player_interfaces.h
1 /* START OF AUTOGENERATED CODE */
2 /* This file or section was automatically generated by playerinterfacegen.py
3 To modify the interfaces in this file please edit their interface definition in libplayerinterface/interfaces/ */
4 
7 #define PLAYER_PLAYER_CODE 1
8 
11 #define PLAYER_PLAYER_STRING "player"
12 
13 // /////////////////////////////////////////////////////////////////////////////
32 #define PLAYER_PLAYER_REQ_DEVLIST 1
33 
35 #define PLAYER_PLAYER_REQ_DRIVERINFO 2
36 
38 #define PLAYER_PLAYER_REQ_DEV 3
39 
46 #define PLAYER_PLAYER_REQ_DATA 4
47 
48 
49 #define PLAYER_PLAYER_REQ_DATAMODE 5
50 
51 
52 #define PLAYER_PLAYER_REQ_AUTH 7
53 
54 
55 #define PLAYER_PLAYER_REQ_NAMESERVICE 8
56 
57 
58 #define PLAYER_PLAYER_REQ_ADD_REPLACE_RULE 10
59 
60 
61 #define PLAYER_PLAYER_SYNCH_OK 1
62 
63 
64 #define PLAYER_PLAYER_SYNCH_OVERFLOW 2
65 
66 
67 
69 #define PLAYER_OPEN_MODE 1
70 
71 #define PLAYER_CLOSE_MODE 2
72 
73 #define PLAYER_ERROR_MODE 3
74 
75 
78 #define PLAYER_DATAMODE_PUSH 1
79 
83 #define PLAYER_DATAMODE_PULL 2
84 
85 
86 
89 #define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT 0
90 #define PLAYER_PLAYER_MSG_REPLACE_RULE_REPLACE 1
91 #define PLAYER_PLAYER_MSG_REPLACE_RULE_IGNORE 2
92 
99 typedef struct player_device_devlist
100 {
102  uint32_t devices_count;
106 
114 {
122 
140 typedef struct player_device_req
141 {
145  uint8_t access;
151 
152 
160 {
162  uint8_t mode;
163 
165 
166 
199 {
201  uint32_t auth_key_count;
204 
206 
207 
213 {
215  uint32_t name_count;
219  uint16_t port;
221 
233 {
235  int32_t interf;
237  int32_t index;
239  int32_t type;
241  int32_t subtype;
243  int32_t replace ;
245 
246 
252 #define PLAYER_POWER_CODE 2
253 
256 #define PLAYER_POWER_STRING "power"
257 
258 // /////////////////////////////////////////////////////////////////////////////
274 #define PLAYER_POWER_DATA_STATE 1
275 
277 #define PLAYER_POWER_REQ_SET_CHARGING_POLICY_REQ 1
278 
279 
280 
282 #define PLAYER_POWER_MASK_VOLTS 1
283 #define PLAYER_POWER_MASK_WATTS 2
284 #define PLAYER_POWER_MASK_JOULES 4
285 #define PLAYER_POWER_MASK_PERCENT 8
286 #define PLAYER_POWER_MASK_CHARGING 16
287 
291 typedef struct player_power_data
292 {
296  uint32_t valid;
297 
299  float volts;
301  float percent;
303  float joules;
306  float watts;
311  int32_t charging;
312 
314 
315 
321 {
324  uint8_t enable_input;
327  uint8_t enable_output;
329 
330 
331 
337 #define PLAYER_GRIPPER_CODE 3
338 
341 #define PLAYER_GRIPPER_STRING "gripper"
342 
343 // /////////////////////////////////////////////////////////////////////////////
365 #define PLAYER_GRIPPER_DATA_STATE 1
366 
368 #define PLAYER_GRIPPER_REQ_GET_GEOM 1
369 
373 #define PLAYER_GRIPPER_CMD_OPEN 1
374 
378 #define PLAYER_GRIPPER_CMD_CLOSE 2
379 
383 #define PLAYER_GRIPPER_CMD_STOP 3
384 
388 #define PLAYER_GRIPPER_CMD_STORE 4
389 
394 #define PLAYER_GRIPPER_CMD_RETRIEVE 5
395 
396 
397 
399 #define PLAYER_GRIPPER_STATE_OPEN 1
400 
401 #define PLAYER_GRIPPER_STATE_CLOSED 2
402 
403 #define PLAYER_GRIPPER_STATE_MOVING 3
404 
405 #define PLAYER_GRIPPER_STATE_ERROR 4
406 
407 
418 typedef struct player_gripper_data
419 {
421  uint8_t state;
423  uint32_t beams;
425  uint8_t stored;
427 
433 typedef struct player_gripper_geom
434 {
443  uint8_t num_beams;
445  uint8_t capacity;
447 
448 
449 
450 
451 
452 
453 
459 #define PLAYER_POSITION2D_CODE 4
460 
463 #define PLAYER_POSITION2D_STRING "position2d"
464 
465 // /////////////////////////////////////////////////////////////////////////////
483 #define PLAYER_POSITION2D_REQ_GET_GEOM 1
484 
496 #define PLAYER_POSITION2D_REQ_MOTOR_POWER 2
497 
522 #define PLAYER_POSITION2D_REQ_VELOCITY_MODE 3
523 
529 #define PLAYER_POSITION2D_REQ_POSITION_MODE 4
530 
535 #define PLAYER_POSITION2D_REQ_SET_ODOM 5
536 
541 #define PLAYER_POSITION2D_REQ_RESET_ODOM 6
542 
548 #define PLAYER_POSITION2D_REQ_SPEED_PID 7
549 
556 #define PLAYER_POSITION2D_REQ_POSITION_PID 8
557 
562 #define PLAYER_POSITION2D_REQ_SPEED_PROF 9
563 
568 #define PLAYER_POSITION2D_DATA_STATE 1
569 
574 #define PLAYER_POSITION2D_DATA_GEOM 2
575 
581 #define PLAYER_POSITION2D_CMD_VEL 1
582 
588 #define PLAYER_POSITION2D_CMD_POS 2
589 
594 #define PLAYER_POSITION2D_CMD_CAR 3
595 
599 #define PLAYER_POSITION2D_CMD_VEL_HEAD 4
600 
601 
602 
603 
604 
607 {
613  uint8_t stall;
615 
618 {
622  uint8_t state;
624 
627 {
633  uint8_t state;
635 
638 {
640  double velocity;
642  double angle;
644 
647 {
649  double velocity;
651  double angle;
653 
656 {
662 
665 {
667  uint8_t state;
669 
672 {
674  uint32_t value;
676 
677 
680 {
682  uint32_t state;
684 
687 {
691 
694 {
696  float kp;
698  float ki;
700  float kd;
702 
705 {
707  float kp;
709  float ki;
711  float kd;
713 
716 {
718  float speed;
720  float acc;
731 #define PLAYER_SONAR_CODE 5
732 
735 #define PLAYER_SONAR_STRING "sonar"
736 
737 // /////////////////////////////////////////////////////////////////////////////
755 #define PLAYER_SONAR_REQ_GET_GEOM 1
756 
758 #define PLAYER_SONAR_REQ_POWER 2
759 
