Player
Frontpage
Contents
User
Installation
Quick start
Supported devices
Tutorials
Utilities
Client libraries
FAQ
Help
Developer
Architecture
libplayercore
interfaces
libplayerdrivers
drivers
libplayercommon
libplayerutils
libplayersd
libplayertcp
libplayerxdr
TODO
Online
Homepage
Download
Project
Bugs
Help
obj-i686-linux-gnu
libplayerinterface
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
;
104
player_devaddr_t
devices
[
PLAYER_MAX_DEVICES
];
105
}
player_device_devlist_t
;
106
113
typedef
struct
player_device_driverinfo
114
{
116
player_devaddr_t
addr
;
118
uint32_t
driver_name_count
;
120
char
driver_name
[
PLAYER_MAX_DRIVER_STRING_LEN
];
121
}
player_device_driverinfo_t
;
122
140
typedef
struct
player_device_req
141
{
143
player_devaddr_t
addr
;
145
uint8_t
access
;
147
uint32_t
driver_name_count
;
149
char
driver_name
[
PLAYER_MAX_DRIVER_STRING_LEN
];
150
}
player_device_req_t
;
151
152
159
typedef
struct
player_device_datamode_req
160
{
162
uint8_t
mode
;
163
164
}
player_device_datamode_req_t
;
165
166
198
typedef
struct
player_device_auth_req
199
{
201
uint32_t
auth_key_count
;
203
uint8_t
auth_key
[
PLAYER_KEYLEN
];
204
205
}
player_device_auth_req_t
;
206
207
212
typedef
struct
player_device_nameservice_req
213
{
215
uint32_t
name_count
;
217
uint8_t
name
[
PLAYER_MAX_DRIVER_STRING_LEN
];
219
uint16_t
port
;
220
}
player_device_nameservice_req_t
;
221
232
typedef
struct
player_add_replace_rule_req
233
{
235
int32_t
interf
;
237
int32_t
index
;
239
int32_t
type
;
241
int32_t
subtype
;
243
int32_t
replace
;
244
}
player_add_replace_rule_req_t
;
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
313
}
player_power_data_t
;
314
315
320
typedef
struct
player_power_chargepolicy_config
321
{
324
uint8_t
enable_input
;
327
uint8_t
enable_output
;
328
}
player_power_chargepolicy_config_t
;
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
;
426
}
player_gripper_data_t
;
427
433
typedef
struct
player_gripper_geom
434
{
436
player_pose3d_t
pose
;
438
player_bbox3d_t
outer_size
;
441
player_bbox3d_t
inner_size
;
443
uint8_t
num_beams
;
445
uint8_t
capacity
;
446
}
player_gripper_geom_t
;
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
606
typedef
struct
player_position2d_data
607
{
609
player_pose2d_t
pos
;
611
player_pose2d_t
vel
;
613
uint8_t
stall
;
614
}
player_position2d_data_t
;
615
617
typedef
struct
player_position2d_cmd_vel
618
{
620
player_pose2d_t
vel
;
622
uint8_t
state
;
623
}
player_position2d_cmd_vel_t
;
624
626
typedef
struct
player_position2d_cmd_pos
627
{
629
player_pose2d_t
pos
;
631
player_pose2d_t
vel
;
633
uint8_t
state
;
634
}
player_position2d_cmd_pos_t
;
635
637
typedef
struct
player_position2d_cmd_car
638
{
640
double
velocity
;
642
double
angle
;
643
}
player_position2d_cmd_car_t
;
644
646
typedef
struct
player_position2d_cmd_vel_head
647
{
649
double
velocity
;
651
double
angle
;
652
}
player_position2d_cmd_vel_head_t
;
653
655
typedef
struct
player_position2d_geom
656
{
658
player_pose3d_t
pose
;
660
player_bbox3d_t
size
;
661
}
player_position2d_geom_t
;
662
664
typedef
struct
player_position2d_power_config
665
{
667
uint8_t
state
;
668
}
player_position2d_power_config_t
;
669
671
typedef
struct
player_position2d_velocity_mode_config
672
{
674
uint32_t
value
;
675
}
player_position2d_velocity_mode_config_t
;
676
677
679
typedef
struct
player_position2d_position_mode_req
680
{
682
uint32_t
state
;
683
}
player_position2d_position_mode_req_t
;
684
686
typedef
struct
player_position2d_set_odom_req
687
{
689
player_pose2d_t
pose
;
690
}
player_position2d_set_odom_req_t
;
691
693
typedef
struct
player_position2d_speed_pid_req
694
{
696
float
kp
;
698
float
ki
;
700
float
kd
;
701
}
player_position2d_speed_pid_req_t
;
702
704
typedef
struct
player_position2d_position_pid_req
705
{
707
float
kp
;
709
float
ki
;
711
float
kd
;
712
}
player_position2d_position_pid_req_t
;
713
715
typedef
struct
player_position2d_speed_prof_req
716
{
718
float
speed
;
720
float
acc
;
721
}
player_position2d_speed_prof_req_t
;
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
;
778
}
player_sonar_data_t
;
779
786
typedef
struct
player_sonar_geom
787
{
789
uint32_t
poses_count
;
791
player_pose3d_t
*
poses
;
792
}
player_sonar_geom_t
;
793
798
typedef
struct
player_sonar_power_config
799
{
801
uint8_t
state
;
802
}
player_sonar_power_config_t
;
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
;
906
}
player_laser_data_t
;
907
912
typedef
struct
player_laser_data_scanpose
913
{
915
player_laser_data_t
scan
;
917
player_pose2d_t
pose
;
918
}
player_laser_data_scanpose_t
