55 #include <netinet/in.h>
60 #include <playerconfig.h>
63 #include <libplayercommon/playercommon.h>
64 #include <libplayerinterface/player.h>
65 #include <libplayercommon/playercommon.h>
66 #include <libplayerinterface/interface_util.h>
67 #include <libplayerinterface/playerxdr.h>
68 #include <libplayerinterface/functiontable.h>
69 #include <libplayerwkb/playerwkb.h>
75 #define MIN(a,b) ((a < b) ? a : b)
78 #define MAX(a,b) ((a > b) ? a : b)
82 #if defined (PLAYER_STATIC)
83 #define PLAYERC_EXPORT
84 #elif defined (playerc_EXPORTS)
85 #define PLAYERC_EXPORT __declspec (dllexport)
87 #define PLAYERC_EXPORT __declspec (dllimport)
90 #define PLAYERC_EXPORT
104 #define PLAYERC_OPEN_MODE PLAYER_OPEN_MODE
105 #define PLAYERC_CLOSE_MODE PLAYER_CLOSE_MODE
106 #define PLAYERC_ERROR_MODE PLAYER_ERROR_MODE
110 #define PLAYERC_DATAMODE_PUSH PLAYER_DATAMODE_PUSH
111 #define PLAYERC_DATAMODE_PULL PLAYER_DATAMODE_PULL
114 #define PLAYERC_TRANSPORT_TCP 1
115 #define PLAYERC_TRANSPORT_UDP 2
117 #define PLAYERC_QUEUE_RING_SIZE 512
398 struct pollfd* pollfd;
416 PLAYERC_EXPORT
int playerc_mclient_peek(
playerc_mclient_t *mclient,
int timeout);
420 PLAYERC_EXPORT
int playerc_mclient_read(
playerc_mclient_t *mclient,
int timeout);
470 struct sockaddr_in server;
515 int qfirst, qlen, qsize;
521 size_t read_xdrdata_len;
529 double request_timeout;
550 const char *host,
int port);
564 unsigned int transport);
701 const void *req_data,
void **rep_data);
794 void *cmd,
double* timestamp);
862 void *callback_data[4];
935 uint8_t voltages_count;
976 #define PLAYERC_ACTARRAY_NUM_ACTUATORS PLAYER_ACTARRAY_NUM_ACTUATORS
977 #define PLAYERC_ACTARRAY_ACTSTATE_IDLE PLAYER_ACTARRAY_ACTSTATE_IDLE
978 #define PLAYERC_ACTARRAY_ACTSTATE_MOVING PLAYER_ACTARRAY_ACTSTATE_MOVING
979 #define PLAYERC_ACTARRAY_ACTSTATE_BRAKED PLAYER_ACTARRAY_ACTSTATE_BRAKED
980 #define PLAYERC_ACTARRAY_ACTSTATE_STALLED PLAYER_ACTARRAY_ACTSTATE_STALLED
981 #define PLAYERC_ACTARRAY_TYPE_LINEAR PLAYER_ACTARRAY_TYPE_LINEAR
982 #define PLAYERC_ACTARRAY_TYPE_ROTARY PLAYER_ACTARRAY_TYPE_ROTARY
1062 PLAYERC_EXPORT
int playerc_actarray_accel_config(
playerc_actarray_t *device,
int joint,
float accel);
1168 #define PLAYERC_BLACKBOARD_DATA_TYPE_NONE 0
1169 #define PLAYERC_BLACKBOARD_DATA_TYPE_SIMPLE 1
1170 #define PLAYERC_BLACKBOARD_DATA_TYPE_COMPLEX 2
1172 #define PLAYERC_BLACKBOARD_DATA_SUBTYPE_NONE 0
1173 #define PLAYERC_BLACKBOARD_DATA_SUBTYPE_STRING 1
1174 #define PLAYERC_BLACKBOARD_DATA_SUBTYPE_INT 2
1175 #define PLAYERC_BLACKBOARD_DATA_SUBTYPE_DOUBLE 3
1220 PLAYERC_EXPORT
int playerc_blackboard_set_string(
playerc_blackboard_t *device,
const char* key,
const char* group,
const char* value);
1222 PLAYERC_EXPORT
int playerc_blackboard_set_int(
playerc_blackboard_t *device,
const char* key,
const char* group,
const int value);
1224 PLAYERC_EXPORT
int playerc_blackboard_set_double(
playerc_blackboard_t *device,
const char* key,
const char* group,
const double value);
1247 uint8_t red, green, blue;
1305 playerc_blobfinder_blob_t *blobs;
1723 double x,
double y,
double z );
1728 double a,
double x,
double y,
double z );
1971 double robot_pose[3];
2061 double min_angle,
double max_angle,
2064 unsigned char intensity,
2065 double scanning_frequency);
2094 unsigned char *intensity,
2095 double *scanning_frequency);
2114 const char* prefix );
2367 #define PLAYERC_MAP_INDEX(dev, i, j) ((dev->width) * (j) + (i))
2444 PLAYERC_EXPORT
size_t playerc_vectormap_get_feature_data_count(
playerc_vectormap_t *device,
unsigned layer_index,
unsigned feature_index);
2538 double (*waypoints)[3];
2556 double gx,
double gy,
double ga);
2644 double vel,
int state);
2650 double pos,
int state);
2657 double pos,
double vel,
int state);
2728 double vx,
double vy,
double va,
int state);
2741 double vx,
double vy,
double pa,
int state);
2748 double gx,
double gy,
double ga,
int state);
2752 double vx,
double a);
2756 double ox,
double oy,
double oa);
2830 double vx,
double vy,
double vz,
2831 double vr,
double vp,
double vt,
2836 double vx,
double vy,
double vz,
int state);
2841 double gx,
double gy,
double gz,
2842 double gr,
double gp,
double gt);
2852 double gx,
double gy,
double gz);
2859 double ox,
double oy,
double oz,
2860 double oroll,
double opitch,
double oyaw);
2995 double panspeed,
double tiltspeed);
3116 double max_angle,
double angular_res,
3117 double min_range,
double max_range,
3118 double range_res,
double frequency);
3129 double *max_angle,
double *angular_res,
3130 double *min_range,
double *max_range,
3131 double *range_res,
double *frequency);
3294 double gx,
double gy,
double ga);
3298 double *x,
double *y,
double *a);
3302 double gx,
double gy,
double gz,
3303 double groll,
double gpitch,
double gyaw);
3307 double *x,
double *y,
double *z,
3308 double *roll,
double *pitch,
double *yaw,
double *time);
3528 uint32_t points_count;
3529 playerc_pointcloud3d_stereo_element_t *points;
3640 int group_id,
int devnr,
int state);
Fiducial finder data.
Definition: playerc.h:1510
Structure describing the WSN node's data packet.
Definition: player_interfaces.h:4335
Opaque device data.
Definition: playerc.h:2459
double charge
Battery charge (Volts).
Definition: playerc.h:2890
double vel_roll
Angular velocity (radians/sec).
Definition: playerc.h:2797
uint32_t node_parent_id
The ID of the WSN node's parent (if existing).
Definition: playerc.h:3620
PLAYERC_EXPORT int playerc_ranger_get_geom(playerc_ranger_t *device)
Get the ranger geometry.
int width
Map size, in cells.
Definition: playerc.h:2350
double * ranges
Range data [m].
Definition: playerc.h:3057
Planner device data.
Definition: playerc.h:2508
PLAYERC_EXPORT int playerc_wsn_datatype(playerc_wsn_t *device, int value)
Change the data type to RAW or converted engineering units.
Ir proxy data.
Definition: playerc.h:1865
PLAYERC_EXPORT int playerc_device_get_boolprop(playerc_device_t *device, char *property, BOOL *value)
Request a boolean property.
RFID proxy data.
Definition: playerc.h:3433
Aio proxy data.
Definition: playerc.h:929
PLAYERC_EXPORT int playerc_laser_get_id(playerc_laser_t *device)
Get the laser IDentification information.
int mode
Mode (master, ad-hoc, etc).
Definition: playerc.h:3214
PLAYERC_EXPORT void playerc_graphics3d_destroy(playerc_graphics3d_t *device)
Destroy a graphics3d device proxy.
PLAYERC_EXPORT int playerc_map_get_map(playerc_map_t *device)
Get the map, which is stored in the proxy.
data
Definition: player_interfaces.h:3414
double gx
Goal location (m, m, radians)
Definition: playerc.h:2523
PLAYERC_EXPORT playerc_speech_t * playerc_speech_create(playerc_client_t *client, int index)
Create a speech proxy.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1917
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1398
PLAYERC_EXPORT int playerc_audio_sample_load(playerc_audio_t *device, int index, uint32_t data_count, uint8_t data[], uint32_t format)
Request to load an audio sample.
PLAYERC_EXPORT int playerc_dio_subscribe(playerc_dio_t *device, int access)
Subscribe to the dio device.
Vectormap proxy.
Definition: playerc.h:2398
PLAYERC_EXPORT int playerc_client_unsubscribe(playerc_client_t *client, int code, int index)
Unsubscribe a device.
double alt
Altitude (meters).
Definition: playerc.h:1576
Vectormap feature data.
Definition: player.h:261
PLAYERC_EXPORT void playerc_gps_destroy(playerc_gps_t *device)
Destroy a gps proxy.
PLAYERC_EXPORT int playerc_audio_seq_play_cmd(playerc_audio_t *device, player_audio_seq_t *tones)
Command to play sequence of tones.
A rectangular bounding box, used to define the size of an object.
Definition: player.h:250
Generic message header.
Definition: player.h:157
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)
Definition: player_interfaces.h:4670
Note: the structure describing the WSN node's data packet is declared in Player.
Definition: playerc.h:3610
PLAYERC_EXPORT void playerc_blackboard_destroy(playerc_blackboard_t *device)
Destroy a blackboard proxy.
#define PLAYER_MAX_DRIVER_STRING_LEN
Maximum length for a driver name.