761 #define PLAYER_SONAR_DATA_RANGES 1
762 
764 #define PLAYER_SONAR_DATA_GEOM 2
765 
766 
767 
772 typedef struct player_sonar_data
773 {
775  uint32_t ranges_count;
777  float *ranges;
779 
786 typedef struct player_sonar_geom
787 {
789  uint32_t poses_count;
793 
799 {
801  uint8_t state;
803 
812 #define PLAYER_LASER_CODE 6
813 
816 #define PLAYER_LASER_STRING "laser"
817 
818 // /////////////////////////////////////////////////////////////////////////////
848 #define PLAYER_LASER_DATA_SCAN 1
849 
851 #define PLAYER_LASER_DATA_SCANPOSE 2
852 
854 #define PLAYER_LASER_DATA_SCANANGLE 3
855 
857 #define PLAYER_LASER_REQ_GET_GEOM 1
858 
860 #define PLAYER_LASER_REQ_SET_CONFIG 2
861 
863 #define PLAYER_LASER_REQ_GET_CONFIG 3
864 
866 #define PLAYER_LASER_REQ_POWER 4
867 
869 #define PLAYER_LASER_REQ_GET_ID 5
870 
872 #define PLAYER_LASER_REQ_SET_FILTER 6
873 
874 
875 
877 #define PLAYER_LASER_MAX_FILTER_PARAMS 8
878 #define PLAYER_LASER_FILTER_MEDIAN 1
879 #define PLAYER_LASER_FILTER_EDGE 2
880 #define PLAYER_LASER_FILTER_RANGE 3
881 #define PLAYER_LASER_FILTER_MEAN 4
882 
886 typedef struct player_laser_data
887 {
889  float min_angle;
891  float max_angle;
893  float resolution;
895  float max_range;
897  uint32_t ranges_count;
899  float *ranges;
901  uint32_t intensity_count;
903  uint8_t *intensity;
905  uint32_t id;
907 
913 {
919 
924 {
926  float max_range;
928  uint32_t ranges_count;
930  float *ranges;
932  uint32_t angles_count;
934  float *angles;
936  uint32_t intensity_count;
938  uint8_t *intensity;
940  uint32_t id;
942 
943 
948 typedef struct player_laser_geom
949 {
955 
964 typedef struct player_laser_config
965 {
967  float min_angle;
969  float max_angle;
971  float resolution;
973  float max_range;
975  float range_res;
977  uint8_t intensity;
981 
987 {
989  uint8_t state;
991 
997 {
999  uint32_t serial_number;
1001 
1020 {
1022  uint8_t filter_type;
1028 
1029 
1030 
1036 #define PLAYER_BLOBFINDER_CODE 7
1037 
1040 #define PLAYER_BLOBFINDER_STRING "blobfinder"
1041 
1042 // /////////////////////////////////////////////////////////////////////////////
1058 #define PLAYER_BLOBFINDER_DATA_BLOBS 1
1059 
1060 
1061 #define PLAYER_BLOBFINDER_REQ_SET_COLOR 1
1062 
1063 
1064 #define PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS 2
1065 
1066 
1067 #define PLAYER_BLOBFINDER_REQ_GET_COLOR 3
1068 
1069 
1072 {
1074  uint32_t id;
1077  uint32_t color;
1079  uint32_t area;
1081  uint32_t x;
1083  uint32_t y;
1085  uint32_t left;
1087  uint32_t right;
1089  uint32_t top;
1091  uint32_t bottom;
1093  float range;
1095 
1100 {
1102  uint32_t width;
1104  uint32_t height;
1106  uint32_t blobs_count;
1110 
1111 
1122 {
1126  uint32_t channel;
1128  uint32_t rmin;
1130  uint32_t rmax;
1132  uint32_t gmin;
1134  uint32_t gmax;
1136  uint32_t bmin;
1138  uint32_t bmax;
1140 
1141 
1157 {
1159  int32_t brightness;
1161  int32_t contrast;
1166  int32_t colormode;
1168  int32_t autogain;
1170 
1171 
1172 
1178 #define PLAYER_PTZ_CODE 8
1179 
1182 #define PLAYER_PTZ_STRING "ptz"
1183 
1184 // /////////////////////////////////////////////////////////////////////////////
1199 #define PLAYER_PTZ_REQ_GENERIC 1
1200 
1202 #define PLAYER_PTZ_REQ_CONTROL_MODE 2
1203 
1205 #define PLAYER_PTZ_REQ_GEOM 4
1206 
1208 #define PLAYER_PTZ_REQ_STATUS 5
1209 
1211 #define PLAYER_PTZ_DATA_STATE 1
1212 
1214 #define PLAYER_PTZ_DATA_GEOM 2
1215 
1217 #define PLAYER_PTZ_CMD_STATE 1
1218 
1219 
1220 
1222 #define PLAYER_PTZ_VELOCITY_CONTROL 0
1223 
1224 #define PLAYER_PTZ_POSITION_CONTROL 1
1225 
1226 
1231 typedef struct player_ptz_data
1232 {
1234  float pan;
1236  float tilt;
1238  float zoom;
1240  float panspeed;
1242  float tiltspeed;
1244  uint32_t status;
1246 
1251 typedef struct player_ptz_cmd
1252 {
1254  float pan;
1256  float tilt;
1258  float zoom;
1260  float panspeed;
1262  float tiltspeed;
1264 
1269 {
1270  uint32_t status;
1272 
1276 typedef struct player_ptz_geom
1277 {
1283 
1291 {
1293  uint32_t config_count;
1295  uint32_t *config;
1297 
1305 {
1308  uint32_t mode;
1310 
1311 
1317 #define PLAYER_AUDIO_CODE 9
1318 
1321 #define PLAYER_AUDIO_STRING "audio"
1322 
1323 // /////////////////////////////////////////////////////////////////////////////
1347 #define PLAYER_AUDIO_DATA_WAV_REC 1
1348 
1352 #define PLAYER_AUDIO_DATA_SEQ 2
1353 
1357 #define PLAYER_AUDIO_DATA_MIXER_CHANNEL 3
1358 
1362 #define PLAYER_AUDIO_DATA_STATE 4
1363 
1367 #define PLAYER_AUDIO_CMD_WAV_PLAY 1
1368 
1372 #define PLAYER_AUDIO_CMD_WAV_STREAM_REC 2
1373 
1377 #define PLAYER_AUDIO_CMD_SAMPLE_PLAY 3
1378 
1382 #define PLAYER_AUDIO_CMD_SEQ_PLAY 4
1383 
1387 #define PLAYER_AUDIO_CMD_MIXER_CHANNEL 5
1388 
1392 #define PLAYER_AUDIO_REQ_WAV_REC 1
1393 
1397 #define PLAYER_AUDIO_REQ_SAMPLE_LOAD 2
1398 
1402 #define PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE 3
1403 
1407 #define PLAYER_AUDIO_REQ_SAMPLE_REC 4
1408 
1412 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST 5
1413 
1417 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL 6
1418 
