Message types
[Messaging basics]
The Player message types. More...
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#define | PLAYER_MSGTYPE_DATA 1 |
A data message. | |
#define | PLAYER_MSGTYPE_CMD 2 |
A command message. | |
#define | PLAYER_MSGTYPE_REQ 3 |
A request message. | |
#define | PLAYER_MSGTYPE_RESP_ACK 4 |
A positive response message. | |
#define | PLAYER_MSGTYPE_SYNCH 5 |
A synch message. | |
#define | PLAYER_MSGTYPE_RESP_NACK 6 |
A negative response message. | |
#define | PLAYER_NULL_CODE 256 |
A data message. | |
#define | PLAYER_PLAYER_CODE 1 |
A data message. | |
#define | PLAYER_POWER_CODE 2 |
A data message. | |
#define | PLAYER_GRIPPER_CODE 3 |
A data message. | |
#define | PLAYER_POSITION2D_CODE 4 |
A data message. | |
#define | PLAYER_SONAR_CODE 5 |
A data message. | |
#define | PLAYER_LASER_CODE 6 |
A data message. | |
#define | PLAYER_BLOBFINDER_CODE 7 |
A data message. | |
#define | PLAYER_PTZ_CODE 8 |
A data message. | |
#define | PLAYER_AUDIO_CODE 9 |
A data message. | |
#define | PLAYER_FIDUCIAL_CODE 10 |
A data message. | |
#define | PLAYER_SPEECH_CODE 12 |
A data message. | |
#define | PLAYER_GPS_CODE 13 |
A data message. | |
#define | PLAYER_BUMPER_CODE 14 |
A data message. | |
#define | PLAYER_TRUTH_CODE 15 |
A data message. | |
#define | PLAYER_DIO_CODE 20 |
A data message. | |
#define | PLAYER_AIO_CODE 21 |
A data message. | |
#define | PLAYER_IR_CODE 22 |
A data message. | |
#define | PLAYER_WIFI_CODE 23 |
A data message. | |
#define | PLAYER_WAVEFORM_CODE 24 |
A data message. | |
#define | PLAYER_LOCALIZE_CODE 25 |
A data message. | |
#define | PLAYER_MCOM_CODE 26 |
A data message. | |
#define | PLAYER_SOUND_CODE 27 |
A data message. | |
#define | PLAYER_AUDIODSP_CODE 28 |
A data message. | |
#define | PLAYER_AUDIOMIXER_CODE 29 |
A data message. | |
#define | PLAYER_POSITION3D_CODE 30 |
A data message. | |
#define | PLAYER_SIMULATION_CODE 31 |
A data message. | |
#define | PLAYER_BLINKENLIGHT_CODE 33 |
A data message. | |
#define | PLAYER_NOMAD_CODE 34 |
A data message. | |
#define | PLAYER_CAMERA_CODE 40 |
A data message. | |
#define | PLAYER_MAP_CODE 42 |
A data message. | |
#define | PLAYER_PLANNER_CODE 44 |
A data message. | |
#define | PLAYER_LOG_CODE 45 |
A data message. | |
#define | PLAYER_ENERGY_CODE 46 |
A data message. | |
#define | PLAYER_JOYSTICK_CODE 49 |
A data message. | |
#define | PLAYER_SPEECH_RECOGNITION_CODE 50 |
A data message. | |
#define | PLAYER_OPAQUE_CODE 51 |
A data message. | |
#define | PLAYER_POSITION1D_CODE 52 |
A data message. | |
#define | PLAYER_ACTARRAY_CODE 53 |
A data message. | |
#define | PLAYER_LIMB_CODE 54 |
A data message. | |
#define | PLAYER_GRAPHICS2D_CODE 55 |
A data message. | |
#define | PLAYER_RFID_CODE 56 |
A data message. | |
#define | PLAYER_WSN_CODE 57 |
A data message. | |
#define | PLAYER_GRAPHICS3D_CODE 58 |
A data message. | |
#define | PLAYER_ACTARRAY_STRING "actarray" |
A data message. | |
#define | PLAYER_AIO_STRING "aio" |
A data message. | |
#define | PLAYER_AUDIO_STRING "audio" |
A data message. | |
#define | PLAYER_AUDIODSP_STRING "audiodsp" |
A data message. | |
#define | PLAYER_AUDIOMIXER_STRING "audiomixer" |
A data message. | |
#define | PLAYER_BLINKENLIGHT_STRING "blinkenlight" |
A data message. | |
#define | PLAYER_BLOBFINDER_STRING "blobfinder" |
A data message. | |
#define | PLAYER_BUMPER_STRING "bumper" |
A data message. | |
#define | PLAYER_CAMERA_STRING "camera" |
A data message. | |
#define | PLAYER_ENERGY_STRING "energy" |
A data message. | |
#define | PLAYER_DIO_STRING "dio" |
A data message. | |
#define | PLAYER_GRIPPER_STRING "gripper" |
A data message. | |
#define | PLAYER_FIDUCIAL_STRING "fiducial" |
A data message. | |
#define | PLAYER_GPS_STRING "gps" |
A data message. | |
#define | PLAYER_IR_STRING "ir" |
A data message. | |
#define | PLAYER_JOYSTICK_STRING "joystick" |
A data message. | |
#define | PLAYER_LASER_STRING "laser" |
A data message. | |
#define | PLAYER_LIMB_STRING "limb" |
A data message. | |
#define | PLAYER_LOCALIZE_STRING "localize" |
A data message. | |
#define | PLAYER_LOG_STRING "log" |
A data message. | |
#define | PLAYER_MAP_STRING "map" |
A data message. | |
#define | PLAYER_MCOM_STRING "mcom" |
A data message. | |
#define | PLAYER_NOMAD_STRING "nomad" |
A data message. | |
#define | PLAYER_NULL_STRING "null" |
A data message. | |
#define | PLAYER_OPAQUE_STRING "opaque" |
A data message. | |
#define | PLAYER_PLANNER_STRING "planner" |
A data message. | |
#define | PLAYER_PLAYER_STRING "player" |
A data message. | |
#define | PLAYER_POSITION1D_STRING "position1d" |
A data message. | |
#define | PLAYER_POSITION2D_STRING "position2d" |
A data message. | |
#define | PLAYER_POSITION3D_STRING "position3d" |
A data message. | |
#define | PLAYER_POWER_STRING "power" |
A data message. | |
#define | PLAYER_PTZ_STRING "ptz" |
A data message. | |
#define | PLAYER_RFID_STRING "rfid" |
A data message. | |
#define | PLAYER_SIMULATION_STRING "simulation" |
A data message. | |
#define | PLAYER_SONAR_STRING "sonar" |
A data message. | |
#define | PLAYER_SOUND_STRING "sound" |
A data message. | |
#define | PLAYER_SPEECH_STRING "speech" |
A data message. | |
#define | PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition" |
A data message. | |
#define | PLAYER_TRUTH_STRING "truth" |
A data message. | |
#define | PLAYER_WAVEFORM_STRING "waveform" |
A data message. | |
#define | PLAYER_WIFI_STRING "wifi" |
A data message. | |
#define | PLAYER_GRAPHICS2D_STRING "graphics2d" |
A data message. | |
#define | PLAYER_GRAPHICS3D_STRING "graphics3d" |
A data message. | |
#define | PLAYER_WSN_STRING "wsn" |
A data message. | |
#define | PLAYER_ACTARRAY_NUM_ACTUATORS 16 |
Maximum number of actuators. | |
#define | PLAYER_ACTARRAY_ACTSTATE_IDLE 1 |
Idle state code. | |
#define | PLAYER_ACTARRAY_ACTSTATE_MOVING 2 |
Moving state code. | |
#define | PLAYER_ACTARRAY_ACTSTATE_BRAKED 3 |
Braked state code. | |
#define | PLAYER_ACTARRAY_ACTSTATE_STALLED 4 |
Stalled state code. | |
#define | PLAYER_ACTARRAY_TYPE_LINEAR 1 |