;
919
923
typedef
struct
player_laser_data_scanangle
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
;
941
}
player_laser_data_scanangle_t
;
942
943
948
typedef
struct
player_laser_geom
949
{
951
player_pose3d_t
pose
;
953
player_bbox3d_t
size
;
954
}
player_laser_geom_t
;
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
;
979
float
scanning_frequency
;
980
}
player_laser_config_t
;
981
986
typedef
struct
player_laser_power_config
987
{
989
uint8_t
state
;
990
}
player_laser_power_config_t
;
991
996
typedef
struct
player_laser_get_id_config
997
{
999
uint32_t
serial_number
;
1000
}
player_laser_get_id_config_t
;
1001
1019
typedef
struct
player_laser_set_filter_config
1020
{
1022
uint8_t
filter_type
;
1024
uint32_t
parameters_count
;
1026
float
parameters
[
PLAYER_LASER_MAX_FILTER_PARAMS
];
1027
}
player_laser_set_filter_config_t
;
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
1071
typedef
struct
player_blobfinder_blob
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
;
1094
}
player_blobfinder_blob_t
;
1095
1099
typedef
struct
player_blobfinder_data
1100
{
1102
uint32_t
width
;
1104
uint32_t
height
;
1106
uint32_t
blobs_count
;
1108
player_blobfinder_blob_t
*
blobs
;
1109
}
player_blobfinder_data_t
;
1110
1111
1121
typedef
struct
player_blobfinder_color_config
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
;
1139
}
player_blobfinder_color_config_t
;
1140
1141
1156
typedef
struct
player_blobfinder_imager_config
1157
{
1159
int32_t
brightness
;
1161
int32_t
contrast
;
1166
int32_t
colormode
;
1168
int32_t
autogain
;
1169
}
player_blobfinder_imager_config_t
;
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
;
1245
}
player_ptz_data_t
;
1246
1251
typedef
struct
player_ptz_cmd
1252
{
1254
float
pan
;
1256
float
tilt
;
1258
float
zoom
;
1260
float
panspeed
;
1262
float
tiltspeed
;
1263
}
player_ptz_cmd_t
;
1264
1268
typedef
struct
player_ptz_req_status
1269
{
1270
uint32_t status;
1271
}
player_ptz_req_status_t
;
1272
1276
typedef
struct
player_ptz_geom
1277
{
1279
player_pose3d_t
pos
;
1281
player_bbox3d_t
size
;
1282
}
player_ptz_geom_t
;
1283
1290
typedef
struct
player_ptz_req_generic
1291
{
1293
uint32_t
config_count
;
1295
uint32_t *
config
;
1296
}
player_ptz_req_generic_t
;
1297
1304
typedef
struct
player_ptz_req_control_mode
1305
{
1308
uint32_t
mode
;
1309
}
player_ptz_req_control_mode_t
;
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
;
1474
}
player_audio_wav_t
;
1475
1476
1484
typedef
struct
player_audio_seq_item
1485
{
1487
float
freq
;
1489
float
duration
;
1491
float
amplitude
;
1493
player_bool_t
link
;
1494
}
player_audio_seq_item_t
;
1495
1496
1502
typedef
struct
player_audio_seq
1503
{
1505
uint32_t
tones_count
;
1507
player_audio_seq_item_t
*
tones
;
1508
}
player_audio_seq_t
;
1509
1510
1516
typedef
struct
player_audio_mixer_channel
1517
{
1519
float
amplitude
;
1521
player_bool_t
active
;
1523
uint32_t
index
;
1524
}
player_audio_mixer_channel_t
;
1525
1526
1527
1533
typedef
struct
player_audio_mixer_channel_list
1534
{
1536
uint32_t
channels_count
;
1538
player_audio_mixer_channel_t
*
channels
;
1539
}
player_audio_mixer_channel_list_t
;
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
1555
typedef
struct
player_audio_mixer_channel_detail
1556
{
1558
uint32_t
name_count
;
1560
char
*
name
;
1562
uint8_t
caps
;
1563
}
player_audio_mixer_channel_detail_t
;
1564
1565
1566
1572
typedef
struct
player_audio_mixer_channel_list_detail
1573
{
1575
uint32_t
details_count
;
1577
player_audio_mixer_channel_detail_t
*
details
;
1579
int32_t
default_output
;
1581
int32_t
default_input
;
1582
}
player_audio_mixer_channel_list_detail_t
;
1583
1584
1585
1592
typedef
struct
player_audio_sample
1593
{
1595
player_audio_wav_t
sample
;
1597
int32_t
index
;
1598
}
player_audio_sample_t
;
1599
1605
typedef
struct
player_audio_sample_item
1606
{
1608
int32_t
index
;
1609
}
player_audio_sample_item_t
;
1610
1616
typedef
struct
player_audio_sample_rec_req
1617
{
1620
int32_t
index
;
1622
uint32_t
length
;
1623
}
player_audio_sample_rec_req_t
;
1624
1631
typedef
struct
player_audio_state
1632
{
1634
uint32_t
state
;
1635
}
player_audio_state_t
;
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
;
1694
player_pose3d_t
pose
;
1696
player_pose3d_t
upose
;
1697
}
player_fiducial_item_t
;
1698
1699
1703
typedef
struct
player_fiducial_data
1704
{
1706
uint32_t
fiducials_count
;
1708
player_fiducial_item_t
*
fiducials
;
1709
1710
}
player_fiducial_data_t
;
1711
1717
typedef
struct
player_fiducial_geom
1718
{
1720
player_pose3d_t
pose
;
1722
