Interface codes
[Messaging basics]
An integer code is assigned to each interface. More...
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#define | PLAYER_PLAYER_CODE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_POWER_CODE 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_GRIPPER_CODE 3 |
Request/reply subtype: get device list. | |
#define | PLAYER_POSITION2D_CODE 4 |
Request/reply subtype: get device list. | |
#define | PLAYER_SONAR_CODE 5 |
Request/reply subtype: get device list. | |
#define | PLAYER_LASER_CODE 6 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLOBFINDER_CODE 7 |
Request/reply subtype: get device list. | |
#define | PLAYER_PTZ_CODE 8 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_CODE 9 |
Request/reply subtype: get device list. | |
#define | PLAYER_FIDUCIAL_CODE 10 |
Request/reply subtype: get device list. | |
#define | PLAYER_SPEECH_CODE 12 |
Request/reply subtype: get device list. | |
#define | PLAYER_GPS_CODE 13 |
Request/reply subtype: get device list. | |
#define | PLAYER_BUMPER_CODE 14 |
Request/reply subtype: get device list. | |
#define | PLAYER_DIO_CODE 20 |
Request/reply subtype: get device list. | |
#define | PLAYER_AIO_CODE 21 |
Request/reply subtype: get device list. | |
#define | PLAYER_IR_CODE 22 |
Request/reply subtype: get device list. | |
#define | PLAYER_WIFI_CODE 23 |
Request/reply subtype: get device list. | |
#define | PLAYER_LOCALIZE_CODE 25 |
Request/reply subtype: get device list. | |
#define | PLAYER_POSITION3D_CODE 30 |
Request/reply subtype: get device list. | |
#define | PLAYER_SIMULATION_CODE 31 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLINKENLIGHT_CODE 33 |
Request/reply subtype: get device list. | |
#define | PLAYER_CAMERA_CODE 40 |
Request/reply subtype: get device list. | |
#define | PLAYER_MAP_CODE 42 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLANNER_CODE 44 |
Request/reply subtype: get device list. | |
#define | PLAYER_LOG_CODE 45 |
Request/reply subtype: get device list. | |
#define | PLAYER_JOYSTICK_CODE 49 |
Request/reply subtype: get device list. | |
#define | PLAYER_SPEECH_RECOGNITION_CODE 50 |
Request/reply subtype: get device list. | |
#define | PLAYER_OPAQUE_CODE 51 |
Request/reply subtype: get device list. | |
#define | PLAYER_POSITION1D_CODE 52 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_CODE 53 |
Request/reply subtype: get device list. | |
#define | PLAYER_LIMB_CODE 54 |
Request/reply subtype: get device list. | |
#define | PLAYER_GRAPHICS2D_CODE 55 |
Request/reply subtype: get device list. | |
#define | PLAYER_RFID_CODE 56 |
Request/reply subtype: get device list. | |
#define | PLAYER_WSN_CODE 57 |
Request/reply subtype: get device list. | |
#define | PLAYER_GRAPHICS3D_CODE 58 |
Request/reply subtype: get device list. | |
#define | PLAYER_HEALTH_CODE 59 |
Request/reply subtype: get device list. | |
#define | PLAYER_IMU_CODE 60 |
Request/reply subtype: get device list. | |
#define | PLAYER_POINTCLOUD3D_CODE 61 |
Request/reply subtype: get device list. | |
#define | PLAYER_RANGER_CODE 62 |
Request/reply subtype: get device list. | |
#define | PLAYER_VECTORMAP_CODE 63 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLACKBOARD_CODE 64 |
Request/reply subtype: get device list. | |
#define | PLAYER_STEREO_CODE 65 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_STRING "player" |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_REQ_DEVLIST 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_REQ_DRIVERINFO 2 |
Request/reply subtype: get driver info. | |
#define | PLAYER_PLAYER_REQ_DEV 3 |
Request/reply subtype: (un)subscribe to device. | |
#define | PLAYER_PLAYER_REQ_DATA 4 |
Configuration request: Get data. | |
#define | PLAYER_PLAYER_REQ_DATAMODE 5 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_REQ_AUTH 7 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_REQ_NAMESERVICE 8 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_REQ_ADD_REPLACE_RULE 10 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_SYNCH_OK 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_SYNCH_OVERFLOW 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_OPEN_MODE 1 |
Device access mode: open. | |
#define | PLAYER_CLOSE_MODE 2 |
Device access mode: close. | |
#define | PLAYER_ERROR_MODE 3 |
Device access mode: error. | |
#define | PLAYER_DATAMODE_PUSH 1 |
Data delivery mode: Send data from all subscribed devices all the time (i.e. | |
#define | PLAYER_DATAMODE_PULL 2 |
Data delivery mode: Only on request, send data from all subscribed devices. | |
#define | PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT 0 |
A replace rule can either accept, replace or ignore a message. | |
#define | PLAYER_PLAYER_MSG_REPLACE_RULE_REPLACE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_PLAYER_MSG_REPLACE_RULE_IGNORE 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_POWER_STRING "power" |
Request/reply subtype: get device list. | |
#define | PLAYER_POWER_DATA_STATE 1 |
Data subtype: voltage. | |
#define | PLAYER_POWER_REQ_SET_CHARGING_POLICY_REQ 1 |
Request subtype: set charging policy. | |
#define | PLAYER_POWER_MASK_VOLTS 1 |
bit masks for the player_power_data_t mask field | |
#define | PLAYER_POWER_MASK_WATTS 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_POWER_MASK_JOULES 4 |
Request/reply subtype: get device list. | |
#define | PLAYER_POWER_MASK_PERCENT 8 |
Request/reply subtype: get device list. | |
#define | PLAYER_POWER_MASK_CHARGING 16 |
Request/reply subtype: get device list. | |
#define | PLAYER_GRIPPER_STRING "gripper" |
Request/reply subtype: get device list. | |
#define | PLAYER_GRIPPER_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_GRIPPER_REQ_GET_GEOM 1 |
Request subtype: get geometry. | |
#define | PLAYER_GRIPPER_CMD_OPEN 1 |
Command: Open (PLAYER_GRIPPER_CMD_OPEN). | |
#define | PLAYER_GRIPPER_CMD_CLOSE 2 |
Command: Close (PLAYER_GRIPPER_CMD_CLOSE). | |
#define | PLAYER_GRIPPER_CMD_STOP 3 |
Command: Stop (PLAYER_GRIPPER_CMD_STOP). | |
#define | PLAYER_GRIPPER_CMD_STORE 4 |
Command: Store (PLAYER_GRIPPER_CMD_STORE). | |
#define | PLAYER_GRIPPER_CMD_RETRIEVE 5 |
Command: Retrieve (PLAYER_GRIPPER_CMD_RETRIEVE). | |
#define | PLAYER_GRIPPER_STATE_OPEN 1 |
Gripper state: open. | |
#define | PLAYER_GRIPPER_STATE_CLOSED 2 |
Gripper state: closed. | |
#define | PLAYER_GRIPPER_STATE_MOVING 3 |
Gripper state: moving. | |
#define | PLAYER_GRIPPER_STATE_ERROR 4 |
Gripper state: error. | |
#define | PLAYER_POSITION2D_STRING "position2d" |
Request/reply subtype: get device list. | |
#define | PLAYER_POSITION2D_REQ_GET_GEOM 1 |
Request/reply: geometry. | |
#define | PLAYER_POSITION2D_REQ_MOTOR_POWER 2 |
Request/reply: Motor power. | |
#define | PLAYER_POSITION2D_REQ_VELOCITY_MODE 3 |
Request/reply: Change velocity control. | |
#define | PLAYER_POSITION2D_REQ_POSITION_MODE 4 |
Request/reply: Change control mode. | |
#define | PLAYER_POSITION2D_REQ_SET_ODOM 5 |
Request/reply: Set odometry. | |
#define | PLAYER_POSITION2D_REQ_RESET_ODOM 6 |
Request/reply: Reset odometry. | |
#define | PLAYER_POSITION2D_REQ_SPEED_PID 7 |
Request/reply: Set velocity PID parameters. | |
#define | PLAYER_POSITION2D_REQ_POSITION_PID 8 |
Request/reply: Set position PID parameters. | |
#define | PLAYER_POSITION2D_REQ_SPEED_PROF 9 |
Request/reply: Set linear speed profile parameters. | |
#define | PLAYER_POSITION2D_DATA_STATE 1 |
Data: state (PLAYER_POSITION2D_DATA_STATE). | |
#define | PLAYER_POSITION2D_DATA_GEOM 2 |
Data: geometry. | |
#define | PLAYER_POSITION2D_CMD_VEL 1 |
Command: velocity (PLAYER_POSITION2D_CMD_VEL). | |
#define | PLAYER_POSITION2D_CMD_POS 2 |
Command: position (PLAYER_POSITION2D_CMD_POS). | |
#define | PLAYER_POSITION2D_CMD_CAR 3 |
Command: carlike (PLAYER_POSITION2D_CMD_CAR). | |
#define | PLAYER_POSITION2D_CMD_VEL_HEAD 4 |
Command: vel/head (PLAYER_POSITION2D_CMD_VEL_HEAD). | |
#define | PLAYER_SONAR_STRING "sonar" |
Request/reply subtype: get device list. | |
#define | PLAYER_SONAR_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_SONAR_REQ_POWER 2 |
Request/reply subtype: power. | |
#define | PLAYER_SONAR_DATA_RANGES 1 |
Data subtype: ranges. | |
#define | PLAYER_SONAR_DATA_GEOM 2 |
Data subtype: geometry. | |
#define | PLAYER_LASER_STRING "laser" |
Request/reply subtype: get device list. | |
#define | PLAYER_LASER_DATA_SCAN 1 |
Data subtype: scan. | |
#define | PLAYER_LASER_DATA_SCANPOSE 2 |
Data subtype: pose-stamped scan. | |
#define | PLAYER_LASER_DATA_SCANANGLE 3 |
Data subtype: angle-stamped scan. | |
#define | PLAYER_LASER_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_LASER_REQ_SET_CONFIG 2 |
Request/reply subtype: set configuration. | |
#define | PLAYER_LASER_REQ_GET_CONFIG 3 |
Request/reply subtype: get configuration. | |
#define | PLAYER_LASER_REQ_POWER 4 |
Request/reply subtype: set power. | |
#define | PLAYER_LASER_REQ_GET_ID 5 |
Request/reply subtype: get IDentification information. | |
#define | PLAYER_LASER_REQ_SET_FILTER 6 |
Request/reply subtype: set filter settings. | |
#define | PLAYER_LASER_MAX_FILTER_PARAMS 8 |
Filter setings. | |
#define | PLAYER_LASER_FILTER_MEDIAN 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_LASER_FILTER_EDGE 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_LASER_FILTER_RANGE 3 |
Request/reply subtype: get device list. | |
#define | PLAYER_LASER_FILTER_MEAN 4 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLOBFINDER_STRING "blobfinder" |
Request/reply subtype: get device list. | |
#define | PLAYER_BLOBFINDER_DATA_BLOBS 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLOBFINDER_REQ_SET_COLOR 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLOBFINDER_REQ_GET_COLOR 3 |
Request/reply subtype: get device list. | |
#define | PLAYER_PTZ_STRING "ptz" |
Request/reply subtype: get device list. | |
#define | PLAYER_PTZ_REQ_GENERIC 1 |
Request/reply subtype: generic. | |
#define | PLAYER_PTZ_REQ_CONTROL_MODE 2 |
Request/reply subtype: control mode. | |
#define | PLAYER_PTZ_REQ_GEOM 4 |
Request/reply subtype: geometry. | |
#define | PLAYER_PTZ_REQ_STATUS 5 |
Request/reply subtype: status. | |
#define | PLAYER_PTZ_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_PTZ_DATA_GEOM 2 |
Data subtype: geometry. | |
#define | PLAYER_PTZ_CMD_STATE 1 |
Command subtype: state. | |
#define | PLAYER_PTZ_VELOCITY_CONTROL 0 |
Control mode, for use with PLAYER_PTZ_REQ_CONTROL_MODE. | |
#define | PLAYER_PTZ_POSITION_CONTROL 1 |
Control mode, for use with PLAYER_PTZ_REQ_CONTROL_MODE. | |
#define | PLAYER_AUDIO_STRING "audio" |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_DATA_WAV_REC 1 |
Data subtype: wav_rec_data, recorded data block. | |
#define | PLAYER_AUDIO_DATA_SEQ 2 |
Data subtype: seq_data, recorded sequence of notes. | |
#define | PLAYER_AUDIO_DATA_MIXER_CHANNEL 3 |
Data subtype: mixer_channel_data, audio channel levels. | |
#define | PLAYER_AUDIO_DATA_STATE 4 |
Data subtype: state_data, driver state data (eg playing, stopped, . | |
#define | PLAYER_AUDIO_CMD_WAV_PLAY 1 |
Command subtype: wav_play_cmd, play a raw data block, in structure player_audio_wav_t. | |
#define | PLAYER_AUDIO_CMD_WAV_STREAM_REC 2 |
Command subtype: wav_stream_rec_cmd, start/stop recording, data will be returned as data blocks. | |
#define | PLAYER_AUDIO_CMD_SAMPLE_PLAY 3 |
Command subtype: sample_play_cmd, play a pre stored audio sample. | |
#define | PLAYER_AUDIO_CMD_SEQ_PLAY 4 |
Command subtype: seq_play_cmd, play a sequence of tones. | |
#define | PLAYER_AUDIO_CMD_MIXER_CHANNEL 5 |
Command subtype: mixer_channel_cmd, audio channel levels. | |
#define | PLAYER_AUDIO_REQ_WAV_REC 1 |
Request subtype: wav_rec_req, record a fixed size data block, in structure player_audio_wav_t. | |
#define | PLAYER_AUDIO_REQ_SAMPLE_LOAD 2 |
Request subtype: sample_load_req, store a sample. | |
#define | PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE 3 |
Request subtype: sample_retrieve_req, retrieve a stored sample. | |
#define | PLAYER_AUDIO_REQ_SAMPLE_REC 4 |
Request subtype: sample_rec_req, record a new sample. | |
#define | PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST 5 |
Request subtype: mixer_channel_list_req, request the list of channels. | |
#define | PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL 6 |
Request subtype: mixer_channel_level_req, request the channel levels. | |