Linear type code. | |
#define | PLAYER_ACTARRAY_TYPE_ROTARY 2 |
Rotary type code. | |
#define | PLAYER_ACTARRAY_POWER_REQ 1 |
Request subtype: power. | |
#define | PLAYER_ACTARRAY_BRAKES_REQ 2 |
Request subtype: brakes. | |
#define | PLAYER_ACTARRAY_GET_GEOM_REQ 3 |
Request subtype: get geometry. | |
#define | PLAYER_ACTARRAY_SPEED_REQ 4 |
Request subtype: speed. | |
#define | PLAYER_ACTARRAY_POS_CMD 1 |
Command subtype: position. | |
#define | PLAYER_ACTARRAY_SPEED_CMD 2 |
Command subtype: speed. | |
#define | PLAYER_ACTARRAY_HOME_CMD 3 |
Command subtype: home. | |
#define | PLAYER_ACTARRAY_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_AIO_MAX_INPUTS 8 |
The maximum number of analog I/O samples. | |
#define | PLAYER_AIO_MAX_OUTPUTS 8 |
The maximum number of analog I/O samples. | |
#define | PLAYER_AIO_CMD_STATE 1 |
Command subtype: state. | |
#define | PLAYER_AIO_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_AUDIO_DATA_BUFFER_SIZE 20 |
Data buffer size. | |
#define | PLAYER_AUDIO_COMMAND_BUFFER_SIZE (3*sizeof(short)) |
Command buffer size. | |
#define | PLAYER_AUDIO_PAIRS 5 |
Number of frequency / amplitude pairs to report. | |
#define | PLAYER_AUDIODSP_MAX_FREQS 8 |
Maximum number of frequencies to report. | |
#define | PLAYER_AUDIODSP_MAX_BITSTRING_LEN 64 |
Maximum length of a BPSK bitstring to emit. | |
#define | PLAYER_AUDIODSP_SET_CONFIG 1 |
Request/reply subtype: set configuration. | |
#define | PLAYER_AUDIODSP_GET_CONFIG 2 |
Request/reply subtype: get configuration. | |
#define | PLAYER_AUDIODSP_PLAY_TONE 1 |
Command subtype: play tone. | |
#define | PLAYER_AUDIODSP_PLAY_CHIRP 2 |
Command subtype: play chirp. | |
#define | PLAYER_AUDIODSP_REPLAY 3 |
Command subtype: replay (last tone, last chirp ?). | |
#define | PLAYER_AUDIODSP_DATA_TONES 1 |
Data subtype: detected tones. | |
#define | PLAYER_AUDIOMIXER_SET_MASTER 1 |
Command subtype: set master level. | |
#define | PLAYER_AUDIOMIXER_SET_PCM 2 |
Command subtype: set PCM level. | |
#define | PLAYER_AUDIOMIXER_SET_LINE 3 |
Command subtype: set line in level. | |
#define | PLAYER_AUDIOMIXER_SET_MIC 4 |
Command subtype: set microphone level. | |
#define | PLAYER_AUDIOMIXER_SET_IGAIN 5 |
Command subtype: set input gain level. | |
#define | PLAYER_AUDIOMIXER_SET_OGAIN 6 |
Command subtype: set output gain level. | |
#define | PLAYER_AUDIOMIXER_GET_LEVELS 1 |
Request/reply subtype: get levels. | |
#define | PLAYER_BLINKENLIGHT_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_BLINKENLIGHT_CMD_STATE 1 |
Command subtype: state. | |
#define | PLAYER_BLINKENLIGHT_CMD_POWER 2 |
Command subtype: light. | |
#define | PLAYER_BLINKENLIGHT_CMD_COLOR 3 |
Command subtype: color. | |
#define | PLAYER_BLINKENLIGHT_CMD_PERIOD 4 |
Command subtype: period. | |
#define | PLAYER_BLINKENLIGHT_CMD_DUTYCYCLE 5 |
Command subtype: dutycycle. | |
#define | PLAYER_BLOBFINDER_MAX_BLOBS 256 |
The maximum number of blobs in total. | |
#define | PLAYER_BLOBFINDER_DATA_BLOBS 1 |
Data subtype: detected blobs. | |
#define | PLAYER_BLOBFINDER_REQ_SET_COLOR 1 |
Request/reply subtype: set tracking color. | |
#define | PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS 2 |
Request/reply subtype: set imager parameters. | |
#define | PLAYER_BUMPER_MAX_SAMPLES 32 |
Maximum number of bumper samples. | |
#define | PLAYER_BUMPER_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_BUMPER_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_BUMPER_DATA_GEOM 2 |
Data subtype: geometry. | |
#define | PLAYER_CAMERA_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_CAMERA_IMAGE_WIDTH 1920 |
Maximum image width, in pixels. | |
#define | PLAYER_CAMERA_IMAGE_HEIGHT 1080 |
Maximum image height, in pixels. | |
#define | PLAYER_CAMERA_IMAGE_SIZE (PLAYER_CAMERA_IMAGE_WIDTH * PLAYER_CAMERA_IMAGE_HEIGHT * 4) |
Maximum image size, in pixels. | |
#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_DIO_DATA_VALUES 1 |
Data subtype: input values. | |
#define | PLAYER_DIO_CMD_VALUES 1 |
Command subtype: output values. | |
#define | PLAYER_ENERGY_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_ENERGY_SET_CHARGING_POLICY_REQ 1 |
Request subtype: set charging policy. | |
#define | PLAYER_FIDUCIAL_MAX_SAMPLES 32 |
The maximum number of fiducials that can be detected at one time. | |
#define | PLAYER_FIDUCIAL_DATA_SCAN 1 |
Data subtype: detected fiducials. | |
#define | PLAYER_FIDUCIAL_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_FIDUCIAL_REQ_GET_FOV 2 |
Request/reply subtype: get field of view. | |
#define | PLAYER_FIDUCIAL_REQ_SET_FOV 3 |
Request/reply subtype: set field of view. | |
#define | PLAYER_FIDUCIAL_REQ_GET_ID 7 |
Request/reply subtype: get ID. | |
#define | PLAYER_FIDUCIAL_REQ_SET_ID 8 |
Request/reply subtype: set ID. | |
#define | PLAYER_GPS_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_GRAPHICS2D_MAX_POINTS 64 |
The maximum number of points that can be described in a packet. | |
#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_GRAPHICS3D_MAX_POINTS 64 |
The maximum number of points that can be described in a packet. | |
#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_GRIPPER_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_GRIPPER_CMD_STATE 1 |
Command subtype: state. | |
#define | PLAYER_GRIPPER_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | GRIPopen 1 |
Command codes. | |
#define | GRIPclose 2 |
Command codes. | |
#define | GRIPstop 3 |
Command codes. | |
#define | LIFTup 4 |
Command codes. | |
#define | LIFTdown 5 |
Command codes. | |
#define | LIFTstop 6 |
Command codes. | |
#define | GRIPstore 7 |
Command codes. | |
#define | GRIPdeploy 8 |
Command codes. | |
#define | GRIPhalt 15 |
Command codes. | |
#define | GRIPpress 16 |
Command codes. | |
#define | LIFTcarry 17 |
Command codes. | |
#define | PLAYER_IR_MAX_SAMPLES 32 |
Maximum number of samples. | |
#define | PLAYER_IR_POSE 1 |
Request/reply subtype: get pose. | |
#define | PLAYER_IR_POWER 2 |
Request/reply subtype: set power. | |
#define | PLAYER_IR_DATA_RANGES 1 |
Data subtype: ranges. | |
