01245 
01246 
01248 #define PLAYER_ACTARRAY_ACTSTATE_IDLE     1
01249 
01250 #define PLAYER_ACTARRAY_ACTSTATE_MOVING   2
01251 
01252 #define PLAYER_ACTARRAY_ACTSTATE_BRAKED   4
01253 
01254 #define PLAYER_ACTARRAY_ACTSTATE_STALLED  8
01255 
01257 #define PLAYER_ACTARRAY_TYPE_LINEAR       1
01258 
01259 #define PLAYER_ACTARRAY_TYPE_ROTARY       2
01260 
01261 
01263 typedef struct player_actarray_actuator
01264 {
01266   float position;
01268   float speed;
01270   float acceleration;
01272   float current;
01274   uint8_t state;
01275 } player_actarray_actuator_t;
01276 
01280 typedef struct player_actarray_data
01281 {
01283   uint32_t actuators_count;
01285   player_actarray_actuator_t *actuators;
01287   uint8_t motor_state;
01288 } player_actarray_data_t;
01289 
01291 typedef struct player_actarray_actuatorgeom
01292 {
01294   uint8_t type;
01297   float length;
01302   player_orientation_3d_t orientation;
01305   player_point_3d_t axis;
01307   float min;
01309   float centre;
01311   float max;
01313   float home;
01315   float config_speed;
01317   uint8_t hasbrakes;
01318 } player_actarray_actuatorgeom_t;
01319 
01324 typedef struct player_actarray_geom
01325 {
01327   uint32_t actuators_count;
01329   player_actarray_actuatorgeom_t *actuators;
01332   player_point_3d_t base_pos;
01335   player_orientation_3d_t base_orientation;
01336 } player_actarray_geom_t;
01337 
01338 
01342 typedef struct player_actarray_position_cmd
01343 {
01345   int32_t joint;
01347   float position;
01348 } player_actarray_position_cmd_t;
01349 
01353 typedef struct player_actarray_multi_position_cmd
01354 {
01356   uint32_t positions_count;
01358   float *positions;
01359 } player_actarray_multi_position_cmd_t;
01360 
01364 typedef struct player_actarray_speed_cmd
01365 {
01367   int32_t joint;
01369   float speed;
01370 } player_actarray_speed_cmd_t;
01371 
01375 typedef struct player_actarray_multi_speed_cmd
01376 {
01378   uint32_t speeds_count;
01380   float *speeds;
01381 } player_actarray_multi_speed_cmd_t;
01382 
01386 typedef struct player_actarray_home_cmd
01387 {
01389   int32_t joint;
01390 } player_actarray_home_cmd_t;
01391 
01395 typedef struct player_actarray_current_cmd
01396 {
01398   int32_t joint;
01400   float current;
01401 } player_actarray_current_cmd_t;
01402 
01406 typedef struct player_actarray_multi_current_cmd
01407 {
01409   uint32_t currents_count;
01411   float *currents;
01412 } player_actarray_multi_current_cmd_t;
01413 
01414 
01415 
01416 
01423 typedef struct player_actarray_power_config
01424 {
01426   uint8_t value;
01427 } player_actarray_power_config_t;
01428 
01433 typedef struct player_actarray_brakes_config
01434 {
01436   uint8_t value;
01437 } player_actarray_brakes_config_t;
01438 
01443 typedef struct player_actarray_speed_config
01444 {
01446   int32_t joint;
01448   float speed;
01449 } player_actarray_speed_config_t;
01450 
01451 
01456 typedef struct player_actarray_accel_config
01457 {
01459   int32_t joint;
01461   float accel;
01462 } player_actarray_accel_config_t;
01463 
01464 
01465 
01466  
01472 #define PLAYER_OPAQUE_CODE 51
01473 
01476 #define PLAYER_OPAQUE_STRING "opaque" 
01477 
01478 // /////////////////////////////////////////////////////////////////////////////
01496 #define PLAYER_OPAQUE_DATA_STATE 1
01497 
01499 #define PLAYER_OPAQUE_CMD_DATA 1
01500 
01502 #define PLAYER_OPAQUE_REQ_DATA 1
01503 
01504 
01505 
01506 /* for backwards compatibility */
01507 #define PLAYER_OPAQUE_REQ PLAYER_OPAQUE_REQ_DATA
01508 #define PLAYER_OPAQUE_CMD PLAYER_OPAQUE_CMD_DATA
01509 
01511 typedef struct player_opaque_data
01512 {
01514   uint32_t data_count;
01516   uint8_t *data;
01517 } player_opaque_data_t;
01518 
01519 
01520  
01526 #define PLAYER_VECTORMAP_CODE 63
01527 
01530 #define PLAYER_VECTORMAP_STRING "vectormap" 
01531 
01532 // /////////////////////////////////////////////////////////////////////////////
01545 
01556 #define PLAYER_VECTORMAP_REQ_GET_MAP_INFO 1
01557 
01559 #define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA 3
01560 
01562 #define PLAYER_VECTORMAP_REQ_WRITE_LAYER 4
01563 
01564 
01565 
01567 typedef struct player_vectormap_feature_data
01568 {
01570   uint32_t name_count;
01572   char* name;
01574   uint32_t wkb_count;
01576   uint8_t* wkb;
01577 
01579   uint32_t attrib_count;
01581   char* attrib;
01582 } player_vectormap_feature_data_t;
01583 
01584 typedef struct player_vectormap_layer_info
01585 {
01587   uint32_t name_count;
01589   char* name;
01591   player_extent2d_t extent;
01592 } player_vectormap_layer_info_t;
01593 
01595 typedef struct player_vectormap_layer_data
01596 {
01598   uint32_t name_count;
01600   char* name;
01602   uint32_t features_count;
01604   player_vectormap_feature_data_t* features;
01605 } player_vectormap_layer_data_t;
01606 
01608 typedef struct player_vectormap_info
01609 {
01611   uint32_t srid;
01613   uint32_t layers_count;
01615   player_vectormap_layer_info_t* layers;
01617   player_extent2d_t extent;
01618 } player_vectormap_info_t;
01619 
01620 
01621  
01627 #define PLAYER_JOYSTICK_CODE 49
01628 
01631 #define PLAYER_JOYSTICK_STRING "joystick" 
01632 
01633 // /////////////////////////////////////////////////////////////////////////////
01650 #define PLAYER_JOYSTICK_DATA_STATE 1
01651 
01652 
01653 
01654 
01659 typedef struct player_joystick_data
01660 {
01662   int32_t pos[3];
01664   int32_t scale[3];
01666   uint32_t buttons;
01667 } player_joystick_data_t;
01668 
01669 
01670  
01676 #define PLAYER_AIO_CODE 21
01677 
01680 #define PLAYER_AIO_STRING "aio" 
01681 
01682 // /////////////////////////////////////////////////////////////////////////////