#define | PLAYER_AUDIO_STATE_STOPPED 0x00 |
Driver states. | |
#define | PLAYER_AUDIO_STATE_PLAYING 0x01 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_STATE_RECORDING 0x02 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_DESCRIPTION_BITS 0xFF |
Audio formats. | |
#define | PLAYER_AUDIO_BITS 0x03 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_8BIT 0 |
8 bit | |
#define | PLAYER_AUDIO_16BIT 1 |
16 bit | |
#define | PLAYER_AUDIO_24BIT 2 |
24 bit | |
#define | PLAYER_AUDIO_MONO 0 |
Mono. | |
#define | PLAYER_AUDIO_STEREO 4 |
Stereo. | |
#define | PLAYER_AUDIO_FREQ 0x18 |
Frequency. | |
#define | PLAYER_AUDIO_FREQ_44k 0 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FREQ_11k 8 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FREQ_22k 16 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FREQ_48k 24 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FORMAT_BITS 0xFF00 |
AUDIO format. | |
#define | PLAYER_AUDIO_FORMAT_NULL 0x0000 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FORMAT_RAW 0x0100 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FORMAT_MP3 0x0200 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FORMAT_OGG 0x0300 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FORMAT_FLAC 0x0400 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_FORMAT_AAC 0x0500 |
Request/reply subtype: get device list. | |
#define | PLAYER_AUDIO_MIXER_CHANNEL_TYPE_INPUT 1 |
Input audio channel. | |
#define | PLAYER_AUDIO_MIXER_CHANNEL_TYPE_OUTPUT 2 |
Output audio channel. | |
#define | PLAYER_AUDIO_MIXER_CHANNEL_TYPE_SPECIAL 4 |
Special audio channel. | |
#define | PLAYER_FIDUCIAL_STRING "fiducial" |
Request/reply subtype: get device list. | |
#define | PLAYER_FIDUCIAL_DATA_SCAN 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_FIDUCIAL_REQ_GET_GEOM 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_FIDUCIAL_REQ_GET_FOV 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_FIDUCIAL_REQ_SET_FOV 3 |
Request/reply subtype: get device list. | |
#define | PLAYER_FIDUCIAL_REQ_GET_ID 7 |
Request/reply subtype: get device list. | |
#define | PLAYER_FIDUCIAL_REQ_SET_ID 8 |
Request/reply subtype: get device list. | |
#define | PLAYER_SPEECH_STRING "speech" |
Request/reply subtype: get device list. | |
#define | PLAYER_SPEECH_CMD_SAY 1 |
Command subtype: say a string. | |
#define | PLAYER_GPS_STRING "gps" |
Request/reply subtype: get device list. | |
#define | PLAYER_GPS_DATA_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_BUMPER_STRING "bumper" |
Request/reply subtype: get device list. | |
#define | PLAYER_BUMPER_DATA_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_BUMPER_DATA_GEOM 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_BUMPER_REQ_GET_GEOM 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_DIO_STRING "dio" |
Request/reply subtype: get device list. | |
#define | PLAYER_DIO_DATA_VALUES 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_DIO_CMD_VALUES 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_AIO_STRING "aio" |
Request/reply subtype: get device list. | |
#define | PLAYER_AIO_CMD_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_AIO_DATA_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_IR_STRING "ir" |
Request/reply subtype: get device list. | |
#define | PLAYER_IR_REQ_POSE 1 |
Request/reply subtype: get pose. | |
#define | PLAYER_IR_REQ_POWER 2 |
Request/reply subtype: set power. | |
#define | PLAYER_IR_DATA_RANGES 1 |
Data subtype: ranges. | |
#define | PLAYER_WIFI_STRING "wifi" |
Request/reply subtype: get device list. | |
#define | PLAYER_WIFI_REQ_MAC 1 |
Request/reply subtype:. | |
#define | PLAYER_WIFI_REQ_IWSPY_ADD 2 |
Request/reply subtype:. | |
#define | PLAYER_WIFI_REQ_IWSPY_DEL 3 |
Request/reply subtype:. | |
#define | PLAYER_WIFI_REQ_IWSPY_PING 4 |
Request/reply subtype:. | |
#define | PLAYER_WIFI_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_WIFI_QUAL_DBM 1 |
link quality is in dBm | |
#define | PLAYER_WIFI_QUAL_REL 2 |
link quality is relative | |
#define | PLAYER_WIFI_QUAL_UNKNOWN 3 |
link quality is unknown | |
#define | PLAYER_WIFI_MODE_UNKNOWN 0 |
unknown operating mode | |
#define | PLAYER_WIFI_MODE_AUTO 1 |
driver decides the mode | |
#define | PLAYER_WIFI_MODE_ADHOC 2 |
ad hoc mode | |
#define | PLAYER_WIFI_MODE_INFRA 3 |
infrastructure mode (multi cell network, roaming) | |
#define | PLAYER_WIFI_MODE_MASTER 4 |
access point, master mode | |
#define | PLAYER_WIFI_MODE_REPEAT 5 |
repeater mode | |
#define | PLAYER_WIFI_MODE_SECOND 6 |
secondary/backup repeater | |
#define | PLAYER_LOCALIZE_STRING "localize" |
Request/reply subtype: get device list. | |
#define | PLAYER_LOCALIZE_DATA_HYPOTHS 1 |
Data subtype: pose hypotheses. | |
#define | PLAYER_LOCALIZE_REQ_SET_POSE 1 |
Request/reply subtype: set pose hypothesis. | |
#define | PLAYER_LOCALIZE_REQ_GET_PARTICLES 2 |
Request/reply subtype: get particle set. | |
#define | PLAYER_POSITION3D_STRING "position3d" |
Request/reply subtype: get device list. | |
#define | PLAYER_POSITION3D_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_POSITION3D_DATA_GEOMETRY 2 |
Data subtype: geometry. | |
#define | PLAYER_POSITION3D_CMD_SET_VEL 1 |
Command subtype: velocity control. | |
#define | PLAYER_POSITION3D_CMD_SET_POS 2 |
Command subtype: position control. | |
#define | PLAYER_POSITION3D_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_POSITION3D_REQ_MOTOR_POWER 2 |
Request/reply subtype: motor power. | |
#define | PLAYER_POSITION3D_REQ_VELOCITY_MODE 3 |
Request/reply subtype: velocity mode. | |
#define | PLAYER_POSITION3D_REQ_POSITION_MODE 4 |
Request/reply subtype: position mode. | |
#define | PLAYER_POSITION3D_REQ_RESET_ODOM 5 |
Request/reply subtype: reset odometry. | |
#define | PLAYER_POSITION3D_REQ_SET_ODOM 6 |
Request/reply subtype: set odometry. | |
#define | PLAYER_POSITION3D_REQ_SPEED_PID 7 |
Request/reply subtype: set speed PID params. | |
#define | PLAYER_POSITION3D_REQ_POSITION_PID 8 |
Request/reply subtype: set position PID params. | |
#define | PLAYER_POSITION3D_REQ_SPEED_PROF 9 |
Request/reply subtype: set speed profile params. | |
#define | PLAYER_SIMULATION_STRING "simulation" |
Request/reply subtype: get device list. | |
#define | PLAYER_SIMULATION_REQ_GET_POSE2D 1 |
Request/reply subtype: set 2D pose. | |
#define | PLAYER_SIMULATION_REQ_SET_POSE2D 2 |
Request/reply subtype: get 2D pose. | |
#define | PLAYER_SIMULATION_REQ_GET_POSE3D 3 |
Request/reply subtype: set 2D pose. | |
#define | PLAYER_SIMULATION_REQ_SET_POSE3D 4 |
Request/reply subtype: get 2D pose. | |
#define | PLAYER_SIMULATION_REQ_GET_PROPERTY 5 |
Request/reply subtype: set property value. | |
#define | PLAYER_SIMULATION_REQ_SET_PROPERTY 6 |
Request/reply subtype: get property value. | |
#define | PLAYER_SIMULATION_CMD_PAUSE 1 |
Cmd subtype: pause (if running) /resume (if paused) command. | |
#define | PLAYER_SIMULATION_CMD_RESET 2 |
Cmd subtype: reset simulation command. | |
#define | PLAYER_SIMULATION_CMD_SAVE 3 |
Cmd subtype: save simulation command. | |
#define | PLAYER_BLINKENLIGHT_STRING "blinkenlight" |
Request/reply subtype: get device list. | |
#define | PLAYER_BLINKENLIGHT_DATA_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLINKENLIGHT_CMD_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLINKENLIGHT_CMD_POWER 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLINKENLIGHT_CMD_COLOR 3 |
Request/reply subtype: get device list. | |
#define | PLAYER_BLINKENLIGHT_CMD_FLASH 4 |
Request/reply subtype: get device list. | |
#define | PLAYER_CAMERA_STRING "camera" |
Request/reply subtype: get device list. | |
#define | PLAYER_CAMERA_DATA_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_CAMERA_FORMAT_MONO8 1 |
Image format : 8-bit monochrome. | |
#define | PLAYER_CAMERA_FORMAT_MONO16 2 |
Image format : 16-bit monochrome (network byte order). | |
#define | PLAYER_CAMERA_FORMAT_RGB565 4 |
Image format : 16-bit color (5 bits R, 6 bits G, 5 bits B). | |
#define | PLAYER_CAMERA_FORMAT_RGB888 5 |
Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B). | |
#define | PLAYER_CAMERA_COMPRESS_RAW 0 |
Compression method: raw. | |
#define | PLAYER_CAMERA_COMPRESS_JPEG 1 |
Compression method: jpeg. | |
#define | PLAYER_MAP_STRING "map" |
Request/reply subtype: get device list. | |
#define | PLAYER_MAP_DATA_INFO 1 |
Data subtype: grid map metadata. | |
#define | PLAYER_MAP_REQ_GET_INFO 1 |
Request/reply subtype: get grid map metadata. | |
#define | PLAYER_MAP_REQ_GET_DATA 2 |
Request/reply subtype: get grid map tile. | |
#define | PLAYER_MAP_REQ_GET_VECTOR 3 |
Request/reply subtype: get vector map. | |
#define | PLAYER_MAP_DATA_INFO 1 |
Data subtype: grid map metadata. | |
#define | PLAYER_PLANNER_STRING "planner" |
Request/reply subtype: get device list. | |
#define | PLAYER_PLANNER_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_PLANNER_CMD_GOAL 1 |
Command subtype: state. | |
#define | PLAYER_PLANNER_REQ_GET_WAYPOINTS 1 |
Request subtype: get waypoints. | |
#define | PLAYER_PLANNER_REQ_ENABLE 2 |
Request subtype: enable / disable planner. | |
#define | PLAYER_LOG_STRING "log" |
Request/reply subtype: get device list. | |
#define | PLAYER_LOG_REQ_SET_WRITE_STATE 1 |
Request/reply subtype: set write state. | |
#define | PLAYER_LOG_REQ_SET_READ_STATE 2 |
Request/reply subtype: set read state. | |
#define | PLAYER_LOG_REQ_GET_STATE 3 |
Request/reply subtype: get state. | |
#define | PLAYER_LOG_REQ_SET_READ_REWIND 4 |
Request/reply subtype: rewind. | |
#define | PLAYER_LOG_REQ_SET_FILENAME 5 |
Request/reply subtype: set filename to write. | |
#define | PLAYER_LOG_TYPE_READ 1 |
Types of log device: read. | |
#define | PLAYER_LOG_TYPE_WRITE 2 |
Types of log device: write. | |
#define | PLAYER_JOYSTICK_STRING "joystick" |
Request/reply subtype: get device list. | |
#define | PLAYER_JOYSTICK_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition" |
Request/reply subtype: get device list. | |
#define | PLAYER_SPEECH_RECOGNITION_DATA_STRING 1 |
Data subtype: recognized string. | |
#define | PLAYER_OPAQUE_STRING "opaque" |
Request/reply subtype: get device list. | |
#define | PLAYER_OPAQUE_DATA_STATE 1 |
Data subtype: generic state. | |
#define | PLAYER_OPAQUE_CMD_DATA 1 |
Cmd subtype: generic command. | |
#define | PLAYER_OPAQUE_REQ_DATA 1 |
Req subtype: generic request. | |
#define | PLAYER_OPAQUE_REQ PLAYER_OPAQUE_REQ_DATA |
Request/reply subtype: get device list. | |
#define | PLAYER_OPAQUE_CMD PLAYER_OPAQUE_CMD_DATA |
Request/reply subtype: get device list. | |
#define | PLAYER_POSITION1D_STRING "position1d" |
Request/reply subtype: get device list. | |
#define | PLAYER_POSITION1D_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_POSITION1D_REQ_MOTOR_POWER 2 |
Request/reply subtype: motor power. | |
#define | PLAYER_POSITION1D_REQ_VELOCITY_MODE 3 |
Request/reply subtype: velocity mode. | |
#define | PLAYER_POSITION1D_REQ_POSITION_MODE 4 |
Request/reply subtype: position mode. | |
#define | PLAYER_POSITION1D_REQ_SET_ODOM 5 |
Request/reply subtype: set odometry. | |
#define | PLAYER_POSITION1D_REQ_RESET_ODOM 6 |
Request/reply subtype: reset odometry. | |
#define | PLAYER_POSITION1D_REQ_SPEED_PID 7 |
Request/reply subtype: set speed PID params. | |
#define | PLAYER_POSITION1D_REQ_POSITION_PID 8 |
Request/reply subtype: set position PID params. | |
#define | PLAYER_POSITION1D_REQ_SPEED_PROF 9 |
Request/reply subtype: set speed profile params. | |
#define | PLAYER_POSITION1D_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_POSITION1D_DATA_GEOM 2 |
Data subtype: geometry. | |
#define | PLAYER_POSITION1D_CMD_VEL 1 |
Command subtype: velocity command. | |
#define | PLAYER_POSITION1D_CMD_POS 2 |
Command subtype: position command. | |
#define | PLAYER_POSITION1D_STATUS_LIMIT_MIN 0 |
Status byte: limit min. | |
#define | PLAYER_POSITION1D_STATUS_LIMIT_CEN 1 |
Status byte: limit center. | |
#define | PLAYER_POSITION1D_STATUS_LIMIT_MAX 2 |
Status byte: limit max. | |
#define | PLAYER_POSITION1D_STATUS_OC 3 |
Status byte: limit over current. | |
#define | PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE 4 |
Status byte: limit trajectory complete. | |
#define | PLAYER_POSITION1D_STATUS_ENABLED 5 |
Status byte: enabled. | |