#define | PLAYER_JOYSTICK_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_LASER_MAX_SAMPLES 1024 |
The maximum number of laser range values. | |
#define | PLAYER_LASER_DATA_SCAN 1 |
Data subtype: scan. | |
#define | PLAYER_LASER_DATA_SCANPOSE 2 |
Data subtype: pose-stamped scan. | |
#define | PLAYER_LASER_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_LASER_REQ_SET_CONFIG 2 |
Request/reply subtype: get configuration. | |
#define | PLAYER_LASER_REQ_GET_CONFIG 3 |
Request/reply subtype: set configuration. | |
#define | PLAYER_LASER_REQ_POWER 4 |
Request/reply subtype: set power. | |
#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 1 |
Data subtype: state. | |
#define | PLAYER_LIMB_HOME_CMD 1 |
Command subtype: home. | |
#define | PLAYER_LIMB_STOP_CMD 2 |
Command subtype: stop. | |
#define | PLAYER_LIMB_SETPOSE_CMD 3 |
Command subtype: set pose. | |
#define | PLAYER_LIMB_SETPOSITION_CMD 4 |
Command subtype: set position. | |
#define | PLAYER_LIMB_VECMOVE_CMD 5 |
Command subtype: vector move. | |
#define | PLAYER_LIMB_POWER_REQ 1 |
Request/reply: power. | |
#define | PLAYER_LIMB_BRAKES_REQ 2 |
Request/reply: brakes. | |
#define | PLAYER_LIMB_GEOM_REQ 3 |
Request/reply: geometry. | |
#define | PLAYER_LIMB_SPEED_REQ 4 |
Request/reply: speed. | |
#define | PLAYER_LOCALIZE_MAX_HYPOTHS 10 |
The maximum number of pose hypotheses. | |
#define | PLAYER_LOCALIZE_PARTICLES_MAX 100 |
The maximum number of particles (for particle-based localization algorithms). | |
#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_LOG_TYPE_READ 1 |
Types of log device: read. | |
#define | PLAYER_LOG_TYPE_WRITE 2 |
Types of log device: write. | |
#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_MAP_MAX_TILE_SIZE (((int)((PLAYER_MAX_PAYLOAD_SIZE-12)/1.001)) - 20 - 1) |
The maximum size of a grid map tile, in cells. | |
#define | PLAYER_MAP_MAX_SEGMENTS 131068 |
The maximum number of segments in a vector map. | |
#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 | MCOM_DATA_LEN 128 |
size of the data field in messages | |
#define | MCOM_N_BUFS 10 |
number of buffers to keep per channel | |
#define | MCOM_CHANNEL_LEN 8 |
size of channel name | |
#define | MCOM_EMPTY_STRING "(EMPTY)" |
returns this if empty | |
#define | PLAYER_MCOM_PUSH 0 |
request ids | |
#define | PLAYER_MCOM_POP 1 |
request ids | |
#define | PLAYER_MCOM_READ 2 |
request ids | |
#define | PLAYER_MCOM_CLEAR 3 |
request ids | |
#define | PLAYER_MCOM_SET_CAPACITY 4 |
request ids | |
#define | MCOM_COMMAND_BUFFER_SIZE (sizeof(player_mcom_config_t)) |
?? | |
#define | PLAYER_OPAQUE_DATA_STATE 1 |
Data subtype: generic state. | |
#define | PLAYER_OPAQUE_CMD 2 |
Data subtype: generic command. | |
#define | PLAYER_OPAQUE_REQ 3 |
Data subtype: generic request. | |
#define | PLAYER_OPAQUE_MAX_SIZE 1048576 |
Maximum message size is 1 MB. | |
#define | PLAYER_PLANNER_MAX_WAYPOINTS 128 |
maximum number of waypoints in a single plan | |
#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_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_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 |
A data message. | |
#define | PLAYER_PLAYER_REQ_DATAMODE 5 |
A data message. | |
#define | PLAYER_PLAYER_REQ_AUTH 7 |
A data message. | |
#define | PLAYER_PLAYER_REQ_NAMESERVICE 8 |
A data message. | |
#define | PLAYER_PLAYER_REQ_IDENT 9 |
A data message. | |
#define | PLAYER_PLAYER_REQ_ADD_REPLACE_RULE 10 |
A data message. | |
#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_POSITION2D_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_POSITION2D_REQ_MOTOR_POWER 2 |
Request/reply subtype: motor power. | |
#define | PLAYER_POSITION2D_REQ_VELOCITY_MODE 3 |
Request/reply subtype: velocity mode. | |
#define | PLAYER_POSITION2D_REQ_POSITION_MODE 4 |
Request/reply subtype: position mode. | |
#define | PLAYER_POSITION2D_REQ_SET_ODOM 5 |
Request/reply subtype: set odometry. | |
#define | PLAYER_POSITION2D_REQ_RESET_ODOM 6 |
Request/reply subtype: reset odometry. | |
#define | PLAYER_POSITION2D_REQ_SPEED_PID 7 |
Request/reply subtype: set speed PID params. | |
#define | PLAYER_POSITION2D_REQ_POSITION_PID 8 |
Request/reply subtype: set position PID params. | |
#define | PLAYER_POSITION2D_REQ_SPEED_PROF 9 |
Request/reply subtype: set speed profile params. | |
#define | PLAYER_POSITION2D_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_POSITION2D_DATA_GEOM 2 |
Data subtype: geometry. | |
#define | PLAYER_POSITION2D_CMD_VEL 1 |
Command subtype: velocity command. | |
#define | PLAYER_POSITION2D_CMD_POS 2 |
Command subtype: position command. | |
#define | PLAYER_POSITION2D_CMD_CAR 3 |
Command subtype: carlike command. | |
#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_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | PLAYER_POSITION3D_MOTOR_POWER 2 |
Request/reply subtype: motor power. | |
#define | PLAYER_POSITION3D_VELOCITY_MODE 3 |
Request/reply subtype: velocity mode. | |
#define | PLAYER_POSITION3D_POSITION_MODE 4 |
Request/reply subtype: position mode. | |
#define | PLAYER_POSITION3D_RESET_ODOM 5 |
Request/reply subtype: reset odometry. | |
#define | PLAYER_POSITION3D_SET_ODOM 6 |
Request/reply subtype: set odometry. | |
#define | PLAYER_POSITION3D_SPEED_PID 7 |
Request/reply subtype: set speed PID params. | |
#define | PLAYER_POSITION3D_POSITION_PID 8 |
Request/reply subtype: set position PID params. | |
#define | PLAYER_POSITION3D_SPEED_PROF 9 |
Request/reply subtype: set speed profile params. | |
#define | PLAYER_POWER_DATA_STATE 1 |
Data subtype: voltage. | |
#define | PLAYER_POWER_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 |
A data message. | |
#define | PLAYER_POWER_MASK_JOULES 4 |
A data message. | |
#define | PLAYER_POWER_MASK_PERCENT 8 |
A data message. | |
#define | PLAYER_POWER_MASK_CHARGING 16 |
A data message. | |
#define | PLAYER_PTZ_MAX_CONFIG_LEN 32 |
Maximum command length for use with PLAYER_PTZ_REQ_GENERIC request; based on the Sony EVID30 camera right now. | |
#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_PTZ_REQ_GENERIC 1 |