Definition: player.h:68
struct _playerc_client_t playerc_client_t
Client object data.
PLAYERC_EXPORT int playerc_opaque_unsubscribe(playerc_opaque_t *device)
Un-subscribe from the opaque device.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1513
Structure describing a single RFID tag.
Definition: playerc.h:3422
uint8_t state
The gripper's state: may be one of PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED, PLAYER_GRIPPER_STATE_MOVING or PLAYER_GRIPPER_STATE_ERROR.
Definition: playerc.h:1763
int width
Image dimensions (pixels).
Definition: playerc.h:1401
int pending_count
The number of pending (unprocessed) sensor readings.
Definition: playerc.h:2231
int scan_count
Number of points in the scan.
Definition: playerc.h:1977
Individual link info.
Definition: playerc.h:3202
A rectangular bounding box, used to define the origin and bounds of an object.
Definition: player.h:303
double px
Odometric pose (m, m, rad).
Definition: playerc.h:2693
PLAYERC_EXPORT int playerc_position3d_reset_odom(playerc_position3d_t *device)
Reset the odometry offset.
PLAYERC_EXPORT int playerc_audio_sample_retrieve(playerc_audio_t *device, int index)
Request to retrieve an audio sample Data is stored in wav_data.
int sat_count
Number of satellites in view.
Definition: playerc.h:1594
PLAYERC_EXPORT void playerc_log_destroy(playerc_log_t *device)
Destroy a log proxy.
uint32_t srid
Spatial reference identifier.
Definition: playerc.h:2403
PLAYERC_EXPORT int playerc_blackboard_subscribe_to_group(playerc_blackboard_t *device, const char *group)
Subscribe to a group.
Localization device data.
Definition: playerc.h:2213
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3351
int image_count
Size of image data (bytes)
Definition: playerc.h:1418
player_point_2d_t * point
Scan data; x, y position (m).
Definition: playerc.h:2001
PLAYERC_EXPORT int playerc_graphics2d_clear(playerc_graphics2d_t *device)
Clear the canvas.
int state
Is logging/playback enabled? Call playerc_log_get_state() to fill it.
Definition: playerc.h:2292
PLAYERC_EXPORT int playerc_client_delcallback(playerc_client_t *client, struct _playerc_device_t *device, playerc_callback_fn_t callback, void *data)
Remove user callbacks (called when new data arrives).
PLAYERC_EXPORT int playerc_graphics3d_clear(playerc_graphics3d_t *device)
Clear the canvas.
PLAYERC_EXPORT int playerc_position1d_subscribe(playerc_position1d_t *device, int access)
Subscribe to the position1d device.
PLAYERC_EXPORT int playerc_laser_get_config(playerc_laser_t *device, double *min_angle, double *max_angle, double *resolution, double *range_res, unsigned char *intensity, double *scanning_frequency)
Get the laser configuration.
PLAYERC_EXPORT uint8_t * playerc_vectormap_get_feature_data(playerc_vectormap_t *device, unsigned layer_index, unsigned feature_index)
Get an individual feature as a WKB geometry.
PLAYERC_EXPORT player_actarray_actuatorgeom_t playerc_actarray_get_actuator_geom(playerc_actarray_t *device, uint32_t index)
Accessor method for the actuator geom.
player_audio_wav_t wav_data
last block of recorded data
Definition: playerc.h:1089
double watts
power currently being used (Watts).
Definition: playerc.h:2900
PLAYERC_EXPORT int playerc_graphics3d_rotate(playerc_graphics3d_t *device, double a, double x, double y, double z)
Rotate the drawing coordinate system by [a] radians about the vector described by [x...
PLAYERC_EXPORT int playerc_dio_unsubscribe(playerc_dio_t *device)
Un-subscribe from the dio device.
A color descriptor.
Definition: player.h:316
double err_horz
Horizontal and vertical error (meters).
Definition: playerc.h:1588
player_pointcloud3d_stereo_element_t playerc_pointcloud3d_stereo_element_t
Structure describing a single 3D pointcloud element.
Definition: playerc.h:3511
uint8_t motor_state
Reports if the actuators are off (0) or on (1)
Definition: playerc.h:999
PLAYERC_EXPORT int playerc_device_get_strprop(playerc_device_t *device, char *property, char **value)
Request a string property.
PLAYERC_EXPORT int playerc_laser_get_geom(playerc_laser_t *device)
Get the laser geometry.
PLAYERC_EXPORT void playerc_vectormap_cleanup(playerc_vectormap_t *device)
Clean up the dynamically allocated memory for the vectormap.
PLAYERC_EXPORT int playerc_limb_vecmove_cmd(playerc_limb_t *device, float x, float y, float z, float length)
Command the end effector to move along the provided vector from its current position for the provided...
PLAYERC_EXPORT void playerc_sonar_destroy(playerc_sonar_t *device)
Destroy a sonar proxy.
PLAYERC_EXPORT int playerc_blackboard_unsubscribe_from_key(playerc_blackboard_t *device, const char *key, const char *group)
Unsubscribe from a key.
Actuator geometry.
Definition: player_interfaces.h:3786
double vx
Odometric velocity (m/s, m/s, rad/s).
Definition: playerc.h:2696
PLAYERC_EXPORT int playerc_limb_setposition_cmd(playerc_limb_t *device, float pX, float pY, float pZ)
Command the end effector to move to a specified position (ignoring approach and orientation vectors)...
PLAYERC_EXPORT int playerc_ir_subscribe(playerc_ir_t *device, int access)
Subscribe to the ir device.
PLAYERC_EXPORT int playerc_bumper_unsubscribe(playerc_bumper_t *device)
Un-subscribe from the bumper device.
PLAYERC_EXPORT int playerc_audio_sample_play_cmd(playerc_audio_t *device, int index)
Command to play prestored sample.
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: playerc.h:3570
PLAYERC_EXPORT void playerc_simulation_destroy(playerc_simulation_t *device)
Destroy a simulation proxy.
PLAYERC_EXPORT void playerc_pointcloud3d_destroy(playerc_pointcloud3d_t *device)
Destroy a pointcloud3d proxy.
PLAYERC_EXPORT int playerc_planner_get_waypoints(playerc_planner_t *device)
Get the list of waypoints.
PLAYERC_EXPORT void playerc_opaque_destroy(playerc_opaque_t *device)
Destroy an opaque device proxy.
PLAYERC_EXPORT int playerc_limb_setpose_cmd(playerc_limb_t *device, float pX, float pY, float pZ, float aX, float aY, float aZ, float oX, float oY, float oZ)
Command the end effector to move to a specified pose.
PLAYERC_EXPORT playerc_opaque_t * playerc_opaque_create(playerc_client_t *client, int index)
Create an opaque device proxy.
uint8_t num_beams
The number of breakbeams the gripper has.
Definition: playerc.h:1756
PLAYERC_EXPORT void playerc_speech_destroy(playerc_speech_t *device)
Destroy a speech proxy.
Structure describing the cpu.
Definition: player_interfaces.h:4572
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3150
PLAYERC_EXPORT void playerc_rfid_destroy(playerc_rfid_t *device)
Destroy a rfid proxy.
PLAYERC_EXPORT playerc_gps_t * playerc_gps_create(playerc_client_t *client, int index)
Create a gps proxy.
Structure describing the memory.
Definition: player_interfaces.h:4583
int intensity_on
Is intesity data returned.
Definition: playerc.h:1974
struct _playerc_device_t playerc_device_t
Common device info.
playerc_client_t * client
Pointer to the client proxy.
Definition: playerc.h:822
Common device info.
Definition: playerc.h:814
PLAYERC_EXPORT int playerc_audio_get_mixer_levels(playerc_audio_t *device)
Request mixer channel data result is stored in mixer_data.
pointcloud3d proxy data.
Definition: playerc.h:3474
double pos_x
Device position (m).
Definition: playerc.h:2788
PLAYERC_EXPORT int playerc_position2d_subscribe(playerc_position2d_t *device, int access)
Subscribe to the position2d device.
PLAYERC_EXPORT int playerc_position3d_set_pose(playerc_position3d_t *device, double gx, double gy, double gz, double gr, double gp, double gt)
Set the target pose (gx, gy, ga, gr, gp, gt) is the target pose in the odometric coordinate system...
double lat
Latitude and logitude (degrees).
Definition: playerc.h:1572
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1688
PLAYERC_EXPORT int playerc_imu_datatype(playerc_imu_t *device, int value)
Change the data type to one of the predefined data structures.
Camera proxy data.
Definition: playerc.h:1395
PLAYERC_EXPORT int playerc_laser_subscribe(playerc_laser_t *device, int access)
Subscribe to the laser device.
PLAYERC_EXPORT int playerc_aio_set_output(playerc_aio_t *device, uint8_t id, float volt)
Set the output for the aio device.
PLAYERC_EXPORT playerc_imu_t * playerc_imu_create(playerc_client_t *client, int index)
Create a imu proxy.
PLAYERC_EXPORT int playerc_position3d_set_odom(playerc_position3d_t *device, double ox, double oy, double oz, double oroll, double opitch, double oyaw)
Set the odometry offset.
PLAYERC_EXPORT int playerc_position2d_enable(playerc_position2d_t *device, int enable)
Enable/disable the motors.
double scan_start
Start bearing of the scan (radians).
Definition: playerc.h:1980
PLAYERC_EXPORT int playerc_gripper_get_geom(playerc_gripper_t *device)
Get the gripper geometry.
PLAYERC_EXPORT int playerc_simulation_set_property(playerc_simulation_t *device, char *name, char *property, void *value, size_t value_len)
Set a property value.
PLAYERC_EXPORT int playerc_client_adddevice(playerc_client_t *client, struct _playerc_device_t *device)
Add a device proxy.
double px
Current pose (m, m, radians).