#define | PLAYER_ACTARRAY_STRING "actarray" |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_REQ_POWER 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_REQ_BRAKES 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_REQ_GET_GEOM 3 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_REQ_SPEED 4 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_REQ_ACCEL 5 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_CMD_POS 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_CMD_MULTI_POS 2 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_CMD_SPEED 3 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_CMD_MULTI_SPEED 4 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_CMD_HOME 5 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_CMD_CURRENT 6 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_CMD_MULTI_CURRENT 7 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_DATA_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_ACTARRAY_ACTSTATE_IDLE 1 |
Idle state code. | |
#define | PLAYER_ACTARRAY_ACTSTATE_MOVING 2 |
Moving state code. | |
#define | PLAYER_ACTARRAY_ACTSTATE_BRAKED 4 |
Braked state code. | |
#define | PLAYER_ACTARRAY_ACTSTATE_STALLED 8 |
Stalled state code. | |
#define | PLAYER_ACTARRAY_TYPE_LINEAR 1 |
Linear type code. | |
#define | PLAYER_ACTARRAY_TYPE_ROTARY 2 |
Rotary type code. | |
#define | PLAYER_LIMB_STRING "limb" |
Request/reply subtype: get device list. | |
#define | PLAYER_LIMB_STATE_IDLE 1 |
Idle. | |
#define | PLAYER_LIMB_STATE_BRAKED 2 |
Brakes are on. | |
#define | PLAYER_LIMB_STATE_MOVING 3 |
Moving to target. | |
#define | PLAYER_LIMB_STATE_OOR 4 |
Target was out of reach. | |
#define | PLAYER_LIMB_STATE_COLL 5 |
Target was blocked by collision. | |
#define | PLAYER_LIMB_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_LIMB_CMD_HOME 1 |
Command: home (PLAYER_LIMB_HOME_CMD). | |
#define | PLAYER_LIMB_CMD_STOP 2 |
Command: stop (PLAYER_LIMB_STOP_CMD). | |
#define | PLAYER_LIMB_CMD_SETPOSE 3 |
Command subtype: set pose. | |
#define | PLAYER_LIMB_CMD_SETPOSITION 4 |
Command subtype: set position. | |
#define | PLAYER_LIMB_CMD_VECMOVE 5 |
Command subtype: vector move. | |
#define | PLAYER_LIMB_REQ_POWER 1 |
Request/reply: power. | |
#define | PLAYER_LIMB_REQ_BRAKES 2 |
Request/reply: brakes. | |
#define | PLAYER_LIMB_REQ_GEOM 3 |
Request/reply: geometry. | |
#define | PLAYER_LIMB_REQ_SPEED 4 |
Request/reply: speed. | |
#define | PLAYER_GRAPHICS2D_STRING "graphics2d" |
Request/reply subtype: get device list. | |
#define | PLAYER_GRAPHICS2D_CMD_CLEAR 1 |
Command subtype: clear the drawing area (send an empty message). | |
#define | PLAYER_GRAPHICS2D_CMD_POINTS 2 |
Command subtype: draw points. | |
#define | PLAYER_GRAPHICS2D_CMD_POLYLINE 3 |
Command subtype: draw a polyline. | |
#define | PLAYER_GRAPHICS2D_CMD_POLYGON 4 |
Command subtype: draw a polygon. | |
#define | PLAYER_RFID_STRING "rfid" |
Request/reply subtype: get device list. | |
#define | PLAYER_RFID_DATA_TAGS 1 |
Data subtype. | |
#define | PLAYER_RFID_REQ_POWER 1 |
Request/reply: put the reader in sleep mode (0) or wake it up (1). | |
#define | PLAYER_RFID_REQ_READTAG 2 |
Request/reply: read data from the RFID tag - to be implemented. | |
#define | PLAYER_RFID_REQ_WRITETAG 3 |
Request/reply: write data to the RFID tag - to be implemented. | |
#define | PLAYER_RFID_REQ_LOCKTAG 4 |
Request/reply: lock data blocks of a RFID tag - to be implemented. | |
#define | PLAYER_WSN_STRING "wsn" |
Request/reply subtype: get device list. | |
#define | PLAYER_WSN_DATA_STATE 1 |
Data subtypes. | |
#define | PLAYER_WSN_CMD_DEVSTATE 1 |
Command subtype: set device state. | |
#define | PLAYER_WSN_REQ_POWER 1 |
Request/reply: put the node in sleep mode (0) or wake it up (1). | |
#define | PLAYER_WSN_REQ_DATATYPE 2 |
Request/reply: change the data type to RAW or converted metric units. | |
#define | PLAYER_WSN_REQ_DATAFREQ 3 |
Request/reply: change the receiving data frequency. | |
#define | PLAYER_GRAPHICS3D_STRING "graphics3d" |
Request/reply subtype: get device list. | |
#define | PLAYER_GRAPHICS3D_CMD_CLEAR 1 |
Command subtype: clear the drawing area (send an empty message). | |
#define | PLAYER_GRAPHICS3D_CMD_DRAW 2 |
Command subtype: draw items. | |
#define | PLAYER_GRAPHICS3D_CMD_TRANSLATE 3 |
Command subtype: translate coordinate system. | |
#define | PLAYER_GRAPHICS3D_CMD_ROTATE 4 |
Command subtype: rotate coordinate system. | |
#define | PLAYER_GRAPHICS3D_CMD_PUSH 5 |
Command subtype: push current coordinate system onto stack. | |
#define | PLAYER_GRAPHICS3D_CMD_POP 6 |
Command subtype: pop coordinate system from stack to become current. | |
#define | PLAYER_HEALTH_STRING "health" |
Request/reply subtype: get device list. | |
#define | PLAYER_HEALTH_DATA_STATE 1 |
Request/reply subtype: get device list. | |
#define | PLAYER_IMU_STRING "imu" |
Request/reply subtype: get device list. | |
#define | PLAYER_IMU_DATA_STATE 1 |
Data subtype: IMU position/orientation data. | |
#define | PLAYER_IMU_DATA_CALIB 2 |
Data subtype: Calibrated IMU data. | |
#define | PLAYER_IMU_DATA_QUAT 3 |
Data subtype: Quaternions orientation data. | |
#define | PLAYER_IMU_DATA_EULER 4 |
Data subtype: Euler orientation data. | |
#define | PLAYER_IMU_DATA_FULLSTATE 5 |
Data subtype: All IMU position/orientation data. | |
#define | PLAYER_IMU_REQ_SET_DATATYPE 1 |
Request/reply subtype: set data type. | |
#define | PLAYER_IMU_REQ_RESET_ORIENTATION 2 |
Request/reply subtype: reset orientation. | |
#define | PLAYER_POINTCLOUD3D_STRING "pointcloud3d" |
Request/reply subtype: get device list. | |
#define | PLAYER_POINTCLOUD3D_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_RANGER_STRING "ranger" |
Request/reply subtype: get device list. | |
#define | PLAYER_RANGER_DATA_RANGE 1 |
Data subtype: range scan. | |
#define | PLAYER_RANGER_DATA_RANGESTAMPED 2 |
Data subtype: range scan with extra info. | |
#define | PLAYER_RANGER_DATA_INTNS 3 |
Data subtype: intensity scan. | |
#define | PLAYER_RANGER_DATA_INTNSSTAMPED 4 |
Data subtype: intensity scan with extra info. | |
#define | PLAYER_RANGER_DATA_GEOM 5 |
Data subtype: sensor geometry. | |
#define | PLAYER_RANGER_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_RANGER_REQ_POWER 2 |
Request/reply subtype: power config. | |
#define | PLAYER_RANGER_REQ_INTNS 3 |
Request/reply subtype: intensity data config. | |
#define | PLAYER_RANGER_REQ_SET_CONFIG 4 |
Request/reply subtype: set configuration. | |
#define | PLAYER_RANGER_REQ_GET_CONFIG 5 |
Request/reply subtype: get configuration. | |
#define | PLAYER_VECTORMAP_STRING "vectormap" |
Request/reply subtype: get device list. | |
#define | PLAYER_VECTORMAP_REQ_GET_MAP_INFO 1 |
Request/reply subtype: get vectormap meta-data. | |
#define | PLAYER_VECTORMAP_REQ_GET_LAYER_DATA 3 |
Request/reply subtype: get layer data. | |
#define | PLAYER_VECTORMAP_REQ_WRITE_LAYER 4 |
Request/reply subtype: write layer data. | |
#define | PLAYER_BLACKBOARD_STRING "blackboard" |
Request/reply subtype: get device list. | |
#define | PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY 1 |
Request/reply subtype: subscribe to key. | |
#define | PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY 2 |
Request/reply subtype: unsubscribe from key. | |
#define | PLAYER_BLACKBOARD_REQ_SET_ENTRY 3 |
Request/reply subtype: set entry. | |
#define | PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP 4 |
Request/reply subtype: subscribe to group. | |
#define | PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP 5 |
Request/reply subtype: unsubscribe from group. | |
#define | PLAYER_BLACKBOARD_REQ_GET_ENTRY 6 |
Request/reply subtype: get a value. | |
#define | PLAYER_BLACKBOARD_DATA_UPDATE 1 |
Data update reply. | |
#define | PLAYER_STEREO_STRING "stereo" |
Request/reply subtype: get device list. | |
#define | PLAYER_STEREO_DATA_STATE 1 |
Request/reply subtype: get device list. | |
enum | player_graphics3d_draw_mode { PLAYER_DRAW_POINTS, PLAYER_DRAW_LINES, PLAYER_DRAW_LINE_STRIP, PLAYER_DRAW_LINE_LOOP, PLAYER_DRAW_TRIANGLES, PLAYER_DRAW_TRIANGLE_STRIP, PLAYER_DRAW_TRIANGLE_FAN, PLAYER_DRAW_QUADS, PLAYER_DRAW_QUAD_STRIP, PLAYER_DRAW_POLYGON } |
Drawmode: enumeration that defines the drawing mode. | |
typedef struct player_device_devlist | player_device_devlist_t |
Request/reply: Get the list of available devices. | |
typedef struct player_device_driverinfo | player_device_driverinfo_t |
Request/reply: Get the driver name for a particular device. | |
typedef struct player_device_req | player_device_req_t |
Request/reply: (un)subscribe to a device. | |
typedef struct player_device_datamode_req | player_device_datamode_req_t |
Configuration request: Change data delivery mode. | |
typedef struct player_device_auth_req | player_device_auth_req_t |
Configuration request: Authentication. | |
typedef struct player_device_nameservice_req | player_device_nameservice_req_t |
Nameservice request. | |
typedef struct player_add_replace_rule_req | player_add_replace_rule_req_t |
Configuration request: Add client queue replace rule. | |
typedef struct player_power_data | player_power_data_t |
Data: voltage (PLAYER_POWER_DATA_STATE). | |
typedef struct player_power_chargepolicy_config | player_power_chargepolicy_config_t |
Request/reply: set charging policy. | |
typedef struct player_gripper_data | player_gripper_data_t |
Data: state (PLAYER_GRIPPER_DATA_STATE). | |
typedef struct player_gripper_geom | player_gripper_geom_t |
Request/reply: get geometry. | |
typedef struct player_position2d_data | player_position2d_data_t |
position2d data | |
typedef struct player_position2d_cmd_vel | player_position2d_cmd_vel_t |
position 2d velocity command | |
typedef struct player_position2d_cmd_pos | player_position2d_cmd_pos_t |
position2d position command | |
typedef struct player_position2d_cmd_car | player_position2d_cmd_car_t |
position2d command setting velocity and steering angle | |
typedef struct player_position2d_cmd_vel_head | player_position2d_cmd_vel_head_t |
position2d command setting velocity and heading | |
typedef struct player_position2d_geom | player_position2d_geom_t |
position2d geom | |
typedef struct player_position2d_power_config | player_position2d_power_config_t |
position2d power config | |
typedef struct player_position2d_velocity_mode_config | player_position2d_velocity_mode_config_t |
position2d velocity mode config | |
typedef struct player_position2d_position_mode_req | player_position2d_position_mode_req_t |
position2d position mode request | |
typedef struct player_position2d_set_odom_req | player_position2d_set_odom_req_t |
set odometry | |
typedef struct player_position2d_speed_pid_req | player_position2d_speed_pid_req_t |
position2d speed PID req | |
typedef struct player_position2d_position_pid_req | player_position2d_position_pid_req_t |
position2d position pid req | |
typedef struct player_position2d_speed_prof_req | player_position2d_speed_prof_req_t |
speed prof req | |
typedef struct player_sonar_data | player_sonar_data_t |
Data: ranges (PLAYER_SONAR_DATA_RANGES). | |
typedef struct player_sonar_geom | player_sonar_geom_t |
Data AND Request/reply: geometry. | |
typedef struct player_sonar_power_config | player_sonar_power_config_t |
Request/reply: Sonar power. | |
typedef struct player_laser_data | player_laser_data_t |
Data: scan (PLAYER_LASER_DATA_SCAN). | |
typedef struct player_laser_data_scanpose | player_laser_data_scanpose_t |
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE). | |
typedef struct player_laser_data_scanangle | player_laser_data_scanangle_t |
Data: scan (PLAYER_LASER_DATA_SCANANGLE). | |
typedef struct player_laser_geom | player_laser_geom_t |
Request/reply: Get geometry. | |
typedef struct player_laser_config | player_laser_config_t |
Request/reply: Get/set scan properties. | |
typedef struct player_laser_power_config | player_laser_power_config_t |
Request/reply: Turn power on/off. | |
typedef struct player_laser_get_id_config | player_laser_get_id_config_t |
Request/reply: Get IDentification information. | |
typedef struct player_laser_set_filter_config | player_laser_set_filter_config_t |
Request/reply: Set filter settings. | |
typedef struct player_blobfinder_blob | player_blobfinder_blob_t |
Structure describing a single blob. | |
typedef struct player_blobfinder_data | player_blobfinder_data_t |
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS). | |