01697 #define PLAYER_AIO_CMD_STATE 1
01698 
01699 
01700 #define PLAYER_AIO_DATA_STATE 1
01701 
01702 
01707 typedef struct player_aio_data
01708 {
01710   uint32_t voltages_count;
01712   float *voltages;
01713 } player_aio_data_t;
01714 
01718 typedef struct player_aio_cmd
01719 {
01721   uint32_t id;
01723   float voltage;
01724 } player_aio_cmd_t;
01725 
01726  
01732 #define PLAYER_GRIPPER_CODE 3
01733 
01736 #define PLAYER_GRIPPER_STRING "gripper" 
01737 
01738 // /////////////////////////////////////////////////////////////////////////////
01760 #define PLAYER_GRIPPER_DATA_STATE 1
01761 
01763 #define PLAYER_GRIPPER_REQ_GET_GEOM 1
01764 
01768 #define PLAYER_GRIPPER_CMD_OPEN 1
01769 
01773 #define PLAYER_GRIPPER_CMD_CLOSE 2
01774 
01778 #define PLAYER_GRIPPER_CMD_STOP 3
01779 
01783 #define PLAYER_GRIPPER_CMD_STORE 4
01784 
01789 #define PLAYER_GRIPPER_CMD_RETRIEVE 5
01790 
01791 
01792 
01794 #define PLAYER_GRIPPER_STATE_OPEN 1
01795 
01796 #define PLAYER_GRIPPER_STATE_CLOSED 2
01797 
01798 #define PLAYER_GRIPPER_STATE_MOVING 3
01799 
01800 #define PLAYER_GRIPPER_STATE_ERROR 4
01801 
01802 
01813 typedef struct player_gripper_data
01814 {
01816   uint8_t state;
01818   uint32_t beams;
01820   uint8_t stored;
01821 } player_gripper_data_t;
01822 
01828 typedef struct player_gripper_geom
01829 {
01831   player_pose3d_t pose;
01833   player_bbox3d_t outer_size;
01836   player_bbox3d_t inner_size;
01838   uint8_t num_beams;
01840   uint8_t capacity;
01841 } player_gripper_geom_t;
01842 
01843 
01844 
01845 
01846 
01847 
01848  
01854 #define PLAYER_LIMB_CODE 54
01855 
01858 #define PLAYER_LIMB_STRING "limb" 
01859 
01860 // /////////////////////////////////////////////////////////////////////////////
01877 #define PLAYER_LIMB_STATE_IDLE        1
01878 
01879 #define PLAYER_LIMB_STATE_BRAKED      2
01880 
01881 #define PLAYER_LIMB_STATE_MOVING      3
01882 
01883 #define PLAYER_LIMB_STATE_OOR         4
01884 
01885 #define PLAYER_LIMB_STATE_COLL        5
01886 
01888 #define PLAYER_LIMB_DATA_STATE 1
01889 
01893 #define PLAYER_LIMB_CMD_HOME 1
01894 
01898 #define PLAYER_LIMB_CMD_STOP 2
01899 
01901 #define PLAYER_LIMB_CMD_SETPOSE 3
01902 
01904 #define PLAYER_LIMB_CMD_SETPOSITION 4
01905 
01907 #define PLAYER_LIMB_CMD_VECMOVE 5
01908 
01910 #define PLAYER_LIMB_REQ_POWER 1
01911 
01913 #define PLAYER_LIMB_REQ_BRAKES 2
01914 
01916 #define PLAYER_LIMB_REQ_GEOM 3
01917 
01919 #define PLAYER_LIMB_REQ_SPEED 4
01920 
01921 
01922 
01926 typedef struct player_limb_data
01927 {
01929   player_point_3d_t position;
01931   player_point_3d_t approach;
01935   player_point_3d_t orientation;
01937   uint8_t state;
01938 } player_limb_data_t;
01939 
01940 
01945 typedef struct player_limb_setpose_cmd
01946 {
01948   player_point_3d_t position;
01950   player_point_3d_t approach;
01952   player_point_3d_t orientation;
01953 } player_limb_setpose_cmd_t;
01954 
01959 typedef struct player_limb_setposition_cmd
01960 {
01962   player_point_3d_t position;
01963 } player_limb_setposition_cmd_t;
01964 
01969 typedef struct player_limb_vecmove_cmd
01970 {
01972   player_point_3d_t direction;
01974   float length;
01975 } player_limb_vecmove_cmd_t;
01976 
01982 typedef struct player_limb_power_req
01983 {
01985   uint8_t value;
01986 } player_limb_power_req_t;
01987 
01992 typedef struct player_limb_brakes_req
01993 {
01995   uint8_t value;
01996 } player_limb_brakes_req_t;
01997 
02001 typedef struct player_limb_geom_req
02002 {
02004   player_point_3d_t basePos;
02005 } player_limb_geom_req_t;
02006 
02011 typedef struct player_limb_speed_req
02012 {
02014   float speed;
02015 } player_limb_speed_req_t;
02016 
02017 
02018  
02024 #define PLAYER_CAMERA_CODE 40
02025 
02028 #define PLAYER_CAMERA_STRING "camera" 
02029 
02030 // /////////////////////////////////////////////////////////////////////////////
02049 #define PLAYER_CAMERA_DATA_STATE 1
02050 
02051 
02053 #define PLAYER_CAMERA_FORMAT_MONO8  1
02054 
02055 #define PLAYER_CAMERA_FORMAT_MONO16 2
02056 
02057 #define PLAYER_CAMERA_FORMAT_RGB565 4
02058 
02059 #define PLAYER_CAMERA_FORMAT_RGB888 5
02060 
02062 #define PLAYER_CAMERA_COMPRESS_RAW  0
02063 
02064 #define PLAYER_CAMERA_COMPRESS_JPEG 1
02065 
02067 typedef struct player_camera_data
02068 {
02070   uint32_t width;
02072   uint32_t height;
02074   uint32_t bpp;
02076   uint32_t format;
02080   uint32_t fdiv;
02083   uint32_t compression;
02085   uint32_t image_count;
02089   uint8_t *image;
02090 } player_camera_data_t;
02091 
02092  
02098 #define PLAYER_LASER_CODE 6
02099 
02102 #define PLAYER_LASER_STRING "laser" 
02103 
02104 // /////////////////////////////////////////////////////////////////////////////
02132 #define PLAYER_LASER_DATA_SCAN 1
02133 
02135 #define PLAYER_LASER_DATA_SCANPOSE 2
02136 
02138 #define PLAYER_LASER_REQ_GET_GEOM 1
02139 
02141 #define PLAYER_LASER_REQ_SET_CONFIG 2
02142 
02144 #define PLAYER_LASER_REQ_GET_CONFIG 3
02145 
02147 #define PLAYER_LASER_REQ_POWER 4
02148 
02150 #define PLAYER_LASER_REQ_GET_ID 5
02151 
02153 #define PLAYER_LASER_REQ_SET_FILTER 6
02154 
02155 
02156 
02158 #define PLAYER_LASER_MAX_FILTER_PARAMS 8
02159 #define PLAYER_LASER_FILTER_MEDIAN 1
02160 #define PLAYER_LASER_FILTER_EDGE   2
02161 #define PLAYER_LASER_FILTER_RANGE  3
02162 #define PLAYER_LASER_FILTER_MEAN   4
02163 
02167 typedef struct player_laser_data
02168 {
02170   float min_angle;
02172   float max_angle;
02174   float resolution;
02176   float max_range;
02178   uint32_t ranges_count;
02180   float *ranges;
02182   uint32_t intensity_count;
02184   uint8_t *intensity;
02186   uint32_t id;
02187 } player_laser_data_t;
02188 
02193 typedef struct player_laser_data_scanpose
02194 {