Definition: playerc.h:2520
PLAYERC_EXPORT int playerc_ranger_set_config(playerc_ranger_t *device, double min_angle, double max_angle, double angular_res, double min_range, double max_range, double range_res, double frequency)
Set the ranger device's configuration.
int path_valid
Did the planner find a valid path?
Definition: playerc.h:2514
stereo proxy data.
Definition: playerc.h:3514
Simulation device proxy.
Definition: playerc.h:3272
PLAYERC_EXPORT int playerc_ptz_set_ws(playerc_ptz_t *device, double pan, double tilt, double zoom, double panspeed, double tiltspeed)
Set the pan, tilt and zoom values (and speed)
Speech recognition proxy data.
Definition: playerc.h:3384
PLAYERC_EXPORT int playerc_graphics2d_setcolor(playerc_graphics2d_t *device, player_color_t col)
Set the current drawing color.
PLAYERC_EXPORT int playerc_graphics3d_unsubscribe(playerc_graphics3d_t *device)
Un-subscribe from the graphics3d device.
PLAYERC_EXPORT int playerc_ptz_subscribe(playerc_ptz_t *device, int access)
Subscribe to the ptz device.
player_pose3d_t * poses
Pose of each sonar relative to robot (m, m, radians).
Definition: playerc.h:3157
int retry_limit
How many times we'll try to reconnect after a socket error.
Definition: playerc.h:479
PLAYERC_EXPORT int playerc_client_internal_peek(playerc_client_t *client, int timeout)
Test to see if there is pending data.
PLAYERC_EXPORT void playerc_limb_destroy(playerc_limb_t *device)
Destroy a limb proxy.
PLAYERC_EXPORT int playerc_graphics3d_setcolor(playerc_graphics3d_t *device, player_color_t col)
Set the current drawing color.
uint32_t layers_count
The number of layers.
Definition: playerc.h:2407
double pan
The current ptz pan and tilt angles.
Definition: playerc.h:2945
PLAYERC_EXPORT int playerc_device_unsubscribe(playerc_device_t *device)
Unsubscribe the device.
PLAYERC_EXPORT int playerc_localize_set_pose(playerc_localize_t *device, double pose[3], double cov[3])
Set the the robot pose (mean and covariance).
PLAYERC_EXPORT int playerc_graphics3d_draw(playerc_graphics3d_t *device, player_graphics3d_draw_mode_t mode, player_point_3d_t pts[], int count)
Draw some points in the given mode.
uint16_t points_count
The number of 3D pointcloud elementS found.
Definition: playerc.h:3480
PLAYERC_EXPORT int playerc_blackboard_unsubscribe(playerc_blackboard_t *device)
Un-subscribe from the blackboard device.
PLAYERC_EXPORT playerc_gripper_t * playerc_gripper_create(playerc_client_t *client, int index)
Create a gripper device proxy.
PLAYERC_EXPORT int playerc_actarray_speed_cmd(playerc_actarray_t *device, int joint, float speed)
Command a joint in the array to move at a specified speed.
PLAYERC_EXPORT int playerc_bumper_get_geom(playerc_bumper_t *device)
Get the bumper geometry.
PLAYERC_EXPORT int playerc_opaque_cmd(playerc_opaque_t *device, player_opaque_data_t *data)
Send a generic command.
PLAYERC_EXPORT int playerc_limb_brakes(playerc_limb_t *device, uint32_t enable)
Turn the brakes of all actuators in the limb that have them on or off.
int connected
Whether or not we're currently connected.
Definition: playerc.h:474
PLAYERC_EXPORT int playerc_actarray_multi_position_cmd(playerc_actarray_t *device, float *positions, int positions_count)
Command all joints in the array to move to specified positions.
PLAYERC_EXPORT int playerc_device_subscribe(playerc_device_t *device, int access)
Subscribe the device.
double scanning_frequency
Scanning frequency in Hz.
Definition: playerc.h:1992
PLAYERC_EXPORT playerc_position3d_t * playerc_position3d_create(playerc_client_t *client, int index)
Create a position3d device proxy.
PLAYERC_EXPORT playerc_planner_t * playerc_planner_create(playerc_client_t *client, int index)
Create a planner device proxy.
uint32_t bearings_count
Number of scan bearings.
Definition: playerc.h:3067
A pose in the plane.
Definition: player.h:213
PLAYERC_EXPORT int playerc_blackboard_subscribe(playerc_blackboard_t *device, int access)
Subscribe to the blackboard device.
PLAYERC_EXPORT int playerc_client_subscribe(playerc_client_t *client, int code, int index, int access, char *drivername, size_t len)
Subscribe a device.
double * intensities
Intensity data [m].
Definition: playerc.h:3064
uint8_t * bumpers
Bump data: unsigned char, either boolean or code indicating corner.
Definition: playerc.h:1355
double min_right
Minimum range, in meters, in the right half of the scan (those ranges from the first beam...
Definition: playerc.h:2017
double freq
Frequency (MHz).
Definition: playerc.h:3220
PLAYERC_EXPORT int playerc_vectormap_write_layer(playerc_vectormap_t *device, const player_vectormap_layer_data_t *data)
Write layer data.
PLAYERC_EXPORT void playerc_bumper_destroy(playerc_bumper_t *device)
Destroy a bumper proxy.
PLAYERC_EXPORT int playerc_speech_subscribe(playerc_speech_t *device, int access)
Subscribe to the speech device.
PLAYERC_EXPORT playerc_fiducial_t * playerc_fiducial_create(playerc_client_t *client, int index)
Create a fiducial proxy.
PLAYERC_EXPORT int playerc_position3d_get_geom(playerc_position3d_t *device)
Get the position3d geometry.
double min_angle
Start angle of scans [rad].
Definition: playerc.h:3028
PLAYERC_EXPORT int playerc_position2d_set_cmd_car(playerc_position2d_t *device, double vx, double a)
Set the target cmd for car like position.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2940
player_color_t color
current drawing color
Definition: playerc.h:1631
PLAYERC_EXPORT int playerc_position1d_set_odom(playerc_position1d_t *device, double odom)
Set the odometry offset.
Graphics3d device data.
Definition: playerc.h:1685
player_health_memory_t mem
The memory stats.
Definition: playerc.h:1831
PLAYERC_EXPORT void playerc_gripper_printout(playerc_gripper_t *device, const char *prefix)
Print a human-readable version of the gripper state.
PLAYERC_EXPORT int playerc_joystick_subscribe(playerc_joystick_t *device, int access)
Subscribe to the joystick device.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3436
PLAYERC_EXPORT playerc_map_t * playerc_map_create(playerc_client_t *client, int index)
Create a map proxy.
int data_count
Size of data (bytes)
Definition: playerc.h:2465
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1181
int type
What kind of log device is this? Either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition: playerc.h:2288
double pos
Odometric pose [m] or [rad].
Definition: playerc.h:2599
#define PLAYER_MAX_DEVICES
The maximum number of devices the server will support.
Definition: player.h:70
An angle in 3D space.
Definition: player.h:202
PLAYERC_EXPORT void playerc_blobfinder_destroy(playerc_blobfinder_t *device)
Destroy a blobfinder proxy.
double frequency
Scanning frequency [Hz].
Definition: playerc.h:3041
PLAYERC_EXPORT int playerc_planner_subscribe(playerc_planner_t *device, int access)
Subscribe to the planner device.
PLAYERC_EXPORT int playerc_device_get_dblprop(playerc_device_t *device, char *property, double *value)
Request a double property.
int pose_count
Number of pose values.
Definition: playerc.h:1344
Power device data.
Definition: playerc.h:2880
PLAYERC_EXPORT int playerc_client_disconnect(playerc_client_t *client)
Disconnect from the server.
Blinklight proxy data.
Definition: playerc.h:1239
PLAYERC_EXPORT int playerc_blackboard_subscribe_to_key(playerc_blackboard_t *device, const char *key, const char *group, player_blackboard_entry_t **entry)
Subscribe to a key.
A device address.
Definition: player.h:141
PLAYERC_EXPORT playerc_blobfinder_t * playerc_blobfinder_create(playerc_client_t *client, int index)
Create a blobfinder proxy.
PLAYERC_EXPORT int playerc_position1d_unsubscribe(playerc_position1d_t *device)
Un-subscribe from the position1d device.
PLAYERC_EXPORT int playerc_position3d_set_velocity(playerc_position3d_t *device, double vx, double vy, double vz, double vr, double vp, double vt, int state)
Set the target speed.
PLAYERC_EXPORT void playerc_device_init(playerc_device_t *device, playerc_client_t *client, int code, int index, playerc_putmsg_fn_t putmsg)
Initialise the device.
PLAYERC_EXPORT int playerc_graphics2d_draw_polygon(playerc_graphics2d_t *device, player_point_2d_t pts[], int count, int filled, player_color_t fill_color)
Draw a polygon.
PLAYERC_EXPORT int playerc_graphics3d_subscribe(playerc_graphics3d_t *device, int access)
Subscribe to the graphics3d device.
double vel
Odometric velocity [m/s] or [rad/s].
Definition: playerc.h:2602
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1962
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2684
PLAYERC_EXPORT playerc_graphics2d_t * playerc_graphics2d_create(playerc_client_t *client, int index)
Create a graphics2d device proxy.
double resolution
Map resolution, m/cell.
Definition: playerc.h:2347
PLAYERC_EXPORT int playerc_blobfinder_subscribe(playerc_blobfinder_t *device, int access)
Subscribe to the blobfinder device.
PLAYERC_EXPORT int playerc_map_get_vector(playerc_map_t *device)
Get the vector map, which is stored in the proxy.
PLAYERC_EXPORT int playerc_position2d_set_cmd_vel(playerc_position2d_t *device, double vx, double vy, double va, int state)
Set the target speed.
PLAYERC_EXPORT void playerc_planner_destroy(playerc_planner_t *device)
Destroy a planner device proxy.
double joules
energy stored (Joules)
Definition: playerc.h:2896
int valid
status bits.