typedef struct player_blobfinder_color_config | player_blobfinder_color_config_t |
Request/reply: Set tracking color. | |
typedef struct player_blobfinder_imager_config | player_blobfinder_imager_config_t |
Configuration request: Set imager params. | |
typedef struct player_ptz_data | player_ptz_data_t |
Data: state (PLAYER_PTZ_DATA_STATE). | |
typedef struct player_ptz_cmd | player_ptz_cmd_t |
Command: state (PLAYER_PTZ_CMD_STATE). | |
typedef struct player_ptz_req_status | player_ptz_req_status_t |
Request/reply: Query pan/tilt status. | |
typedef struct player_ptz_geom | player_ptz_geom_t |
Request/reply: Query geometry. | |
typedef struct player_ptz_req_generic | player_ptz_req_generic_t |
Request/reply: Generic request. | |
typedef struct player_ptz_req_control_mode | player_ptz_req_control_mode_t |
Request/reply: Control mode. | |
typedef struct player_audio_wav | player_audio_wav_t |
Data: Raw audio data. | |
typedef struct player_audio_seq_item | player_audio_seq_item_t |
Player audio sequence item. | |
typedef struct player_audio_seq | player_audio_seq_t |
Player audio sequence. | |
typedef struct player_audio_mixer_channel | player_audio_mixer_channel_t |
Player mixer channel. | |
typedef struct player_audio_mixer_channel_list | player_audio_mixer_channel_list_t |
Player mixer channels. | |
typedef struct player_audio_mixer_channel_detail | player_audio_mixer_channel_detail_t |
Player mixer channel detail. | |
typedef struct player_audio_mixer_channel_list_detail | player_audio_mixer_channel_list_detail_t |
Player mixer channels. | |
typedef struct player_audio_sample | player_audio_sample_t |
Player audio sample. | |
typedef struct player_audio_sample_item | player_audio_sample_item_t |
Player audio sample selection. | |
typedef struct player_audio_sample_rec_req | player_audio_sample_rec_req_t |
Player audio sample record request. | |
typedef struct player_audio_state | player_audio_state_t |
Player audio driver state. | |
typedef struct player_fiducial_item | player_fiducial_item_t |
Info on a single detected fiducial. | |
typedef struct player_fiducial_data | player_fiducial_data_t |
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN). | |
typedef struct player_fiducial_geom | player_fiducial_geom_t |
Request/reply: Get geometry. | |
typedef struct player_fiducial_fov | player_fiducial_fov_t |
Request/reply: Get/set sensor field of view. | |
typedef struct player_fiducial_id | player_fiducial_id_t |
Request/reply: Get/set fiducial ID. | |
typedef struct player_speech_cmd | player_speech_cmd_t |
Command: say a string (PLAYER_SPEECH_CMD_SAY). | |
typedef struct player_gps_data | player_gps_data_t |
Data: state (PLAYER_GPS_DATA_STATE). | |
typedef struct player_bumper_data | player_bumper_data_t |
Data: state (PLAYER_BUMPER_DATA_GEOM). | |
typedef struct player_bumper_define | player_bumper_define_t |
The geometry of a single bumper. | |
typedef struct player_bumper_geom | player_bumper_geom_t |
Data AND Request/reply: bumper geometry. | |
typedef struct player_dio_data | player_dio_data_t |
Data: input values (PLAYER_DIO_DATA_VALUES). | |
typedef struct player_dio_cmd | player_dio_cmd_t |
Command: output values (PLAYER_DIO_CMD_VALUES). | |
typedef struct player_aio_data | player_aio_data_t |
Data: state (PLAYER_AIO_DATA_STATE). | |
typedef struct player_aio_cmd | player_aio_cmd_t |
Command: state (PLAYER_AIO_CMD_STATE). | |
typedef struct player_ir_data | player_ir_data_t |
Data: ranges (PLAYER_IR_DATA_RANGES). | |
typedef struct player_ir_pose | player_ir_pose_t |
Request/reply: get pose. | |
typedef struct player_ir_power_req | player_ir_power_req_t |
Request/reply: set power. | |
typedef struct player_wifi_link | player_wifi_link_t |
Link information for one host. | |
typedef struct player_wifi_data | player_wifi_data_t |
Data: state (PLAYER_WIFI_DATA_STATE). | |
typedef struct player_wifi_mac_req | player_wifi_mac_req_t |
Request/reply:. | |
typedef struct player_wifi_iwspy_addr_req | player_wifi_iwspy_addr_req_t |
Request/reply:. | |
typedef struct player_localize_hypoth | player_localize_hypoth_t |
Hypothesis format. | |
typedef struct player_localize_data | player_localize_data_t |
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS). | |
typedef struct player_localize_set_pose | player_localize_set_pose_t |
Request/reply: Set the robot pose estimate. | |
typedef struct player_localize_particle | player_localize_particle_t |
A particle. | |
typedef struct player_localize_get_particles | player_localize_get_particles_t |
Request/reply: Get particles. | |
typedef struct player_position3d_data | player_position3d_data_t |
Data: state (PLAYER_POSITION3D_DATA_STATE). | |
typedef struct player_position3d_cmd_pos | player_position3d_cmd_pos_t |
Command: position (PLAYER_POSITION3D_CMD_SET_POS). | |
typedef struct player_position3d_cmd_vel | player_position3d_cmd_vel_t |
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL). | |
typedef struct player_position3d_geom | player_position3d_geom_t |
Request/reply: Query geometry. | |
typedef struct player_position3d_power_config | player_position3d_power_config_t |
Request/reply: Motor power. | |
typedef struct player_position3d_position_mode_req | player_position3d_position_mode_req_t |
Request/reply: Change position control. | |
typedef struct player_position3d_velocity_mode_config | player_position3d_velocity_mode_config_t |
Request/reply: Change velocity control. | |
typedef struct player_position3d_set_odom_req | player_position3d_set_odom_req_t |
Request/reply: Set odometry. | |
typedef struct player_position3d_speed_pid_req | player_position3d_speed_pid_req_t |
Request/reply: Reset odometry. | |
typedef struct player_position3d_position_pid_req | player_position3d_position_pid_req_t |
Request/reply: Set position PID parameters. | |
typedef struct player_position3d_speed_prof_req | player_position3d_speed_prof_req_t |
Request/reply: Set speed profile parameters. | |
typedef struct player_simulation_data | player_simulation_data_t |
Data. | |
typedef struct player_simulation_cmd | player_simulation_cmd_t |
Command. | |
typedef struct player_simulation_pose2d_req | player_simulation_pose2d_req_t |
Request/reply: get/set 2D pose of a named simulation object. | |
typedef struct player_simulation_pose3d_req | player_simulation_pose3d_req_t |
Request/reply: get/set 3D pose of a named simulation object. | |
typedef struct player_simulation_property_req | player_simulation_property_req_t |
Request/reply: get/set a property of a named simulation object. | |
typedef struct player_blinkenlight_data | player_blinkenlight_data_t |
Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the indicator light. | |
typedef struct player_blinkenlight_cmd | player_blinkenlight_cmd_t |
Command: state (PLAYER_BLINKENLIGHT_CMD_STATE) This blinkenlight command sets the complete current state of the indicator light. | |
typedef struct player_blinkenlight_cmd_power | player_blinkenlight_cmd_power_t |
Command: power (PLAYER_BLINKENLIGHT_CMD_POWER) This blinkenlight command turns the light on or off. | |
typedef struct player_blinkenlight_cmd_color | player_blinkenlight_cmd_color_t |
Command: color (PLAYER_BLINKENLIGHT_CMD_COLOR) This blinkenlight command sets the color of the light. | |
typedef struct player_blinkenlight_cmd_flash | player_blinkenlight_cmd_flash_t |
Command: flash (PLAYER_BLINKENLIGHT_CMD_FLASH) This blinkenlight command sets the duration of one on/off blink cycle in seconds and the ratio of light on/off time (0.0 to 1.0 ). | |
typedef struct player_camera_data | player_camera_data_t |
Data: state (PLAYER_CAMERA_DATA_STATE). | |
typedef struct player_map_info | player_map_info_t |
Request/reply subtype: get device list. | |
typedef struct player_map_data | player_map_data_t |
Request/reply: get grid map tile. | |
typedef struct player_map_data_vector | player_map_data_vector_t |
Request/reply: get vector map. | |
typedef struct player_planner_data | player_planner_data_t |
Data: state (PLAYER_PLANNER_DATA_STATE). | |
typedef struct player_planner_cmd | player_planner_cmd_t |
Command: state (PLAYER_PLANNER_CMD_GOAL). | |
typedef struct player_planner_waypoints_req | player_planner_waypoints_req_t |
Request/reply: Get waypoints. | |
typedef struct player_planner_enable_req | player_planner_enable_req_t |
Request/reply: Enable/disable robot motion. | |
typedef struct player_log_set_write_state | player_log_set_write_state_t |
Request/reply: Set write state. | |
typedef struct player_log_set_read_state | player_log_set_read_state_t |
Request/reply: Set playback state. | |
typedef struct player_log_get_state | player_log_get_state_t |
Request/reply: Rewind playback. | |
typedef struct player_log_set_filename | player_log_set_filename_t |
Request/reply: Set filename. | |
typedef struct player_joystick_data | player_joystick_data_t |
Data: state (PLAYER_JOYSTICK_DATA_STATE). | |
typedef struct player_speech_recognition_data | player_speech_recognition_data_t |
Data: recognized string (PLAYER_SPEECH_MAX_STRING_LEN). | |
typedef struct player_opaque_data | player_opaque_data_t |
data | |
typedef struct player_position1d_data | player_position1d_data_t |
Data: state (PLAYER_POSITION1D_DATA_STATE). | |
typedef struct player_position1d_cmd_vel | player_position1d_cmd_vel_t |
Command: state (PLAYER_POSITION1D_CMD_VEL). | |
typedef struct player_position1d_cmd_pos | player_position1d_cmd_pos_t |
Command: state (PLAYER_POSITION1D_CMD_POS). | |
typedef struct player_position1d_geom | player_position1d_geom_t |
Request/reply: Query geometry. | |
typedef struct player_position1d_power_config | player_position1d_power_config_t |
Request/reply: Motor power. | |
typedef struct player_position1d_velocity_mode_config | player_position1d_velocity_mode_config_t |
Request/reply: Change velocity control. | |
typedef struct player_position1d_reset_odom_config | player_position1d_reset_odom_config_t |
Request/reply: Reset odometry. | |
typedef struct player_position1d_position_mode_req | player_position1d_position_mode_req_t |
Request/reply: Change control mode. | |
typedef struct player_position1d_set_odom_req | player_position1d_set_odom_req_t |
Request/reply: Set odometry. | |
typedef struct player_position1d_speed_pid_req | player_position1d_speed_pid_req_t |
Request/reply: Set velocity PID parameters. | |
typedef struct player_position1d_position_pid_req | player_position1d_position_pid_req_t |
Request/reply: Set position PID parameters. | |
typedef struct player_position1d_speed_prof_req | player_position1d_speed_prof_req_t |
Request/reply: Set linear speed profile parameters. | |
typedef struct player_actarray_actuator | player_actarray_actuator_t |
Structure containing a single actuator's information. | |
typedef struct player_actarray_data | player_actarray_data_t |
Data: state (PLAYER_ACTARRAY_DATA_STATE). | |
typedef struct player_actarray_actuatorgeom | player_actarray_actuatorgeom_t |
Actuator geometry. | |
typedef struct player_actarray_geom | player_actarray_geom_t |
Request/reply: get geometry. | |
typedef struct player_actarray_position_cmd | player_actarray_position_cmd_t |
Command: Joint position control (PLAYER_ACTARRAY_CMD_POS). | |
typedef struct player_actarray_multi_position_cmd | player_actarray_multi_position_cmd_t |
Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS). | |
typedef struct player_actarray_speed_cmd | player_actarray_speed_cmd_t |
Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED). | |
typedef struct player_actarray_multi_speed_cmd | player_actarray_multi_speed_cmd_t |
Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED). | |
typedef struct player_actarray_home_cmd | player_actarray_home_cmd_t |
Command: Joint home (PLAYER_CMD_ACTARRAY_HOME). | |
typedef struct player_actarray_current_cmd | player_actarray_current_cmd_t |
Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT). | |
typedef struct player_actarray_multi_current_cmd | player_actarray_multi_current_cmd_t |
Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT). | |
typedef struct player_actarray_power_config | player_actarray_power_config_t |
Request/reply: Power. | |
typedef struct player_actarray_brakes_config | player_actarray_brakes_config_t |
Request/reply: Brakes. | |