player_bbox3d_t
size
;
1724
player_bbox2d_t
fiducial_size
;
1725
}
player_fiducial_geom_t
;
1726
1733
typedef
struct
player_fiducial_fov
1734
{
1736
float
min_range
;
1738
float
max_range
;
1740
float
view_angle
;
1741
}
player_fiducial_fov_t
;
1742
1758
typedef
struct
player_fiducial_id
1759
{
1761
uint32_t
id
;
1762
}
player_fiducial_id_t
;
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
;
1806
}
player_speech_cmd_t
;
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
;
1877
}
player_gps_data_t
;
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
;
1926
}
player_bumper_data_t
;
1927
1929
typedef
struct
player_bumper_define
1930
{
1932
player_pose3d_t
pose
;
1934
float
length
;
1936
float
radius
;
1937
}
player_bumper_define_t
;
1938
1946
typedef
struct
player_bumper_geom
1947
{
1949
uint32_t
bumper_def_count
;
1951
player_bumper_define_t
*
bumper_def
;
1952
}
player_bumper_geom_t
;
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
;
1998
}
player_dio_data_t
;
1999
2004
typedef
struct
player_dio_cmd
2005
{
2007
uint32_t
count
;
2009
uint32_t
digout
;
2010
}
player_dio_cmd_t
;
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
;
2057
}
player_aio_data_t
;
2058
2062
typedef
struct
player_aio_cmd
2063
{
2065
uint32_t
id
;
2067
float
voltage
;
2068
}
player_aio_cmd_t
;
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
;
2123
}
player_ir_data_t
;
2124
2128
typedef
struct
player_ir_pose
2129
{
2131
uint32_t
poses_count
;
2133
player_pose3d_t
*
poses
;
2134
}
player_ir_pose_t
;
2135
2140
typedef
struct
player_ir_power_req
2141
{
2143
uint8_t
state
;
2144
}
player_ir_power_req_t
;
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
;
2240
}
player_wifi_link_t
;
2241
2245
typedef
struct
player_wifi_data
2246
{
2248
uint32_t
links_count
;
2250
player_wifi_link_t
*
links
;
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];
2267
}
player_wifi_data_t
;
2268
2270
typedef
struct
player_wifi_mac_req
2271
{
2273
uint32_t
mac_count
;
2274
uint8_t mac[32];
2275
}
player_wifi_mac_req_t
;
2276
2278
typedef
struct
player_wifi_iwspy_addr_req
2279
{
2281
char
address
[32];
2282
}
player_wifi_iwspy_addr_req_t
;
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
2333
typedef
struct
player_localize_hypoth
2334
{
2336
player_pose2d_t
mean
;
2338
double
cov
[3];
2340
double
alpha
;
2341
}
player_localize_hypoth_t
;
2342
2347
typedef
struct
player_localize_data
2348
{
2350
uint32_t
pending_count
;
2352
double
pending_time
;
2354
uint32_t
hypoths_count
;
2356
player_localize_hypoth_t
*
hypoths
;
2357
}
player_localize_data_t
;
2358
2363
typedef
struct
player_localize_set_pose
2364
{
2366
player_pose2d_t
mean
;
2369
double
cov
[3];
2370
}
player_localize_set_pose_t
;
2371
2373
typedef
struct
player_localize_particle
2374
{
2376
player_pose2d_t
pose
;
2378
double
alpha
;
2379
}
player_localize_particle_t
;
2380
2386
typedef
struct
player_localize_get_particles
2387
{
2389
player_pose2d_t
mean
;
2391
double
variance
;
2393
uint32_t
particles_count
;
2395
player_localize_particle_t
*
particles
;
2396
}
player_localize_get_particles_t
;
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
2470
typedef
struct
player_position3d_data
2471
{
2473
player_pose3d_t
pos
;
2475
player_pose3d_t
vel
;
2477
uint8_t
stall
;
2478
}
player_position3d_data_t
;
2479
2484
typedef
struct
player_position3d_cmd_pos
2485
{
2487
player_pose3d_t
pos
;
2489
player_pose3d_t
vel
;
2491
uint8_t
state
;
2492
}
player_position3d_cmd_pos_t
;
2493
2498
typedef
struct
player_position3d_cmd_vel
2499
{
2501
player_pose3d_t
vel
;
2503
uint8_t
state
;
2504
}
player_position3d_cmd_vel_t
;
2505
2509
typedef
struct
player_position3d_geom
2510
{
2512
player_pose3d_t
pose
;
2514
player_bbox3d_t
size
;
2515
}
player_position3d_geom_t
;
2516
2527
typedef
struct
player_position3d_power_config
2528
{
2530
uint8_t
state
;
2531
}
player_position3d_power_config_t
;
2532
2538
typedef
struct
player_position3d_position_mode_req
2539
{
2541
uint32_t
value
;
2542
}
player_position3d_position_mode_req_t
;
2543
2551
typedef
struct
player_position3d_velocity_mode_config
2552
{
2554
uint32_t
value
;
2555
}
player_position3d_velocity_mode_config_t
;
2556
2561
typedef
struct
player_position3d_set_odom_req
2562
{
2564
player_pose3d_t
pos
;
2565
}
player_position3d_set_odom_req_t
;
2566
2576
typedef
struct
player_position3d_speed_pid_req
2577
{
2579
float
kp
;
2581
float
ki
;
2583
float
kd
;
2584
}
player_position3d_speed_pid_req_t
;
2585
2590
typedef
struct
player_position3d_position_pid_req
2591
{
2593
float
kp
;
2595
float
ki
;
2597
float
kd
;
2598
}