1419 
1420 
1423 #define PLAYER_AUDIO_STATE_STOPPED 0x00
1424 #define PLAYER_AUDIO_STATE_PLAYING 0x01
1425 #define PLAYER_AUDIO_STATE_RECORDING 0x02
1426 
1430 #define PLAYER_AUDIO_DESCRIPTION_BITS 0xFF
1431 #define PLAYER_AUDIO_BITS 0x03
1432 
1433 #define PLAYER_AUDIO_8BIT 0
1434 
1435 #define PLAYER_AUDIO_16BIT 1
1436 
1437 #define PLAYER_AUDIO_24BIT 2
1438 
1439 #define PLAYER_AUDIO_MONO 0
1440 
1441 #define PLAYER_AUDIO_STEREO 4
1442 
1443 #define PLAYER_AUDIO_FREQ 0x18
1444 #define PLAYER_AUDIO_FREQ_44k 0
1445 #define PLAYER_AUDIO_FREQ_11k 8
1446 #define PLAYER_AUDIO_FREQ_22k 16
1447 #define PLAYER_AUDIO_FREQ_48k 24
1448 
1450 #define PLAYER_AUDIO_FORMAT_BITS 0xFF00
1451 
1452 #define PLAYER_AUDIO_FORMAT_NULL 0x0000
1453 #define PLAYER_AUDIO_FORMAT_RAW 0x0100
1454 #define PLAYER_AUDIO_FORMAT_MP3 0x0200
1455 #define PLAYER_AUDIO_FORMAT_OGG 0x0300
1456 #define PLAYER_AUDIO_FORMAT_FLAC 0x0400
1457 #define PLAYER_AUDIO_FORMAT_AAC 0x0500
1458 
1459 
1460 
1466 typedef struct player_audio_wav
1467 {
1469  uint32_t data_count;
1471  uint8_t *data;
1473  uint32_t format;
1475 
1476 
1485 {
1487  float freq;
1489  float duration;
1491  float amplitude;
1495 
1496 
1502 typedef struct player_audio_seq
1503 {
1505  uint32_t tones_count;
1509 
1510 
1517 {
1519  float amplitude;
1523  uint32_t index;
1525 
1526 
1527 
1534 {
1536  uint32_t channels_count;
1540 
1541 
1542 
1544 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_INPUT 1
1545 
1546 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_OUTPUT 2
1547 
1548 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_SPECIAL 4
1549 
1556 {
1558  uint32_t name_count;
1560  char *name;
1562  uint8_t caps;
1564 
1565 
1566 
1573 {
1575  uint32_t details_count;
1581  int32_t default_input;
1583 
1584 
1585 
1592 typedef struct player_audio_sample
1593 {
1597  int32_t index;
1599 
1606 {
1608  int32_t index;
1610 
1617 {
1620  int32_t index;
1622  uint32_t length;
1624 
1631 typedef struct player_audio_state
1632 {
1634  uint32_t state;
1636 
1637 
1643 #define PLAYER_FIDUCIAL_CODE 10
1644 
1647 #define PLAYER_FIDUCIAL_STRING "fiducial"
1648 
1649 // /////////////////////////////////////////////////////////////////////////////
1666 #define PLAYER_FIDUCIAL_DATA_SCAN 1
1667 
1668 
1669 #define PLAYER_FIDUCIAL_REQ_GET_GEOM 1
1670 
1671 
1672 #define PLAYER_FIDUCIAL_REQ_GET_FOV 2
1673 
1674 
1675 #define PLAYER_FIDUCIAL_REQ_SET_FOV 3
1676 
1677 
1678 #define PLAYER_FIDUCIAL_REQ_GET_ID 7
1679 
1680 
1681 #define PLAYER_FIDUCIAL_REQ_SET_ID 8
1682 
1683 
1688 typedef struct player_fiducial_item
1689 {
1692  int32_t id;
1698 
1699 
1703 typedef struct player_fiducial_data
1704 {
1709 
1711 
1717 typedef struct player_fiducial_geom
1718 {
1726 
1733 typedef struct player_fiducial_fov
1734 {
1736  float min_range;
1738  float max_range;
1740  float view_angle;
1742 
1758 typedef struct player_fiducial_id
1759 {
1761  uint32_t id;
1763 
1764 
1765 
1771 #define PLAYER_SPEECH_CODE 12
1772 
1775 #define PLAYER_SPEECH_STRING "speech"
1776 
1777 // /////////////////////////////////////////////////////////////////////////////
1792 #define PLAYER_SPEECH_CMD_SAY 1
1793 
1794 
1795 
1800 typedef struct player_speech_cmd
1801 {
1803  uint32_t string_count;
1805  char *string;
1807 
1808 
1809 
1815 #define PLAYER_GPS_CODE 13
1816 
1819 #define PLAYER_GPS_STRING "gps"
1820 
1821 // /////////////////////////////////////////////////////////////////////////////
1837 #define PLAYER_GPS_DATA_STATE 1
1838 
1839 
1844 typedef struct player_gps_data
1845 {
1847  uint32_t time_sec;
1849  uint32_t time_usec;
1853  int32_t latitude;
1857  int32_t longitude;
1860  int32_t altitude;
1862  double utm_e;
1864  double utm_n;
1866  uint32_t quality;
1868  uint32_t num_sats;
1870  uint32_t hdop;
1872  uint32_t vdop;
1874  double err_horz;
1876  double err_vert;
1878 
1879 
1880 
1886 #define PLAYER_BUMPER_CODE 14
1887 
1890 #define PLAYER_BUMPER_STRING "bumper"
1891 
1892 // /////////////////////////////////////////////////////////////////////////////
1908 #define PLAYER_BUMPER_DATA_STATE 1
1909 
1910 
1911 #define PLAYER_BUMPER_DATA_GEOM 2
1912 
1913 
1914 #define PLAYER_BUMPER_REQ_GET_GEOM 1
1915 
1916 
1920 typedef struct player_bumper_data
1921 {
1923  uint32_t bumpers_count;
1925  uint8_t *bumpers;
1927 
1929 typedef struct player_bumper_define
1930 {
1934  float length;
1936  float radius;
1938 
1946 typedef struct player_bumper_geom
1947 {
1953 
1954 
1955 
1961 #define PLAYER_DIO_CODE 20
1962 
1965 #define PLAYER_DIO_STRING "dio"
1966 
1967 // /////////////////////////////////////////////////////////////////////////////
1982 #define PLAYER_DIO_DATA_VALUES 1
1983 
1984 
1985 #define PLAYER_DIO_CMD_VALUES 1
1986 
1987 
1992 typedef struct player_dio_data
1993 {
1995  uint32_t count;
1997  uint32_t bits;
1999 
2004 typedef struct player_dio_cmd
2005 {
2007  uint32_t count;
2009  uint32_t digout;
2011 
2020 #define PLAYER_AIO_CODE 21
2021 
2024 #define PLAYER_AIO_STRING "aio"
2025 