typedef struct player_actarray_speed_config | player_actarray_speed_config_t |
Request/reply: Speed. | |
typedef struct player_actarray_accel_config | player_actarray_accel_config_t |
Request/reply: Acceleration. | |
typedef struct player_limb_data | player_limb_data_t |
Data: state (PLAYER_LIMB_DATA). | |
typedef struct player_limb_setpose_cmd | player_limb_setpose_cmd_t |
Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE). | |
typedef struct player_limb_setposition_cmd | player_limb_setposition_cmd_t |
Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION). | |
typedef struct player_limb_vecmove_cmd | player_limb_vecmove_cmd_t |
Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE). | |
typedef struct player_limb_power_req | player_limb_power_req_t |
Request/reply: Power. | |
typedef struct player_limb_brakes_req | player_limb_brakes_req_t |
Request/reply: Brakes. | |
typedef struct player_limb_geom_req | player_limb_geom_req_t |
Request/reply: get geometry. | |
typedef struct player_limb_speed_req | player_limb_speed_req_t |
Request/reply: Speed. | |
typedef struct player_graphics2d_cmd_points | player_graphics2d_cmd_points_t |
Data: This interface produces no data. | |
typedef struct player_graphics2d_cmd_polyline | player_graphics2d_cmd_polyline_t |
Command: Draw polyline (PLAYER_GRAPHICS2D_CMD_POLYLINE) Draw a series of straight line segments between a set of points. | |
typedef struct player_graphics2d_cmd_polygon | player_graphics2d_cmd_polygon_t |
Command: Draw polygon (PLAYER_GRAPHICS2D_CMD_POLYGON) Draw a polygon. | |
typedef struct player_rfid_tag | player_rfid_tag_t |
Structure describing a single RFID tag. | |
typedef struct player_rfid_data | player_rfid_data_t |
Data. | |
typedef struct player_wsn_node_data | player_wsn_node_data_t |
Structure describing the WSN node's data packet. | |
typedef struct player_wsn_data | player_wsn_data_t |
Data (PLAYER_WSN_DATA). | |
typedef struct player_wsn_cmd | player_wsn_cmd_t |
Command: set device state (PLAYER_WSN_CMD_DEVSTATE) This wsn command sets the state of the node's indicator lights or its buzzer/sounder (if equipped with one). | |
typedef struct player_wsn_power_config | player_wsn_power_config_t |
Request/reply: Put the node in sleep mode (0) or wake it up (1). | |
typedef struct player_wsn_datatype_config | player_wsn_datatype_config_t |
Request/reply: change the data type to RAW or converted engineering units. | |
typedef struct player_wsn_datafreq_config | player_wsn_datafreq_config_t |
Request/reply: Change data delivery frequency. | |
typedef enum player_graphics3d_draw_mode | player_graphics3d_draw_mode_t |
Drawmode: enumeration that defines the drawing mode. | |
typedef struct player_graphics3d_cmd_draw | player_graphics3d_cmd_draw_t |
Data: This interface produces no data. | |
typedef struct player_graphics3d_cmd_translate | player_graphics3d_cmd_translate_t |
Command: Translate coordinate system (PLAYER_GRAPHICS3D_CMD_TRANSLATE) Translate the current coordinate system. | |
typedef struct player_graphics3d_cmd_rotate | player_graphics3d_cmd_rotate_t |
Command: Rotate coordinate system (PLAYER_GRAPHICS3D_CMD_ROTATE) Rotate the current coordinate system by a given angle around the given vector. | |
typedef struct player_health_cpu | player_health_cpu_t |
Structure describing the cpu. | |
typedef struct player_health_memory | player_health_memory_t |
Structure describing the memory. | |
typedef struct player_health_data | player_health_data_t |
Structure describing the HEALTH's data packet. | |
typedef struct player_imu_data_state | player_imu_data_state_t |
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE). | |
typedef struct player_imu_data_calib | player_imu_data_calib_t |
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB). | |
typedef struct player_imu_data_quat | player_imu_data_quat_t |
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT). | |
typedef struct player_imu_data_euler | player_imu_data_euler_t |
Data: Euler orientation data (PLAYER_IMU_DATA_EULER). | |
typedef struct player_imu_data_fullstate | player_imu_data_fullstate_t |
Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE). | |
typedef struct player_imu_datatype_config | player_imu_datatype_config_t |
Request/reply: change the data type to one of the predefined data structures. | |
typedef struct player_imu_reset_orientation_config | player_imu_reset_orientation_config_t |
Request/reply: Reset orientation. | |
typedef struct player_pointcloud3d_element | player_pointcloud3d_element_t |
3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plus other corresponding information. | |
typedef struct player_pointcloud3d_data | player_pointcloud3d_data_t |
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet. | |
typedef struct player_ranger_config | player_ranger_config_t |
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG). | |
typedef struct player_ranger_geom | player_ranger_geom_t |
Data and Request/reply: Get geometry. | |
typedef struct player_ranger_data_range | player_ranger_data_range_t |
Data: range scan (PLAYER_RANGER_DATA_RANGE). | |
typedef struct player_ranger_data_rangestamped | player_ranger_data_rangestamped_t |
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED). | |
typedef struct player_ranger_data_intns | player_ranger_data_intns_t |
Data: intensity scan (PLAYER_RANGER_DATA_INTNS). | |
typedef struct player_ranger_data_intnsstamped | player_ranger_data_intnsstamped_t |
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED). | |
typedef struct player_ranger_power_config | player_ranger_power_config_t |
Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER). | |
typedef struct player_ranger_intns_config | player_ranger_intns_config_t |
Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS). | |
typedef struct player_vectormap_feature_data | player_vectormap_feature_data_t |
Vectormap feature data. | |
typedef struct player_vectormap_layer_info | player_vectormap_layer_info_t |
Request/reply subtype: get device list. | |
typedef struct player_vectormap_layer_data | player_vectormap_layer_data_t |
Vectormap data. | |
typedef struct player_vectormap_info | player_vectormap_info_t |
Vectormap info. | |
typedef struct player_pointcloud3d_stereo_element | player_pointcloud3d_stereo_element_t |
Request/reply subtype: get device list. | |
typedef struct player_stereo_data | player_stereo_data_t |
Data: state (PLAYER_STEREO_DATA_STATE). |
Detailed Description
An integer code is assigned to each interface.
See Interface specifications for detailed descriptions of each interface.
Define Documentation
#define PLAYER_AUDIO_CMD_MIXER_CHANNEL 5 |
Command subtype: mixer_channel_cmd, audio channel levels.
data is a player_audio_mixer_channel_list_t structure
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_CMD_SAMPLE_PLAY 3 |
Command subtype: sample_play_cmd, play a pre stored audio sample.
data is a player_audio_sample_item_t structure
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_CMD_SEQ_PLAY 4 |
Command subtype: seq_play_cmd, play a sequence of tones.
data is a player_audio_seq_t structure
#define PLAYER_AUDIO_CMD_WAV_PLAY 1 |
Command subtype: wav_play_cmd, play a raw data block, in structure player_audio_wav_t.
data is a player_audio_wav_t structure
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_CMD_WAV_STREAM_REC 2 |
Command subtype: wav_stream_rec_cmd, start/stop recording, data will be returned as data blocks.
data is a player_bool_t
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_DATA_MIXER_CHANNEL 3 |
Data subtype: mixer_channel_data, audio channel levels.
data is a player_audio_mixer_channel_list_t structure
#define PLAYER_AUDIO_DATA_SEQ 2 |
Data subtype: seq_data, recorded sequence of notes.
data is a player_audio_seq_t structure
#define PLAYER_AUDIO_DATA_STATE 4 |
Data subtype: state_data, driver state data (eg playing, stopped, .
..)
data is a player_audio_state_t structure
#define PLAYER_AUDIO_DATA_WAV_REC 1 |
Data subtype: wav_rec_data, recorded data block.
data is a player_audio_wav_t structure
#define PLAYER_AUDIO_DESCRIPTION_BITS 0xFF |
Audio formats.
Raw Audio bit flags
#define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL 6 |
Request subtype: mixer_channel_level_req, request the channel levels.
data is a player_audio_mixer_channel_list_t structure
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST 5 |
Request subtype: mixer_channel_list_req, request the list of channels.
data is a player_audio_mixer_channel_list_detail_t structure
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_REQ_SAMPLE_LOAD 2 |
Request subtype: sample_load_req, store a sample.
data is a player_audio_sample_t structure
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_REQ_SAMPLE_REC 4 |
Request subtype: sample_rec_req, record a new sample.
data is a player_audio_sample_item_t structure
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE 3 |
Request subtype: sample_retrieve_req, retrieve a stored sample.
data is a player_audio_sample_t structure
Referenced by Alsa::ProcessMessage().
#define PLAYER_AUDIO_REQ_WAV_REC 1 |
Request subtype: wav_rec_req, record a fixed size data block, in structure player_audio_wav_t.
data is a player_audio_wav_t structure
#define PLAYER_BLACKBOARD_REQ_GET_ENTRY 6 |
Request/reply subtype: get a value.
#define PLAYER_BLACKBOARD_REQ_SET_ENTRY 3 |
Request/reply subtype: set entry.
#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP 4 |
Request/reply subtype: subscribe to group.
#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY 1 |
Request/reply subtype: subscribe to key.
#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP 5 |
Request/reply subtype: unsubscribe from group.
#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY 2 |
Request/reply subtype: unsubscribe from key.
#define PLAYER_CAMERA_FORMAT_MONO16 2 |
Image format : 16-bit monochrome (network byte order).
#define PLAYER_CAMERA_FORMAT_MONO8 1 |
Image format : 8-bit monochrome.
Referenced by SphereDriver::MainSetup().
#define PLAYER_CAMERA_FORMAT_RGB565 4 |
Image format : 16-bit color (5 bits R, 6 bits G, 5 bits B).
#define PLAYER_CAMERA_FORMAT_RGB888 5 |
Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B).
Referenced by CameraUvc::Main(), SphereDriver::MainSetup(), and ImageBase::ProcessMessage().
#define PLAYER_DATAMODE_PULL 2 |
Data delivery mode: Only on request, send data from all subscribed devices.
A PLAYER_MSGTYPE_SYNCH packet follows each set of data. Request should be made automatically by client libraries when they begin reading.
#define PLAYER_DATAMODE_PUSH 1 |
Data delivery mode: Send data from all subscribed devices all the time (i.e.
when it's ready on the server).
#define PLAYER_GRIPPER_CMD_CLOSE 2 |
Command: Close (PLAYER_GRIPPER_CMD_CLOSE).
Tells the gripper to close.
Referenced by P2OS::ProcessMessage().
#define PLAYER_GRIPPER_CMD_OPEN 1 |
Command: Open (PLAYER_GRIPPER_CMD_OPEN).
Tells the gripper to open.
Referenced by P2OS::ProcessMessage().
#define PLAYER_GRIPPER_CMD_RETRIEVE 5 |
Command: Retrieve (PLAYER_GRIPPER_CMD_RETRIEVE).
Tells the gripper to retrieve a stored object (so that it can be put back into the world). The opposite of store.
#define PLAYER_GRIPPER_CMD_STOP 3 |
Command: Stop (PLAYER_GRIPPER_CMD_STOP).
Tells the gripper to stop.
Referenced by P2OS::ProcessMessage().
#define PLAYER_GRIPPER_CMD_STORE 4 |
Command: Store (PLAYER_GRIPPER_CMD_STORE).
Tells the gripper to store whatever it is holding.
#define PLAYER_LIMB_CMD_HOME 1 |
Command: home (PLAYER_LIMB_HOME_CMD).
Tells the end effector to return to its home position.
Referenced by P2OS::ProcessMessage().
#define PLAYER_LIMB_CMD_STOP 2 |
Command: stop (PLAYER_LIMB_STOP_CMD).
Tells the limb to stop moving immediatly.
Referenced by P2OS::ProcessMessage().
#define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT 0 |
A replace rule can either accept, replace or ignore a message.
#define PLAYER_PLAYER_REQ_DATA 4 |
Configuration request: Get data.
When the server is in a PLAYER_DATAMODE_PULL data delivery mode, the client can request a single round of data by sending a zero-argument request with type code PLAYER_PLAYER_REQ_DATA
. The response will be a zero-length acknowledgement.
#define PLAYER_POSITION2D_CMD_CAR 3 |
Command: carlike (PLAYER_POSITION2D_CMD_CAR).
