52#include "playerconfig.h"
68#define PLAYER_MAX_MESSAGE_SIZE 8388608
70#define PLAYER_MAX_PAYLOAD_SIZE (PLAYER_MAX_MESSAGE_SIZE - sizeof(player_msghdr_t))
72#define PLAYER_MAX_DRIVER_STRING_LEN 64
74#define PLAYER_MAX_DEVICES 4096
76#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN 1024
78#define PLAYER_IDENT_STRING "Player v."
80#define PLAYER_IDENT_STRLEN 32
82#define PLAYER_KEYLEN 32
95#define PLAYER_MSGTYPE_DATA 1
99#define PLAYER_MSGTYPE_CMD 2
106#define PLAYER_MSGTYPE_REQ 3
112#define PLAYER_MSGTYPE_RESP_ACK 4
117#define PLAYER_MSGTYPE_SYNCH 5
125#define PLAYER_MSGTYPE_RESP_NACK 6
397#define PLAYER_CAPABILITIES_REQ 255
400#define PLAYER_CAPABILTIES_REQ 255
430#define PLAYER_GET_INTPROP_REQ 254
432#define PLAYER_SET_INTPROP_REQ 253
434#define PLAYER_GET_DBLPROP_REQ 252
436#define PLAYER_SET_DBLPROP_REQ 251
438#define PLAYER_GET_STRPROP_REQ 250
440#define PLAYER_SET_STRPROP_REQ 249
442#define PLAYER_GET_BOOLPROP_REQ 248
444#define PLAYER_SET_BOOLPROP_REQ 247
536#include <libplayerinterface/player_interfaces.h>
struct player_msghdr player_msghdr_t
Generic message header.
struct player_devaddr player_devaddr_t
A device address.
struct player_capabilities_req player_capabilities_req_t
Structure containing a single capability request.
struct player_intprop_req player_intprop_req_t
Request to get an integer property.
struct player_dblprop_req player_dblprop_req_t
Request to get a double property.
struct player_boolprop_req player_boolprop_req_t
Request to get a boolean property.
struct player_strprop_req player_strprop_req_t
Request to get a string property.
struct player_point_2d player_point_2d_t
A point in the plane.
struct player_bbox2d player_bbox2d_t
A rectangular bounding box, used to define the size of an object.
struct player_blackboard_entry player_blackboard_entry_t
Vectormap feature data.
struct player_uint32 player_uint32_t
Structure for messages returning a single integer.
struct player_color player_color_t
A color descriptor.
struct player_segment player_segment_t
A line segment, used to construct vector-based maps.
struct player_extent2d player_extent2d_t
A rectangular bounding box, used to define the origin and bounds of an object.
struct player_bool player_bool_t
A boolean variable, 0 for false anything else for true.
struct player_bbox3d player_bbox3d_t
A rectangular bounding box, used to define the size of an object.
struct player_pose3d player_pose3d_t
A pose in space.
struct player_point_3d player_point_3d_t
A point in 3D space.
struct player_pose2d player_pose2d_t
A pose in the plane.
struct player_orientation_3d player_orientation_3d_t
An angle in 3D space.
A rectangular bounding box, used to define the size of an object.
Definition player.h:246
double sw
Width [m].
Definition player.h:248
double sl
Length [m].
Definition player.h:250
A rectangular bounding box, used to define the size of an object.
Definition player.h:255
double sh
Height [m].
Definition player.h:261
double sw
Width [m].
Definition player.h:257
double sl
Length [m].
Definition player.h:259
Vectormap feature data.
Definition player.h:266
char * key
Identifier for the entry.
Definition player.h:270
uint32_t timestamp_sec
Time of entry creation.
Definition player.h:284
uint16_t type
Entry data type.
Definition player.h:276
uint32_t data_count
Entry data length.
Definition player.h:280
uint16_t subtype
Entry data subtype.
Definition player.h:278
char * group
Second identifier.
Definition player.h:274
uint32_t key_count
Length of key in bytes.
Definition player.h:268
uint32_t group_count
Second identifier count.