02196   player_laser_data_t scan;
02198   player_pose2d_t pose;
02199 } player_laser_data_scanpose_t;
02200 
02205 typedef struct player_laser_geom
02206 {
02208   player_pose3d_t pose;
02210   player_bbox3d_t size;
02211 } player_laser_geom_t;
02212 
02221 typedef struct player_laser_config
02222 {
02224   float min_angle;
02226   float max_angle;
02228   float resolution;
02230   float max_range;
02232   float range_res;
02234   uint8_t  intensity;
02236   float scanning_frequency;
02237 } player_laser_config_t;
02238 
02243 typedef struct player_laser_power_config
02244 {
02246   uint8_t state;
02247 } player_laser_power_config_t;
02248 
02253 typedef struct player_laser_get_id_config
02254 {
02256   uint32_t serial_number;
02257 } player_laser_get_id_config_t;
02258 
02276 typedef struct player_laser_set_filter_config
02277 {
02279   uint8_t filter_type;
02281   uint32_t parameters_count;
02283   float parameters[PLAYER_LASER_MAX_FILTER_PARAMS];
02284 } player_laser_set_filter_config_t;
02285 
02286 
02287  
02293 #define PLAYER_HEALTH_CODE 59
02294 
02297 #define PLAYER_HEALTH_STRING "health" 
02298 
02299 // /////////////////////////////////////////////////////////////////////////////
02315 #define PLAYER_HEALTH_DATA_STATE 1
02316 
02317 
02319 typedef struct player_health_cpu
02320 {
02322     float idle;
02324     float system;
02326     float user;
02327 } player_health_cpu_t;
02328 
02330 typedef struct player_health_memory
02331 {
02333     int64_t total;
02335     int64_t used;
02337     int64_t free;
02338 } player_health_memory_t;
02341 typedef struct player_health_data
02342 {
02344     player_health_cpu_t cpu_usage;
02346     player_health_memory_t mem;
02348     player_health_memory_t swap;
02349 
02350 } player_health_data_t;
02351 
02352  
02358 #define PLAYER_FIDUCIAL_CODE 10
02359 
02362 #define PLAYER_FIDUCIAL_STRING "fiducial" 
02363 
02364 // /////////////////////////////////////////////////////////////////////////////
02381 #define PLAYER_FIDUCIAL_DATA_SCAN 1
02382 
02383 
02384 #define PLAYER_FIDUCIAL_REQ_GET_GEOM 1
02385 
02386 
02387 #define PLAYER_FIDUCIAL_REQ_GET_FOV 2
02388 
02389 
02390 #define PLAYER_FIDUCIAL_REQ_SET_FOV 3
02391 
02392 
02393 #define PLAYER_FIDUCIAL_REQ_GET_ID 7
02394 
02395 
02396 #define PLAYER_FIDUCIAL_REQ_SET_ID 8
02397 
02398 
02403 typedef struct player_fiducial_item
02404 {
02407   int32_t id;
02409   player_pose3d_t pose;
02411   player_pose3d_t upose;
02412 } player_fiducial_item_t;
02413 
02414 
02418 typedef struct player_fiducial_data
02419 {
02421   uint32_t fiducials_count;
02423   player_fiducial_item_t *fiducials;
02424 
02425 } player_fiducial_data_t;
02426 
02432 typedef struct player_fiducial_geom
02433 {
02435   player_pose3d_t pose;
02437   player_bbox3d_t size;
02439   player_bbox2d_t fiducial_size;
02440 } player_fiducial_geom_t;
02441 
02448 typedef struct player_fiducial_fov
02449 {
02451   float min_range;
02453   float max_range;
02455   float view_angle;
02456 } player_fiducial_fov_t;
02457 
02473 typedef struct player_fiducial_id
02474 {
02476   uint32_t id;
02477 } player_fiducial_id_t;
02478 
02479 
02480  
02486 #define PLAYER_RFID_CODE 56
02487 
02490 #define PLAYER_RFID_STRING "rfid" 
02491 
02492 // /////////////////////////////////////////////////////////////////////////////
02508 #define PLAYER_RFID_DATA_TAGS 1
02509 
02511 #define PLAYER_RFID_REQ_POWER 1
02512 
02514 #define PLAYER_RFID_REQ_READTAG 2
02515 
02517 #define PLAYER_RFID_REQ_WRITETAG 3
02518 
02520 #define PLAYER_RFID_REQ_LOCKTAG 4
02521 
02522 
02523 
02524 
02526 typedef struct player_rfid_tag
02527 {
02529   uint32_t type;
02531   uint32_t guid_count;
02533   char *guid;
02534 } player_rfid_tag_t;
02535 
02539 typedef struct player_rfid_data
02540 {
02542   uint32_t tags_count;
02544   player_rfid_tag_t *tags;
02545 } player_rfid_data_t;
02546 
02547  
02553 #define PLAYER_PTZ_CODE 8
02554 
02557 #define PLAYER_PTZ_STRING "ptz" 
02558 
02559 // /////////////////////////////////////////////////////////////////////////////
02574 #define PLAYER_PTZ_REQ_GENERIC 1
02575 
02577 #define PLAYER_PTZ_REQ_CONTROL_MODE 2
02578 
02580 #define PLAYER_PTZ_REQ_GEOM 4
02581 
02583 #define PLAYER_PTZ_REQ_STATUS 5
02584 
02586 #define PLAYER_PTZ_DATA_STATE 1
02587 
02589 #define PLAYER_PTZ_DATA_GEOM 2
02590 
02592 #define PLAYER_PTZ_CMD_STATE 1
02593 
02594 
02595 
02597 #define PLAYER_PTZ_VELOCITY_CONTROL 0
02598 
02599 #define PLAYER_PTZ_POSITION_CONTROL 1
02600 
02601 
02606 typedef struct player_ptz_data
02607 {
02609   float pan;
02611   float tilt;
02613   float zoom;
02615   float panspeed;
02617   float tiltspeed;
02619   uint32_t status;
02620 } player_ptz_data_t;
02621 
02626 typedef struct player_ptz_cmd
02627 {
02629   float pan;
02631   float tilt;
02633   float zoom;
02635   float panspeed;
02637   float tiltspeed;
02638 } player_ptz_cmd_t;
02639 
02643 typedef struct player_ptz_req_status
02644 {
02645   uint32_t status;
02646 } player_ptz_req_status_t;
02647 
02651 typedef struct player_ptz_geom
02652 {
02654   player_pose3d_t pos;
02656   player_bbox3d_t size;
02657 } player_ptz_geom_t;
02658 
02665 typedef struct player_ptz_req_generic
02666 {
02668   uint32_t  config_count;
02670   uint32_t  *config;
02671 } player_ptz_req_generic_t;
02672 
02679 typedef struct player_ptz_req_control_mode
02680 {
02683   uint32_t mode;
02684 } player_ptz_req_control_mode_t;
02685 
02686  
02692 #define PLAYER_GRAPHICS3D_CODE 58
02693 
02696 #define PLAYER_GRAPHICS3D_STRING "graphics3d" 
02697 
02698 // /////////////////////////////////////////////////////////////////////////////
02720 #define PLAYER_GRAPHICS3D_CMD_CLEAR 1
02721 
02723 #define PLAYER_GRAPHICS3D_CMD_DRAW 2