Request/reply subtype: generic. | |
#define | PLAYER_PTZ_REQ_CONTROL_MODE 2 |
Request/reply subtype: control mode. | |
#define | PLAYER_PTZ_REQ_AUTOSERVO 3 |
Request/reply subtype: autoservo. | |
#define | PLAYER_PTZ_REQ_GEOM 4 |
Request/reply subtype: geometry. | |
#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_SIMULATION_IDENTIFIER_MAXLEN 64 |
The maximum length of a string indentifying a simulation object or object property. | |
#define | PLAYER_SIMULATION_REQ_SET_POSE2D 1 |
Request/reply subtype: set 2D pose. | |
#define | PLAYER_SIMULATION_REQ_GET_POSE2D 2 |
Request/reply subtype: get 2D pose. | |
#define | PLAYER_SIMULATION_REQ_SET_PROPERTY_INT 3 |
Request/reply subtype: set integer property value. | |
#define | PLAYER_SIMULATION_REQ_GET_PROPERTY_INT 4 |
Request/reply subtype: get integer property value. | |
#define | PLAYER_SIMULATION_REQ_SET_PROPERTY_FLOAT 5 |
Request/reply subtype: set floating point property value. | |
#define | PLAYER_SIMULATION_REQ_GET_PROPERTY_FLOAT 6 |
Request/reply subtype: get floating point property value. | |
#define | PLAYER_SIMULATION_REQ_SET_PROPERTY_STRING 7 |
Request/reply subtype: set string property value. | |
#define | PLAYER_SIMULATION_REQ_GET_PROPERTY_STRING 8 |
Request/reply subtype: get string property value. | |
#define | PLAYER_SONAR_MAX_SAMPLES 64 |
maximum number of sonar samples in a data packet | |
#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_SOUND_CMD_IDX 1 |
Commmand subtype: play clip. | |
#define | PLAYER_SPEECH_MAX_STRING_LEN 256 |
Maximum string length. | |
#define | PLAYER_SPEECH_CMD_SAY 1 |
Command subtype: say a string. | |
#define | PLAYER_SPEECH_RECOGNITION_TEXT_LEN 256 |
Maximum length of string to recognize. | |
#define | PLAYER_SPEECH_RECOGNITION_DATA_STRING 1 |
Data subtype: recognized string. | |
#define | PLAYER_TRUTH_DATA_POSE 0x01 |
Data subtype. | |
#define | PLAYER_TRUTH_DATA_FIDUCIAL_ID 0x02 |
Data subtype. | |
#define | PLAYER_TRUTH_REQ_SET_POSE 0x03 |
Request subtypes. | |
#define | PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID 0x04 |
Request subtypes. | |
#define | PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID 0x05 |
Request subtypes. | |
#define | PLAYER_WAVEFORM_DATA_MAX 4096 |
Maximum length of waveform. | |
#define | PLAYER_WAVEFORM_DATA_SAMPLE 1 |
Data subtype: sample. | |
#define | PLAYER_WIFI_MAX_LINKS 32 |
The maximum number of remote hosts to report on. | |
#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_WIFI_MAC 1 |
Request/reply subtype:. | |
#define | PLAYER_WIFI_IWSPY_ADD 2 |
Request/reply subtype:. | |
#define | PLAYER_WIFI_IWSPY_DEL 3 |
Request/reply subtype:. | |
#define | PLAYER_WIFI_IWSPY_PING 4 |
Request/reply subtype:. | |
#define | PLAYER_WIFI_DATA_STATE 1 |
Data subtype: state. | |
#define | PLAYER_RFID_MAX_TAGS 30 |
The maximum nr of tags that can be detected in the RF field in total. | |
#define | PLAYER_RFID_MAX_GUID 8 |
The maximum number of digits one RFID tag can have. | |
#define | PLAYER_RFID_DATA 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_DATA 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. | |
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_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_POS_CMD). | |
typedef struct player_actarray_speed_cmd | player_actarray_speed_cmd_t |
Command: Joint speed control (PLAYER_ACTARRAY_SPEED_CMD). | |
typedef struct player_actarray_home_cmd | player_actarray_home_cmd_t |
Command: Joint home (PLAYER_ACTARRAY_HOME_CMD). | |
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_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_audio_data | player_audio_data_t |
Data: tones detected. | |
typedef struct player_audio_cmd | player_audio_cmd_t |
Command: tone to emit. | |
typedef struct player_audiodsp_data | player_audiodsp_data_t |
Data: detected tones (PLAYER_AUDIODSP_DATA_TONES). | |
typedef struct player_audiodsp_cmd | player_audiodsp_cmd_t |
Command: tone / chirp to play. | |
typedef struct player_audiodsp_config | player_audiodsp_config_t |
Request/reply : Get/set audio properties. | |
typedef struct player_audiomixer_cmd | player_audiomixer_cmd_t |
Command: set level. | |
typedef struct player_audiomixer_config | player_audiomixer_config_t |
Request/reply: Get levels. | |
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_period | player_blinkenlight_cmd_period_t |
Command: period (PLAYER_BLINKENLIGHT_CMD_PERIOD) This blinkenlight command sets the duration of one on/off blink cycle in seconds. | |
typedef struct player_blinkenlight_cmd_dutycycle | player_blinkenlight_cmd_dutycycle_t |
Command: dutycycle (PLAYER_BLINKENLIGHT_CMD_DUTYCYCLE) This blinkenlight command sets the ratio of light-on to light-off time in one on/off blink cycle. | |
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_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_camera_data | player_camera_data_t |
Data: state (PLAYER_CAMERA_DATA_STATE). | |
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_energy_data | player_energy_data_t |
Data: state (PLAYER_ENERGY_DATA_STATE). | |
typedef struct player_energy_chargepolicy_config | player_energy_chargepolicy_config_t |
Request/reply: set charging policy. | |
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_gps_data | player_gps_data_t |
Data: state (PLAYER_GPS_DATA_STATE). | |
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 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_gripper_data | player_gripper_data_t |
Data: state (PLAYER_GRIPPER_DATA_STATE). | |
typedef struct player_gripper_cmd | player_gripper_cmd_t |
Command: state (PLAYER_GRIPPER_CMD_STATE). | |
typedef struct player_gripper_geom | player_gripper_geom_t |
Request/reply: get geometry. | |
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_joystick_data | player_joystick_data_t |
Data: state (PLAYER_JOYSTICK_DATA_STATE). | |
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_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_limb_data | player_limb_data_t |
Data: state (PLAYER_LIMB_DATA). | |