The position
interface accepts carlike translational velocity + constant turn commands (speed and turning angle) for the robot's motors (only supported by some drivers).
Referenced by ER::ProcessMessage().
#define PLAYER_POSITION2D_CMD_POS 2 |
Command: position (PLAYER_POSITION2D_CMD_POS).
The position
interface accepts new positions for the robot's motors (drivers may support position control, speed control, or both).
Referenced by snd::ProcessMessage(), and GarciaDriver::ProcessMessage().
#define PLAYER_POSITION2D_CMD_VEL 1 |
Command: velocity (PLAYER_POSITION2D_CMD_VEL).
The position
interface accepts new velocities for the robot's motors (drivers may support position control, speed control, or both).
Referenced by SegwayRMP400::HandlePosition2DCmd(), snd::ProcessMessage(), SegwayRMP400::ProcessMessage(), SegwayRMP::ProcessMessage(), RFLEX::ProcessMessage(), P2OS::ProcessMessage(), Khepera::ProcessMessage(), GarciaDriver::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().
#define PLAYER_POSITION2D_CMD_VEL_HEAD 4 |
Command: vel/head (PLAYER_POSITION2D_CMD_VEL_HEAD).
The position
interface accepts translational velocity + absolute heading commands (speed and angular position) for the robot's motors (only supported by some drivers).
#define PLAYER_POSITION2D_DATA_GEOM 2 |
Data: geometry.
This messages is published by drivers which can change their geometry at run time
#define PLAYER_POSITION2D_DATA_STATE 1 |
Data: state (PLAYER_POSITION2D_DATA_STATE).
The position
interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.
Referenced by SegwayRMP::Main(), RFLEX::Main(), ER::Main(), ClodBuster::Main(), SegwayRMP400::ProcessData(), snd::ProcessMessage(), and SegwayRMP400::ProcessMessage().
#define PLAYER_POSITION2D_REQ_GET_GEOM 1 |
Request/reply: geometry.
To request robot geometry, send a null PLAYER_POSITION2D_REQ_GET_GEOM request.
Referenced by SegwayRMP400::ProcessMessage(), RFLEX::ProcessMessage(), Khepera::ProcessMessage(), GarciaDriver::ProcessMessage(), ER::ProcessMessage(), ClodBuster::ProcessMessage(), and AdaptiveMCL::ProcessMessage().
#define PLAYER_POSITION2D_REQ_MOTOR_POWER 2 |
Request/reply: Motor power.
On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION2D_REQ_MOTOR_POWER request with the format given below, and with the appropriate state
(zero for motors off and non-zero for motors on). Null response.
Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.
Referenced by RFLEX::ProcessMessage(), Khepera::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().
#define PLAYER_POSITION2D_REQ_POSITION_MODE 4 |
Request/reply: Change control mode.
To change control mode, send a PLAYER_POSITION2D_REQ_POSITION_MODE request. Null response.
#define PLAYER_POSITION2D_REQ_POSITION_PID 8 |
Request/reply: Set position PID parameters.
To set position PID parameters, send a PLAYER_POSITION2D_REQ_POSITION_PID request. Null response.
#define PLAYER_POSITION2D_REQ_RESET_ODOM 6 |
Request/reply: Reset odometry.
To reset the robot's odometry to , send a PLAYER_POSITION2D_REQ_RESET_ODOM request. Null response.
Referenced by RFLEX::ProcessMessage(), Khepera::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().
#define PLAYER_POSITION2D_REQ_SET_ODOM 5 |
Request/reply: Set odometry.
To set the robot's odometry to a particular state, send a PLAYER_POSITION2D_REQ_SET_ODOM request. Null response.
Referenced by RFLEX::ProcessMessage(), Khepera::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().
#define PLAYER_POSITION2D_REQ_SPEED_PID 7 |
Request/reply: Set velocity PID parameters.
To set velocity PID parameters, send a PLAYER_POSITION2D_REQ_SPEED_PID request. Null response.
Referenced by ClodBuster::ProcessMessage().
#define PLAYER_POSITION2D_REQ_SPEED_PROF 9 |
Request/reply: Set linear speed profile parameters.
To set linear speed profile parameters, send a PLAYER_POSITION2D_REQ_SPEED_PROF request. Null response.
#define PLAYER_POSITION2D_REQ_VELOCITY_MODE 3 |
Request/reply: Change velocity control.
Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION2D_REQ_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position
device remains the same. Null response.
The p2os driver offers two modes of velocity control: separate translational and rotational control and direct wheel control. When in the separate mode, the robot's microcontroller internally computes left and right wheel velocities based on the currently commanded translational and rotational velocities and then attenuates these values to match a nice predefined acceleration profile. When in the direct mode, the microcontroller simply passes on the current left and right wheel velocities. Essentially, the separate mode offers smoother but slower (lower acceleration) control, and the direct mode offers faster but jerkier (higher acceleration) control. Player's default is to use the direct mode. Set mode to zero for direct control and non-zero for separate control.
For the reb driver, 0 is direct velocity control, 1 is for velocity-based heading PD controller.
Referenced by RFLEX::ProcessMessage(), Khepera::ProcessMessage(), and ClodBuster::ProcessMessage().
#define PLAYER_RFID_REQ_LOCKTAG 4 |
Request/reply: lock data blocks of a RFID tag - to be implemented.
#define PLAYER_RFID_REQ_POWER 1 |
Request/reply: put the reader in sleep mode (0) or wake it up (1).
#define PLAYER_RFID_REQ_READTAG 2 |
Request/reply: read data from the RFID tag - to be implemented.
#define PLAYER_RFID_REQ_WRITETAG 3 |
Request/reply: write data to the RFID tag - to be implemented.
#define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA 3 |
Request/reply subtype: get layer data.
#define PLAYER_VECTORMAP_REQ_GET_MAP_INFO 1 |
Request/reply subtype: get vectormap meta-data.
#define PLAYER_VECTORMAP_REQ_WRITE_LAYER 4 |
Request/reply subtype: write layer data.
#define PLAYER_WSN_REQ_DATAFREQ 3 |
Request/reply: change the receiving data frequency.
#define PLAYER_WSN_REQ_DATATYPE 2 |
Request/reply: change the data type to RAW or converted metric units.
#define PLAYER_WSN_REQ_POWER 1 |
Request/reply: put the node in sleep mode (0) or wake it up (1).
Typedef Documentation
typedef struct player_actarray_accel_config player_actarray_accel_config_t |
Request/reply: Acceleration.
Send a PLAYER_ACTARRAY_REQ_ACCEL request to set the acceleration of a joint for all subsequent movements. Null response.
typedef struct player_actarray_brakes_config player_actarray_brakes_config_t |
Request/reply: Brakes.
Send a PLAYER_ACTARRAY_REQ_BRAKES request to turn the brakes of all actuators in the array (that have them) on or off. Null response.
typedef struct player_actarray_current_cmd player_actarray_current_cmd_t |
Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT).
Tells a joint/actuator to attempt to move with the given current.
typedef struct player_actarray_data player_actarray_data_t |
Data: state (PLAYER_ACTARRAY_DATA_STATE).
The actuator array data packet.
typedef struct player_actarray_geom player_actarray_geom_t |
Request/reply: get geometry.
Send a null PLAYER_ACTARRAY_REQ_GET_GEOM request to receive the geometry in this form.
typedef struct player_actarray_home_cmd player_actarray_home_cmd_t |
Command: Joint home (PLAYER_CMD_ACTARRAY_HOME).
Tells a joint/actuator (or the whole array) to go to home position.
Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT).
Tells all joints/actuators to attempt to move with the given current.
Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS).
Tells all joints/actuators to attempt to move to the given positions.
typedef struct player_actarray_multi_speed_cmd player_actarray_multi_speed_cmd_t |
Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED).
Tells all joints/actuators to attempt to move with the given velocities.
typedef struct player_actarray_position_cmd player_actarray_position_cmd_t |
Command: Joint position control (PLAYER_ACTARRAY_CMD_POS).
Tells a joint/actuator to attempt to move to a requested position.
typedef struct player_actarray_power_config player_actarray_power_config_t |
Request/reply: Power.
Send a PLAYER_ACTARRAY_REQ_POWER request to turn the power to all actuators in the array on or off. Be careful when turning power on that the array is not obstructed from its home position in case it moves to it (common behaviour). Null response.
typedef struct player_actarray_speed_cmd player_actarray_speed_cmd_t |
Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED).
Tells a joint/actuator to attempt to move with the given speed.
typedef struct player_actarray_speed_config player_actarray_speed_config_t |
Request/reply: Speed.
Send a PLAYER_ACTARRAY_REQ_SPEED request to set the speed of a joint for all subsequent movements. Null response.
typedef struct player_add_replace_rule_req player_add_replace_rule_req_t |
Configuration request: Add client queue replace rule.
Allows the client to add a replace rule to their server queue. Replace rules define which messages will be replaced when new data arrives. If you are not updating frequently from ther server then the use of replace rules for data packets will stop any queue overflow messages
Each field in the request type corresponds to the equivalent field in the message header use -1 for a dont care value.
typedef struct player_aio_cmd player_aio_cmd_t |
Command: state (PLAYER_AIO_CMD_STATE).
The aio
interface allows for the voltage level on one output to be set
typedef struct player_aio_data player_aio_data_t |
Data: state (PLAYER_AIO_DATA_STATE).
The aio
interface returns data regarding the current state of the analog inputs.
Player mixer channel detail.
Describes the state of a mixer channel
Player mixer channels.
Describes the state of a set of mixer channels details
typedef struct player_audio_mixer_channel_list player_audio_mixer_channel_list_t |
Player mixer channels.
Describes the state of a set of mixer channels
typedef struct player_audio_mixer_channel player_audio_mixer_channel_t |
Player mixer channel.
Describes the state of a mixer channel
typedef struct player_audio_sample_item player_audio_sample_item_t |
Player audio sample selection.
Describes a pre-stored audio sample index
typedef struct player_audio_sample_rec_req player_audio_sample_rec_req_t |
Player audio sample record request.
Request to record a sample and store it locally.
typedef struct player_audio_sample player_audio_sample_t |
Player audio sample.
Describes an audio sample, if the index is set to -1 the next available slot is used and the index is returned in the response.
typedef struct player_audio_seq_item player_audio_seq_item_t |
Player audio sequence item.
This describes a single sequence element, the link field is used for chord type playback when a series of notes are to be played together. Set link to true for all but the last notes to be player together.
typedef struct player_audio_seq player_audio_seq_t |
Player audio sequence.
Describes a sequence of notes to be played or which have been recieved
typedef struct player_audio_state player_audio_state_t |
Player audio driver state.
Describes the current state of the audio driver. Usually only sent when state changes.
typedef struct player_audio_wav player_audio_wav_t |
Data: Raw audio data.
This data is used in the PLAYER_AUDIO_CMD_WAV_PLAY, and returned as PLAYER_AUDIO_DATA_WAV_REC when stream recording is enabled
typedef struct player_blinkenlight_cmd player_blinkenlight_cmd_t |
Command: state (PLAYER_BLINKENLIGHT_CMD_STATE) This blinkenlight
command sets the complete current state of the indicator light.
typedef struct player_blinkenlight_data player_blinkenlight_data_t |
Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight
data provides the current state of the indicator light.
typedef struct player_blobfinder_blob player_blobfinder_blob_t |
Structure describing a single blob.
typedef struct player_blobfinder_color_config player_blobfinder_color_config_t |
Request/reply: Set tracking color.
For some sensors (ie CMUcam), simple blob tracking tracks only one color. To set the tracking color, send a PLAYER_BLOBFINDER_REQ_SET_COLOR request with the format below, including the RGB color ranges (max and min). Values of -1 will cause the track color to be automatically set to the current window color. This is useful for setting the track color by holding the tracking object in front of the lens. Null response.
typedef struct player_blobfinder_data player_blobfinder_data_t |
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS).
The list of detected blobs, returned as data by blobfinder
devices.
typedef struct player_blobfinder_imager_config player_blobfinder_imager_config_t |
Configuration request: Set imager params.
Imaging sensors that do blob tracking generally have some sorts of image quality parameters that you can tweak. The following ones are implemented here:
- brightness (0-255)
- contrast (0-255)
- auto gain (0=off, 1=on)
- color mode (0=RGB/AutoWhiteBalance Off, 1=RGB/AutoWhiteBalance On, 2=YCrCB/AWB Off, 3=YCrCb/AWB On) To set the params, send a PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS request with the format below. Any values set to -1 will be left unchanged. Null response.
typedef struct player_bumper_data player_bumper_data_t |
Data: state (PLAYER_BUMPER_DATA_GEOM).
The bumper
interface gives current bumper state
typedef struct player_bumper_geom player_bumper_geom_t |
Data AND Request/reply: bumper geometry.
To query the geometry of a bumper array, send a null PLAYER_BUMPER_GET_GEOM request. The response will be in this form. This message may also be sent as data with the subtype PLAYER_BUMPER_DATA_GEOM (e.g., from a robot whose bumper can move with respect to its body)
typedef struct player_device_auth_req player_device_auth_req_t |
Configuration request: Authentication.
- Todo:
- Add support for this mechanism to libplayertcp. Right now, it's disabled.
If server authentication has been enabled (by providing '-key <key>' on the command-line); then each client must authenticate itself before otherwise interacting with the server. To authenticate, send a request with this format.
If the key matches the server's key then the client is authenticated, the server will reply with a zero-length acknowledgement, and the client can continue with other operations. If the key does not match, or if the client attempts any other server interactions before authenticating, then the connection will be closed immediately. It is only necessary to authenticate each client once.