02724 
02726 #define PLAYER_GRAPHICS3D_CMD_TRANSLATE 3
02727 
02729 #define PLAYER_GRAPHICS3D_CMD_ROTATE 4
02730 
02732 #define PLAYER_GRAPHICS3D_CMD_PUSH 5
02733 
02735 #define PLAYER_GRAPHICS3D_CMD_POP 6
02736 
02737 
02738 
02740 typedef enum player_graphics3d_draw_mode
02741 {
02742   PLAYER_DRAW_POINTS,
02743   PLAYER_DRAW_LINES,
02744   PLAYER_DRAW_LINE_STRIP,
02745   PLAYER_DRAW_LINE_LOOP,
02746   PLAYER_DRAW_TRIANGLES,
02747   PLAYER_DRAW_TRIANGLE_STRIP,
02748   PLAYER_DRAW_TRIANGLE_FAN,
02749   PLAYER_DRAW_QUADS,
02750   PLAYER_DRAW_QUAD_STRIP,
02751   PLAYER_DRAW_POLYGON
02752 } player_graphics3d_draw_mode_t;
02753 
02754 
02762 typedef struct player_graphics3d_cmd_draw
02763 {
02765   uint32_t draw_mode;
02767   uint32_t points_count;
02769   player_point_3d_t *points;
02771   player_color_t color;
02772 
02773 } player_graphics3d_cmd_draw_t;
02774 
02778 typedef struct player_graphics3d_cmd_translate
02779 {
02780   double x; 
02781   double y; 
02782   double z; 
02783 } player_graphics3d_cmd_translate_t;
02784 
02788 typedef struct player_graphics3d_cmd_rotate
02789 {
02790   double a; 
02791   double x; 
02792   double y; 
02793   double z; 
02794 } player_graphics3d_cmd_rotate_t;
02795 
02796 
02797  
02803 #define PLAYER_POSITION1D_CODE 52
02804 
02807 #define PLAYER_POSITION1D_STRING "position1d" 
02808 
02809 // /////////////////////////////////////////////////////////////////////////////
02824 #define PLAYER_POSITION1D_REQ_GET_GEOM 1
02825 
02827 #define PLAYER_POSITION1D_REQ_MOTOR_POWER 2
02828 
02830 #define PLAYER_POSITION1D_REQ_VELOCITY_MODE 3
02831 
02833 #define PLAYER_POSITION1D_REQ_POSITION_MODE 4
02834 
02836 #define PLAYER_POSITION1D_REQ_SET_ODOM 5
02837 
02839 #define PLAYER_POSITION1D_REQ_RESET_ODOM 6
02840 
02842 #define PLAYER_POSITION1D_REQ_SPEED_PID 7
02843 
02845 #define PLAYER_POSITION1D_REQ_POSITION_PID 8
02846 
02848 #define PLAYER_POSITION1D_REQ_SPEED_PROF 9
02849 
02851 #define PLAYER_POSITION1D_DATA_STATE 1
02852 
02854 #define PLAYER_POSITION1D_DATA_GEOM 2
02855 
02857 #define PLAYER_POSITION1D_CMD_VEL 1
02858 
02860 #define PLAYER_POSITION1D_CMD_POS 2
02861 
02862 
02863 
02865 #define PLAYER_POSITION1D_STATUS_LIMIT_MIN 0
02866 
02867 #define PLAYER_POSITION1D_STATUS_LIMIT_CEN 1
02868 
02869 #define PLAYER_POSITION1D_STATUS_LIMIT_MAX 2
02870 
02871 #define PLAYER_POSITION1D_STATUS_OC 3
02872 
02873 #define PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE 4
02874 
02875 #define PLAYER_POSITION1D_STATUS_ENABLED 5
02876 
02881 typedef struct player_position1d_data
02882 {
02884   float pos;
02886   float vel;
02888   uint8_t stall;
02900   uint8_t status;
02901 
02902 } player_position1d_data_t;
02903 
02909 typedef struct player_position1d_cmd_vel
02910 {
02912   float vel;
02914   uint8_t state;
02915 } player_position1d_cmd_vel_t;
02916 
02922 typedef struct player_position1d_cmd_pos
02923 {
02925   float pos;
02927   float vel;
02929   uint8_t state;
02930 } player_position1d_cmd_pos_t;
02931 
02936 typedef struct player_position1d_geom
02937 {
02939   player_pose3d_t pose;
02941   player_bbox3d_t size;
02942 } player_position1d_geom_t;
02943 
02955 typedef struct player_position1d_power_config
02956 {
02958   uint8_t state;
02959 } player_position1d_power_config_t;
02960 
02969 typedef struct player_position1d_velocity_mode_config
02970 {
02972   uint32_t value;
02973 } player_position1d_velocity_mode_config_t;
02974 
02979 typedef struct player_position1d_reset_odom_config
02980 {
02982   uint32_t value;
02983 } player_position1d_reset_odom_config_t;
02984 
02990 typedef struct player_position1d_position_mode_req
02991 {
02993   uint32_t state;
02994 } player_position1d_position_mode_req_t;
02995 
03001 typedef struct player_position1d_set_odom_req
03002 {
03004   float pos;
03005 } player_position1d_set_odom_req_t;
03006 
03012 typedef struct player_position1d_speed_pid_req
03013 {
03015   float kp;
03017   float ki;
03019   float kd;
03020 } player_position1d_speed_pid_req_t;
03021 
03027 typedef struct player_position1d_position_pid_req
03028 {
03030   float kp;
03032   float ki;
03034   float kd;
03035 } player_position1d_position_pid_req_t;
03036 
03042 typedef struct player_position1d_speed_prof_req
03043 {
03045   float speed;
03047   float acc;
03048 } player_position1d_speed_prof_req_t;
03049 
03050  
03056 #define PLAYER_GRAPHICS2D_CODE 55
03057 
03060 #define PLAYER_GRAPHICS2D_STRING "graphics2d" 
03061 
03062 // /////////////////////////////////////////////////////////////////////////////
03080 #define PLAYER_GRAPHICS2D_CMD_CLEAR 1
03081 
03083 #define PLAYER_GRAPHICS2D_CMD_POINTS 2
03084 
03086 #define PLAYER_GRAPHICS2D_CMD_POLYLINE 3
03087 
03089 #define PLAYER_GRAPHICS2D_CMD_POLYGON 4
03090 
03091 
03092 
03100 typedef struct player_graphics2d_cmd_points
03101 {
03103   uint32_t points_count;
03105   player_point_2d_t *points;
03107   player_color_t color;
03108 } player_graphics2d_cmd_points_t;
03109 
03113 typedef struct player_graphics2d_cmd_polyline
03114 {
03116   uint32_t points_count;
03118   player_point_2d_t *points;
03120   player_color_t color;
03121 } player_graphics2d_cmd_polyline_t;
03122 
03126 typedef struct player_graphics2d_cmd_polygon
03127 {
03129   uint32_t points_count;
03131   player_point_2d_t *points;
03133   player_color_t color;
03135   player_color_t fill_color;
03137   uint8_t filled;
03138 } player_graphics2d_cmd_polygon_t;
03139 
03140  
03146 #define PLAYER_IMU_CODE 60
03147 
03150 #define PLAYER_IMU_STRING "imu" 
03151 
03152 // /////////////////////////////////////////////////////////////////////////////
03168 #define PLAYER_IMU_DATA_STATE 1
03169 