Definition: playerc.h:2887
double utc_time
UTC time (seconds since the epoch)
Definition: playerc.h:1567
PLAYERC_EXPORT int playerc_power_unsubscribe(playerc_power_t *device)
Un-subscribe from the power device.
Gripper device data.
Definition: playerc.h:1741
int map_size_x
Map dimensions (cells).
Definition: playerc.h:2219
PLAYERC_EXPORT int playerc_ranger_get_config(playerc_ranger_t *device, double *min_angle, double *max_angle, double *angular_res, double *min_range, double *max_range, double *range_res, double *frequency)
Get the ranger device's configuration.
PLAYERC_EXPORT int playerc_device_set_dblprop(playerc_device_t *device, char *property, double value)
Set a double property.
Data: state (PLAYER_LIMB_DATA)
Definition: player_interfaces.h:4037
Structure containing a single actuator's information.
Definition: player_interfaces.h:3758
T limit(T a, T min, T max)
Limit a value to the range of min, max.
Definition: utility.h:114
Map proxy data.
Definition: playerc.h:2341
double max_range
Maximum range [m].
Definition: playerc.h:3037
PLAYERC_EXPORT int playerc_client_peek(playerc_client_t *client, int timeout)
Wait for response from server (blocking).
PLAYERC_EXPORT int playerc_simulation_get_pose3d(playerc_simulation_t *device, char *identifier, double *x, double *y, double *z, double *roll, double *pitch, double *yaw, double *time)
Get the 3D pose of a named simulation object.
int charging
charging flag.
Definition: playerc.h:2903
Request/reply: get geometry.
Definition: player_interfaces.h:4112
double max_angle
End angle of scans [rad].
Definition: playerc.h:3030
Position3d device data.
Definition: playerc.h:2776
playerc_putmsg_fn_t putmsg
Standard message callback for this device.
Definition: playerc.h:854
Info about an available (but not necessarily subscribed) device.
Definition: playerc.h:448
struct playerc_blackboard playerc_blackboard_t
BlackBoard proxy.
PLAYERC_EXPORT int playerc_wifi_subscribe(playerc_wifi_t *device, int access)
Subscribe to the wifi device.
PLAYERC_EXPORT playerc_wifi_t * playerc_wifi_create(playerc_client_t *client, int index)
Create a wifi proxy.
int hypoth_count
List of possible poses.
Definition: playerc.h:2237
player_color_t color
current drawing color
Definition: playerc.h:1691
double range_res
Range resolution [m].
Definition: playerc.h:3039
PLAYERC_EXPORT int playerc_power_subscribe(playerc_power_t *device, int access)
Subscribe to the power device.
PLAYERC_EXPORT int playerc_audio_wav_stream_rec_cmd(playerc_audio_t *device, uint8_t state)
Command to set recording state.
PLAYERC_EXPORT void playerc_health_destroy(playerc_health_t *device)
Destroy a health proxy.
PLAYERC_EXPORT int playerc_client_read_nonblock_withproxy(playerc_client_t *client, void **proxy)
Read and process a packet (nonblocking), fills in pointer to proxy that got data. ...
playerc_client_item_t qitems[PLAYERC_QUEUE_RING_SIZE]
Definition: playerc.h:514
PLAYERC_EXPORT playerc_ranger_t * playerc_ranger_create(playerc_client_t *client, int index)
Create a ranger proxy.
int freshgeom
Freshness flag.
Definition: playerc.h:847
player_audio_seq_t seq_data
last block of seq data
Definition: playerc.h:1092
PLAYERC_EXPORT void playerc_camera_decompress(playerc_camera_t *device)
Decompress the image (modifies the current proxy data).
PLAYERC_EXPORT int playerc_sonar_unsubscribe(playerc_sonar_t *device)
Un-subscribe from the sonar device.
Definition: player_interfaces.h:5102
PLAYERC_EXPORT int playerc_device_get_intprop(playerc_device_t *device, char *property, int32_t *value)
Request an integer property.
A point in the plane.
Definition: player.h:180
PLAYERC_EXPORT playerc_sonar_t * playerc_sonar_create(playerc_client_t *client, int index)
Create a sonar proxy.
player_audio_mixer_channel_list_detail_t channel_details_list
Details of the channels from the mixer.
Definition: playerc.h:1086
PLAYERC_EXPORT int playerc_limb_get_geom(playerc_limb_t *device)
Get the limb geometry.
PLAYERC_EXPORT int playerc_limb_unsubscribe(playerc_limb_t *device)
Un-subscribe from the limb device.
char * host
Server address.
Definition: playerc.h:467
Ranger proxy data.
Definition: playerc.h:3019
int8_t * map_cells
Map data (empty = -1, unknown = 0, occupied = +1).
Definition: playerc.h:2228
PLAYERC_EXPORT playerc_aio_t * playerc_aio_create(playerc_client_t *client, int index)
Create a aio proxy.
PLAYERC_EXPORT int playerc_graphics2d_draw_polyline(playerc_graphics2d_t *device, player_point_2d_t pts[], int count)
Draw a polyline that connects an array of points.
PLAYERC_EXPORT int playerc_vectormap_subscribe(playerc_vectormap_t *device, int access)
Subscribe to the vectormap device.
PLAYERC_EXPORT int playerc_gripper_store_cmd(playerc_gripper_t *device)
Command the gripper to store.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3562
PLAYERC_EXPORT int playerc_log_unsubscribe(playerc_log_t *device)
Un-subscribe from the log device.
PLAYERC_EXPORT void playerc_laser_destroy(playerc_laser_t *device)
Destroy a laser proxy.
player_pose3d_t device_pose
Device geometry in the robot CS: pose gives the position and orientation, size gives the extent...
Definition: playerc.h:3046
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:989
PLAYERC_EXPORT int playerc_position3d_subscribe(playerc_position3d_t *device, int access)
Subscribe to the position3d device.
uint8_t * guid
The Globally Unique IDentifier (GUID) of the tag.
Definition: playerc.h:3429
PLAYERC_EXPORT playerc_wifi_link_t * playerc_wifi_get_link(playerc_wifi_t *device, int link)
Get link state.
playerc_device_info_t devinfos[PLAYER_MAX_DEVICES]
List of available (but not necessarily subscribed) devices.
Definition: playerc.h:506
PLAYERC_EXPORT void playerc_graphics2d_destroy(playerc_graphics2d_t *device)
Destroy a graphics2d device proxy.
double map_scale
Map scale (m/cell).
Definition: playerc.h:2222
player_vectormap_layer_info_t ** layers_info
Layer info.
Definition: playerc.h:2411
PLAYERC_EXPORT int playerc_ptz_query_status(playerc_ptz_t *device)
Query the pan and tilt status.
PLAYERC_EXPORT int playerc_actarray_position_cmd(playerc_actarray_t *device, int joint, float position)
Command a joint in the array to move to a specified position.
double lasttime
Data timestamp from the previous data.
Definition: playerc.h:838
PLAYERC_EXPORT int playerc_device_set_boolprop(playerc_device_t *device, char *property, BOOL value)
Set a boolean property.
PLAYERC_EXPORT int playerc_blinkenlight_color(playerc_blinkenlight_t *device, uint32_t id, uint8_t red, uint8_t green, uint8_t blue)
Set the output color for the blinkenlight device.
int quality
Quality of fix 0 = invalid, 1 = GPS fix, 2 = DGPS fix.
Definition: playerc.h:1591
PLAYERC_EXPORT int playerc_audio_get_mixer_details(playerc_audio_t *device)
Request mixer channel details list result is stored in channel_details_list.
PLAYERC_EXPORT int playerc_device_set_strprop(playerc_device_t *device, char *property, char *value)
Set a string property.
PLAYERC_EXPORT int playerc_simulation_set_pose3d(playerc_simulation_t *device, char *name, double gx, double gy, double gz, double groll, double gpitch, double gyaw)
Set the 3D pose of a named simulation object.
PLAYERC_EXPORT int playerc_wsn_unsubscribe(playerc_wsn_t *device)
Un-subscribe from the wsn device.
double vminx
Vector-based version of the map (call playerc_map_get_vector() to fill this in).
Definition: playerc.h:2360
double max_range
Maximum range of sensor, in m.
Definition: playerc.h:1989
PLAYERC_EXPORT int playerc_position3d_set_speed(playerc_position3d_t *device, double vx, double vy, double vz, int state)
For compatibility with old position3d interface.
PLAYERC_EXPORT void playerc_camera_destroy(playerc_camera_t *device)
Destroy a camera proxy.
PLAYERC_EXPORT int playerc_blackboard_set_entry(playerc_blackboard_t *device, player_blackboard_entry_t *entry)
Set an entry value.
uint8_t capacity
The capacity of the gripper's store - if 0, the gripper cannot store.
Definition: playerc.h:1758
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3477
PLAYERC_EXPORT int playerc_speech_say(playerc_speech_t *device, char *)
Set the output for the speech device.
Data: ranges (PLAYER_IR_DATA_RANGES)
Definition: player_interfaces.h:2113
PLAYERC_EXPORT const char * playerc_error_str(void)
Retrieve the last error (as a descriptive string).
double datatime
Data timestamp, i.e., the time at which the data was generated (s).
Definition: playerc.h:835
PLAYERC_EXPORT void playerc_map_destroy(playerc_map_t *device)
Destroy a map proxy.
PLAYERC_EXPORT playerc_blinkenlight_t * playerc_blinkenlight_create(playerc_client_t *client, int index)
Create a blinkenlight proxy.
PLAYERC_EXPORT int playerc_graphics3d_translate(playerc_graphics3d_t *device, double x, double y, double z)
Translate the drawing coordinate system in 3d.
PLAYERC_EXPORT float playerc_aio_get_data(playerc_aio_t *device, uint32_t index)
get the aio data
PLAYERC_EXPORT int playerc_vectormap_get_layer_data(playerc_vectormap_t *device, unsigned layer_index)
Get the layer data by index.