typedef struct player_limb_home_cmd | player_limb_home_cmd_t |
Command: home (PLAYER_LIMB_HOME_CMD). | |
typedef struct player_limb_stop_cmd | player_limb_stop_cmd_t |
Command: stop (PLAYER_LIMB_STOP_CMD). | |
typedef struct player_limb_setpose_cmd | player_limb_setpose_cmd_t |
Command: Set end effector pose (PLAYER_LIMB_SETPOSE_CMD). | |
typedef struct player_limb_setposition_cmd | player_limb_setposition_cmd_t |
Command: Set end effector position (PLAYER_LIMB_SETPOSITION_CMD). | |
typedef struct player_limb_vecmove_cmd | player_limb_vecmove_cmd_t |
Command: Vector move the end effector (PLAYER_LIMB_VECMOVE_CMD). | |
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_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_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_set_read_rewind | player_log_set_read_rewind_t |
Request/reply: Rewind playback. | |
typedef struct player_log_get_state | player_log_get_state_t |
Request/reply: Get state. | |
typedef struct player_log_set_filename | player_log_set_filename_t |
Request/reply: Set filename. | |
typedef struct player_map_info | player_map_info_t |
Data AND Request/reply: Map information. | |
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_mcom_data | player_mcom_data_t |
A piece of data. | |
typedef struct player_mcom_config | player_mcom_config_t |
Configuration request to the device. | |
typedef struct player_mcom_return | player_mcom_return_t |
Configuration reply from the device. | |
typedef struct player_opaque_data | player_opaque_data_t |
data | |
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_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_data_req | player_device_data_req_t |
Configuration request: Get data. | |
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_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 | player_position1d_position_mode_req_t |
Request/reply: Change control mode. | |
typedef struct player_position1d_set_odom | player_position1d_set_odom_req_t |
Request/reply: Set odometry. | |
typedef struct player_position1d_speed_pid | player_position1d_speed_pid_req_t |
Request/reply: Set velocity PID parameters. | |
typedef struct player_position1d_position_pid | player_position1d_position_pid_req_t |
Request/reply: Set position PID parameters. | |
typedef struct player_position1d_speed_prof | player_position1d_speed_prof_req_t |
Request/reply: Set linear speed profile parameters. | |
typedef struct player_position2d_data | player_position2d_data_t |
Data: state (PLAYER_POSITION2D_DATA_STATE). | |
typedef struct player_position2d_cmd_vel | player_position2d_cmd_vel_t |
Command: velocity (PLAYER_POSITION2D_CMD_VEL). | |
typedef struct player_position2d_cmd_pos | player_position2d_cmd_pos_t |
Command: position (PLAYER_POSITION2D_CMD_POS). | |
typedef struct player_position2d_cmd_car | player_position2d_cmd_car_t |
Command: carlike (PLAYER_POSITION2D_CMD_CAR). | |
typedef struct player_position2d_geom | player_position2d_geom_t |
Data AND Request/reply: geometry. | |
typedef struct player_position2d_power_config | player_position2d_power_config_t |
Request/reply: Motor power. | |
typedef struct player_position2d_velocity_mode_config | player_position2d_velocity_mode_config_t |
Request/reply: Change velocity control. | |
typedef struct player_position2d_reset_odom_config | player_position2d_reset_odom_config_t |
Request/reply: Reset odometry. | |
typedef struct player_position2d_position_mode_req | player_position2d_position_mode_req_t |
Request/reply: Change control mode. | |
typedef struct player_position2d_set_odom_req | player_position2d_set_odom_req_t |
Request/reply: Set odometry. | |
typedef struct player_position2d_speed_pid_req | player_position2d_speed_pid_req_t |
Request/reply: Set velocity PID parameters. | |
typedef struct player_position2d_position_pid_req | player_position2d_position_pid_req_t |
Request/reply: Set position PID parameters. | |
typedef struct player_position2d_speed_prof_req | player_position2d_speed_prof_req_t |
Request/reply: Set linear speed profile parameters. | |
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_reset_odom_config | player_position3d_reset_odom_config_t |
Request/reply: Reset odometry. | |
typedef struct player_position3d_speed_pid_req | player_position3d_speed_pid_req_t |
Request/reply: Set velocity PID parameters. | |
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_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_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_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_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_property_int_req | player_simulation_property_int_req_t |
Request/reply: get/set integer property of a named simulation object. | |
typedef struct player_simulation_property_float_req | player_simulation_property_float_req_t |
Request/reply: get/set floating-point property of a named simulation object. | |
typedef struct player_simulation_property_string_req | player_simulation_property_string_req_t |
Request/reply: get/set string property of a named simulation object. | |
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_sound_cmd | player_sound_cmd_t |
Command: play clip (PLAYER_SOUND_CMD_IDX). | |
typedef struct player_speech_cmd | player_speech_cmd_t |
Command: say a string (PLAYER_SPEECH_CMD_SAY). | |
typedef struct player_speech_recognition_data | player_speech_recognition_data_t |
Data: recognized string (PLAYER_SPEECH_MAX_STRING_LEN). | |
typedef struct player_truth_pose | player_truth_pose_t |
Data. | |
typedef struct player_truth_fiducial_id | player_truth_fiducial_id_t |
Configuration request: Get/set fiducial ID number. | |
typedef struct player_waveform_data | player_waveform_data_t |
Data: sample (PLAYER_WAVEFORM_DATA_SAMPLE). | |
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_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_rfid_cmd | player_rfid_cmd_t |
Command. | |
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. |
Detailed Description
The Player message types.