03171 #define PLAYER_IMU_DATA_CALIB 2
03172 
03174 #define PLAYER_IMU_DATA_QUAT 3
03175 
03177 #define PLAYER_IMU_DATA_EULER 4
03178 
03180 #define PLAYER_IMU_REQ_SET_DATATYPE 1
03181 
03183 #define PLAYER_IMU_REQ_RESET_ORIENTATION 2
03184 
03185 
03186 
03187 
03192 typedef struct player_imu_data_state
03193 {
03195     player_pose3d_t pose;
03196 } player_imu_data_state_t;
03197 
03202 typedef struct player_imu_data_calib
03203 {
03205     float accel_x;
03207     float accel_y;
03209     float accel_z;
03211     float gyro_x;
03213     float gyro_y;
03215     float gyro_z;
03217     float magn_x;
03219     float magn_y;
03221     float magn_z;
03222 } player_imu_data_calib_t;
03223 
03228 typedef struct player_imu_data_quat
03229 {
03231     player_imu_data_calib_t calib_data;
03232 
03234     float q0;
03235     float q1;
03236     float q2;
03237     float q3;
03238 } player_imu_data_quat_t;
03239 
03244 typedef struct player_imu_data_euler
03245 {
03247     player_imu_data_calib_t calib_data;
03248 
03250     player_orientation_3d_t orientation;
03251 } player_imu_data_euler_t;
03252 
03259 typedef struct player_imu_datatype_config
03260 {
03264     uint8_t value;
03265 } player_imu_datatype_config_t;
03266 
03271 typedef struct player_imu_reset_orientation_config
03272 {
03274   uint32_t value;
03275 } player_imu_reset_orientation_config_t;
03276 
03277  
03283 #define PLAYER_GPS_CODE 13
03284 
03287 #define PLAYER_GPS_STRING "gps" 
03288 
03289 // /////////////////////////////////////////////////////////////////////////////
03305 #define PLAYER_GPS_DATA_STATE 1
03306 
03307 
03314 typedef struct player_gps_data
03315 {
03317   uint32_t time_sec;
03319   uint32_t time_usec;
03323   int32_t latitude;
03327   int32_t longitude;
03330   int32_t altitude;
03332   double utm_e;
03334   double utm_n;
03336   uint32_t quality;
03338   uint32_t num_sats;
03340   uint32_t hdop;
03342   uint32_t vdop;
03344   double err_horz;
03346   double err_vert;
03347 } player_gps_data_t;
03348 
03349 
03350  
03356 #define PLAYER_BLOBFINDER_CODE 7
03357 
03360 #define PLAYER_BLOBFINDER_STRING "blobfinder" 
03361 
03362 // /////////////////////////////////////////////////////////////////////////////
03378 #define PLAYER_BLOBFINDER_DATA_BLOBS 1
03379 
03380 
03381 #define PLAYER_BLOBFINDER_REQ_SET_COLOR 1
03382 
03383 
03384 #define PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS 2
03385 
03386 
03388 typedef struct player_blobfinder_blob
03389 {
03391   uint32_t id;
03394   uint32_t color;
03396   uint32_t area;
03398   uint32_t x;
03400   uint32_t y;
03402   uint32_t left;
03404   uint32_t right;
03406   uint32_t top;
03408   uint32_t bottom;
03410   float range;
03411 } player_blobfinder_blob_t;
03412 
03416 typedef struct player_blobfinder_data
03417 {
03419   uint32_t width;
03421   uint32_t height;
03423   uint32_t blobs_count;
03425   player_blobfinder_blob_t *blobs;
03426 } player_blobfinder_data_t;
03427 
03428 
03438 typedef struct player_blobfinder_color_config
03439 {
03443   uint32_t channel;
03445   uint32_t rmin;
03447   uint32_t rmax;
03449   uint32_t gmin;
03451   uint32_t gmax;
03453   uint32_t bmin;
03455   uint32_t bmax;
03456 } player_blobfinder_color_config_t;
03457 
03458 
03473 typedef struct player_blobfinder_imager_config
03474 {
03476   int32_t brightness;
03478   int32_t contrast;
03483   int32_t  colormode;
03485   int32_t  autogain;
03486 } player_blobfinder_imager_config_t;
03487 
03488 
03489  
03495 #define PLAYER_POWER_CODE 2
03496 
03499 #define PLAYER_POWER_STRING "power" 
03500 
03501 // /////////////////////////////////////////////////////////////////////////////
03517 #define PLAYER_POWER_DATA_STATE 1
03518 
03520 #define PLAYER_POWER_REQ_SET_CHARGING_POLICY_REQ 1
03521 
03522 
03523 
03525 #define PLAYER_POWER_MASK_VOLTS 1
03526 #define PLAYER_POWER_MASK_WATTS 2
03527 #define PLAYER_POWER_MASK_JOULES 4
03528 #define PLAYER_POWER_MASK_PERCENT 8
03529 #define PLAYER_POWER_MASK_CHARGING 16
03530 
03534 typedef struct player_power_data
03535 {
03539   uint32_t valid;
03540 
03542   float  volts;
03544   float percent;
03546   float joules;
03549   float watts;
03554   int32_t charging;
03555 
03556 } player_power_data_t;
03557 
03558 
03563 typedef struct player_power_chargepolicy_config
03564 {
03567   uint8_t enable_input;
03570   uint8_t enable_output;
03571 } player_power_chargepolicy_config_t;
03572 
03573 
03574  
03580 #define PLAYER_POSITION2D_CODE 4
03581 
03584 #define PLAYER_POSITION2D_STRING "position2d" 
03585 
03586 // /////////////////////////////////////////////////////////////////////////////
03604 #define PLAYER_POSITION2D_REQ_GET_GEOM 1
03605 
03617 #define PLAYER_POSITION2D_REQ_MOTOR_POWER 2
03618 
03643 #define PLAYER_POSITION2D_REQ_VELOCITY_MODE 3
03644 
03650 #define PLAYER_POSITION2D_REQ_POSITION_MODE 4
03651 
03656 #define PLAYER_POSITION2D_REQ_SET_ODOM 5
03657 
03662 #define PLAYER_POSITION2D_REQ_RESET_ODOM 6
03663 
03669 #define PLAYER_POSITION2D_REQ_SPEED_PID 7
03670 
03677 #define PLAYER_POSITION2D_REQ_POSITION_PID 8
03678 
03683 #define PLAYER_POSITION2D_REQ_SPEED_PROF 9
03684 
03689 #define PLAYER_POSITION2D_DATA_STATE 1
03690 
03695 #define PLAYER_POSITION2D_DATA_GEOM 2
03696 
03702 #define PLAYER_POSITION2D_CMD_VEL 1
03703 
03709 #define PLAYER_POSITION2D_CMD_POS 2
03710 
03715 #define PLAYER_POSITION2D_CMD_CAR 3
03716 
03720 #define PLAYER_POSITION2D_CMD_VEL_HEAD 4
03721 
03722 
03723 
03724 
03725 
03727 typedef struct player_position2d_data
03728 {
03730   player_pose2d_t pos;
03732   player_pose2d_t vel;
03734   uint8_t stall;
03735 } player_position2d_data_t;
03736 
03738 typedef struct player_position2d_cmd_vel
03739 {