player_position3d_position_pid_req_t
;
2599
2604
typedef
struct
player_position3d_speed_prof_req
2605
{
2607
float
speed
;
2609
float
acc
;
2610
}
player_position3d_speed_prof_req_t
;
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
2682
typedef
struct
player_simulation_data
2683
{
2685
uint8_t
data
;
2686
}
player_simulation_data_t
;
2687
2692
typedef
struct
player_simulation_cmd
2693
{
2695
uint8_t
cmd
;
2696
}
player_simulation_cmd_t
;
2697
2704
typedef
struct
player_simulation_pose2d_req
2705
{
2707
uint32_t
name_count
;
2709
char
*
name
;
2711
player_pose2d_t
pose
;
2712
}
player_simulation_pose2d_req_t
;
2713
2720
typedef
struct
player_simulation_pose3d_req
2721
{
2723
uint32_t
name_count
;
2725
char
*
name
;
2727
player_pose3d_t
pose
;
2729
double
simtime
;
2730
}
player_simulation_pose3d_req_t
;
2731
2752
typedef
struct
player_simulation_property_req
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
;
2768
}
player_simulation_property_req_t
;
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
2820
typedef
struct
player_blinkenlight_data
2821
{
2823
uint8_t
enable
;
2825
float
period
;
2827
float
dutycycle
;
2829
player_color_t
color
;
2830
}
player_blinkenlight_data_t
;
2831
2835
typedef
struct
player_blinkenlight_cmd
2836
{
2838
uint16_t
id
;
2840
uint8_t
enable
;
2842
float
period
;
2844
float
dutycycle
;
2846
player_color_t
color
;
2847
}
player_blinkenlight_cmd_t
;
2848
2852
typedef
struct
player_blinkenlight_cmd_power
2853
{
2855
uint16_t
id
;
2857
uint8_t
enable
;
2858
}
player_blinkenlight_cmd_power_t
;
2859
2863
typedef
struct
player_blinkenlight_cmd_color
2864
{
2866
uint16_t
id
;
2868
player_color_t
color
;
2869
}
player_blinkenlight_cmd_color_t
;
2870
2874
typedef
struct
player_blinkenlight_cmd_flash
2875
{
2877
uint16_t
id
;
2879
float
period
;
2881
float
dutycycle
;
2882
}
player_blinkenlight_cmd_flash_t
;
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
;
2957
}
player_camera_data_t
;
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
;
3022
}
player_map_info_t
;
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
;
3046
}
player_map_data_t
;
3047
3052
typedef
struct
player_map_data_vector
3053
{
3055
float
minx
;
3057
float
maxx
;
3059
float
miny
;
3061
float
maxy
;
3063
uint32_t
segments_count
;
3065
player_segment_t
*
segments
;
3066
}
player_map_data_vector_t
;
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
3097
3099
#define PLAYER_PLANNER_CMD_GOAL 1
3100
3102
#define PLAYER_PLANNER_REQ_GET_WAYPOINTS 1
3103
3105
#define PLAYER_PLANNER_REQ_ENABLE 2
3106
3107
3108
3109
3114
typedef
struct
player_planner_data
3115
{
3117
uint8_t
valid
;
3119
uint8_t
done
;
3121
player_pose2d_t
pos
;
3123
player_pose2d_t
goal
;
3125
player_pose2d_t
waypoint
;
3129
int32_t
waypoint_idx
;
3131
uint32_t
waypoints_count
;
3132
}
player_planner_data_t
;
3133
3137
typedef
struct
player_planner_cmd
3138
{
3140
player_pose2d_t
goal
;
3141
}
player_planner_cmd_t
;
3142
3148
typedef
struct
player_planner_waypoints_req
3149
{
3151
uint32_t
waypoints_count
;
3153
player_pose2d_t
*
waypoints
;
3154
}
player_planner_waypoints_req_t
;
3155
3161
typedef
struct
player_planner_enable_req
3162
{
3164
uint8_t
state
;
3165
}
player_planner_enable_req_t
;
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
3199
3201
#define PLAYER_LOG_REQ_SET_READ_STATE 2
3202
3204
#define PLAYER_LOG_REQ_GET_STATE 3
3205
3207
#define PLAYER_LOG_REQ_SET_READ_REWIND 4
3208
3210
#define PLAYER_LOG_REQ_SET_FILENAME 5
3211
3212
3213
3215
#define PLAYER_LOG_TYPE_READ 1
3216
3217
#define PLAYER_LOG_TYPE_WRITE 2
3218
3219
3224
typedef
struct
player_log_set_write_state
3225
{
3227
uint8_t
state
;
3228
}
player_log_set_write_state_t
;
3229
3234
typedef
struct
player_log_set_read_state
3235
{
3237
uint8_t
state
;
3238
}
player_log_set_read_state_t
;
3239
3251
typedef
struct
player_log_get_state
3252
{
3255
uint8_t
type
;
3257
uint8_t
state
;
3258
}
player_log_get_state_t
;
3259
3264
typedef
struct
player_log_set_filename
3265
{
3267
uint32_t
filename_count
;
3269
char
filename
[256];
3270
}
player_log_set_filename_t
;
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
3306
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
;
3321
}
player_joystick_data_t
;
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
3355
3356
3360
typedef
struct
player_speech_recognition_data
3361
{
3363
uint32_t
text_count
;
3365
char
*
text
;
3366
}
player_speech_recognition_data_t
;
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
3400
3402
#define PLAYER_OPAQUE_CMD_DATA 1
3403
3405
#define PLAYER_OPAQUE_REQ_DATA 1