Define Documentation
#define PLAYER_ACTARRAY_CODE 53 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_ACTARRAY_STRING "actarray" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_AIO_CODE 21 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_AIO_STRING "aio" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_AUDIO_CODE 9 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_AUDIO_STRING "audio" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_AUDIODSP_CODE 28 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_AUDIODSP_STRING "audiodsp" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_AUDIOMIXER_CODE 29 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_AUDIOMIXER_STRING "audiomixer" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_BLINKENLIGHT_CODE 33 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_BLINKENLIGHT_STRING "blinkenlight" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_BLOBFINDER_CODE 7 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_BLOBFINDER_MAX_BLOBS 256 |
The maximum number of blobs in total.
#define PLAYER_BLOBFINDER_STRING "blobfinder" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_BUMPER_CODE 14 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
Referenced by RFLEX::Subscribe(), and RFLEX::Unsubscribe().
#define PLAYER_BUMPER_STRING "bumper" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_CAMERA_CODE 40 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
Referenced by SphereDriver::SphereDriver().
#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::Setup().
#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 SphereDriver::Setup().
#define PLAYER_CAMERA_STRING "camera" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#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_DIO_CODE 20 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_DIO_STRING "dio" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_ENERGY_CODE 46 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_ENERGY_STRING "energy" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_FIDUCIAL_CODE 10 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_FIDUCIAL_MAX_SAMPLES 32 |
The maximum number of fiducials that can be detected at one time.
#define PLAYER_FIDUCIAL_STRING "fiducial" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_GPS_CODE 13 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_GPS_STRING "gps" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_GRAPHICS2D_CODE 55 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_GRAPHICS2D_MAX_POINTS 64 |
The maximum number of points that can be described in a packet.
#define PLAYER_GRAPHICS2D_STRING "graphics2d" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_GRAPHICS3D_CODE 58 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_GRAPHICS3D_MAX_POINTS 64 |
The maximum number of points that can be described in a packet.
#define PLAYER_GRAPHICS3D_STRING "graphics3d" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_GRIPPER_CODE 3 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_GRIPPER_STRING "gripper" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_IR_CODE 22 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
Referenced by RFLEX::Subscribe(), Khepera::Subscribe(), RFLEX::Unsubscribe(), and Khepera::Unsubscribe().
#define PLAYER_IR_STRING "ir" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_JOYSTICK_CODE 49 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_JOYSTICK_STRING "joystick" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_LASER_CODE 6 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_LASER_STRING "laser" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_LIMB_CODE 54 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_LIMB_STRING "limb" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_LOCALIZE_CODE 25 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_LOCALIZE_MAX_HYPOTHS 10 |
The maximum number of pose hypotheses.
#define PLAYER_LOCALIZE_STRING "localize" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_LOG_CODE 45 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_LOG_STRING "log" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_MAP_CODE 42 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_MAP_MAX_SEGMENTS 131068 |
The maximum number of segments in a vector map.
(2097152 - 30 (msg header) - 20 (meta-data to accompany the lines)) / 16 (size of each line) = 131068
#define PLAYER_MAP_MAX_TILE_SIZE (((int)((PLAYER_MAX_PAYLOAD_SIZE-12)/1.001)) - 20 - 1) |
The maximum size of a grid map tile, in cells.
(max_payload - 12 (zlib header)) / 1.001 (zlib overhead) - 20 (tile meta-data)
Referenced by MapTransform::ProcessMessage().
#define PLAYER_MAP_STRING "map" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_MCOM_CODE 26 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_MCOM_STRING "mcom" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_MSGTYPE_CMD 2 |
A command message.
Such messages are asynchronously published to devices, and are usually used to change some aspect of the device's state.
Referenced by wbr914::ProcessMessage(), SphereDriver::ProcessMessage(), SegwayRMP::ProcessMessage(), RFLEX::ProcessMessage(), P2OS::ProcessMessage(), Khepera::ProcessMessage(), GarciaDriver::ProcessMessage(), Erratic::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().
#define PLAYER_MSGTYPE_DATA 1 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
Referenced by RFLEX::Main(), REB::Main(), ER::Main(), ClodBuster::Main(), LaserTransform::ProcessMessage(), ImageBase::ProcessMessage(), and GarciaDriver::ProcessMessage().
#define PLAYER_MSGTYPE_REQ 3 |
A request message.
Such messages are published synchronously to devices, usually to get or set some aspect of the device's state that is not available in data or command messages. Every request message gets a response message (either PLAYER_MSGTYPE_RESP_ACK or PLAYER_MSGTYPE_RESP_NACK).
Referenced by wbr914::ProcessMessage(), SegwayRMP::ProcessMessage(), RFLEX::ProcessMessage(), P2OS::ProcessMessage(), MapTransform::ProcessMessage(), LaserTransform::ProcessMessage(), Khepera::ProcessMessage(), GarciaDriver::ProcessMessage(), Erratic::ProcessMessage(), ER::ProcessMessage(), ClodBuster::ProcessMessage(), and AdaptiveMCL::ProcessMessage().
#define PLAYER_MSGTYPE_RESP_ACK 4 |
A positive response message.
Such messages are published in response to a PLAYER_MSGTYPE_REQ. This message indicates that the underlying driver received, interpreted, and processed the request. Any requested data is in the body of this response message.
Referenced by RFLEX::ProcessMessage(), MapTransform::ProcessMessage(), LaserTransform::ProcessMessage(), Khepera::ProcessMessage(), ER::ProcessMessage(), ClodBuster::ProcessMessage(), and AdaptiveMCL::ProcessMessage().
#define PLAYER_MSGTYPE_RESP_NACK 6 |
A negative response message.
Such messages are published in response to a PLAYER_MSGTYPE_REQ. This messages indicates that the underlying driver did not process the message. Possible causes include: the driver's message queue was full, the driver failed to interpret the request, or the the driver does not support the request. This message will have no data in the body.
Referenced by LaserTransform::ProcessMessage(), Khepera::ProcessMessage(), ER::ProcessMessage(), and AdaptiveMCL::ProcessMessage().
#define PLAYER_MSGTYPE_SYNCH 5 |
A synch message.
Only used in PLAYER_DATAMODE_PULL mode. Sent at the end of the set of messages that are sent in response to a PLAYER_PLAYER_REQ_DATA request.