03741   player_pose2d_t vel;
03743   uint8_t state;
03744 } player_position2d_cmd_vel_t;
03745 
03747 typedef struct player_position2d_cmd_pos
03748 {
03750   player_pose2d_t pos;
03752   player_pose2d_t vel;
03754   uint8_t state;
03755 } player_position2d_cmd_pos_t;
03756 
03758 typedef struct player_position2d_cmd_car
03759 {
03761   double velocity;
03763   double angle;
03764 } player_position2d_cmd_car_t;
03765 
03767 typedef struct player_position2d_cmd_vel_head
03768 {
03770   double velocity;
03772   double angle;
03773 } player_position2d_cmd_vel_head_t;
03774 
03776 typedef struct player_position2d_geom
03777 {
03779   player_pose3d_t pose;
03781   player_bbox3d_t size;
03782 } player_position2d_geom_t;
03783 
03785 typedef struct player_position2d_power_config
03786 {
03788   uint8_t state;
03789 } player_position2d_power_config_t;
03790 
03792 typedef struct player_position2d_velocity_mode_config
03793 {
03795   uint32_t value;
03796 } player_position2d_velocity_mode_config_t;
03797 
03798 
03800 typedef struct player_position2d_position_mode_req
03801 {
03803   uint32_t state;
03804 } player_position2d_position_mode_req_t;
03805 
03807 typedef struct player_position2d_set_odom_req
03808 {
03810   player_pose2d_t pose;
03811 } player_position2d_set_odom_req_t;
03812 
03814 typedef struct player_position2d_speed_pid_req
03815 {
03817   float kp;
03819   float ki;
03821   float kd;
03822 } player_position2d_speed_pid_req_t;
03823 
03825 typedef struct player_position2d_position_pid_req
03826 {
03828   float kp;
03830   float ki;
03832   float kd;
03833 } player_position2d_position_pid_req_t;
03834 
03836 typedef struct player_position2d_speed_prof_req
03837 {
03839   float speed;
03841   float acc;
03842 } player_position2d_speed_prof_req_t;
03852 #define PLAYER_LOCALIZE_CODE 25
03853 
03856 #define PLAYER_LOCALIZE_STRING "localize" 
03857 
03858 // /////////////////////////////////////////////////////////////////////////////
03879 #define PLAYER_LOCALIZE_DATA_HYPOTHS 1
03880 
03882 #define PLAYER_LOCALIZE_REQ_SET_POSE 1
03883 
03885 #define PLAYER_LOCALIZE_REQ_GET_PARTICLES 2
03886 
03887 
03888 
03894 typedef struct player_localize_hypoth
03895 {
03897   player_pose2d_t mean;
03899   double cov[3];
03901   double alpha;
03902 } player_localize_hypoth_t;
03903 
03908 typedef struct player_localize_data
03909 {
03911   uint32_t pending_count;
03913   double pending_time;
03915   uint32_t hypoths_count;
03917   player_localize_hypoth_t *hypoths;
03918 } player_localize_data_t;
03919 
03924 typedef struct player_localize_set_pose
03925 {
03927   player_pose2d_t mean;
03930   double cov[3];
03931 } player_localize_set_pose_t;
03932 
03934 typedef struct player_localize_particle
03935 {
03937   player_pose2d_t pose;
03939   double alpha;
03940 } player_localize_particle_t;
03941 
03947 typedef struct player_localize_get_particles
03948 {
03950   player_pose2d_t mean;
03952   double variance;
03954   uint32_t particles_count;
03956   player_localize_particle_t *particles;
03957 } player_localize_get_particles_t;
03958 
03959  
03965 #define PLAYER_PLAYER_CODE 1
03966 
03969 #define PLAYER_PLAYER_STRING "player" 
03970 
03971 // /////////////////////////////////////////////////////////////////////////////
03990 #define PLAYER_PLAYER_REQ_DEVLIST 1
03991 
03993 #define PLAYER_PLAYER_REQ_DRIVERINFO 2
03994 
03996 #define PLAYER_PLAYER_REQ_DEV 3
03997 
04004 #define PLAYER_PLAYER_REQ_DATA 4
04005 
04006 
04007 #define PLAYER_PLAYER_REQ_DATAMODE 5
04008 
04009 
04010 #define PLAYER_PLAYER_REQ_AUTH 7
04011 
04012 
04013 #define PLAYER_PLAYER_REQ_NAMESERVICE 8
04014 
04015 
04016 #define PLAYER_PLAYER_REQ_ADD_REPLACE_RULE 10
04017 
04018 
04019 #define PLAYER_PLAYER_SYNCH_OK 1
04020 
04021 
04022 #define PLAYER_PLAYER_SYNCH_OVERFLOW 2
04023 
04024 
04025 
04027 #define PLAYER_OPEN_MODE   1
04028 
04029 #define PLAYER_CLOSE_MODE  2
04030 
04031 #define PLAYER_ERROR_MODE  3
04032 
04033 
04036 #define PLAYER_DATAMODE_PUSH  1
04037 
04041 #define PLAYER_DATAMODE_PULL   2
04042 
04043 
04044 
04047 #define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT  0
04048 #define PLAYER_PLAYER_MSG_REPLACE_RULE_REPLACE 1
04049 #define PLAYER_PLAYER_MSG_REPLACE_RULE_IGNORE  2
04050 
04057 typedef struct player_device_devlist
04058 {
04060   uint32_t devices_count;
04062   player_devaddr_t devices[PLAYER_MAX_DEVICES];
04063 } player_device_devlist_t;
04064 
04071 typedef struct player_device_driverinfo
04072 {
04074   player_devaddr_t addr;
04076   uint32_t driver_name_count;
04078   char driver_name[PLAYER_MAX_DRIVER_STRING_LEN];
04079 } player_device_driverinfo_t;
04080 
04098 typedef struct player_device_req
04099 {
04101   player_devaddr_t addr;
04103   uint8_t access;
04105   uint32_t driver_name_count;
04107   char driver_name[PLAYER_MAX_DRIVER_STRING_LEN];
04108 } player_device_req_t;
04109 
04110 
04117 typedef struct player_device_datamode_req
04118 {
04120   uint8_t mode;
04121 
04122 } player_device_datamode_req_t;
04123 
04124 
04156 typedef struct player_device_auth_req
04157 {
04159   uint32_t auth_key_count;
04161   uint8_t auth_key[PLAYER_KEYLEN];
04162 
04163 } player_device_auth_req_t;
04164 
04165 
04170 typedef struct player_device_nameservice_req
04171 {
04173   uint32_t name_count;
04175   uint8_t name[PLAYER_MAX_DRIVER_STRING_LEN];
04177   uint16_t port;
04178 } player_device_nameservice_req_t;
04179 
04190 typedef struct player_add_replace_rule_req
04191 {
04193   int32_t interf;
04195   int32_t index;
04197   int32_t type;
04199   int32_t subtype;
04201   int32_t replace ;
04202 } player_add_replace_rule_req_t;
04203 
04204  
04210 #define PLAYER_WSN_CODE 57
04211 
04214 #define PLAYER_WSN_STRING "wsn" 