2026 // /////////////////////////////////////////////////////////////////////////////
2041 #define PLAYER_AIO_CMD_STATE 1
2042 
2043 
2044 #define PLAYER_AIO_DATA_STATE 1
2045 
2046 
2051 typedef struct player_aio_data
2052 {
2054  uint32_t voltages_count;
2056  float *voltages;
2058 
2062 typedef struct player_aio_cmd
2063 {
2065  uint32_t id;
2067  float voltage;
2069 
2070 
2076 #define PLAYER_IR_CODE 22
2077 
2080 #define PLAYER_IR_STRING "ir"
2081 
2082 // /////////////////////////////////////////////////////////////////////////////
2100 #define PLAYER_IR_REQ_POSE 1
2101 
2103 #define PLAYER_IR_REQ_POWER 2
2104 
2106 #define PLAYER_IR_DATA_RANGES 1
2107 
2108 
2109 
2113 typedef struct player_ir_data
2114 {
2116  uint32_t voltages_count;
2118  float *voltages;
2120  uint32_t ranges_count;
2122  float *ranges;
2124 
2128 typedef struct player_ir_pose
2129 {
2131  uint32_t poses_count;
2135 
2140 typedef struct player_ir_power_req
2141 {
2143  uint8_t state;
2145 
2146 
2152 #define PLAYER_WIFI_CODE 23
2153 
2156 #define PLAYER_WIFI_STRING "wifi"
2157 
2158 // /////////////////////////////////////////////////////////////////////////////
2174 #define PLAYER_WIFI_REQ_MAC 1
2175 
2177 #define PLAYER_WIFI_REQ_IWSPY_ADD 2
2178 
2180 #define PLAYER_WIFI_REQ_IWSPY_DEL 3
2181 
2183 #define PLAYER_WIFI_REQ_IWSPY_PING 4
2184 
2186 #define PLAYER_WIFI_DATA_STATE 1
2187 
2188 
2189 
2191 #define PLAYER_WIFI_QUAL_DBM 1
2192 
2193 #define PLAYER_WIFI_QUAL_REL 2
2194 
2195 #define PLAYER_WIFI_QUAL_UNKNOWN 3
2196 
2198 #define PLAYER_WIFI_MODE_UNKNOWN 0
2199 
2200 #define PLAYER_WIFI_MODE_AUTO 1
2201 
2202 #define PLAYER_WIFI_MODE_ADHOC 2
2203 
2204 #define PLAYER_WIFI_MODE_INFRA 3
2205 
2206 #define PLAYER_WIFI_MODE_MASTER 4
2207 
2208 #define PLAYER_WIFI_MODE_REPEAT 5
2209 
2210 #define PLAYER_WIFI_MODE_SECOND 6
2211 
2217 typedef struct player_wifi_link
2218 {
2220  uint32_t mac_count;
2221  uint8_t mac[32];
2223  uint32_t ip_count;
2224  uint8_t ip[32];
2226  uint32_t essid_count;
2227  uint8_t essid[32];
2229  uint32_t mode;
2231  uint32_t freq;
2233  uint32_t encrypt;
2235  uint32_t qual;
2237  uint32_t level;
2239  uint32_t noise;
2241 
2245 typedef struct player_wifi_data
2246 {
2248  uint32_t links_count;
2252  uint32_t throughput;
2254  uint32_t bitrate;
2256  uint32_t mode;
2258  uint32_t qual_type;
2260  uint32_t maxqual;
2262  uint32_t maxlevel;
2264  uint32_t maxnoise;
2266  char ap[32];
2268 
2270 typedef struct player_wifi_mac_req
2271 {
2273  uint32_t mac_count;
2274  uint8_t mac[32];
2276 
2279 {
2281  char address[32];
2283 
2284 
2285 
2291 #define PLAYER_LOCALIZE_CODE 25
2292 
2295 #define PLAYER_LOCALIZE_STRING "localize"
2296 
2297 // /////////////////////////////////////////////////////////////////////////////
2318 #define PLAYER_LOCALIZE_DATA_HYPOTHS 1
2319 
2321 #define PLAYER_LOCALIZE_REQ_SET_POSE 1
2322 
2324 #define PLAYER_LOCALIZE_REQ_GET_PARTICLES 2
2325 
2326 
2327 
2334 {
2338  double cov[3];
2340  double alpha;
2342 
2347 typedef struct player_localize_data
2348 {
2350  uint32_t pending_count;
2354  uint32_t hypoths_count;
2358 
2364 {
2369  double cov[3];
2371 
2374 {
2378  double alpha;
2380 
2387 {
2391  double variance;
2397 
2398 
2404 #define PLAYER_POSITION3D_CODE 30
2405 
2408 #define PLAYER_POSITION3D_STRING "position3d"
2409 
2410 // /////////////////////////////////////////////////////////////////////////////
2426 #define PLAYER_POSITION3D_DATA_STATE 1
2427 
2429 #define PLAYER_POSITION3D_DATA_GEOMETRY 2
2430 
2432 #define PLAYER_POSITION3D_CMD_SET_VEL 1
2433 
2435 #define PLAYER_POSITION3D_CMD_SET_POS 2
2436 
2438 #define PLAYER_POSITION3D_REQ_GET_GEOM 1
2439 
2441 #define PLAYER_POSITION3D_REQ_MOTOR_POWER 2
2442 
2444 #define PLAYER_POSITION3D_REQ_VELOCITY_MODE 3
2445 
2447 #define PLAYER_POSITION3D_REQ_POSITION_MODE 4
2448 
2450 #define PLAYER_POSITION3D_REQ_RESET_ODOM 5
2451 
2453 #define PLAYER_POSITION3D_REQ_SET_ODOM 6
2454 
2456 #define PLAYER_POSITION3D_REQ_SPEED_PID 7
2457 
2459 #define PLAYER_POSITION3D_REQ_POSITION_PID 8
2460 
2462 #define PLAYER_POSITION3D_REQ_SPEED_PROF 9
2463 
2464 
2465 
2471 {
2477  uint8_t stall;
2479 
2485 {
2491  uint8_t state;
2493 
2499 {
2503  uint8_t state;
2505 
2510 {
2516 
2528 {
2530  uint8_t state;
2532 
2539 {
2541  uint32_t value;
2543 
2552 {
2554  uint32_t value;
2556 
2562 {
2566 
2577 {
2579  float kp;
2581  float ki;
2583  float kd;
2585 
2591 {
2593  float kp;
2595  float ki;
2597  float kd;
2599 
2605 {
2607  float speed;
2609  float acc;
2611 
2612 
2613 
2619 #define PLAYER_SIMULATION_CODE 31
2620 
2623 #define PLAYER_SIMULATION_STRING "simulation"
2624 
2625 // /////////////////////////////////////////////////////////////////////////////
2649 #define PLAYER_SIMULATION_REQ_GET_POSE2D 1
2650 
2652 #define PLAYER_SIMULATION_REQ_SET_POSE2D 2
2653 
2655 #define PLAYER_SIMULATION_REQ_GET_POSE3D 3
2656 
2658 #define PLAYER_SIMULATION_REQ_SET_POSE3D 4
2659 
2661 #define PLAYER_SIMULATION_REQ_GET_PROPERTY 5
2662 
2664 #define PLAYER_SIMULATION_REQ_SET_PROPERTY 6
2665 
2667 #define PLAYER_SIMULATION_CMD_PAUSE 1