#define PLAYER_NOMAD_CODE 34 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_NOMAD_STRING "nomad" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_NULL_CODE 256 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_NULL_STRING "null" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_OPAQUE_CODE 51 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_OPAQUE_STRING "opaque" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLANNER_CODE 44 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLANNER_STRING "planner" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLAYER_CODE 1 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLAYER_REQ_ADD_REPLACE_RULE 10 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLAYER_REQ_AUTH 7 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLAYER_REQ_DATA 4 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLAYER_REQ_DATAMODE 5 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLAYER_REQ_IDENT 9 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLAYER_REQ_NAMESERVICE 8 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PLAYER_STRING "player" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POSITION1D_CODE 52 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POSITION1D_STRING "position1d" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POSITION2D_CODE 4 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
Referenced by RFLEX::Subscribe(), Khepera::Subscribe(), RFLEX::Unsubscribe(), and Khepera::Unsubscribe().
#define PLAYER_POSITION2D_STRING "position2d" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POSITION3D_CODE 30 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POSITION3D_STRING "position3d" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POWER_CODE 2 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POWER_MASK_CHARGING 16 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POWER_MASK_JOULES 4 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POWER_MASK_PERCENT 8 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POWER_MASK_WATTS 2 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_POWER_STRING "power" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_PTZ_CODE 8 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
Referenced by SphereDriver::SphereDriver().
#define PLAYER_PTZ_MAX_CONFIG_LEN 32 |
Maximum command length for use with PLAYER_PTZ_REQ_GENERIC request; based on the Sony EVID30 camera right now.
#define PLAYER_PTZ_STRING "ptz" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_RFID_CODE 56 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_RFID_MAX_GUID 8 |
The maximum number of digits one RFID tag can have.
#define PLAYER_RFID_MAX_TAGS 30 |
The maximum nr of tags that can be detected in the RF field in total.
#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_RFID_STRING "rfid" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SIMULATION_CODE 31 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SIMULATION_IDENTIFIER_MAXLEN 64 |
The maximum length of a string indentifying a simulation object or object property.
#define PLAYER_SIMULATION_STRING "simulation" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SONAR_CODE 5 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
Referenced by RFLEX::Subscribe(), and RFLEX::Unsubscribe().
#define PLAYER_SONAR_STRING "sonar" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SOUND_CODE 27 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SOUND_STRING "sound" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SPEECH_CODE 12 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SPEECH_RECOGNITION_CODE 50 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_SPEECH_STRING "speech" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_TRUTH_CODE 15 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID 0x05 |
Request subtypes.
#define PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID 0x04 |
Request subtypes.
#define PLAYER_TRUTH_REQ_SET_POSE 0x03 |
Request subtypes.
#define PLAYER_TRUTH_STRING "truth" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_WAVEFORM_CODE 24 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_WAVEFORM_STRING "waveform" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_WIFI_CODE 23 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_WIFI_STRING "wifi" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#define PLAYER_WSN_CODE 57 |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
#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).
#define PLAYER_WSN_STRING "wsn" |
A data message.
Such messages are asynchronously published from devices, and are usually used to reflect some part of the device's state.
Typedef Documentation
typedef struct player_actarray_brakes_config player_actarray_brakes_config_t |
Request/reply: Brakes.
Send a PLAYER_ACTARRAY_BRAKES_REQ request to turn the brakes of all actuators in the array that have them on or off. Null response.
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_GET_GEOM_REQ request to receive the geometry in this form.
typedef struct player_actarray_home_cmd player_actarray_home_cmd_t |
Command: Joint home (PLAYER_ACTARRAY_HOME_CMD).
Tells a joint (or the whole array) to go to home position.
typedef struct player_actarray_position_cmd player_actarray_position_cmd_t |
Command: Joint position control (PLAYER_ACTARRAY_POS_CMD).
Tells a joint 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_POWER_REQ 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_SPEED_CMD).
Tells a joint to attempt to move at a requested speed.
typedef struct player_actarray_speed_config player_actarray_speed_config_t |
Request/reply: Speed.
Send a PLAYER_ACTARRAY_SPEED_REQ 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.
typedef struct player_audio_cmd player_audio_cmd_t |
Command: tone to emit.
The audio
interface accepts commands to produce fixed-frequency tones through /dev/dsp
(which is assumed to be associated with a sound card to which a speaker is attached).
typedef struct player_audio_data player_audio_data_t |
Data: tones detected.
The audio
interface reads the audio stream from /dev/audio
(which is assumed to be associated with a sound card connected to a microphone) and performs some analysis on it. PLAYER_AUDIO_PAIRS number of frequency/amplitude pairs are then returned as data.
typedef struct player_audiodsp_cmd player_audiodsp_cmd_t |
Command: tone / chirp to play.
The audiodsp
interface accepts commands to produce fixed-frequency tones or binary phase shift keyed(BPSK) chirps through /dev/dsp
(which is assumed to be associated with a sound card to which a speaker is attached). The command subtype, which should be PLAYER_AUDIODSP_PLAY_TONE, PLAYER_AUDIODSP_PLAY_CHIRP, or PLAYER_AUDIODSP_REPLAY, determines what to do.
typedef struct player_audiodsp_config player_audiodsp_config_t |
Request/reply : Get/set audio properties.
Send a null PLAYER_AUDIODSP_GET_CONFIG request to receive the audiodsp configuration. Send a full PLAYER_AUDIODSP_SET_CONFIG request to modify the configuration (and receive a null response).
The sample format is defined in sys/soundcard.h, and defines the byte size and endian format for each sample.
The sample rate defines the Hertz at which to sample.
Mono or stereo sampling is defined in the channels parameter where 1==mono and 2==stereo.
typedef struct player_audiodsp_data player_audiodsp_data_t |
Data: detected tones (PLAYER_AUDIODSP_DATA_TONES).
The audiodsp
interface reads the audio stream from /dev/dsp
(which is assumed to be associated with a sound card connected to a microphone) and performs some analysis on it. PLAYER_AUDIODSP_MAX_FREQS number of frequency/amplitude pairs are then returned as data.
typedef struct player_audiomixer_cmd player_audiomixer_cmd_t |
Command: set level.
The audiomixer
interface accepts commands to set the left and right volume levels of various channels. The channel is determined by the subtype of the command: PLAYER_AUDIOMIXER_SET_MASTER for the master volume, PLAYER_AUDIOMIXER_SET_PCM for the PCM volume, PLAYER_AUDIOMIXER_SET_LINE for the line in volume, PLAYER_AUDIOMIXER_SET_MIC for the microphone volume, PLAYER_AUDIOMIXER_SET_IGAIN for the input gain, and PLAYER_AUDIOMIXER_SET_OGAIN for the output gain.
typedef struct player_audiomixer_config player_audiomixer_config_t |
Request/reply: Get levels.
Send a null PLAYER_AUDIOMIXER_GET_LEVELS request to receive the current state of the mixer levels.
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_data_req player_device_data_req_t |
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.
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.
Request/reply: set charging policy.
Send a PLAYER_ENERGY_SET_CHARGING_POLICY_REQ request to change the charging policy.
typedef struct player_energy_data player_energy_data_t |
Data: state (PLAYER_ENERGY_DATA_STATE).