PTZ device data.
Definition: playerc.h:2937
PLAYERC_EXPORT int playerc_position1d_get_geom(playerc_position1d_t *device)
Get the position1d geometry.
PLAYERC_EXPORT int playerc_speechrecognition_unsubscribe(playerc_speechrecognition_t *device)
Un-subscribe from the speech recognition device.
PLAYERC_EXPORT int playerc_limb_speed_config(playerc_limb_t *device, float speed)
Set the speed of the end effector (m/s) for all subsequent movement commands.
int bumper_count
Number of points in the scan.
Definition: playerc.h:1352
PLAYERC_EXPORT int playerc_ir_unsubscribe(playerc_ir_t *device)
Un-subscribe from the ir device.
PLAYERC_EXPORT int playerc_imu_unsubscribe(playerc_imu_t *device)
Un-subscribe from the imu device.
void * id
A useful ID for identifying devices; mostly used by other language bindings.
Definition: playerc.h:819
int stall
Stall flag [0, 1].
Definition: playerc.h:2699
PLAYERC_EXPORT void playerc_ranger_destroy(playerc_ranger_t *device)
Destroy a ranger proxy.
PLAYERC_EXPORT int playerc_blinkenlight_subscribe(playerc_blinkenlight_t *device, int access)
Subscribe to the blinkenlight device.
uint32_t overflow_count
How many messages were lost on the server due to overflows, incremented by player, cleared by user.
Definition: playerc.h:486
PLAYERC_EXPORT void playerc_wifi_destroy(playerc_wifi_t *device)
Destroy a wifi proxy.
PLAYERC_EXPORT int playerc_ptz_unsubscribe(playerc_ptz_t *device)
Un-subscribe from the ptz device.
Player audio sequence.
Definition: player_interfaces.h:1502
Hypothesis data.
Definition: playerc.h:2205
PLAYERC_EXPORT playerc_vectormap_t * playerc_vectormap_create(playerc_client_t *client, int index)
Create a vectormap proxy.
PLAYERC_EXPORT int playerc_fiducial_unsubscribe(playerc_fiducial_t *device)
Un-subscribe from the fiducial device.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1564
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2779
PLAYERC_EXPORT int playerc_actarray_get_geom(playerc_actarray_t *device)
Get the actarray geometry.
PLAYERC_EXPORT int playerc_ptz_set_control_mode(playerc_ptz_t *device, int mode)
Change control mode (select velocity or position control)
double scan_res
Angular resolution in radians.
Definition: playerc.h:1983
PLAYERC_EXPORT int playerc_wsn_set_devstate(playerc_wsn_t *device, int node_id, int group_id, int devnr, int state)
Set the device state.
int path_done
Have we arrived at the goal?
Definition: playerc.h:2517
PLAYERC_EXPORT int playerc_client_deldevice(playerc_client_t *client, struct _playerc_device_t *device)
Remove a device proxy.
double angular_res
Scan resolution [rad].
Definition: playerc.h:3032
PLAYERC_EXPORT int playerc_imu_reset_orientation(playerc_imu_t *device, int value)
Reset orientation.
PLAYERC_EXPORT playerc_dio_t * playerc_dio_create(playerc_client_t *client, int index)
Create a dio proxy.
PLAYERC_EXPORT int playerc_simulation_save(playerc_simulation_t *device)
make the simulation save the status/world
PLAYERC_EXPORT int playerc_position2d_set_odom(playerc_position2d_t *device, double ox, double oy, double oa)
Set the odometry offset.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3613
PLAYERC_EXPORT void playerc_camera_save(playerc_camera_t *device, const char *filename)
Saves the image to disk as a .ppm.
PLAYERC_EXPORT int playerc_actarray_speed_config(playerc_actarray_t *device, int joint, float speed)
Set the speed of a joint (-1 for all joints) for all subsequent movement commands.
double * ranges
Raw range data; range (m).
Definition: playerc.h:1995
double range_res
Range resolution, in m.
Definition: playerc.h:1986
Speech proxy data.
Definition: playerc.h:3348
PLAYERC_EXPORT void playerc_position2d_destroy(playerc_position2d_t *device)
Destroy a position2d device proxy.
Position1d device data.
Definition: playerc.h:2587
uint32_t actuators_count
The number of actuators in the array.
Definition: playerc.h:992
PLAYERC_EXPORT int playerc_position2d_set_cmd_vel_head(playerc_position2d_t *device, double vx, double vy, double pa, int state)
Set the target speed and heading.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3275
PLAYERC_EXPORT int playerc_position2d_unsubscribe(playerc_position2d_t *device)
Un-subscribe from the position2d device.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2590
PLAYERC_EXPORT int playerc_log_get_state(playerc_log_t *device)
Get logging/playback state.
PLAYERC_EXPORT int playerc_client_write(playerc_client_t *client, struct _playerc_device_t *device, uint8_t subtype, void *cmd, double *timestamp)
Write data to the server.
PLAYERC_EXPORT int playerc_laser_unsubscribe(playerc_laser_t *device)
Un-subscribe from the laser device.
PLAYERC_EXPORT int playerc_camera_unsubscribe(playerc_camera_t *device)
Un-subscribe from the camera device.
PLAYERC_EXPORT int playerc_opaque_subscribe(playerc_opaque_t *device, int access)
Subscribe to the opaque device.
PLAYERC_EXPORT int playerc_graphics2d_draw_points(playerc_graphics2d_t *device, player_point_2d_t pts[], int count)
Draw some points.
char * data
Definition: playerc.h:518
PLAYERC_EXPORT int playerc_audio_wav_play_cmd(playerc_audio_t *device, uint32_t data_count, uint8_t data[], uint32_t format)
Command to play an audio block.
PLAYERC_EXPORT void playerc_device_term(playerc_device_t *device)
Finalize the device.
PLAYERC_EXPORT int playerc_localize_unsubscribe(playerc_localize_t *device)
Un-subscribe from the localize device.
double utm_e
UTM easting and northing (meters).
Definition: playerc.h:1579
PLAYERC_EXPORT int playerc_log_set_read_rewind(playerc_log_t *device)
Rewind playback.
PLAYERC_EXPORT int playerc_health_subscribe(playerc_health_t *device, int access)
Subscribe to the health device.
int scan_id
ID for this scan.
Definition: playerc.h:2009
PLAYERC_EXPORT int playerc_client_set_replace_rule(playerc_client_t *client, int interf, int index, int type, int subtype, int replace)
Set a replace rule for the client queue on the server.
GPS proxy data.
Definition: playerc.h:1561
PLAYERC_EXPORT int playerc_wsn_datafreq(playerc_wsn_t *device, int node_id, int group_id, double frequency)
Change data delivery frequency.
uint32_t beams
The position of the object in the gripper.
Definition: playerc.h:1765
PLAYERC_EXPORT void playerc_gripper_destroy(playerc_gripper_t *device)
Destroy a gripper device proxy.
PLAYERC_EXPORT void playerc_client_set_request_timeout(playerc_client_t *client, uint32_t seconds)
Set the timeout for client requests.
Audio device data.
Definition: playerc.h:1080
player_pose3d_t pose
Gripper geometry in the robot cs: pose gives the position and orientation, outer_size gives the exten...
Definition: playerc.h:1752
PLAYERC_EXPORT int playerc_map_unsubscribe(playerc_map_t *device)
Un-subscribe from the map device.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1868
PLAYERC_EXPORT int playerc_log_set_read_state(playerc_log_t *device, int state)
Start/stop playback.
PLAYERC_EXPORT int playerc_health_unsubscribe(playerc_health_t *device)
Un-subscribe from the health device.
int qual
Link properties.
Definition: playerc.h:3223
PLAYERC_EXPORT playerc_health_t * playerc_health_create(playerc_client_t *client, int index)
Create a health proxy.
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: playerc.h:3565
PLAYERC_EXPORT int playerc_position3d_set_vel_mode(playerc_position3d_t *device, int mode)
Set the velocity mode.
PLAYERC_EXPORT int playerc_actarray_multi_current_cmd(playerc_actarray_t *device, float *currents, int currents_count)
Command all joints in the array to move with specified currents.
Sonar proxy data.
Definition: playerc.h:3147
Note: the structure describing the HEALTH's data packet is declared in Player.
Definition: playerc.h:1824
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1628
uint32_t element_count
Number of individual elements in the device.
Definition: playerc.h:3025
PLAYERC_EXPORT int playerc_localize_subscribe(playerc_localize_t *device, int access)
Subscribe to the localize device.
PLAYERC_EXPORT playerc_blackboard_t * playerc_blackboard_create(playerc_client_t *client, int index)
Create a blackboard proxy.
PLAYERC_EXPORT int playerc_gripper_subscribe(playerc_gripper_t *device, int access)
Subscribe to the gripper device.
double zoom
The current zoom value (field of view angle).
Definition: playerc.h:2948
PLAYERC_EXPORT int playerc_joystick_unsubscribe(playerc_joystick_t *device)
Un-subscribe from the joystick device.
PLAYERC_EXPORT playerc_power_t * playerc_power_create(playerc_client_t *client, int index)
Create a power device proxy.
uint8_t stored
The number of currently-stored objects.
Definition: playerc.h:1767
uint8_t mode
Definition: playerc.h:493
unsigned int blobs_count
A list of detected blobs.
Definition: playerc.h:1304
playerc_rfidtag_t * tags
The list of RFID tags.
Definition: playerc.h:3442
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3517
PLAYERC_EXPORT int playerc_limb_power(playerc_limb_t *device, uint32_t enable)
Turn the power to the limb on or off.
player_pointcloud3d_element_t playerc_pointcloud3d_element_t
Structure describing a single 3D pointcloud element.
Definition: playerc.h:3471
PLAYERC_EXPORT int playerc_ranger_subscribe(playerc_ranger_t *device, int access)
Subscribe to the ranger device.