04215 
04216 // /////////////////////////////////////////////////////////////////////////////
04236 #define PLAYER_WSN_DATA_STATE 1
04237 
04239 #define PLAYER_WSN_CMD_DEVSTATE 1
04240 
04242 #define PLAYER_WSN_REQ_POWER 1
04243 
04245 #define PLAYER_WSN_REQ_DATATYPE 2
04246 
04248 #define PLAYER_WSN_REQ_DATAFREQ 3
04249 
04250 
04251 
04253 typedef struct player_wsn_node_data
04254 {
04256   float light;
04258   float mic;
04260   float accel_x;
04262   float accel_y;
04264   float accel_z;
04266   float magn_x;
04268   float magn_y;
04270   float magn_z;
04272   float temperature;
04274   float battery;
04275 } player_wsn_node_data_t;
04276 
04280 typedef struct player_wsn_data
04281 {
04283   uint32_t node_type;
04285   uint32_t node_id;
04287   uint32_t node_parent_id;
04289   player_wsn_node_data_t data_packet;
04290 } player_wsn_data_t;
04291 
04295 typedef struct player_wsn_cmd
04296 {
04298   int32_t node_id;
04300   int32_t group_id;
04302   uint32_t device;
04304   uint8_t enable;
04305 } player_wsn_cmd_t;
04306 
04311 typedef struct player_wsn_power_config
04312 {
04314   int32_t node_id;
04316   int32_t group_id;
04318   uint8_t value;
04319 } player_wsn_power_config_t;
04320 
04326 typedef struct player_wsn_datatype_config
04327 {
04329   uint8_t value;
04330 } player_wsn_datatype_config_t;
04331 
04337 typedef struct player_wsn_datafreq_config
04338 {
04340   int32_t node_id;
04342   int32_t group_id;
04344   double  frequency;
04345 } player_wsn_datafreq_config_t;
04346 
04347  
04353 #define PLAYER_POINTCLOUD3D_CODE 61
04354 
04357 #define PLAYER_POINTCLOUD3D_STRING "pointcloud3d" 
04358 
04359 // /////////////////////////////////////////////////////////////////////////////
04375 #define PLAYER_POINTCLOUD3D_DATA_STATE 1
04376 
04377 
04378 
04382 typedef struct player_pointcloud3d_element
04383 {
04384   player_point_3d_t point;
04385   player_color_t color;
04395 } player_pointcloud3d_element_t;
04396 
04400 typedef struct player_pointcloud3d_data
04401 {
04402   uint32_t points_count;
04403   player_pointcloud3d_element_t *points;
04404 } player_pointcloud3d_data_t;
04405 
04406 
04407  
04413 #define PLAYER_SIMULATION_CODE 31
04414 
04417 #define PLAYER_SIMULATION_STRING "simulation" 
04418 
04419 // /////////////////////////////////////////////////////////////////////////////
04444 #define PLAYER_SIMULATION_REQ_GET_POSE2D 1
04445 
04447 #define PLAYER_SIMULATION_REQ_SET_POSE2D 2
04448 
04450 #define PLAYER_SIMULATION_REQ_GET_POSE3D 3
04451 
04453 #define PLAYER_SIMULATION_REQ_SET_POSE3D 4
04454 
04456 #define PLAYER_SIMULATION_REQ_GET_PROPERTY 5
04457 
04459 #define PLAYER_SIMULATION_REQ_SET_PROPERTY 6
04460 
04461 
04462 
04463 
04468 typedef struct player_simulation_data
04469 {
04471   uint8_t data;
04472 } player_simulation_data_t;
04473 
04478 typedef struct player_simulation_cmd
04479 {
04481   uint8_t cmd;
04482 } player_simulation_cmd_t;
04483 
04490 typedef struct player_simulation_pose2d_req
04491 {
04493   uint32_t name_count;
04495   char *name;
04497   player_pose2d_t pose;
04498 } player_simulation_pose2d_req_t;
04499 
04506 typedef struct player_simulation_pose3d_req
04507 {
04509   uint32_t name_count;
04511   char *name;
04513   player_pose3d_t pose;
04515   double simtime;
04516 } player_simulation_pose3d_req_t;
04517 
04540 typedef struct player_simulation_property_req
04541 {
04543   uint32_t name_count;
04545   char *name;
04547   uint32_t prop_count;
04549   char *prop;
04551   uint32_t value_count;
04553   char *value;
04554 } player_simulation_property_req_t;
04555 
04556 
04557  
04563 #define PLAYER_SONAR_CODE 5
04564 
04567 #define PLAYER_SONAR_STRING "sonar" 
04568 
04569 // /////////////////////////////////////////////////////////////////////////////
04585 #define PLAYER_SONAR_REQ_GET_GEOM 1
04586 
04588 #define PLAYER_SONAR_REQ_POWER 2
04589 
04591 #define PLAYER_SONAR_DATA_RANGES 1
04592 
04594 #define PLAYER_SONAR_DATA_GEOM 2
04595 
04596 
04597 
04602 typedef struct player_sonar_data
04603 {
04605   uint32_t ranges_count;
04607   float *ranges;
04608 } player_sonar_data_t;
04609 
04616 typedef struct player_sonar_geom
04617 {
04619   uint32_t poses_count;
04621   player_pose3d_t *poses;
04622 } player_sonar_geom_t;
04623 
04628 typedef struct player_sonar_power_config
04629 {
04631   uint8_t state;
04632 } player_sonar_power_config_t;
04633 
04642 #define PLAYER_MAP_CODE 42
04643 
04646 #define PLAYER_MAP_STRING "map" 
04647 
04648 // /////////////////////////////////////////////////////////////////////////////
04667 #define PLAYER_MAP_DATA_INFO 1
04668 
04670 #define PLAYER_MAP_REQ_GET_INFO 1
04671 
04673 #define PLAYER_MAP_REQ_GET_DATA 2
04674 
04676 #define PLAYER_MAP_REQ_GET_VECTOR 3
04677 
04678 
04679 
04680 
04682 #define PLAYER_MAP_DATA_INFO               1
04688 typedef struct player_map_info
04689 {
04691   float scale;
04693   uint32_t width;
04695   uint32_t height;
04698   player_pose2d_t origin;
04699 } player_map_info_t;
04700 
04709 typedef struct player_map_data
04710 {
04712   uint32_t col;
04714   uint32_t row;
04716   uint32_t width;
04718   uint32_t height;
04720   uint32_t data_count;
04722   int8_t *data;
04723 } player_map_data_t;
04724 
04729 typedef struct player_map_data_vector
04730 {
04732   float minx;
04734   float maxx;
04736   float miny;
04738   float maxy;
04740   uint32_t segments_count;
04742   player_segment_t *segments;
04743 } player_map_data_vector_t;
04744 
04745 
04746  
04752 #define PLAYER_AUDIO_CODE 9
04753 
04756 #define PLAYER_AUDIO_STRING "audio" 
04757 
04758 // /////////////////////////////////////////////////////////////////////////////
04782 #define PLAYER_AUDIO_DATA_WAV_REC 1