3406
3407
3408
3409
/* for backwards compatibility */
3410
#define PLAYER_OPAQUE_REQ PLAYER_OPAQUE_REQ_DATA
3411
#define PLAYER_OPAQUE_CMD PLAYER_OPAQUE_CMD_DATA
3412
3414
typedef
struct
player_opaque_data
3415
{
3417
uint32_t
data_count
;
3419
uint8_t *
data
;
3420
}
player_opaque_data_t
;
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
3451
3453
#define PLAYER_POSITION1D_REQ_MOTOR_POWER 2
3454
3456
#define PLAYER_POSITION1D_REQ_VELOCITY_MODE 3
3457
3459
#define PLAYER_POSITION1D_REQ_POSITION_MODE 4
3460
3462
#define PLAYER_POSITION1D_REQ_SET_ODOM 5
3463
3465
#define PLAYER_POSITION1D_REQ_RESET_ODOM 6
3466
3468
#define PLAYER_POSITION1D_REQ_SPEED_PID 7
3469
3471
#define PLAYER_POSITION1D_REQ_POSITION_PID 8
3472
3474
#define PLAYER_POSITION1D_REQ_SPEED_PROF 9
3475
3477
#define PLAYER_POSITION1D_DATA_STATE 1
3478
3480
#define PLAYER_POSITION1D_DATA_GEOM 2
3481
3483
#define PLAYER_POSITION1D_CMD_VEL 1
3484
3486
#define PLAYER_POSITION1D_CMD_POS 2
3487
3488
3489
3491
#define PLAYER_POSITION1D_STATUS_LIMIT_MIN 0
3492
3493
#define PLAYER_POSITION1D_STATUS_LIMIT_CEN 1
3494
3495
#define PLAYER_POSITION1D_STATUS_LIMIT_MAX 2
3496
3497
#define PLAYER_POSITION1D_STATUS_OC 3
3498
3499
#define PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE 4
3500
3501
#define PLAYER_POSITION1D_STATUS_ENABLED 5
3502
3507
typedef
struct
player_position1d_data
3508
{
3510
float
pos
;
3512
float
vel
;
3514
uint8_t
stall
;
3526
uint8_t
status
;
3527
3528
}
player_position1d_data_t
;
3529
3535
typedef
struct
player_position1d_cmd_vel
3536
{
3538
float
vel
;
3540
uint8_t
state
;
3541
}
player_position1d_cmd_vel_t
;
3542
3548
typedef
struct
player_position1d_cmd_pos
3549
{
3551
float
pos
;
3553
float
vel
;
3555
uint8_t
state
;
3556
}
player_position1d_cmd_pos_t
;
3557
3562
typedef
struct
player_position1d_geom
3563
{
3565
player_pose3d_t
pose
;
3567
player_bbox3d_t
size
;
3568
}
player_position1d_geom_t
;
3569
3581
typedef
struct
player_position1d_power_config
3582
{
3584
uint8_t
state
;
3585
}
player_position1d_power_config_t
;
3586
3595
typedef
struct
player_position1d_velocity_mode_config
3596
{
3598
uint32_t
value
;
3599
}
player_position1d_velocity_mode_config_t
;
3600
3605
typedef
struct
player_position1d_reset_odom_config
3606
{
3608
uint32_t
value
;
3609
}
player_position1d_reset_odom_config_t
;
3610
3616
typedef
struct
player_position1d_position_mode_req
3617
{
3619
uint32_t
state
;
3620
}
player_position1d_position_mode_req_t
;
3621
3627
typedef
struct
player_position1d_set_odom_req
3628
{
3630
float
pos
;
3631
}
player_position1d_set_odom_req_t
;
3632
3638
typedef
struct
player_position1d_speed_pid_req
3639
{
3641
float
kp
;
3643
float
ki
;
3645
float
kd
;
3646
}
player_position1d_speed_pid_req_t
;
3647
3653
typedef
struct
player_position1d_position_pid_req
3654
{
3656
float
kp
;
3658
float
ki
;
3660
float
kd
;
3661
}
player_position1d_position_pid_req_t
;
3662
3668
typedef
struct
player_position1d_speed_prof_req
3669
{
3671
float
speed
;
3673
float
acc
;
3674
}
player_position1d_speed_prof_req_t
;
3675
3676
3682
#define PLAYER_ACTARRAY_CODE 53
3683
3686
#define PLAYER_ACTARRAY_STRING "actarray"
3687
3688
// /////////////////////////////////////////////////////////////////////////////
3703
#define PLAYER_ACTARRAY_REQ_POWER 1
3704
3705
3706
#define PLAYER_ACTARRAY_REQ_BRAKES 2
3707
3708
3709
#define PLAYER_ACTARRAY_REQ_GET_GEOM 3
3710
3711
3712
#define PLAYER_ACTARRAY_REQ_SPEED 4
3713
3714
3715
#define PLAYER_ACTARRAY_REQ_ACCEL 5
3716
3717
3718
#define PLAYER_ACTARRAY_CMD_POS 1
3719
3720
3721
#define PLAYER_ACTARRAY_CMD_MULTI_POS 2
3722
3723
3724
#define PLAYER_ACTARRAY_CMD_SPEED 3
3725
3726
3727
#define PLAYER_ACTARRAY_CMD_MULTI_SPEED 4
3728
3729
3730
#define PLAYER_ACTARRAY_CMD_HOME 5
3731
3732
3733
#define PLAYER_ACTARRAY_CMD_CURRENT 6
3734
3735
3736
#define PLAYER_ACTARRAY_CMD_MULTI_CURRENT 7
3737
3738
3739
#define PLAYER_ACTARRAY_DATA_STATE 1
3740
3741
3743
#define PLAYER_ACTARRAY_ACTSTATE_IDLE 1
3744
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
3753
3754
#define PLAYER_ACTARRAY_TYPE_ROTARY 2
3755
3756
3758
typedef
struct
player_actarray_actuator
3759
{
3761
float
position
;
3763
float
speed
;
3765
float
acceleration
;
3767
float
current
;
3769
uint8_t
state
;
3770
}
player_actarray_actuator_t
;
3771
3775
typedef
struct
player_actarray_data
3776
{
3778
uint32_t
actuators_count
;
3780
player_actarray_actuator_t
*
actuators
;
3782
uint8_t
motor_state
;
3783
}
player_actarray_data_t
;
3784
3786
typedef
struct
player_actarray_actuatorgeom
3787
{
3789
uint8_t
type
;
3792
float
length
;