PLAYERC_EXPORT int playerc_dio_set_output(playerc_dio_t *device, uint8_t output_count, uint32_t digout)
Set the output for the dio device.
int freshconfig
Freshness flag.
Definition: playerc.h:851
uint32_t intensities_count
Number of intensities in a scan.
Definition: playerc.h:3060
PLAYERC_EXPORT int playerc_camera_subscribe(playerc_camera_t *device, int access)
Subscribe to the camera device.
PLAYERC_EXPORT int playerc_limb_stop_cmd(playerc_limb_t *device)
Command the end effector to stop immediatly.
PLAYERC_EXPORT player_actarray_actuator_t playerc_actarray_get_actuator_data(playerc_actarray_t *device, uint32_t index)
Accessor method for the actuator data.
PLAYERC_EXPORT int playerc_gps_unsubscribe(playerc_gps_t *device)
Un-subscribe from the gps device.
PLAYERC_EXPORT int playerc_position2d_set_cmd_pose_with_vel(playerc_position2d_t *device, player_pose2d_t pos, player_pose2d_t vel, int state)
Set the target pose with given motion vel.
PLAYERC_EXPORT void playerc_joystick_destroy(playerc_joystick_t *device)
Destroy a joystick proxy.
PLAYERC_EXPORT int playerc_graphics2d_unsubscribe(playerc_graphics2d_t *device)
Un-subscribe from the graphics2d device.
player_fiducial_geom_t fiducial_geom
Geometry in robot cs.
Definition: playerc.h:1519
PLAYERC_EXPORT playerc_wsn_t * playerc_wsn_create(playerc_client_t *client, int index)
Create a wsn proxy.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1744
Vectormap data.
Definition: player_interfaces.h:5113
Blobfinder device data.
Definition: playerc.h:1295
int curr_waypoint
Current waypoint index (handy if you already have the list of waypoints).
Definition: playerc.h:2531
PLAYERC_EXPORT int playerc_pointcloud3d_subscribe(playerc_pointcloud3d_t *device, int access)
Subscribe to the pointcloud3d device.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3387
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2344
PLAYERC_EXPORT int playerc_localize_get_particles(playerc_localize_t *device)
Request the particle set.
PLAYERC_EXPORT int playerc_device_hascapability(playerc_device_t *device, uint32_t type, uint32_t subtype)
Request capabilities of device.
PLAYERC_EXPORT playerc_joystick_t * playerc_joystick_create(playerc_client_t *client, int index)
Create a joystick proxy.
PLAYERC_EXPORT int playerc_blinkenlight_unsubscribe(playerc_blinkenlight_t *device)
Un-subscribe from the blinkenlight device.
int status
The current pan and tilt status.
Definition: playerc.h:2951
int fresh
Freshness flag.
Definition: playerc.h:843
player_health_memory_t swap
The swap stats.
Definition: playerc.h:1833
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1242
PLAYERC_EXPORT int playerc_opaque_req(playerc_opaque_t *device, player_opaque_data_t *request, player_opaque_data_t **reply)
Send a generic request.
PLAYERC_EXPORT void playerc_audio_destroy(playerc_audio_t *device)
Destroy an audio proxy.
PLAYERC_EXPORT playerc_bumper_t * playerc_bumper_create(playerc_client_t *client, int index)
Create a bumper proxy.
PLAYERC_EXPORT playerc_laser_t * playerc_laser_create(playerc_client_t *client, int index)
Create a laser proxy.
double min_left
Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the mi...
Definition: playerc.h:2022
Graphics2d device data.
Definition: playerc.h:1625
int fiducials_count
List of detected beacons.
Definition: playerc.h:1522
uint32_t ranges_count
Number of ranges in a scan.
Definition: playerc.h:3055
PLAYERC_EXPORT int playerc_pointcloud3d_unsubscribe(playerc_pointcloud3d_t *device)
Un-subscribe from the pointcloud3d device.
player_health_cpu_t cpu_usage
The current cpu usage.
Definition: playerc.h:1829
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1827
player_point_3d_t * points
Scan points (x, y, z).
Definition: playerc.h:3075
uint32_t type
Tag type.
Definition: playerc.h:3425
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1464
playerc_wifi_link_t * links
A list containing info for each link.
Definition: playerc.h:3235
double * scan
Scan data: range (m).
Definition: playerc.h:3163
PLAYERC_EXPORT int playerc_position3d_set_cmd_pose(playerc_position3d_t *device, double gx, double gy, double gz)
For compatibility with old position3d interface.
PLAYERC_EXPORT int playerc_fiducial_subscribe(playerc_fiducial_t *device, int access)
Subscribe to the fiducial device.
PLAYERC_EXPORT int playerc_stereo_subscribe(playerc_stereo_t *device, int access)
Subscribe to the stereo device.
PLAYERC_EXPORT int playerc_log_set_write_state(playerc_log_t *device, int state)
Start/stop logging.
PLAYERC_EXPORT int playerc_actarray_multi_speed_cmd(playerc_actarray_t *device, float *speeds, int speeds_count)
Command a joint in the array to move at a specified speed.
PLAYERC_EXPORT void playerc_localize_destroy(playerc_localize_t *device)
Destroy a localize proxy.
PLAYERC_EXPORT playerc_actarray_t * playerc_actarray_create(playerc_client_t *client, int index)
Create an actarray proxy.
PLAYERC_EXPORT int playerc_client_requestdata(playerc_client_t *client)
Request a round of data.
uint32_t guid_count
GUID count.
Definition: playerc.h:3427
PLAYERC_EXPORT int playerc_simulation_get_property(playerc_simulation_t *device, char *name, char *property, void *value, size_t value_len)
Get a property value.
int bpp
Image bits-per-pixel (8, 16, 24).
Definition: playerc.h:1404
PLAYERC_EXPORT void playerc_wsn_destroy(playerc_wsn_t *device)
Destroy a wsn proxy.
PLAYERC_EXPORT playerc_client_t * playerc_client_create(playerc_mclient_t *mclient, const char *host, int port)
Create a client object.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1341
PLAYERC_EXPORT void playerc_client_set_retry_limit(playerc_client_t *client, int limit)
Set the connection retry limit.
PLAYERC_EXPORT playerc_rfid_t * playerc_rfid_create(playerc_client_t *client, int index)
Create a rfid proxy.
PLAYERC_EXPORT int playerc_position1d_enable(playerc_position1d_t *device, int enable)
Enable/disable the motors.
int encrypt
Encrypted?
Definition: playerc.h:3217
Bumper proxy data.
Definition: playerc.h:1338
Log proxy data.
Definition: playerc.h:2281
int sock
Definition: playerc.h:490
PLAYERC_EXPORT int playerc_client_request(playerc_client_t *client, struct _playerc_device_t *device, uint8_t reqtype, const void *req_data, void **rep_data)
Issue a request to the server and await a reply (blocking).
double hdop
Horizontal dilution of precision.
Definition: playerc.h:1582
PLAYERC_EXPORT int playerc_blinkenlight_enable(playerc_blinkenlight_t *device, uint32_t enable)
Enable/disable power to the blinkenlight device.
PLAYERC_EXPORT void playerc_client_destroy(playerc_client_t *client)
Destroy a client object.
float q0
Orientation data as quaternions.
Definition: playerc.h:3573
int laser_id
Laser IDentification information.
Definition: playerc.h:2012
Request/reply: get pose.
Definition: player_interfaces.h:2128
PLAYERC_EXPORT void playerc_dio_destroy(playerc_dio_t *device)
Destroy a dio proxy.
PLAYERC_EXPORT int playerc_bumper_subscribe(playerc_bumper_t *device, int access)
Subscribe to the bumper device.
PLAYERC_EXPORT int playerc_simulation_get_pose2d(playerc_simulation_t *device, char *identifier, double *x, double *y, double *a)
Get the 2D pose of a named simulation object.
PLAYERC_EXPORT int playerc_client_datamode(playerc_client_t *client, uint8_t mode)
Change the server's data delivery mode.
PLAYERC_EXPORT typedef void(* playerc_putmsg_fn_t)(void *device, char *header, char *data)
Typedef for proxy callback function.
Definition: playerc.h:439
playerwkbprocessor_t wkbprocessor
WKB processor instance if you want to deal with WKB data.
Definition: playerc.h:2413
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2511
PLAYERC_EXPORT void playerc_ptz_destroy(playerc_ptz_t *device)
Destroy a ptz proxy.
Structure describing a single blob.
Definition: player_interfaces.h:1071
int callback_count
Extra callbacks for this device.
Definition: playerc.h:860
PLAYERC_EXPORT void playerc_position1d_destroy(playerc_position1d_t *device)
Destroy a position1d device proxy.
double datatime
Server time stamp on the last packet.
Definition: playerc.h:525
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2883
Client object data.
Definition: playerc.h:460
int compression
Image compression method.
Definition: playerc.h:1415
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2284
PLAYERC_EXPORT int playerc_position2d_set_cmd_pose(playerc_position2d_t *device, double gx, double gy, double ga, int state)
Set the target pose (gx, gy, ga) is the target pose in the odometric coordinate system.
3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plu...
Definition: player_interfaces.h:4798
PLAYERC_EXPORT void playerc_position3d_destroy(playerc_position3d_t *device)
Destroy a position3d device proxy.
Position2d device data.
Definition: playerc.h:2681
PLAYERC_EXPORT playerc_position1d_t * playerc_position1d_create(playerc_client_t *client, int index)
Create a position1d device proxy.
Laser proxy data.
Definition: playerc.h:1959
PLAYERC_EXPORT void playerc_ir_destroy(playerc_ir_t *device)
Destroy a ir proxy.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2462
uint8_t * image
Image data (byte aligned, row major order).
Definition: playerc.h:1424
joystick proxy data.
Definition: playerc.h:1914
int map_tile_x
Next map tile to read.