Definition player.h:272
uint8_t * data
Entry data.
Definition player.h:282
uint32_t timestamp_usec
Time of entry creation.
Definition player.h:286
A boolean variable, 0 for false anything else for true.
Definition player.h:334
uint8_t state
state
Definition player.h:336
Request to get a boolean property.
Definition player.h:448
uint32_t key_count
The property key's length.
Definition player.h:450
char * key
The property key.
Definition player.h:452
char value
The property value.
Definition player.h:454
Structure containing a single capability request.
Definition player.h:404
uint32_t type
The type of the requested capability (i.e.
Definition player.h:406
uint32_t subtype
The subtype of the requested capability (i.e.
Definition player.h:408
A color descriptor.
Definition player.h:321
uint8_t green
Green color channel.
Definition player.h:327
uint8_t blue
Blue color channel.
Definition player.h:329
uint8_t red
Red color channel.
Definition player.h:325
uint8_t alpha
Alpha (transparency) channel.
Definition player.h:323
Request to get a double property.
Definition player.h:470
uint32_t key_count
The property key's length.
Definition player.h:472
double value
The property value.
Definition player.h:476
char * key
The property key.
Definition player.h:474
A device address.
Definition player.h:146
uint16_t index
Which device of that interface.
Definition player.h:155
uint32_t robot
The "robot" or device collection in which the device resides.
Definition player.h:151
uint32_t host
The "host" on which the device resides.
Definition player.h:148
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition player.h:153
A rectangular bounding box, used to define the origin and bounds of an object.
Definition player.h:308
double y1
Endpoints [m].
Definition player.h:316
double x1
Endpoints [m].
Definition player.h:314
double x0
Origin x [m].
Definition player.h:310
double y0
Origin y [m].
Definition player.h:312
Request to get an integer property.
Definition player.h:459
int32_t value
The property value.
Definition player.h:465
char * key
The property key.
Definition player.h:463
uint32_t key_count
The property key's length.
Definition player.h:461
Generic message header.
Definition player.h:162
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition player.h:166
uint32_t size
Size in bytes of the payload to follow.
Definition player.h:174
uint32_t seq
For keeping track of associated messages.
Definition player.h:172
uint8_t subtype
Message subtype; interface specific.
Definition player.h:168
player_devaddr_t addr
Device to which this message pertains.
Definition player.h:164
double timestamp
Time associated with message contents (seconds since epoch)
Definition player.h:170
An angle in 3D space.
Definition player.h:207
double proll
roll [rad]
Definition player.h:209
double pyaw
yaw [rad]
Definition player.h:213
double ppitch
pitch [rad]
Definition player.h:211
A point in the plane.
Definition player.h:185
double py
Y [m].
Definition player.h:189
double px
X [m].
Definition player.h:187
A point in 3D space.
Definition player.h:195
double px
X [m].
Definition player.h:197
double pz
Z [m].
Definition player.h:201
double py
Y [m].
Definition player.h:199
A pose in the plane.
Definition player.h:218
double px
X [m].
Definition player.h:220
double pa
yaw [rad]
Definition player.h:224
double py
Y [m].
Definition player.h:222
A pose in space.
Definition player.h:229
double pz
Z [m].
Definition player.h:235
double py
Y [m].
Definition player.h:233
double ppitch
pitch [rad]
Definition player.h:239
double px
X [m].
Definition player.h:231
double pyaw
yaw [rad]
Definition player.h:241
double proll
roll [rad]
Definition player.h:237
A line segment, used to construct vector-based maps.
Definition player.h:292
double y0
Endpoints [m].
Definition player.h:296
double x0
Endpoints [m].
Definition player.h:294
double y1
Endpoints [m].
Definition player.h:300
double x1
Endpoints [m].
Definition player.h:298
Request to get a string property.
Definition player.h:481
char * key
The property key.
Definition player.h:485
char * value
The property value.
Definition player.h:489
uint32_t value_count
The property's length.
Definition player.h:487
uint32_t key_count
The property key's length.
Definition player.h:483
Structure for messages returning a single integer.
Definition player.h:341