04783 
04787 #define PLAYER_AUDIO_DATA_SEQ 2
04788 
04792 #define PLAYER_AUDIO_DATA_MIXER_CHANNEL 3
04793 
04797 #define PLAYER_AUDIO_DATA_STATE 4
04798 
04802 #define PLAYER_AUDIO_CMD_WAV_PLAY 1
04803 
04807 #define PLAYER_AUDIO_CMD_WAV_STREAM_REC 2
04808 
04812 #define PLAYER_AUDIO_CMD_SAMPLE_PLAY 3
04813 
04817 #define PLAYER_AUDIO_CMD_SEQ_PLAY 4
04818 
04822 #define PLAYER_AUDIO_CMD_MIXER_CHANNEL 5
04823 
04827 #define PLAYER_AUDIO_REQ_WAV_REC 1
04828 
04832 #define PLAYER_AUDIO_REQ_SAMPLE_LOAD 2
04833 
04837 #define PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE 3
04838 
04842 #define PLAYER_AUDIO_REQ_SAMPLE_REC 4
04843 
04847 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST 5
04848 
04852 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL 6
04853 
04854 
04855 
04858 #define PLAYER_AUDIO_STATE_STOPPED            0x00
04859 #define PLAYER_AUDIO_STATE_PLAYING            0x01
04860 #define PLAYER_AUDIO_STATE_RECORDING          0x02
04861 
04865 #define PLAYER_AUDIO_DESCRIPTION_BITS         0xFF
04866 #define PLAYER_AUDIO_BITS                     0x03
04867 
04868 #define PLAYER_AUDIO_8BIT                     0
04869 
04870 #define PLAYER_AUDIO_16BIT                    1
04871 
04872 #define PLAYER_AUDIO_24BIT                    2
04873 
04874 #define PLAYER_AUDIO_MONO                     0
04875 
04876 #define PLAYER_AUDIO_STEREO                   4
04877 
04878 #define PLAYER_AUDIO_FREQ                     0x18
04879 #define PLAYER_AUDIO_FREQ_44k                 0
04880 #define PLAYER_AUDIO_FREQ_11k                 8
04881 #define PLAYER_AUDIO_FREQ_22k                 16
04882 #define PLAYER_AUDIO_FREQ_48k                 24
04883 
04885 #define PLAYER_AUDIO_FORMAT_BITS              0xFF00
04886 
04887 #define PLAYER_AUDIO_FORMAT_NULL              0x0000
04888 #define PLAYER_AUDIO_FORMAT_RAW               0x0100
04889 #define PLAYER_AUDIO_FORMAT_MP3               0x0200
04890 #define PLAYER_AUDIO_FORMAT_OGG               0x0300
04891 #define PLAYER_AUDIO_FORMAT_FLAC              0x0400
04892 #define PLAYER_AUDIO_FORMAT_AAC               0x0500
04893 
04894 
04895 
04901 typedef struct player_audio_wav
04902 {
04904   uint32_t data_count;
04906   uint8_t *data;
04908   uint32_t format;
04909 } player_audio_wav_t;
04910 
04911 
04919 typedef struct player_audio_seq_item
04920 {
04922   float freq;
04924   float duration;
04926   float amplitude;
04928   player_bool_t link;
04929 } player_audio_seq_item_t;
04930 
04931 
04937 typedef struct player_audio_seq
04938 {
04940   uint32_t tones_count;
04942   player_audio_seq_item_t *tones;
04943 } player_audio_seq_t;
04944 
04945 
04951 typedef struct player_audio_mixer_channel
04952 {
04954   float amplitude;
04956   player_bool_t active;
04958   uint32_t index;
04959 } player_audio_mixer_channel_t;
04960 
04961 
04962 
04968 typedef struct player_audio_mixer_channel_list
04969 {
04971   uint32_t channels_count;
04973   player_audio_mixer_channel_t *channels;
04974 } player_audio_mixer_channel_list_t;
04975 
04976 
04977 
04979 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_INPUT 1
04980 
04981 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_OUTPUT 2
04982 
04983 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_SPECIAL 4
04984 
04990 typedef struct player_audio_mixer_channel_detail
04991 {
04993   uint32_t name_count;
04995   char *name;
04997   uint8_t caps;
04998 } player_audio_mixer_channel_detail_t;
04999 
05000 
05001 
05007 typedef struct player_audio_mixer_channel_list_detail
05008 {
05010   uint32_t details_count;
05012   player_audio_mixer_channel_detail_t *details;
05014   int32_t default_output;
05016   int32_t default_input;
05017 } player_audio_mixer_channel_list_detail_t;
05018 
05019 
05020 
05027 typedef struct player_audio_sample
05028 {
05030   player_audio_wav_t sample;
05032   int32_t index;
05033 } player_audio_sample_t;
05034 
05040 typedef struct player_audio_sample_item
05041 {
05043   int32_t index;
05044 } player_audio_sample_item_t;
05045 
05051 typedef struct player_audio_sample_rec_req
05052 {
05055   int32_t index;
05057   uint32_t length;
05058 } player_audio_sample_rec_req_t;
05059 
05066 typedef struct player_audio_state
05067 {
05069   uint32_t state;
05070 } player_audio_state_t;
05071 
05072  
05078 #define PLAYER_SPEECH_RECOGNITION_CODE 50
05079 
05082 #define PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition" 
05083 
05084 // /////////////////////////////////////////////////////////////////////////////
05100 #define PLAYER_SPEECH_RECOGNITION_DATA_STRING 1
05101 
05102 
05103 
05107 typedef struct player_speech_recognition_data
05108 {
05110   uint32_t text_count;
05112   char *text;
05113 } player_speech_recognition_data_t;
05114 
05115 
05116  
05122 #define PLAYER_BUMPER_CODE 14
05123 
05126 #define PLAYER_BUMPER_STRING "bumper" 
05127 
05128 // /////////////////////////////////////////////////////////////////////////////
05144 #define PLAYER_BUMPER_DATA_STATE 1
05145 
05146 
05147 #define PLAYER_BUMPER_DATA_GEOM 2
05148 
05149 
05150 #define PLAYER_BUMPER_REQ_GET_GEOM 1
05151 
05152 
05156 typedef struct player_bumper_data
05157 {
05159   uint32_t bumpers_count;
05161   uint8_t *bumpers;
05162 } player_bumper_data_t;
05163 
05165 typedef struct player_bumper_define
05166 {
05168   player_pose3d_t pose;
05170   float length;
05172   float radius;
05173 } player_bumper_define_t;
05174 
05182 typedef struct player_bumper_geom
05183 {
05185   uint32_t bumper_def_count;
05187   player_bumper_define_t *bumper_def;
05188 } player_bumper_geom_t;
05189 
05190 
05191  
05194 /* END OF AUTOGENERATED CODE */

Last updated 12 September 2005 21:38:45