3797
player_orientation_3d_t
orientation
;
3800
player_point_3d_t
axis
;
3802
float
min
;
3804
float
centre
;
3806
float
max
;
3808
float
home
;
3810
float
config_speed
;
3812
uint8_t
hasbrakes
;
3813
}
player_actarray_actuatorgeom_t
;
3814
3819
typedef
struct
player_actarray_geom
3820
{
3822
uint32_t
actuators_count
;
3824
player_actarray_actuatorgeom_t
*
actuators
;
3827
player_point_3d_t
base_pos
;
3830
player_orientation_3d_t
base_orientation
;
3831
}
player_actarray_geom_t
;
3832
3833
3837
typedef
struct
player_actarray_position_cmd
3838
{
3840
int32_t
joint
;
3842
float
position
;
3843
}
player_actarray_position_cmd_t
;
3844
3848
typedef
struct
player_actarray_multi_position_cmd
3849
{
3851
uint32_t
positions_count
;
3853
float
*
positions
;
3854
}
player_actarray_multi_position_cmd_t
;
3855
3859
typedef
struct
player_actarray_speed_cmd
3860
{
3862
int32_t
joint
;
3864
float
speed
;
3865
}
player_actarray_speed_cmd_t
;
3866
3870
typedef
struct
player_actarray_multi_speed_cmd
3871
{
3873
uint32_t
speeds_count
;
3875
float
*
speeds
;
3876
}
player_actarray_multi_speed_cmd_t
;
3877
3881
typedef
struct
player_actarray_home_cmd
3882
{
3884
int32_t
joint
;
3885
}
player_actarray_home_cmd_t
;
3886
3890
typedef
struct
player_actarray_current_cmd
3891
{
3893
int32_t
joint
;
3895
float
current
;
3896
}
player_actarray_current_cmd_t
;
3897
3901
typedef
struct
player_actarray_multi_current_cmd
3902
{
3904
uint32_t
currents_count
;
3906
float
*
currents
;
3907
}
player_actarray_multi_current_cmd_t
;
3908
3909
3910
3911
3918
typedef
struct
player_actarray_power_config
3919
{
3921
uint8_t
value
;
3922
}
player_actarray_power_config_t
;
3923
3928
typedef
struct
player_actarray_brakes_config
3929
{
3931
uint8_t
value
;
3932
}
player_actarray_brakes_config_t
;
3933
3938
typedef
struct
player_actarray_speed_config
3939
{
3941
int32_t
joint
;
3943
float
speed
;
3944
}
player_actarray_speed_config_t
;
3945
3946
3951
typedef
struct
player_actarray_accel_config
3952
{
3954
int32_t
joint
;
3956
float
accel
;
3957
}
player_actarray_accel_config_t
;
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
3989
3990
#define PLAYER_LIMB_STATE_BRAKED 2
3991
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
4010
4012
#define PLAYER_LIMB_CMD_SETPOSE 3
4013
4015
#define PLAYER_LIMB_CMD_SETPOSITION 4
4016
4018
#define PLAYER_LIMB_CMD_VECMOVE 5
4019
4021
#define PLAYER_LIMB_REQ_POWER 1
4022
4024
#define PLAYER_LIMB_REQ_BRAKES 2
4025
4027
#define PLAYER_LIMB_REQ_GEOM 3
4028
4030
#define PLAYER_LIMB_REQ_SPEED 4
4031
4032
4033
4037
typedef
struct
player_limb_data
4038
{
4040
player_point_3d_t
position
;
4042
player_point_3d_t
approach
;
4046
player_point_3d_t
orientation
;
4048
uint8_t
state
;
4049
}
player_limb_data_t
;
4050
4051
4056
typedef
struct
player_limb_setpose_cmd
4057
{
4059
player_point_3d_t
position
;
4061
player_point_3d_t
approach
;
4063
player_point_3d_t
orientation
;
4064
}
player_limb_setpose_cmd_t
;
4065
4070
typedef
struct
player_limb_setposition_cmd
4071
{
4073
player_point_3d_t
position
;
4074
}
player_limb_setposition_cmd_t
;
4075
4080
typedef
struct
player_limb_vecmove_cmd
4081
{
4083
player_point_3d_t
direction
;
4085
float
length
;
4086
}
player_limb_vecmove_cmd_t
;
4087
4093
typedef
struct
player_limb_power_req
4094
{
4096
uint8_t
value
;
4097
}
player_limb_power_req_t
;
4098
4103
typedef
struct
player_limb_brakes_req
4104
{
4106
uint8_t
value
;
4107
}
player_limb_brakes_req_t
;
4108
4112
typedef
struct
player_limb_geom_req
4113
{
4115
player_point_3d_t
basePos
;
4116
}
player_limb_geom_req_t
;
4117
4122
typedef
struct
player_limb_speed_req
4123
{
4125
float
speed
;
4126
}
player_limb_speed_req_t
;
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
4160
4162
#define PLAYER_GRAPHICS2D_CMD_POINTS 2
4163
4165
#define PLAYER_GRAPHICS2D_CMD_POLYLINE 3
4166
4168
#define PLAYER_GRAPHICS2D_CMD_POLYGON 4
4169
4170
4171
4179
typedef
struct
player_graphics2d_cmd_points
4180
{
4182
uint32_t
points_count
;
4184
player_point_2d_t
*
points
;
4186
player_color_t
color
;
4187
}
player_graphics2d_cmd_points_t
;
4188
4192
typedef
struct
player_graphics2d_cmd_polyline
4193
{
4195
uint32_t
points_count
;
4197
player_point_2d_t
*
points
;
4199
player_color_t
color
;
4200
}
player_graphics2d_cmd_polyline_t
;
4201
4205
typedef
struct
player_graphics2d_cmd_polygon
4206
{
4208
uint32_t
points_count
;
4210
player_point_2d_t
*
points
;
4212
player_color_t
color
;
4214
player_color_t
fill_color
;
4216
uint8_t
filled
;
4217
}
player_graphics2d_cmd_polygon_t
;
4218
4219
4225
#define PLAYER_RFID_CODE 56
4226
4229