2668 
2670 #define PLAYER_SIMULATION_CMD_RESET 2
2671 
2673 #define PLAYER_SIMULATION_CMD_SAVE 3
2674 
2675 
2676 
2677 
2683 {
2685  uint8_t data;
2687 
2693 {
2695  uint8_t cmd;
2697 
2705 {
2707  uint32_t name_count;
2709  char *name;
2713 
2721 {
2723  uint32_t name_count;
2725  char *name;
2729  double simtime;
2731 
2753 {
2755  uint32_t name_count;
2757  char *name;
2759  uint32_t prop_count;
2761  char *prop;
2763  uint32_t index;
2765  uint32_t value_count;
2767  char *value;
2769 
2770 
2771 
2777 #define PLAYER_BLINKENLIGHT_CODE 33
2778 
2781 #define PLAYER_BLINKENLIGHT_STRING "blinkenlight"
2782 
2783 // /////////////////////////////////////////////////////////////////////////////
2802 #define PLAYER_BLINKENLIGHT_DATA_STATE 1
2803 
2804 
2805 #define PLAYER_BLINKENLIGHT_CMD_STATE 1
2806 
2807 
2808 #define PLAYER_BLINKENLIGHT_CMD_POWER 2
2809 
2810 
2811 #define PLAYER_BLINKENLIGHT_CMD_COLOR 3
2812 
2813 
2814 #define PLAYER_BLINKENLIGHT_CMD_FLASH 4
2815 
2816 
2821 {
2823  uint8_t enable;
2825  float period;
2827  float dutycycle;
2831 
2836 {
2838  uint16_t id;
2840  uint8_t enable;
2842  float period;
2844  float dutycycle;
2848 
2853 {
2855  uint16_t id;
2857  uint8_t enable;
2859 
2864 {
2866  uint16_t id;
2870 
2875 {
2877  uint16_t id;
2879  float period;
2881  float dutycycle;
2883 
2884 
2885 
2891 #define PLAYER_CAMERA_CODE 40
2892 
2895 #define PLAYER_CAMERA_STRING "camera"
2896 
2897 // /////////////////////////////////////////////////////////////////////////////
2916 #define PLAYER_CAMERA_DATA_STATE 1
2917 
2918 
2920 #define PLAYER_CAMERA_FORMAT_MONO8 1
2921 
2922 #define PLAYER_CAMERA_FORMAT_MONO16 2
2923 
2924 #define PLAYER_CAMERA_FORMAT_RGB565 4
2925 
2926 #define PLAYER_CAMERA_FORMAT_RGB888 5
2927 
2929 #define PLAYER_CAMERA_COMPRESS_RAW 0
2930 
2931 #define PLAYER_CAMERA_COMPRESS_JPEG 1
2932 
2934 typedef struct player_camera_data
2935 {
2937  uint32_t width;
2939  uint32_t height;
2941  uint32_t bpp;
2943  uint32_t format;
2947  uint32_t fdiv;
2950  uint32_t compression;
2952  uint32_t image_count;
2956  uint8_t *image;
2958 
2959 
2965 #define PLAYER_MAP_CODE 42
2966 
2969 #define PLAYER_MAP_STRING "map"
2970 
2971 // /////////////////////////////////////////////////////////////////////////////
2990 #define PLAYER_MAP_DATA_INFO 1
2991 
2993 #define PLAYER_MAP_REQ_GET_INFO 1
2994 
2996 #define PLAYER_MAP_REQ_GET_DATA 2
2997 
2999 #define PLAYER_MAP_REQ_GET_VECTOR 3
3000 
3001 
3002 
3003 
3005 #define PLAYER_MAP_DATA_INFO 1
3011 typedef struct player_map_info
3012 {
3014  float scale;
3016  uint32_t width;
3018  uint32_t height;
3021  player_pose2d_t origin;
3023 
3032 typedef struct player_map_data
3033 {
3035  uint32_t col;
3037  uint32_t row;
3039  uint32_t width;
3041  uint32_t height;
3043  uint32_t data_count;
3045  int8_t *data;
3053 {
3055  float minx;
3057  float maxx;
3059  float miny;
3061  float maxy;
3063  uint32_t segments_count;
3067 
3068 
3069 
3075 #define PLAYER_PLANNER_CODE 44
3076 
3079 #define PLAYER_PLANNER_STRING "planner"
3080 
3081 // /////////////////////////////////////////////////////////////////////////////
3096 #define PLAYER_PLANNER_DATA_STATE 1
3099 #define PLAYER_PLANNER_CMD_GOAL 1
3102 #define PLAYER_PLANNER_REQ_GET_WAYPOINTS 1
3103 
3105 #define PLAYER_PLANNER_REQ_ENABLE 2
3106 
3107 
3108 
3114 typedef struct player_planner_data
3115 {
3117  uint8_t valid;
3119  uint8_t done;
3129  int32_t waypoint_idx;
3131  uint32_t waypoints_count;
3133 
3137 typedef struct player_planner_cmd
3138 {
3142 
3149 {
3151  uint32_t waypoints_count;
3155 
3161 typedef struct player_planner_enable_req
3162 {
3164  uint8_t state;
3166 
3167 
3168 
3174 #define PLAYER_LOG_CODE 45
3175 
3178 #define PLAYER_LOG_STRING "log"
3179 
3180 // /////////////////////////////////////////////////////////////////////////////
3198 #define PLAYER_LOG_REQ_SET_WRITE_STATE 1
3201 #define PLAYER_LOG_REQ_SET_READ_STATE 2
3204 #define PLAYER_LOG_REQ_GET_STATE 3
3207 #define PLAYER_LOG_REQ_SET_READ_REWIND 4
3208 
3210 #define PLAYER_LOG_REQ_SET_FILENAME 5
3211 
3213 
3215 #define PLAYER_LOG_TYPE_READ 1
3216 
3217 #define PLAYER_LOG_TYPE_WRITE 2
3218 
3224 typedef struct player_log_set_write_state
3225 {
3227  uint8_t state;
3234 typedef struct player_log_set_read_state
3235 {
3237  uint8_t state;
3239 
3251 typedef struct player_log_get_state
3255  uint8_t type;
3257  uint8_t state;
3265 {
3267  uint32_t filename_count;
3269  char filename[256];
3271 
3272 
3273 
3279 #define PLAYER_JOYSTICK_CODE 49
3280 
3283 #define PLAYER_JOYSTICK_STRING "joystick"
3284 
3285 // /////////////////////////////////////////////////////////////////////////////
3302 #define PLAYER_JOYSTICK_DATA_STATE 1
3303 
3304 
3305 
3311  typedef struct player_joystick_data
3312  {
3314  int32_t pos[8];
3316  int32_t scale[8];
3318  uint32_t buttons;
3320  uint32_t axes_count;
3322 
3323 
3324 
3325 
3331 #define PLAYER_SPEECH_RECOGNITION_CODE 50
3332 
3335 #define PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition"
3336 