Note that this support for authentication is NOT a security mechanism. The keys are always in plain text, both in memory and when transmitted over the network; further, since the key is given on the command-line, there is a very good chance that you can find it in plain text in the process table (in Linux try 'ps -ax | grep player'). Thus you should not use an important password as your key, nor should you rely on Player authentication to prevent bad guys from driving your robots (use a firewall instead). Rather, authentication was introduced into Player to prevent accidentally connecting one's client program to someone else's robot. This kind of accident occurs primarily when Stage is running in a multi-user environment. In this case it is very likely that there is a Player server listening on port 6665, and clients will generally connect to that port by default, unless a specific option is given.
This mechanism was never really used, and may be removed.
typedef struct player_device_datamode_req player_device_datamode_req_t |
Configuration request: Change data delivery mode.
The Player server supports two data modes, described above. By default, the server operates in PLAYER_DATAMODE_PUSH
mode. To switch to a different mode send a request with the format given below. The server's reply will be a zero-length acknowledgement.
typedef struct player_device_devlist player_device_devlist_t |
Request/reply: Get the list of available devices.
It's useful for applications such as viewer programs and test suites that tailor behave differently depending on which devices are available. To request the list, send a null PLAYER_PLAYER_REQ_DEVLIST.
typedef struct player_device_driverinfo player_device_driverinfo_t |
Request/reply: Get the driver name for a particular device.
To get a name, send a PLAYER_PLAYER_REQ_DRIVERINFO request that specifies the address of the desired device in the addr field. Set driver_name_count to 0 and leave driver_name empty. The response will contain the driver name.
typedef struct player_device_nameservice_req player_device_nameservice_req_t |
Nameservice request.
- Todo:
- Update this structure and add support for it to libplayertcp. Right now it's disabled.
typedef struct player_device_req player_device_req_t |
Request/reply: (un)subscribe to a device.
This is the most important request! Before interacting with a device, the client must request appropriate access. Valid access modes are:
- PLAYER_OPEN_MODE : subscribe to the device. You will receive any data published by the device and you may send it commands and/or requests.
- PLAYER_CLOSE_MODE : unsubscribe from the device.
- PLAYER_ERROR_MODE : the requested access was not granted (only appears in responses)
To request access, send a PLAYER_PLAYER_REQ_DEV request that specifies the desired device address in the addr field and the desired access mode in access. Set driver_name_count to 0 and leave driver_name empty. The response will indicate the granted access in the access field and the name of the underyling driver in the driver_name field. Note that the granted access may not be the same as the requested access (e.g., if initialization of the driver failed).
typedef struct player_dio_cmd player_dio_cmd_t |
Command: output values (PLAYER_DIO_CMD_VALUES).
The dio
interface accepts 4-byte commands which consist of the ouput bitfield
typedef struct player_dio_data player_dio_data_t |
Data: input values (PLAYER_DIO_DATA_VALUES).
The dio
interface returns data regarding the current state of the digital inputs.
typedef struct player_fiducial_data player_fiducial_data_t |
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN).
The fiducial data packet (all fiducials).
typedef struct player_fiducial_fov player_fiducial_fov_t |
Request/reply: Get/set sensor field of view.
The field of view of the fiducial device can be set using the PLAYER_FIDUCIAL_REQ_SET_FOV request (response will be null), and queried using a null PLAYER_FIDUCIAL_REQ_GET_FOV request.
typedef struct player_fiducial_geom player_fiducial_geom_t |
Request/reply: Get geometry.
The geometry (pose and size) of the fiducial device can be queried by sending a null PLAYER_FIDUCIAL_REQ_GET_GEOM request.
typedef struct player_fiducial_id player_fiducial_id_t |
Request/reply: Get/set fiducial ID.
Some fiducial finder devices display their own fiducial. Send a null PLAYER_FIDUCIAL_REQ_GET_ID request to get the identifier displayed by the fiducial.
Some devices can dynamically change the identifier they display. Send a PLAYER_FIDUCIAL_REQ_SET_ID request to set the currently displayed value. Make the request with the player_fiducial_id_t structure. The device replies with the same structure with the id field set to the value it actually used. You should check this value, as the device may not be able to display the value you requested.
Currently supported by the stg_fiducial driver.
typedef struct player_fiducial_item player_fiducial_item_t |
Info on a single detected fiducial.
The fiducial data packet contains a list of these.
typedef struct player_gps_data player_gps_data_t |
Data: state (PLAYER_GPS_DATA_STATE).
The gps
interface gives current global position and heading information.
typedef struct player_graphics2d_cmd_points player_graphics2d_cmd_points_t |
Data: This interface produces no data.
Requests: This interface accepts no requests. Command: Draw points (PLAYER_GRAPHICS2D_CMD_POINTS) Draw some points.
typedef struct player_graphics3d_cmd_draw player_graphics3d_cmd_draw_t |
Data: This interface produces no data.
Requests: This interface accepts no requests. Command: Draw points (PLAYER_GRAPHICS3D_CMD_POINTS) Draw some points.
typedef struct player_gripper_data player_gripper_data_t |
Data: state (PLAYER_GRIPPER_DATA_STATE).
The gripper
interface returns the current state of the gripper and information on a potential object in the gripper. state may be PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED, PLAYER_GRIPPER_STAGE_MOVING or PLAYER_GRIPPER_STATE_ERROR. beams provides information on how far into the gripper an object is. For most grippers, this will be a bit mask, with each bit representing whether a beam has been interrupted or not.
typedef struct player_gripper_geom player_gripper_geom_t |
Request/reply: get geometry.
The geometry (pose, outer size and inner size) of the gripper device can be queried by sending a null PLAYER_GRIPPER_REQ_GET_GEOM request.
typedef struct player_health_data player_health_data_t |
Structure describing the HEALTH's data packet.
typedef struct player_imu_data_calib player_imu_data_calib_t |
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB).
The imu
interface returns calibrated acceleration, gyro and magnetic values from the IMU sensor.
typedef struct player_imu_data_euler player_imu_data_euler_t |
Data: Euler orientation data (PLAYER_IMU_DATA_EULER).
The imu
interface returns calibrated IMU values as well as orientation data as Euler angles.
typedef struct player_imu_data_fullstate player_imu_data_fullstate_t |
Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE).
The imu
interface returns the complete 3D coordinates + angles position in space, as well as velocity and acceleration of the IMU sensor.
typedef struct player_imu_data_quat player_imu_data_quat_t |
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT).
The imu
interface returns calibrated IMU values as well as orientation data as quaternions.
typedef struct player_imu_data_state player_imu_data_state_t |
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE).
The imu
interface returns the complete 3D coordinates + angles position in space, of the IMU sensor.
typedef struct player_imu_datatype_config player_imu_datatype_config_t |
Request/reply: change the data type to one of the predefined data structures.
Send a PLAYER_IMU_REQ_SET_DATATYPE request to switch between calibrated data, 3D pose and orientation, Euler orientation or Quaternions orientation in the data packet. Null response.
Request/reply: Reset orientation.
To reset the IMU's orientation, send a PLAYER_IMU_REQ_RESET_ORIENTATION request. Null response.
typedef struct player_ir_data player_ir_data_t |
Data: ranges (PLAYER_IR_DATA_RANGES).
The ir
interface returns range readings from the IR array.
typedef struct player_ir_pose player_ir_pose_t |
Request/reply: get pose.
To query the pose of the IRs, send a null PLAYER_IR_POSE request.
typedef struct player_ir_power_req player_ir_power_req_t |
Request/reply: set power.
To turn IR power on and off, send a PLAYER_IR_POWER request. Null response.
typedef struct player_joystick_data player_joystick_data_t |
Data: state (PLAYER_JOYSTICK_DATA_STATE).
The joystick data packet, which contains the current state of the joystick
typedef struct player_laser_config player_laser_config_t |
Request/reply: Get/set scan properties.
The scan configuration (resolution, aperture, etc) can be queried by sending a null PLAYER_LASER_REQ_GET_CONFIG request and modified by sending a PLAYER_LASER_REQ_SET_CONFIG request. In either case, the current configuration (after attempting any requested modification) will be returned in the response. Read the documentation for your driver to determine what configuration values are permissible.
typedef struct player_laser_data_scanangle player_laser_data_scanangle_t |
Data: scan (PLAYER_LASER_DATA_SCANANGLE).
The basic laser angle stamped data packet.
typedef struct player_laser_data_scanpose player_laser_data_scanpose_t |
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE).
A laser scan with a pose that indicates the (possibly esimated) pose of the laser when the scan was taken.
typedef struct player_laser_data player_laser_data_t |
Data: scan (PLAYER_LASER_DATA_SCAN).
The basic laser data packet.
typedef struct player_laser_geom player_laser_geom_t |
Request/reply: Get geometry.
The laser geometry (position and size) can be queried by sending a null PLAYER_LASER_REQ_GET_GEOM request.
typedef struct player_laser_get_id_config player_laser_get_id_config_t |
Request/reply: Get IDentification information.
Send a PLAYER_LASER_REQ_GET_ID request to receive the laser's serial number or any other relevant identification information (assuming your hardware supports it).
typedef struct player_laser_power_config player_laser_power_config_t |
Request/reply: Turn power on/off.
Send a PLAYER_LASER_REQ_POWER request to turn laser power on or off (assuming your hardware supports it).
typedef struct player_laser_set_filter_config player_laser_set_filter_config_t |
Request/reply: Set filter settings.
Send a PLAYER_LASER_REQ_SET_FILTER request to set the laser's internal filter parameters (assuming your hardware supports it). Currently the finally settings can be applied to the SICK LMS400: a) median filter - PLAYER_LASER_FILTER_MEDIAN, no parameters b) edge filter - PLAYER_LASER_FILTER_EDGE, no parameters c) range filter - PLAYER_LASER_FILTER_RANGE p1 = BottomLimit (700-3000 in mm), p2 = TopLimit (700-3000 in mm) d) mean filter - PLAYER_LASER_FILTER_MEAN p1 = number of means (2-200)
Note: You can combine the filters as required. If several filters are active, then the filters act one after the other on the result of the previous filter. The processing in this case follows the following sequence: edge filter, median filter, range filter, mean filter.
typedef struct player_limb_brakes_req player_limb_brakes_req_t |
Request/reply: Brakes.
Turn the brakes of the limb on or off by sending a PLAYER_LIMB_REQ_BRAKES request. Null response
typedef struct player_limb_data player_limb_data_t |
Data: state (PLAYER_LIMB_DATA).
The limb data packet.
typedef struct player_limb_geom_req player_limb_geom_req_t |
Request/reply: get geometry.
Query geometry by sending a null PLAYER_LIMB_REQ_GEOM reqest.
typedef struct player_limb_power_req player_limb_power_req_t |
Request/reply: Power.
Turn the power to the limb by sending a PLAYER_LIMB_REQ_POWER request. Be careful when turning power on that the limb is not obstructed from its home position in case it moves to it (common behaviour). Null reponse
typedef struct player_limb_setpose_cmd player_limb_setpose_cmd_t |
Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE).
Provides a fully-described pose (position, normal vector and orientation vector) for the end effector to move to.
typedef struct player_limb_setposition_cmd player_limb_setposition_cmd_t |
Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION).
Set the position of the end effector without worrying about a specific orientation.
typedef struct player_limb_speed_req player_limb_speed_req_t |
Request/reply: Speed.
Set the speed of the end effector for all subsequent movements by sending a PLAYER_LIMB_REQ_SPEED request. Null response.
typedef struct player_limb_vecmove_cmd player_limb_vecmove_cmd_t |
Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE).
Move the end effector along the provided vector from its current position for the provided distance.
typedef struct player_localize_data player_localize_data_t |
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS).
The localize
interface returns a data packet containing an an array of hypotheses.
typedef struct player_localize_get_particles player_localize_get_particles_t |
Request/reply: Get particles.
To get (usually a subset of) the current particle set (assuming the underlying driver uses a particle filter), send a null PLAYER_LOCALIZE_REQ_GET_PARTICLES request.
typedef struct player_localize_hypoth player_localize_hypoth_t |
Hypothesis format.
Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely spaced locations), the localize
interface is capable of returning more that one hypothesis.
typedef struct player_localize_set_pose player_localize_set_pose_t |
Request/reply: Set the robot pose estimate.
Set the current robot pose hypothesis by sending a PLAYER_LOCALIZE_REQ_SET_POSE request. Null response.
typedef struct player_log_get_state player_log_get_state_t |
Request/reply: Rewind playback.
To rewind log playback to beginning of logfile, send a PLAYER_LOG_REQ_SET_READ_REWIND request. Does not affect playback state (i.e., whether it is started or stopped. Null response. Request/reply: Get state.
To find out whether logging/playback is enabled or disabled, send a null PLAYER_LOG_REQ_GET_STATE request.
typedef struct player_log_set_filename player_log_set_filename_t |
Request/reply: Set filename.
To set the name of the file to write to when logging, send a PLAYER_LOG_REQ_SET_FILENAME request. Null response.
typedef struct player_log_set_read_state player_log_set_read_state_t |
Request/reply: Set playback state.
To start or stop data playback, send a PLAYER_LOG_REQ_SET_READ_STATE request. Null response.
typedef struct player_log_set_write_state player_log_set_write_state_t |
Request/reply: Set write state.
To start or stop data logging, send a PLAYER_LOG_REQ_SET_WRITE_STATE request. Null response.
typedef struct player_map_data player_map_data_t |
Request/reply: get grid map tile.