#define PLAYER_RFID_STRING "rfid"
4230
4231
// /////////////////////////////////////////////////////////////////////////////
4247
#define PLAYER_RFID_DATA_TAGS 1
4248
4250
#define PLAYER_RFID_REQ_POWER 1
4251
4253
#define PLAYER_RFID_REQ_READTAG 2
4254
4256
#define PLAYER_RFID_REQ_WRITETAG 3
4257
4259
#define PLAYER_RFID_REQ_LOCKTAG 4
4260
4261
4262
4263
4265
typedef
struct
player_rfid_tag
4266
{
4268
uint32_t
type
;
4270
uint32_t
guid_count
;
4272
char
*
guid
;
4273
}
player_rfid_tag_t
;
4274
4278
typedef
struct
player_rfid_data
4279
{
4281
uint32_t
tags_count
;
4283
player_rfid_tag_t
*
tags
;
4284
}
player_rfid_data_t
;
4285
4286
4292
#define PLAYER_WSN_CODE 57
4293
4296
#define PLAYER_WSN_STRING "wsn"
4297
4298
// /////////////////////////////////////////////////////////////////////////////
4318
#define PLAYER_WSN_DATA_STATE 1
4319
4321
#define PLAYER_WSN_CMD_DEVSTATE 1
4322
4324
#define PLAYER_WSN_REQ_POWER 1
4325
4327
#define PLAYER_WSN_REQ_DATATYPE 2
4328
4330
#define PLAYER_WSN_REQ_DATAFREQ 3
4331
4332
4333
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
;
4357
}
player_wsn_node_data_t
;
4358
4362
typedef
struct
player_wsn_data
4363
{
4365
uint32_t
node_type
;
4367
uint32_t
node_id
;
4369
uint32_t
node_parent_id
;
4371
player_wsn_node_data_t
data_packet
;
4372
}
player_wsn_data_t
;
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
;
4387
}
player_wsn_cmd_t
;
4388
4393
typedef
struct
player_wsn_power_config
4394
{
4396
int32_t
node_id
;
4398
int32_t
group_id
;
4400
uint8_t
value
;
4401
}
player_wsn_power_config_t
;
4402
4408
typedef
struct
player_wsn_datatype_config
4409
{
4411
uint8_t
value
;
4412
}
player_wsn_datatype_config_t
;
4413
4419
typedef
struct
player_wsn_datafreq_config
4420
{
4422
int32_t
node_id
;
4424
int32_t
group_id
;
4426
double
frequency
;
4427
}
player_wsn_datafreq_config_t
;
4428
4429
4435
#define PLAYER_GRAPHICS3D_CODE 58
4436
4439
#define PLAYER_GRAPHICS3D_STRING "graphics3d"
4440
4441
// /////////////////////////////////////////////////////////////////////////////
4463
#define PLAYER_GRAPHICS3D_CMD_CLEAR 1
4464
4466
#define PLAYER_GRAPHICS3D_CMD_DRAW 2
4467
4469
#define PLAYER_GRAPHICS3D_CMD_TRANSLATE 3
4470
4472
#define PLAYER_GRAPHICS3D_CMD_ROTATE 4
4473
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
4495
}
player_graphics3d_draw_mode_t
;
4496
4497
4505
typedef
struct
player_graphics3d_cmd_draw
4506
{
4508
uint32_t
draw_mode
;
4510
uint32_t
points_count
;
4512
player_point_3d_t
*
points
;
4514
player_color_t
color
;
4515
4516
}
player_graphics3d_cmd_draw_t
;
4517
4521
typedef
struct
player_graphics3d_cmd_translate
4522
{
4523
double
x;
4524
double
y
;
4525
double
z
;
4526
}
player_graphics3d_cmd_translate_t
;
4527
4531
typedef
struct
player_graphics3d_cmd_rotate
4532
{
4533
double
a;
4534
double
x
;
4535
double
y
;
4536
double
z
;
4537
}
player_graphics3d_cmd_rotate_t
;
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
4570
4572
typedef
struct
player_health_cpu
4573
{
4575
float
idle
;
4577
float
system
;
4579
float
user
;
4580
}
player_health_cpu_t
;
4581
4583
typedef
struct
player_health_memory
4584
{
4586
int64_t
total
;
4588
int64_t
used
;
4590
int64_t
free
;
4591
}
player_health_memory_t
;
4594
typedef
struct
player_health_data
4595
{
4597
player_health_cpu_t
cpu_usage
;
4599
player_health_memory_t
mem
;
4601
player_health_memory_t
swap
;
4602
4603
}
player_health_data_t
;
4604
4605
4611
#define PLAYER_IMU_CODE 60
4612
4615
#define PLAYER_IMU_STRING "imu"
4616
4617
// /////////////////////////////////////////////////////////////////////////////
4633
#define PLAYER_IMU_DATA_STATE 1
4634
4636
#define PLAYER_IMU_DATA_CALIB 2
4637
4639
#define PLAYER_IMU_DATA_QUAT 3
4640
4642
#define PLAYER_IMU_DATA_EULER 4
4643
4645
#define PLAYER_IMU_DATA_FULLSTATE 5
4646
4648
#define PLAYER_IMU_REQ_SET_DATATYPE 1
4649
4651
#define PLAYER_IMU_REQ_RESET_ORIENTATION 2
4652
4653
4654
4655
4660
typedef
struct
player_imu_data_state
4661
{
4663
player_pose3d_t
pose
;
4664
}
player_imu_data_state_t
;
4665
4670
typedef
struct
player_imu_data_calib
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
;
4690
}
player_imu_data_calib_t
;
4691
4696
typedef
struct
player_imu_data_quat
4697
{
4699
player_imu_data_calib_t
calib_data
;
4700
4702
float
q0
;
4703
float
q1;
4704
float
q2;
4705
float
q3;
4706
}
player_imu_data_quat_t
;
4707
4712
typedef
struct
player_imu_data_euler
4713
{
4715
player_imu_data_calib_t
calib_data
;
4716
4718
player_orientation_3d_t
orientation
;
4719
}
player_imu_data_euler_t
;
4720
4721
4726
typedef
struct
player_imu_data_fullstate
4727
{
4729