3337 // /////////////////////////////////////////////////////////////////////////////
3353 #define PLAYER_SPEECH_RECOGNITION_DATA_STRING 1
3354 
3356 
3361 {
3363  uint32_t text_count;
3365  char *text;
3367 
3368 
3369 
3375 #define PLAYER_OPAQUE_CODE 51
3376 
3379 #define PLAYER_OPAQUE_STRING "opaque"
3380 
3381 // /////////////////////////////////////////////////////////////////////////////
3399 #define PLAYER_OPAQUE_DATA_STATE 1
3402 #define PLAYER_OPAQUE_CMD_DATA 1
3403 
3405 #define PLAYER_OPAQUE_REQ_DATA 1
3407 
3408 
3409 /* for backwards compatibility */
3410 #define PLAYER_OPAQUE_REQ PLAYER_OPAQUE_REQ_DATA
3411 #define PLAYER_OPAQUE_CMD PLAYER_OPAQUE_CMD_DATA
3414 typedef struct player_opaque_data
3415 {
3417  uint32_t data_count;
3419  uint8_t *data;
3421 
3422 
3423 
3429 #define PLAYER_POSITION1D_CODE 52
3430 
3433 #define PLAYER_POSITION1D_STRING "position1d"
3434 
3435 // /////////////////////////////////////////////////////////////////////////////
3450 #define PLAYER_POSITION1D_REQ_GET_GEOM 1
3453 #define PLAYER_POSITION1D_REQ_MOTOR_POWER 2
3456 #define PLAYER_POSITION1D_REQ_VELOCITY_MODE 3
3459 #define PLAYER_POSITION1D_REQ_POSITION_MODE 4
3462 #define PLAYER_POSITION1D_REQ_SET_ODOM 5
3465 #define PLAYER_POSITION1D_REQ_RESET_ODOM 6
3468 #define PLAYER_POSITION1D_REQ_SPEED_PID 7
3471 #define PLAYER_POSITION1D_REQ_POSITION_PID 8
3474 #define PLAYER_POSITION1D_REQ_SPEED_PROF 9
3477 #define PLAYER_POSITION1D_DATA_STATE 1
3480 #define PLAYER_POSITION1D_DATA_GEOM 2
3483 #define PLAYER_POSITION1D_CMD_VEL 1
3484 
3486 #define PLAYER_POSITION1D_CMD_POS 2
3487 
3489 
3491 #define PLAYER_POSITION1D_STATUS_LIMIT_MIN 0
3493 #define PLAYER_POSITION1D_STATUS_LIMIT_CEN 1
3495 #define PLAYER_POSITION1D_STATUS_LIMIT_MAX 2
3497 #define PLAYER_POSITION1D_STATUS_OC 3
3498 
3499 #define PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE 4
3500 
3501 #define PLAYER_POSITION1D_STATUS_ENABLED 5
3508 {
3510  float pos;
3512  float vel;
3514  uint8_t stall;
3526  uint8_t status;
3527 
3529 
3536 {
3538  float vel;
3540  uint8_t state;
3542 
3549 {
3551  float pos;
3553  float vel;
3555  uint8_t state;
3563 {
3569 
3581 typedef struct player_position1d_power_config
3582 {
3584  uint8_t state;
3586 
3596 {
3598  uint32_t value;
3606 {
3608  uint32_t value;
3610 
3617 {
3619  uint32_t state;
3621 
3627 typedef struct player_position1d_set_odom_req
3628 {
3630  float pos;
3632 
3639 {
3641  float kp;
3643  float ki;
3645  float kd;
3647 
3654 {
3656  float kp;
3658  float ki;
3660  float kd;
3662 
3669 {
3671  float speed;
3673  float acc;
3675 
3676 
3682 #define PLAYER_ACTARRAY_CODE 53
3683 
3686 #define PLAYER_ACTARRAY_STRING "actarray"
3687 
3688 // /////////////////////////////////////////////////////////////////////////////
3703 #define PLAYER_ACTARRAY_REQ_POWER 1
3705 
3706 #define PLAYER_ACTARRAY_REQ_BRAKES 2
3708 
3709 #define PLAYER_ACTARRAY_REQ_GET_GEOM 3
3711 
3712 #define PLAYER_ACTARRAY_REQ_SPEED 4
3714 
3715 #define PLAYER_ACTARRAY_REQ_ACCEL 5
3717 
3718 #define PLAYER_ACTARRAY_CMD_POS 1
3720 
3721 #define PLAYER_ACTARRAY_CMD_MULTI_POS 2
3723 
3724 #define PLAYER_ACTARRAY_CMD_SPEED 3
3726 
3727 #define PLAYER_ACTARRAY_CMD_MULTI_SPEED 4
3729 
3730 #define PLAYER_ACTARRAY_CMD_HOME 5
3732 
3733 #define PLAYER_ACTARRAY_CMD_CURRENT 6
3735 
3736 #define PLAYER_ACTARRAY_CMD_MULTI_CURRENT 7
3737 
3739 #define PLAYER_ACTARRAY_DATA_STATE 1
3741 
3743 #define PLAYER_ACTARRAY_ACTSTATE_IDLE 1
3745 #define PLAYER_ACTARRAY_ACTSTATE_MOVING 2
3746 
3747 #define PLAYER_ACTARRAY_ACTSTATE_BRAKED 4
3748 
3749 #define PLAYER_ACTARRAY_ACTSTATE_STALLED 8
3750 
3752 #define PLAYER_ACTARRAY_TYPE_LINEAR 1
3754 #define PLAYER_ACTARRAY_TYPE_ROTARY 2
3755 
3759 {
3761  float position;
3763  float speed;
3765  float acceleration;
3767  float current;
3769  uint8_t state;
3771 
3775 typedef struct player_actarray_data
3776 {
3778  uint32_t actuators_count;
3782  uint8_t motor_state;
3786 typedef struct player_actarray_actuatorgeom
3789  uint8_t type;
3792  float length;
3802  float min;
3804  float centre;
3806  float max;
3808  float home;
3810  float config_speed;
3812  uint8_t hasbrakes;
3819 typedef struct player_actarray_geom
3820 {
3833 
3838 {
3840  int32_t joint;
3842  float position;
3844 
3849 {
3851  uint32_t positions_count;
3853  float *positions;
3855 
3860 {
3862  int32_t joint;
3864  float speed;
3866 
3871 {
3873  uint32_t speeds_count;
3875  float *speeds;
3877 
3881 typedef struct player_actarray_home_cmd
3882 {
3884  int32_t joint;
3886 
3891 {
3893  int32_t joint;
3895  float current;
3897 
3902 {
3904  uint32_t currents_count;
3906  float *currents;
3908 
3909 
3910 
3911 
3918 typedef struct player_actarray_power_config
3919 {
3921  uint8_t value;
3928 typedef struct player_actarray_brakes_config
3929 {
3931  uint8_t value;
3939 {
3941  int32_t joint;
3943  float speed;
3945 
3952 {
3954  int32_t joint;
3956  float accel;
3958 
3959 
3960 
3961 
3967 #define PLAYER_LIMB_CODE 54
3968 
3971 #define PLAYER_LIMB_STRING "limb"
3972 