To request a grid map tile, send a PLAYER_MAP_REQ_GET_DATA request with the tile origin and size you want. Set data_count to 0 and leave the data field empty. The response will contain origin, size, and occupancy data for a tile. Note that the response tile may not be exactly the same as the tile you requested (e.g., your requested tile is too large or runs off the map).
typedef struct player_map_data_vector player_map_data_vector_t |
Request/reply: get vector map.
A vector map is represented as line segments. To retrieve the vector map, send a null PLAYER_MAP_REQ_GET_VECTOR request.
typedef struct player_planner_cmd player_planner_cmd_t |
Command: state (PLAYER_PLANNER_CMD_GOAL).
The planner
interface accepts a new goal.
typedef struct player_planner_data player_planner_data_t |
Data: state (PLAYER_PLANNER_DATA_STATE).
The planner
interface reports the current execution state of the planner.
typedef struct player_planner_enable_req player_planner_enable_req_t |
Request/reply: Enable/disable robot motion.
To enable or disable the planner, send a PLAYER_PLANNER_REQ_ENABLE request. When disabled, the planner will stop the robot. When enabled, the planner should resume plan execution. Null response.
typedef struct player_planner_waypoints_req player_planner_waypoints_req_t |
Request/reply: Get waypoints.
To retrieve the list of waypoints, send a null PLAYER_PLANNER_REQ_GET_WAYPOINTS request.
typedef struct player_pointcloud3d_data player_pointcloud3d_data_t |
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
typedef struct player_pointcloud3d_element player_pointcloud3d_element_t |
3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plus other corresponding information.
typedef struct player_position1d_cmd_pos player_position1d_cmd_pos_t |
Command: state (PLAYER_POSITION1D_CMD_POS).
The position1d
interface accepts new positions for the robot's motors (drivers may support position control, speed control, or both).
typedef struct player_position1d_cmd_vel player_position1d_cmd_vel_t |
Command: state (PLAYER_POSITION1D_CMD_VEL).
The position1d
interface accepts new velocities for the robot's motors (drivers may support position control, speed control, or both).
typedef struct player_position1d_data player_position1d_data_t |
Data: state (PLAYER_POSITION1D_DATA_STATE).
The position
interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.
typedef struct player_position1d_geom player_position1d_geom_t |
Request/reply: Query geometry.
To request robot geometry, send a null PLAYER_POSITION1D_REQ_GET_GEOM.
Request/reply: Change control mode.
To change the control mode, send a PLAYER_POSITION1D_REQ_POSITION_MODE reqeust. Null response.
Request/reply: Set position PID parameters.
To set position PID parameters, send a PLAYER_POSITION1D_REQ_POSITION_PID request. Null response.
typedef struct player_position1d_power_config player_position1d_power_config_t |
Request/reply: Motor power.
On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION1D_REQ_MOTOR_POWER request with the format given below, and with the appropriate state
(zero for motors off and non-zero for motors on). Null response.
Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.
Request/reply: Reset odometry.
To reset the robot's odometry to x = 0, send a PLAYER_POSITION1D_REQ_RESET_ODOM request. Null response.
typedef struct player_position1d_set_odom_req player_position1d_set_odom_req_t |
Request/reply: Set odometry.
To set the robot's odometry to a particular state, send a PLAYER_POSITION1D_REQ_SET_ODOM request. Null response.
typedef struct player_position1d_speed_pid_req player_position1d_speed_pid_req_t |
Request/reply: Set velocity PID parameters.
To set velocity PID parameters, send a PLAYER_POSITION1D_REQ_SPEED_PID request. Null response.
Request/reply: Set linear speed profile parameters.
To set linear speed profile parameters, send a PLAYER_POSITION1D_REQ_SPEED_PROF requst. Null response.
Request/reply: Change velocity control.
Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION1D_REQ_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position1d
device remains the same. Null response.
typedef struct player_position3d_cmd_pos player_position3d_cmd_pos_t |
Command: position (PLAYER_POSITION3D_CMD_SET_POS).
It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).
typedef struct player_position3d_cmd_vel player_position3d_cmd_vel_t |
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL).
It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).
typedef struct player_position3d_data player_position3d_data_t |
Data: state (PLAYER_POSITION3D_DATA_STATE).
This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.
typedef struct player_position3d_geom player_position3d_geom_t |
Request/reply: Query geometry.
To request robot geometry, send a null PLAYER_POSITION3D_GET_GEOM request.
Request/reply: Change position control.
To change control mode, send a PLAYER_POSITION3D_POSITION_MODE request. Null response.
Request/reply: Set position PID parameters.
To set position PID parameters, send a PLAYER_POSITION3D_POSITION_PID request. Null response.
typedef struct player_position3d_power_config player_position3d_power_config_t |
Request/reply: Motor power.
On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION3D_REQ_MOTOR_POWER request with the format given below, and with the appropriate state
(zero for motors off and non-zero for motors on). Null response.
Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.
typedef struct player_position3d_set_odom_req player_position3d_set_odom_req_t |
Request/reply: Set odometry.
To set the robot's odometry to a particular state, send a PLAYER_POSITION3D_SET_ODOM request. Null response.
typedef struct player_position3d_speed_pid_req player_position3d_speed_pid_req_t |
Request/reply: Reset odometry.
To reset the robot's odometry to , send a PLAYER_POSITION3D_RESET_ODOM request. Null response. Request/reply: Set velocity PID parameters.
To set velocity PID parameters, send a PLAYER_POSITION3D_SPEED_PID request. Null response.
Request/reply: Set speed profile parameters.
To set speed profile parameters, send a PLAYER_POSITION3D_SPEED_PROF request. Null response.
Request/reply: Change velocity control.
Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION3D_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position3d
device remains the same. Null response.
Request/reply: set charging policy.
Send a PLAYER_ENERGY_SET_CHARGING_POLICY_REQ request to change the charging policy.
typedef struct player_power_data player_power_data_t |
Data: voltage (PLAYER_POWER_DATA_STATE).
The power
interface returns data in this format.
typedef struct player_ptz_cmd player_ptz_cmd_t |
Command: state (PLAYER_PTZ_CMD_STATE).
The ptz interface accepts commands that set change the state of the unit. Note that the commands are absolute, not relative.
typedef struct player_ptz_data player_ptz_data_t |
Data: state (PLAYER_PTZ_DATA_STATE).
The ptz interface returns data reflecting the current state of the Pan-Tilt-Zoom unit.
typedef struct player_ptz_geom player_ptz_geom_t |
Request/reply: Query geometry.
To request ptz geometry, send a null PLAYER_PTZ_REQ_GEOM request.
typedef struct player_ptz_req_control_mode player_ptz_req_control_mode_t |
Request/reply: Control mode.
To switch between position and velocity control (for those drivers that support it), send a PLAYER_PTZ_REQ_CONTROL_MODE request. Note that this request changes how the driver interprets forthcoming commands from all clients. Null response.
typedef struct player_ptz_req_generic player_ptz_req_generic_t |
Request/reply: Generic request.
To send a unit-specific command to the unit, use the PLAYER_PTZ_REQ_GENERIC request. Whether data is returned depends on the command that was sent. The device may fill in "config" with a reply if applicable.
typedef struct player_ptz_req_status player_ptz_req_status_t |
Request/reply: Query pan/tilt status.
To request pan/tilt status of the unit, send a null PLAYER_PTZ_REQ_STATUS request.
typedef struct player_ranger_config player_ranger_config_t |
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG).
Request and change the device's configuration.
typedef struct player_ranger_data_intns player_ranger_data_intns_t |
Data: intensity scan (PLAYER_RANGER_DATA_INTNS).
A set of intensity readings.
typedef struct player_ranger_data_intnsstamped player_ranger_data_intnsstamped_t |
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED).
An intensity scan with optionally the (possibly estimated) geometry of the device when the scan was acquired an optional sensor configuration.
typedef struct player_ranger_data_range player_ranger_data_range_t |
Data: range scan (PLAYER_RANGER_DATA_RANGE).
The basic ranger scan data packet, containing a set of range readings.
typedef struct player_ranger_data_rangestamped player_ranger_data_rangestamped_t |
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED).
A range scan optionally with the (possibly estimated) geometry of the device when the scan was acquired and optional sensor configuration.
typedef struct player_ranger_geom player_ranger_geom_t |
Data and Request/reply: Get geometry.
The ranger device position, orientation and size.
typedef struct player_ranger_intns_config player_ranger_intns_config_t |
Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS).
If the device is capable of providing intensity information (such as laser reflection intensity or IR voltage), this will enable the transmission of the data in the PLAYER_RANGER_DATA_INTNS data message.
typedef struct player_ranger_power_config player_ranger_power_config_t |
Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER).
If the device supports it, use this message to turn the power on or off.
typedef struct player_rfid_data player_rfid_data_t |
Data.
The RFID data packet.
typedef struct player_rfid_tag player_rfid_tag_t |
Structure describing a single RFID tag.
typedef struct player_simulation_cmd player_simulation_cmd_t |
Command.
Just a placeholder for now; data will be added in future.
typedef struct player_simulation_data player_simulation_data_t |
Data.
Just a placeholder for now; data will be added in future.
typedef struct player_simulation_pose2d_req player_simulation_pose2d_req_t |
Request/reply: get/set 2D pose of a named simulation object.
To retrieve the pose of an object in a simulator, send a null PLAYER_SIMULATION_REQ_GET_POSE2D request. To set the pose of an object in a simulator, send a PLAYER_SIMULATION_REQ_SET_POSE2D request (response will be null).
typedef struct player_simulation_pose3d_req player_simulation_pose3d_req_t |
Request/reply: get/set 3D pose of a named simulation object.
To retrieve the pose of an object in a 3D simulator, send a null PLAYER_SIMULATION_REQ_GET_POSE3D request. To set the pose of an object in a 3D simulator, send a PLAYER_SIMULATION_REQ_SET_POSE3D request (response will be null).
typedef struct player_simulation_property_req player_simulation_property_req_t |
Request/reply: get/set a property of a named simulation object.
- To retrieve an property of an object in a simulator, send a
- PLAYER_SIMULATION_REQ_GET_PROPERTY request. The server will reply with the value array filled in. The type of the data varies by property and it is up to the caller to cast the data to the correct type: see the warning below.
- To set a property, send a completely filled in
- PLAYER_SIMULATION_REQ_SET_PROPERTY request. The server will respond with an ACK if the property was successfully set to your value, else a NACK.
- **WARNING** Types are architecture-dependent, so this feature may
- not work correctly if the simulator is running on a different architecture than your client. The value bytes are transmitted as a raw binary object: no architecture-specific type conversions are performed. Use with caution.
typedef struct player_sonar_data player_sonar_data_t |
Data: ranges (PLAYER_SONAR_DATA_RANGES).
The sonar
interface returns up to PLAYER_SONAR_MAX_SAMPLES range readings from a robot's sonars.
typedef struct player_sonar_geom player_sonar_geom_t |
Data AND Request/reply: geometry.
To query the geometry of the sonar transducers, send a null PLAYER_SONAR_REQ_GET_GEOM request. Depending on the underlying driver, this message can also be sent as data with the subtype PLAYER_SONAR_DATA_GEOM.
typedef struct player_sonar_power_config player_sonar_power_config_t |
Request/reply: Sonar power.
On some robots, the sonars can be turned on and off from software. To do so, send a PLAYER_SONAR_REQ_POWER request. Null response.
typedef struct player_speech_cmd player_speech_cmd_t |
Command: say a string (PLAYER_SPEECH_CMD_SAY).
The speech
interface accepts a command that is a string to be given to the speech synthesizer.
typedef struct player_speech_recognition_data player_speech_recognition_data_t |
Data: recognized string (PLAYER_SPEECH_MAX_STRING_LEN).
The speech recognition data packet.
typedef struct player_vectormap_feature_data player_vectormap_feature_data_t |
Vectormap feature data.
typedef struct player_vectormap_info player_vectormap_info_t |
Vectormap info.
typedef struct player_vectormap_layer_data player_vectormap_layer_data_t |
Vectormap data.
typedef struct player_wifi_data player_wifi_data_t |
Data: state (PLAYER_WIFI_DATA_STATE).
The complete data packet format.
typedef struct player_wifi_link player_wifi_link_t |
Link information for one host.
The wifi
interface returns data regarding the signal characteristics of remote hosts as perceived through a wireless network interface; this is the format of the data for each host.
typedef struct player_wsn_cmd player_wsn_cmd_t |
Command: set device state (PLAYER_WSN_CMD_DEVSTATE) This wsn
command sets the state of the node's indicator lights or its buzzer/sounder (if equipped with one).
typedef struct player_wsn_data player_wsn_data_t |
Data (PLAYER_WSN_DATA).
The WSN data packet describes a wireless sensor network node.
typedef struct player_wsn_datafreq_config player_wsn_datafreq_config_t |
Request/reply: Change data delivery frequency.
By default, the frequency set for receiving data is set on the wireless node. Send a PLAYER_WSN_REQ_DATAFREQ request to change the frequency. Fill in the node ID or set -1 for all nodes. Null response.
typedef struct player_wsn_datatype_config player_wsn_datatype_config_t |
Request/reply: change the data type to RAW or converted engineering units.
Send a PLAYER_WSN_REQ_DATATYPE request to switch between RAW or converted engineering units values in the data packet. Null response.
typedef struct player_wsn_node_data player_wsn_node_data_t |
Structure describing the WSN node's data packet.
typedef struct player_wsn_power_config player_wsn_power_config_t |
Request/reply: Put the node in sleep mode (0) or wake it up (1).
Send a PLAYER_WSN_REQ_POWER request to power or wake up a node in the WSN. Null response.