player_pose3d_t
pose
;
4731
player_pose3d_t
vel
;
4733
player_pose3d_t
acc
;
4734
}
player_imu_data_fullstate_t
;
4735
4736
4737
4738
4745
typedef
struct
player_imu_datatype_config
4746
{
4750
uint8_t
value
;
4751
}
player_imu_datatype_config_t
;
4752
4757
typedef
struct
player_imu_reset_orientation_config
4758
{
4760
uint32_t
value
;
4761
}
player_imu_reset_orientation_config_t
;
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
4793
4794
4798
typedef
struct
player_pointcloud3d_element
4799
{
4800
player_point_3d_t
point;
4801
player_color_t
color;
4811
}
player_pointcloud3d_element_t
;
4812
4816
typedef
struct
player_pointcloud3d_data
4817
{
4818
uint32_t points_count;
4819
player_pointcloud3d_element_t
*points;
4820
}
player_pointcloud3d_data_t
;
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
4887
4889
#define PLAYER_RANGER_DATA_RANGESTAMPED 2
4890
4892
#define PLAYER_RANGER_DATA_INTNS 3
4893
4895
#define PLAYER_RANGER_DATA_INTNSSTAMPED 4
4896
4898
#define PLAYER_RANGER_DATA_GEOM 5
4899
4901
#define PLAYER_RANGER_REQ_GET_GEOM 1
4902
4904
#define PLAYER_RANGER_REQ_POWER 2
4905
4907
#define PLAYER_RANGER_REQ_INTNS 3
4908
4910
#define PLAYER_RANGER_REQ_SET_CONFIG 4
4911
4913
#define PLAYER_RANGER_REQ_GET_CONFIG 5
4914
4915
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
;
4937
}
player_ranger_config_t
;
4938
4942
typedef
struct
player_ranger_geom
4943
{
4945
player_pose3d_t
pose
;
4947
player_bbox3d_t
size
;
4949
uint32_t
element_poses_count
;
4951
player_pose3d_t
*
element_poses
;
4953
uint32_t
element_sizes_count
;
4955
player_bbox3d_t
*
element_sizes
;
4956
}
player_ranger_geom_t
;
4957
4961
typedef
struct
player_ranger_data_range
4962
{
4964
uint32_t
ranges_count
;
4966
double
*
ranges
;
4967
}
player_ranger_data_range_t
;
4968
4973
typedef
struct
player_ranger_data_rangestamped
4974
{
4976
player_ranger_data_range_t
data
;
4978
uint8_t
have_geom
;
4980
player_ranger_geom_t
geom
;
4982
uint8_t
have_config
;
4984
player_ranger_config_t
config
;
4985
}
player_ranger_data_rangestamped_t
;
4986
4990
typedef
struct
player_ranger_data_intns
4991
{
4993
uint32_t
intensities_count
;
4995
double
*
intensities
;
4996
}
player_ranger_data_intns_t
;
4997
5002
typedef
struct
player_ranger_data_intnsstamped
5003
{
5005
player_ranger_data_intns_t
data
;
5007
uint8_t
have_geom
;
5009
player_ranger_geom_t
geom
;
5011
uint8_t
have_config
;
5013
player_ranger_config_t
config
;
5014
}
player_ranger_data_intnsstamped_t
;
5015
5019
typedef
struct
player_ranger_power_config
5020
{
5022
uint8_t
state
;
5023
}
player_ranger_power_config_t
;
5024
5031
typedef
struct
player_ranger_intns_config
5032
{
5034
uint8_t
state
;
5035
}
player_ranger_intns_config_t
;
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
5075
5077
#define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA 3
5078
5080
#define PLAYER_VECTORMAP_REQ_WRITE_LAYER 4
5081
5082
5083
5085
typedef
struct
player_vectormap_feature_data
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
;
5100
}
player_vectormap_feature_data_t
;
5101
5102
typedef
struct
player_vectormap_layer_info
5103
{
5105
uint32_t
name_count
;
5107
char
*
name
;
5109
player_extent2d_t
extent
;
5110
}
player_vectormap_layer_info_t
;
5111
5113
typedef
struct
player_vectormap_layer_data
5114
{
5116
uint32_t
name_count
;
5118
char
*
name
;
5120
uint32_t
features_count
;
5122
player_vectormap_feature_data_t
*
features
;
5123
}
player_vectormap_layer_data_t
;
5124
5126
typedef
struct
player_vectormap_info
5127
{
5129
uint32_t
srid
;
5131
uint32_t
layers_count
;
5133
player_vectormap_layer_info_t
*
layers
;
5135
player_extent2d_t
extent
;
5136
}
player_vectormap_info_t
;
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
5166
5168
#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY 2
5169
5171
#define PLAYER_BLACKBOARD_REQ_SET_ENTRY 3
5172
5174
#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP 4
5175
5177
#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP 5
5178
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
5219
5220
5221
typedef
struct
player_pointcloud3d_stereo_element
5222
{
5224
float
px
;
5226
float
py
;
5228
float
pz
;
5230
uint8_t
red
;
5232
uint8_t
green
;
5234
uint8_t
blue
;
5235
}
player_pointcloud3d_stereo_element_t
;
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;
5250
player_pointcloud3d_stereo_element_t
*points;
5251
5252
5253
/* Special mode flags: define what images are being sent */
5254
uint32_t mode;
5255
}
player_stereo_data_t
;
5256
5257
5260
/* END OF AUTOGENERATED CODE */
Last updated 12 September 2005 21:38:45