3973 // /////////////////////////////////////////////////////////////////////////////
3988 #define PLAYER_LIMB_STATE_IDLE 1
3990 #define PLAYER_LIMB_STATE_BRAKED 2
3992 #define PLAYER_LIMB_STATE_MOVING 3
3993 
3994 #define PLAYER_LIMB_STATE_OOR 4
3995 
3996 #define PLAYER_LIMB_STATE_COLL 5
3997 
3999 #define PLAYER_LIMB_DATA_STATE 1
4000 
4004 #define PLAYER_LIMB_CMD_HOME 1
4005 
4009 #define PLAYER_LIMB_CMD_STOP 2
4012 #define PLAYER_LIMB_CMD_SETPOSE 3
4015 #define PLAYER_LIMB_CMD_SETPOSITION 4
4018 #define PLAYER_LIMB_CMD_VECMOVE 5
4021 #define PLAYER_LIMB_REQ_POWER 1
4024 #define PLAYER_LIMB_REQ_BRAKES 2
4027 #define PLAYER_LIMB_REQ_GEOM 3
4028 
4030 #define PLAYER_LIMB_REQ_SPEED 4
4031 
4033 
4037 typedef struct player_limb_data
4038 {
4048  uint8_t state;
4050 
4057 {
4070 typedef struct player_limb_setposition_cmd
4071 {
4081 {
4085  float length;
4087 
4093 typedef struct player_limb_power_req
4094 {
4096  uint8_t value;
4103 typedef struct player_limb_brakes_req
4104 {
4106  uint8_t value;
4108 
4112 typedef struct player_limb_geom_req
4113 {
4122 typedef struct player_limb_speed_req
4123 {
4125  float speed;
4127 
4128 
4129 
4135 #define PLAYER_GRAPHICS2D_CODE 55
4136 
4139 #define PLAYER_GRAPHICS2D_STRING "graphics2d"
4140 
4141 // /////////////////////////////////////////////////////////////////////////////
4159 #define PLAYER_GRAPHICS2D_CMD_CLEAR 1
4162 #define PLAYER_GRAPHICS2D_CMD_POINTS 2
4165 #define PLAYER_GRAPHICS2D_CMD_POLYLINE 3
4166 
4168 #define PLAYER_GRAPHICS2D_CMD_POLYGON 4
4169 
4170 
4171 
4180 {
4182  uint32_t points_count;
4188 
4193 {
4195  uint32_t points_count;
4201 
4206 {
4208  uint32_t points_count;
4216  uint8_t filled;
4218 
4219 
4225 #define PLAYER_RFID_CODE 56
4226 
4229 #define PLAYER_RFID_STRING "rfid"
4230 
4231 // /////////////////////////////////////////////////////////////////////////////
4247 #define PLAYER_RFID_DATA_TAGS 1
4250 #define PLAYER_RFID_REQ_POWER 1
4253 #define PLAYER_RFID_REQ_READTAG 2
4256 #define PLAYER_RFID_REQ_WRITETAG 3
4257 
4259 #define PLAYER_RFID_REQ_LOCKTAG 4
4261 
4262 
4265 typedef struct player_rfid_tag
4266 {
4268  uint32_t type;
4270  uint32_t guid_count;
4272  char *guid;
4274 
4278 typedef struct player_rfid_data
4279 {
4281  uint32_t tags_count;
4285 
4286 
4292 #define PLAYER_WSN_CODE 57
4293 
4296 #define PLAYER_WSN_STRING "wsn"
4297 
4298 // /////////////////////////////////////////////////////////////////////////////
4318 #define PLAYER_WSN_DATA_STATE 1
4321 #define PLAYER_WSN_CMD_DEVSTATE 1
4324 #define PLAYER_WSN_REQ_POWER 1
4327 #define PLAYER_WSN_REQ_DATATYPE 2
4328 
4330 #define PLAYER_WSN_REQ_DATAFREQ 3
4331 
4332 
4335 typedef struct player_wsn_node_data
4336 {
4338  float light;
4340  float mic;
4342  float accel_x;
4344  float accel_y;
4346  float accel_z;
4348  float magn_x;
4350  float magn_y;
4352  float magn_z;
4354  float temperature;
4356  float battery;
4358 
4362 typedef struct player_wsn_data
4363 {
4365  uint32_t node_type;
4367  uint32_t node_id;
4369  uint32_t node_parent_id;
4373 
4377 typedef struct player_wsn_cmd
4378 {
4380  int32_t node_id;
4382  int32_t group_id;
4384  uint32_t device;
4386  uint8_t enable;
4394 {
4396  int32_t node_id;
4398  int32_t group_id;
4400  uint8_t value;
4402 
4408 typedef struct player_wsn_datatype_config
4409 {
4411  uint8_t value;
4413 
4420 {
4422  int32_t node_id;
4424  int32_t group_id;
4426  double frequency;
4428 
4429 
4435 #define PLAYER_GRAPHICS3D_CODE 58
4436 
4439 #define PLAYER_GRAPHICS3D_STRING "graphics3d"
4440 
4441 // /////////////////////////////////////////////////////////////////////////////
4463 #define PLAYER_GRAPHICS3D_CMD_CLEAR 1
4466 #define PLAYER_GRAPHICS3D_CMD_DRAW 2
4469 #define PLAYER_GRAPHICS3D_CMD_TRANSLATE 3
4472 #define PLAYER_GRAPHICS3D_CMD_ROTATE 4
4475 #define PLAYER_GRAPHICS3D_CMD_PUSH 5
4476 
4478 #define PLAYER_GRAPHICS3D_CMD_POP 6
4479 
4480 
4481 
4483 typedef enum player_graphics3d_draw_mode
4484 {
4485  PLAYER_DRAW_POINTS,
4486  PLAYER_DRAW_LINES,
4487  PLAYER_DRAW_LINE_STRIP,
4488  PLAYER_DRAW_LINE_LOOP,
4489  PLAYER_DRAW_TRIANGLES,
4490  PLAYER_DRAW_TRIANGLE_STRIP,
4491  PLAYER_DRAW_TRIANGLE_FAN,
4492  PLAYER_DRAW_QUADS,
4493  PLAYER_DRAW_QUAD_STRIP,
4494  PLAYER_DRAW_POLYGON
4496 
4497 
4506 {
4508  uint32_t draw_mode;
4510  uint32_t points_count;
4515 
4517 
4521 typedef struct player_graphics3d_cmd_translate
4522 {
4523  double x;
4524  double y;
4525  double z;
4527 
4532 {
4533  double a;
4534  double x;
4535  double y;
4536  double z;
4538 
4539 
4540 
4546 #define PLAYER_HEALTH_CODE 59
4547 
4550 #define PLAYER_HEALTH_STRING "health"
4551 
4552 // /////////////////////////////////////////////////////////////////////////////
4568 #define PLAYER_HEALTH_DATA_STATE 1
4569 
4572 typedef struct player_health_cpu
4573 {
4575  float idle;
4577  float system;
4579  float user;
4583 typedef struct player_health_memory
4584 {
4586  int64_t total;
4588  int64_t used;
4590  int64_t free;
4594 typedef struct player_health_data
4595 {
4602 
4604 
4605 
4611 #define PLAYER_IMU_CODE 60