Definition: playerc.h:2225
PLAYERC_EXPORT int playerc_add_xdr_ftable(playerxdr_function_t *flist, int replace)
Get the name for a given interface code.
int data_requested
Definition: playerc.h:497
int scan_count
Number of points in the scan.
Definition: playerc.h:3160
double pos_roll
Device orientation (radians).
Definition: playerc.h:2791
PLAYERC_EXPORT int playerc_log_set_filename(playerc_log_t *device, const char *fname)
Change name of log file to write to.
uint16_t tags_count
The number of RFID tags found.
Definition: playerc.h:3439
PLAYERC_EXPORT int playerc_wsn_subscribe(playerc_wsn_t *device, int access)
Subscribe to the wsn device.
PLAYERC_EXPORT int playerc_simulation_pause(playerc_simulation_t *device)
pause / unpause the simulation
Dio proxy data.
Definition: playerc.h:1461
A pose in space.
Definition: player.h:224
PLAYERC_EXPORT void playerc_aio_destroy(playerc_aio_t *device)
Destroy a aio proxy.
PLAYERC_EXPORT int playerc_limb_home_cmd(playerc_limb_t *device)
Command the end effector to move home.
PLAYERC_EXPORT typedef void(* playerc_callback_fn_t)(void *data)
Typedef for proxy callback function.
Definition: playerc.h:442
Request/reply: Get geometry.
Definition: player_interfaces.h:1717
uint32_t points_count
Number of scan points.
Definition: playerc.h:3073
PLAYERC_EXPORT int playerc_position1d_set_cmd_pos_with_vel(playerc_position1d_t *device, double pos, double vel, int state)
Set the target position with movement velocity -.
uint32_t actuators_geom_count
The number of actuators we have geometry for.
Definition: playerc.h:996
uint8_t * data
Data.
Definition: playerc.h:2468
player_pose3d_t * element_poses
Geometry of each individual element in the device (e.g.
Definition: playerc.h:3051
uint32_t node_type
The type of WSN node.
Definition: playerc.h:3616
IMU proxy state data.
Definition: playerc.h:3559
PLAYERC_EXPORT int playerc_client_get_devlist(playerc_client_t *client)
Get the list of available device ids.
PLAYERC_EXPORT playerc_ptz_t * playerc_ptz_create(playerc_client_t *client, int index)
Create a ptz proxy.
PLAYERC_EXPORT int playerc_ranger_unsubscribe(playerc_ranger_t *device)
Un-subscribe from the ranger device.
PLAYERC_EXPORT void playerc_fiducial_destroy(playerc_fiducial_t *device)
Destroy a fiducial proxy.
double percent
Battery charge (percent full).
Definition: playerc.h:2893
uint32_t node_id
The ID of the WSN node.
Definition: playerc.h:3618
double lasttime
Server time stamp on the previous packet.
Definition: playerc.h:527
PLAYERC_EXPORT int playerc_client_read_nonblock(playerc_client_t *client)
Read and process a packet (nonblocking)
int data_received
Definition: playerc.h:501
PLAYERC_EXPORT int playerc_actarray_home_cmd(playerc_actarray_t *device, int joint)
Command a joint (or, if joint is -1, the whole array) to go to its home position. ...
PLAYERC_EXPORT void playerc_actarray_destroy(playerc_actarray_t *device)
Destroy an actarray proxy.
PLAYERC_EXPORT playerc_speechrecognition_t * playerc_speechrecognition_create(playerc_client_t *client, int index)
Create a speech recognition proxy.
player_extent2d_t extent
Boundary area.
Definition: playerc.h:2405
PLAYERC_EXPORT int playerc_blobfinder_unsubscribe(playerc_blobfinder_t *device)
Un-subscribe from the blobfinder device.
PLAYERC_EXPORT int playerc_graphics2d_subscribe(playerc_graphics2d_t *device, int access)
Subscribe to the graphics2d device.
PLAYERC_EXPORT playerc_limb_t * playerc_limb_create(playerc_client_t *client, int index)
Create a limb proxy.
player_bumper_define_t * poses
Pose of each bumper relative to robot (mm, mm, deg, mm, mm).
Definition: playerc.h:1349
player_audio_mixer_channel_list_t mixer_data
current channel data
Definition: playerc.h:1095
A point in 3D space.
Definition: player.h:190
PLAYERC_EXPORT int playerc_gripper_close_cmd(playerc_gripper_t *device)
Command the gripper to close.
int waypoint_count
Number of waypoints in the plan.
Definition: playerc.h:2534
PLAYERC_EXPORT int playerc_planner_set_cmd_pose(playerc_planner_t *device, double gx, double gy, double ga)
Set the goal pose (gx, gy, ga)
Info on a single detected fiducial.
Definition: player_interfaces.h:1688
void * user_data
Extra user data for this device.
Definition: playerc.h:857
double vdop
Vertical dilution of precision.
Definition: playerc.h:1585
char * cells
Occupancy for each cell (empty = -1, unknown = 0, occupied = +1)
Definition: playerc.h:2356
Definition: playerc.h:391
double pending_time
The timestamp on the last reading processed.
Definition: playerc.h:2234
PLAYERC_EXPORT void playerc_vectormap_destroy(playerc_vectormap_t *device)
Destroy a vectormap proxy.
PLAYERC_EXPORT playerc_pointcloud3d_t * playerc_pointcloud3d_create(playerc_client_t *client, int index)
Create a pointcloud3d proxy.
PLAYERC_EXPORT int playerc_rfid_subscribe(playerc_rfid_t *device, int access)
Subscribe to the rfid device.
PLAYERC_EXPORT int playerc_actarray_power(playerc_actarray_t *device, uint8_t enable)
Turn the power to the array on or off.
PLAYERC_EXPORT int playerc_gripper_open_cmd(playerc_gripper_t *device)
Command the gripper to open.
PLAYERC_EXPORT int playerc_sonar_subscribe(playerc_sonar_t *device, int access)
Subscribe to the sonar device.
PLAYERC_EXPORT int playerc_limb_subscribe(playerc_limb_t *device, int access)
Subscribe to the limb device.
PLAYERC_EXPORT int playerc_planner_enable(playerc_planner_t *device, int state)
Enable / disable the robot's motion.
PLAYERC_EXPORT int playerc_simulation_unsubscribe(playerc_simulation_t *device)
Un-subscribe from the simulation device.
PLAYERC_EXPORT int playerc_blinkenlight_blink(playerc_blinkenlight_t *device, uint32_t id, float period, float duty_cycle)
Make the light blink, setting the period in seconds and the mark/space ratiom (0.0 to 1...
BlackBoard proxy.
Definition: playerc.h:1178
PLAYERC_EXPORT int playerc_imu_subscribe(playerc_imu_t *device, int access)
Subscribe to the imu device.
PLAYERC_EXPORT int playerc_gripper_retrieve_cmd(playerc_gripper_t *device)
Command the gripper to retrieve.
PLAYERC_EXPORT int playerc_stereo_unsubscribe(playerc_stereo_t *device)
Un-subscribe from the stereo device.
PLAYERC_EXPORT int playerc_laser_set_config(playerc_laser_t *device, double min_angle, double max_angle, double resolution, double range_res, unsigned char intensity, double scanning_frequency)
Configure the laser.
player_point_3d_t base_pos
The position of the base of the actarray.
Definition: playerc.h:1001
PLAYERC_EXPORT int playerc_blackboard_get_entry(playerc_blackboard_t *device, const char *key, const char *group, player_blackboard_entry_t **entry)
Get the current value of a key, without subscribing.
double min_range
Minimum range [m].
Definition: playerc.h:3035
char drivername[PLAYER_MAX_DRIVER_STRING_LEN]
The driver name.
Definition: playerc.h:828
double retry_time
How long to sleep, in seconds, to sleep between reconnect attempts.
Definition: playerc.h:483
PLAYERC_EXPORT int playerc_speechrecognition_subscribe(playerc_speechrecognition_t *device, int access)
Subscribe to the speech recognition device.
PLAYERC_EXPORT int playerc_position2d_get_geom(playerc_position2d_t *device)
Get the position2d geometry.
Data: Raw audio data.
Definition: player_interfaces.h:1466
int pose_count
Number of pose values.
Definition: playerc.h:3153
PLAYERC_EXPORT int playerc_audio_mixer_multchannels_cmd(playerc_audio_t *device, player_audio_mixer_channel_list_t *levels)
Command to set mixer levels for multiple channels.
struct player_blackboard_entry player_blackboard_entry_t
Vectormap feature data.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1298
PLAYERC_EXPORT playerc_graphics3d_t * playerc_graphics3d_create(playerc_client_t *client, int index)
Create a graphics3d device proxy.
int stall
Stall flag [0, 1].
Definition: playerc.h:2800
PLAYERC_EXPORT int playerc_position3d_unsubscribe(playerc_position3d_t *device)
Un-subscribe from the position3d device.
PLAYERC_EXPORT int playerc_client_connect(playerc_client_t *client)
Connect to the server.
PLAYERC_EXPORT playerc_stereo_t * playerc_stereo_create(playerc_client_t *client, int index)
Create a stereo proxy.
PLAYERC_EXPORT int playerc_device_set_intprop(playerc_device_t *device, char *property, int32_t value)
Set an integer property.
PLAYERC_EXPORT int playerc_blackboard_unsubscribe_from_group(playerc_blackboard_t *device, const char *group)
Unsubscribe from a group.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2401
void * py_private
Kludge to get around python callback issues.
Definition: playerc.h:1185
int * intensity
Scan reflection intensity values (0-3).
Definition: playerc.h:2006
int subscribed
The subscribe flag is non-zero if the device has been successfully subscribed (read-only).
Definition: playerc.h:832
PLAYERC_EXPORT int playerc_actarray_subscribe(playerc_actarray_t *device, int access)
Subscribe to the actarray device.
PLAYERC_EXPORT int playerc_aio_unsubscribe(playerc_aio_t *device)
Un-subscribe from the aio device.