The energy
interface reports he amount of energy stored, current rate of energy consumption or aquisition, and whether or not the device is connected to a charger.
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.
- Todo:
- : Review the units used here
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_GRAPHICS2D_CMD_POINTS) Draw some points.
typedef struct player_gripper_cmd player_gripper_cmd_t |
Command: state (PLAYER_GRIPPER_CMD_STATE).
The gripper
interface accepts 2-byte commands, the format of which is given below. These two bytes are sent directly to the gripper; refer to Table 3-3 page 10 in the Pioneer 2 Gripper Manual for a list of commands. The first byte is the command. The second is the argument for the LIFTcarry and GRIPpress commands, but for all others it is ignored.
typedef struct player_gripper_data player_gripper_data_t |
Data: state (PLAYER_GRIPPER_DATA_STATE).
The gripper
interface returns 2 bytes that represent the current state of the gripper; the format is given below. Note that the exact interpretation of this data may vary depending on the details of your gripper and how it is connected to your robot (e.g., General I/O vs. User I/O for the Pioneer gripper).
The following list defines how the data can be interpreted for some Pioneer robots and Stage:
- state (unsigned byte)
- bit 0: Paddles open
- bit 1: Paddles closed
- bit 2: Paddles moving
- bit 3: Paddles error
- bit 4: Lift is up
- bit 5: Lift is down
- bit 6: Lift is moving
- bit 7: Lift error
- beams (unsigned byte)
- bit 0: Gripper limit reached
- bit 1: Lift limit reached
- bit 2: Outer beam obstructed
- bit 3: Inner beam obstructed
- bit 4: Left paddle open
- bit 5: Right paddle open
typedef struct player_gripper_geom player_gripper_geom_t |
Request/reply: get geometry.
The geometry (pose and size) of the gripper device can be queried by sending a null PLAYER_GRIPPER_REQ_GET_GEOM request.
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_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_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_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_BRAKES_REQ 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_GEOM_REQ reqest.
typedef struct player_limb_home_cmd player_limb_home_cmd_t |
Command: home (PLAYER_LIMB_HOME_CMD).
Tells the end effector to return to its home position.
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_POWER_REQ 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_SETPOSE_CMD).
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_SETPOSITION_CMD).
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_SPEED_REQ request. Null response.
typedef struct player_limb_stop_cmd player_limb_stop_cmd_t |
Command: stop (PLAYER_LIMB_STOP_CMD).
Tells the limb to stop moving immediatly.
typedef struct player_limb_vecmove_cmd player_limb_vecmove_cmd_t |
Command: Vector move the end effector (PLAYER_LIMB_VECMOVE_CMD).
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: 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_rewind player_log_set_read_rewind_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.
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_map_info player_map_info_t |
Data AND Request/reply: Map information.
To retrieve the size and scale information of a map, send a null PLAYER_MAP_REQ_GET_INFO request. This message can also be sent as data, with the subtype PLAYER_MAP_DATA_INFO, depending on the underlying driver.
typedef struct player_mcom_config player_mcom_config_t |
Configuration request to the device.
typedef struct player_mcom_data player_mcom_data_t |
A piece of data.
typedef struct player_mcom_return player_mcom_return_t |
Configuration reply from the device.
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_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 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 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.
typedef struct player_position1d_speed_prof player_position1d_speed_prof_req_t |
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_position2d_cmd_car player_position2d_cmd_car_t |
Command: carlike (PLAYER_POSITION2D_CMD_CAR).
The position
interface accepts new carlike velocity commands (speed and turning angle) for the robot's motors (only supported by some drivers).
typedef struct player_position2d_cmd_pos player_position2d_cmd_pos_t |
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).
typedef struct player_position2d_cmd_vel player_position2d_cmd_vel_t |
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).
typedef struct player_position2d_data player_position2d_data_t |
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.
typedef struct player_position2d_geom player_position2d_geom_t |
Data AND Request/reply: geometry.
To request robot geometry, send a null PLAYER_POSITION2D_REQ_GET_GEOM request. Depending on the underlying driver, this message may also be sent as data, with subtype PLAYER_POSITION2D_DATA_GEOM.
Request/reply: Change control mode.
To change control mode, send a PLAYER_POSITION2D_REQ_POSITION_MODE request. Null response.
Request/reply: Set position PID parameters.
To set position PID parameters, send a PLAYER_POSITION2D_REQ_POSITION_PID request. Null response.
typedef struct player_position2d_power_config player_position2d_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_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.
Request/reply: Reset odometry.
To reset the robot's odometry to , send a PLAYER_POSITION2D_REQ_RESET_ODOM request. Null response.
typedef struct player_position2d_set_odom_req player_position2d_set_odom_req_t |
Request/reply: Set odometry.
To set the robot's odometry to a particular state, send a PLAYER_POSITION2D_REQ_SET_ODOM request. Null response.
typedef struct player_position2d_speed_pid_req player_position2d_speed_pid_req_t |
Request/reply: Set velocity PID parameters.
To set velocity PID parameters, send a PLAYER_POSITION2D_REQ_SPEED_PID request. Null response.
Request/reply: Set linear speed profile parameters.
To set linear speed profile parameters, send a PLAYER_POSITION2D_REQ_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_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.
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_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 , send a PLAYER_POSITION3D_RESET_ODOM request. Null response.
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: 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_rfid_cmd player_rfid_cmd_t |
Command.
Just a placeholder for now; data will be added in future.
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).
Request/reply: get/set floating-point property of a named simulation object.
Behaves identically to the integer version, but for double-precision floating-pont values.
Request/reply: get/set integer property of a named simulation object.
To retrieve an integer property of an object in a simulator, send a PLAYER_SIMULATION_REQ_GET_PROPERTY_INT request. The server will reply with the integer value filled in. To set a integer property, send a completely filled in PLAYER_SIMULATION_REQ_SET_PROPERTY_INT request. The server will respond with an ACK if the property was successfully set to your value, else a NACK.
Request/reply: get/set string property of a named simulation object.
Behaves identically to the integer version, but for strings.
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_sound_cmd player_sound_cmd_t |
Command: play clip (PLAYER_SOUND_CMD_IDX).
The sound
interface accepts an index of a pre-recorded sound file to play.
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_truth_fiducial_id player_truth_fiducial_id_t |
Configuration request: Get/set fiducial ID number.
To get the fiducial ID of an object, use the following request, filling in only the subtype with PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID. The server will respond with the ID field filled in. To set the fiducial ID, set the subtype to PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID and fill in the ID field with the desired value.
typedef struct player_truth_pose player_truth_pose_t |
Data.
The truth
interface returns data concerning the current state of an entity.
typedef struct player_waveform_data player_waveform_data_t |
Data: sample (PLAYER_WAVEFORM_DATA_SAMPLE).
The waveform
interface reads a digitized waveform from the target device.
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.