4612 
4615 #define PLAYER_IMU_STRING "imu"
4616 
4617 // /////////////////////////////////////////////////////////////////////////////
4633 #define PLAYER_IMU_DATA_STATE 1
4636 #define PLAYER_IMU_DATA_CALIB 2
4639 #define PLAYER_IMU_DATA_QUAT 3
4642 #define PLAYER_IMU_DATA_EULER 4
4645 #define PLAYER_IMU_DATA_FULLSTATE 5
4648 #define PLAYER_IMU_REQ_SET_DATATYPE 1
4649 
4651 #define PLAYER_IMU_REQ_RESET_ORIENTATION 2
4652 
4653 
4654 
4660 typedef struct player_imu_data_state
4661 {
4671 {
4673  float accel_x;
4675  float accel_y;
4677  float accel_z;
4679  float gyro_x;
4681  float gyro_y;
4683  float gyro_z;
4685  float magn_x;
4687  float magn_y;
4689  float magn_z;
4696 typedef struct player_imu_data_quat
4700 
4702  float q0;
4703  float q1;
4704  float q2;
4705  float q3;
4712 typedef struct player_imu_data_euler
4716 
4720 
4727 {
4735 
4736 
4737 
4738 
4746 {
4750  uint8_t value;
4758 {
4760  uint32_t value;
4762 
4763 
4769 #define PLAYER_POINTCLOUD3D_CODE 61
4770 
4773 #define PLAYER_POINTCLOUD3D_STRING "pointcloud3d"
4774 
4775 // /////////////////////////////////////////////////////////////////////////////
4791 #define PLAYER_POINTCLOUD3D_DATA_STATE 1
4792 
4794 
4798 typedef struct player_pointcloud3d_element
4799 {
4800  player_point_3d_t point;
4801  player_color_t color;
4812 
4816 typedef struct player_pointcloud3d_data
4817 {
4818  uint32_t points_count;
4821 
4822 
4823 
4829 #define PLAYER_RANGER_CODE 62
4830 
4833 #define PLAYER_RANGER_STRING "ranger"
4834 
4835 // /////////////////////////////////////////////////////////////////////////////
4886 #define PLAYER_RANGER_DATA_RANGE 1
4889 #define PLAYER_RANGER_DATA_RANGESTAMPED 2
4892 #define PLAYER_RANGER_DATA_INTNS 3
4895 #define PLAYER_RANGER_DATA_INTNSSTAMPED 4
4898 #define PLAYER_RANGER_DATA_GEOM 5
4901 #define PLAYER_RANGER_REQ_GET_GEOM 1
4904 #define PLAYER_RANGER_REQ_POWER 2
4907 #define PLAYER_RANGER_REQ_INTNS 3
4910 #define PLAYER_RANGER_REQ_SET_CONFIG 4
4911 
4913 #define PLAYER_RANGER_REQ_GET_CONFIG 5
4914 
4916 
4920 typedef struct player_ranger_config
4921 {
4923  double min_angle;
4925  double max_angle;
4927  double angular_res;
4930  double min_range;
4932  double max_range;
4934  double range_res;
4936  double frequency;
4938 
4942 typedef struct player_ranger_geom
4943 {
4949  uint32_t element_poses_count;
4953  uint32_t element_sizes_count;
4957 
4962 {
4964  uint32_t ranges_count;
4966  double *ranges;
4974 {
4978  uint8_t have_geom;
4982  uint8_t have_config;
4986 
4991 {
4993  uint32_t intensities_count;
4995  double *intensities;
5003 {
5007  uint8_t have_geom;
5011  uint8_t have_config;
5015 
5019 typedef struct player_ranger_power_config
5020 {
5022  uint8_t state;
5024 
5031 typedef struct player_ranger_intns_config
5032 {
5034  uint8_t state;
5036 
5037 
5038 
5044 #define PLAYER_VECTORMAP_CODE 63
5045 
5048 #define PLAYER_VECTORMAP_STRING "vectormap"
5049 
5050 // /////////////////////////////////////////////////////////////////////////////
5063 
5074 #define PLAYER_VECTORMAP_REQ_GET_MAP_INFO 1
5077 #define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA 3
5078 
5080 #define PLAYER_VECTORMAP_REQ_WRITE_LAYER 4
5081 
5082 
5086 {
5088  uint32_t name_count;
5090  char* name;
5092  uint32_t wkb_count;
5094  uint8_t* wkb;
5095 
5097  uint32_t attrib_count;
5099  char* attrib;
5101 
5103 {
5105  uint32_t name_count;
5107  char* name;
5114 {
5116  uint32_t name_count;
5118  char* name;
5120  uint32_t features_count;
5127 {
5129  uint32_t srid;
5131  uint32_t layers_count;
5137 
5138 
5139 
5145 #define PLAYER_BLACKBOARD_CODE 64
5146 
5149 #define PLAYER_BLACKBOARD_STRING "blackboard"
5150 
5151 // /////////////////////////////////////////////////////////////////////////////
5165 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY 1
5168 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY 2
5171 #define PLAYER_BLACKBOARD_REQ_SET_ENTRY 3
5174 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP 4
5177 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP 5
5180 #define PLAYER_BLACKBOARD_REQ_GET_ENTRY 6
5181 
5183 #define PLAYER_BLACKBOARD_DATA_UPDATE 1
5184 
5185 
5186 
5187 
5188 
5194 #define PLAYER_STEREO_CODE 65
5195 
5198 #define PLAYER_STEREO_STRING "stereo"
5199 
5200 // /////////////////////////////////////////////////////////////////////////////
5218 #define PLAYER_STEREO_DATA_STATE 1
5220 
5222 {
5224  float px;
5226  float py;
5228  float pz;
5230  uint8_t red;
5232  uint8_t green;
5234  uint8_t blue;
5236 
5238 typedef struct player_stereo_data
5239 {
5240  /* Left channel image */
5241  player_camera_data_t left_channel;
5242  /* Right channel image */
5243  player_camera_data_t right_channel;
5244 
5245  /* Disparity image */
5246  player_camera_data_t disparity;
5247 
5248  /* 3-D stereo point cloud */
5249  uint32_t points_count;
5251 
5252 
5253  /* Special mode flags: define what images are being sent */
5254  uint32_t mode;
5256 
5257 
5260 /* END OF AUTOGENERATED CODE */

Last updated 12 September 2005 21:38:45