PLAYERC_EXPORT playerc_camera_t * playerc_camera_create(playerc_client_t *client, int index)
Create a camera proxy.
PLAYERC_EXPORT int playerc_ptz_set(playerc_ptz_t *device, double pan, double tilt, double zoom)
Set the pan, tilt and zoom values.
PLAYERC_EXPORT int playerc_position3d_enable(playerc_position3d_t *device, int enable)
Enable/disable the motors.
void * id
A useful ID for identifying devices; mostly used by other language bindings.
Definition: playerc.h:464
PLAYERC_EXPORT void playerc_imu_destroy(playerc_imu_t *device)
Destroy a imu proxy.
unsigned int width
Image dimensions (pixels).
Definition: playerc.h:1301
PLAYERC_EXPORT int playerc_ranger_intns_config(playerc_ranger_t *device, uint8_t value)
Turn intensity data on or off.
double wx
Current waypoint location (m, m, radians)
Definition: playerc.h:2526
PLAYERC_EXPORT void playerc_client_set_transport(playerc_client_t *client, unsigned int transport)
Set the transport type.
int format
Image format (e.g., RGB888).
Definition: playerc.h:1407
Wifi device proxy.
Definition: playerc.h:3229
player_devaddr_t addr
Player id of the device.
Definition: playerc.h:451
player_vectormap_layer_data_t ** layers_data
Layer data.
Definition: playerc.h:2409
PLAYERC_EXPORT void playerc_speechrecognition_destroy(playerc_speechrecognition_t *device)
Destroy a speech recognition proxy.
Player mixer channels.
Definition: player_interfaces.h:1572
PLAYERC_EXPORT int playerc_position3d_set_pose_with_vel(playerc_position3d_t *device, player_pose3d_t pos, player_pose3d_t vel)
Set the target pose (pos,vel) define desired position and motion speed.
PLAYERC_EXPORT int playerc_log_subscribe(playerc_log_t *device, int access)
Subscribe to the log device.
PLAYERC_EXPORT void playerc_laser_printout(playerc_laser_t *device, const char *prefix)
Print a human-readable summary of the laser state on stdout.
double * bearings
Scan bearings in the XY plane [radians].
Definition: playerc.h:3070
playerc_pointcloud3d_element_t * points
The list of 3D pointcloud elements.
Definition: playerc.h:3483
PLAYERC_EXPORT int playerc_vectormap_unsubscribe(playerc_vectormap_t *device)
Un-subscribe from the vectormap device.
PLAYERC_EXPORT int playerc_sonar_get_geom(playerc_sonar_t *device)
Get the sonar geometry.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:1083
PLAYERC_EXPORT int playerc_audio_wav_rec(playerc_audio_t *device)
Request to record a single audio block Value is returned into wav_data, block length is determined by...
PLAYERC_EXPORT int playerc_simulation_subscribe(playerc_simulation_t *device, int access)
Subscribe to the simulation device.
PLAYERC_EXPORT playerc_simulation_t * playerc_simulation_create(playerc_client_t *client, int index)
Create a new simulation proxy.
PLAYERC_EXPORT int playerc_actarray_unsubscribe(playerc_actarray_t *device)
Un-subscribe from the actarray device.
PLAYERC_EXPORT int playerc_audio_sample_rec(playerc_audio_t *device, int index, uint32_t length)
Request to record new sample.
PLAYERC_EXPORT int playerc_wifi_unsubscribe(playerc_wifi_t *device)
Un-subscribe from the wifi device.
PLAYERC_EXPORT int playerc_audio_unsubscribe(playerc_audio_t *device)
Un-subscribe from the audio device.
A line segment, used to construct vector-based maps.
Definition: player.h:287
PLAYERC_EXPORT int playerc_aio_subscribe(playerc_aio_t *device, int access)
Subscribe to the aio device.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:932
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3022
PLAYERC_EXPORT void playerc_client_set_retry_time(playerc_client_t *client, double time)
Set the connection retry sleep time.
PLAYERC_EXPORT int playerc_map_subscribe(playerc_map_t *device, int access)
Subscribe to the map device.
player_wsn_node_data_t data_packet
The WSN node's data packet.
Definition: playerc.h:3622
The geometry of a single bumper.
Definition: player_interfaces.h:1929
PLAYERC_EXPORT int playerc_audio_mixer_channel_cmd(playerc_audio_t *device, uint32_t index, float amplitude, uint8_t active)
Command to set mixer levels for a single channel.
int fdiv
Some images (such as disparity maps) use scaled pixel values; for these images, fdiv specifies the sc...
Definition: playerc.h:1412
PLAYERC_EXPORT int playerc_speech_unsubscribe(playerc_speech_t *device)
Un-subscribe from the speech device.
PLAYERC_EXPORT int playerc_wsn_power(playerc_wsn_t *device, int node_id, int group_id, int value)
Put the node in sleep mode (0) or wake it up (1).
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:3232
PLAYERC_EXPORT playerc_localize_t * playerc_localize_create(playerc_client_t *client, int index)
Create a localize proxy.
PLAYERC_EXPORT int playerc_position1d_set_cmd_pos(playerc_position1d_t *device, double pos, int state)
Set the target position.
player_devaddr_t addr
Device address.
Definition: playerc.h:825
Limb device data.
Definition: playerc.h:2131
double vel_x
Linear velocity (m/s).
Definition: playerc.h:2794
PLAYERC_EXPORT int playerc_ranger_power_config(playerc_ranger_t *device, uint8_t value)
Turn device power on or off.
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2216
playerc_device_t info
Device info; must be at the start of all device structures.
Definition: playerc.h:2134
PLAYERC_EXPORT int playerc_actarray_current_cmd(playerc_actarray_t *device, int joint, float current)
Command a joint in the array to move with a specified current.
PLAYERC_EXPORT int playerc_simulation_reset(playerc_simulation_t *device)
reset the simulation state
PLAYERC_EXPORT int playerc_simulation_set_pose2d(playerc_simulation_t *device, char *name, double gx, double gy, double ga)
Set the 2D pose of a named simulation object.
PLAYERC_EXPORT int playerc_gripper_stop_cmd(playerc_gripper_t *device)
Command the gripper to stop.
Definition: playerc.h:383
PLAYERC_EXPORT int playerc_fiducial_get_geom(playerc_fiducial_t *device)
Get the fiducial geometry.
PLAYERC_EXPORT int playerc_position1d_set_cmd_vel(playerc_position1d_t *device, double vel, int state)
Set the target speed.
PLAYERC_EXPORT playerc_audio_t * playerc_audio_create(playerc_client_t *client, int index)
Create an audio proxy.
PLAYERC_EXPORT playerc_position2d_t * playerc_position2d_create(playerc_client_t *client, int index)
Create a position2d device proxy.
PLAYERC_EXPORT void playerc_power_destroy(playerc_power_t *device)
Destroy a power device proxy.
PLAYERC_EXPORT int playerc_rfid_unsubscribe(playerc_rfid_t *device)
Un-subscribe from the rfid device.
uint32_t state
current driver state
Definition: playerc.h:1098
PLAYERC_EXPORT int playerc_planner_unsubscribe(playerc_planner_t *device)
Un-subscribe from the planner device.
Player mixer channels.
Definition: player_interfaces.h:1533
enum player_graphics3d_draw_mode player_graphics3d_draw_mode_t
Drawmode: enumeration that defines the drawing mode.
int stall
Stall flag [0, 1].
Definition: playerc.h:2605
Definition: player_interfaces.h:5221
PLAYERC_EXPORT int playerc_audio_subscribe(playerc_audio_t *device, int access)
Subscribe to the audio device.
void(* on_blackboard_event)(struct playerc_blackboard *, player_blackboard_entry_t)
Function to be called when a key is updated.
Definition: playerc.h:1183
struct playerc_localize_particle playerc_localize_particle_t
Hypothesis data.
player_actarray_actuator_t * actuators_data
The actuator data, geometry and motor state.
Definition: playerc.h:994
PLAYERC_EXPORT int playerc_gripper_unsubscribe(playerc_gripper_t *device)
Un-subscribe from the gripper device.
PLAYERC_EXPORT void playerc_stereo_destroy(playerc_stereo_t *device)
Destroy a stereo proxy.
int status
Status bitfield of extra data in the following order:
Definition: playerc.h:2618
PLAYERC_EXPORT int playerc_ir_get_geom(playerc_ir_t *device)
Get the ir geometry.
Hypothesis format.
Definition: player_interfaces.h:2333
PLAYERC_EXPORT int playerc_gps_subscribe(playerc_gps_t *device, int access)
Subscribe to the gps device.
PLAYERC_EXPORT int playerc_client_disconnect_retry(playerc_client_t *client)
Disconnect from the server, with potential retry.
PLAYERC_EXPORT void * playerc_client_read(playerc_client_t *client)
Read data from the server (blocking).
PLAYERC_EXPORT playerc_log_t * playerc_log_create(playerc_client_t *client, int index)
Create a log proxy.
PLAYERC_EXPORT playerc_ir_t * playerc_ir_create(playerc_client_t *client, int index)
Create a ir proxy.
player_orientation_3d_t base_orientation
The orientation of the base of the actarray.
Definition: playerc.h:1003
PLAYERC_EXPORT int playerc_vectormap_get_map_info(playerc_vectormap_t *device)
Get the vectormap metadata, which is stored in the proxy.
Actarray device data.
Definition: playerc.h:986
PLAYERC_EXPORT void playerc_blinkenlight_destroy(playerc_blinkenlight_t *device)
Destroy a blinkenlight proxy.
PLAYERC_EXPORT int playerc_client_addcallback(playerc_client_t *client, struct _playerc_device_t *device, playerc_callback_fn_t callback, void *data)
Add user callbacks (called when new data arrives).
PLAYERC_EXPORT int playerc_actarray_brakes(playerc_actarray_t *device, uint8_t enable)
Turn the brakes of all actuators in the array that have them on or off.