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playerc.h File Reference #include <stdio.h> #include "player.h" Go to the source code of this file. Classes struct   playerc_client_item_t struct   playerc_mclient_t struct   playerc_device_info_t   Info about an available (but not necessarily subscribed) device. More... struct   _playerc_client_t   Client object data. More... struct   _playerc_device_t   Common device info. More... struct   playerc_blobfinder_blob_t   Description of a single blob. More... struct   playerc_blobfinder_t   Blobfinder device data. More... struct   playerc_bumper_t   Bumper proxy data. More... struct   playerc_camera_t   Camera proxy data. More... struct   playerc_fiducial_item_t   Description for a single fiducial. More... struct   playerc_fiducial_t   Fiducial finder data. More... struct   playerc_gps_t   GPS proxy data. More... struct   playerc_ir_t   Ir proxy data. More... struct   playerc_joystick_t   Joystick device data. More... struct   playerc_laser_t   Laser proxy data. More... struct   playerc_localize_hypoth_t   Hypothesis data. More... struct   playerc_localize_particle struct   playerc_localize_t   Localization device data. More... struct   playerc_log_t   Log proxy data. More... struct   playerc_map_t   Map proxy data. More... struct   playerc_motor_t   Motor device data. More... struct   playerc_planner_t   Planner device data. More... struct   playerc_position_t   Position device data. More... struct   playerc_position2d_t struct   playerc_position3d_t struct   playerc_power_t   Power device data. More... struct   playerc_ptz_t   PTZ device data. More... struct   playerc_sonar_t   Sonar proxy data. More... struct   playerc_truth_t   Truth proxy data. More... struct   playerc_wifi_link_t   Individual link info. More... struct   playerc_wifi_t   Wifi device proxy. More... struct   playerc_simulation_t   Simulation device proxy. More... struct   playerc_gripper_t   Gripper device data. More... struct   playerc_dio_t struct   playerc_speech_t Defines #define  MIN(a, b)   ((a < b) ? a : b) #define  MAX(a, b)   ((a > b) ? a : b) #define  PLAYERC_READ_MODE   PLAYER_READ_MODE #define  PLAYERC_WRITE_MODE   PLAYER_WRITE_MODE #define  PLAYERC_ALL_MODE   PLAYER_ALL_MODE #define  PLAYERC_CLOSE_MODE   PLAYER_CLOSE_MODE #define  PLAYERC_ERROR_MODE   PLAYER_ERROR_MODE #define  PLAYERC_DATAMODE_PUSH_ALL   PLAYER_DATAMODE_PUSH_ALL #define  PLAYERC_DATAMODE_PULL_ALL   PLAYER_DATAMODE_PULL_ALL #define  PLAYERC_DATAMODE_PUSH_NEW   PLAYER_DATAMODE_PUSH_NEW #define  PLAYERC_DATAMODE_PULL_NEW   PLAYER_DATAMODE_PULL_NEW #define  PLAYERC_DATAMODE_PUSH_ASYNC   PLAYER_DATAMODE_PUSH_ASYNC #define  PLAYERC_MAX_DEVICES   PLAYER_MAX_DEVICES #define  PLAYERC_LASER_MAX_SAMPLES   PLAYER_LASER_MAX_SAMPLES #define  PLAYERC_FIDUCIAL_MAX_SAMPLES   PLAYER_FIDUCIAL_MAX_SAMPLES #define  PLAYERC_SONAR_MAX_SAMPLES   PLAYER_SONAR_MAX_SAMPLES #define  PLAYERC_BUMPER_MAX_SAMPLES   PLAYER_BUMPER_MAX_SAMPLES #define  PLAYERC_IR_MAX_SAMPLES   PLAYER_IR_MAX_SAMPLES #define  PLAYERC_BLOBFINDER_MAX_BLOBS   PLAYER_BLOBFINDER_MAX_BLOBS #define  PLAYERC_WIFI_MAX_LINKS   PLAYER_WIFI_MAX_LINKS #define  PLAYERC_MAP_INDEX(dev, i, j)   ((dev->width) * (j) + (i))   Convert from a cell position to a map index. Typedefs typedef void(*  playerc_putdata_fn_t )(void *device, char *header, char *data, size_t len)   Typedef for proxy callback function. typedef void(*  playerc_callback_fn_t )(void *data)   Typedef for proxy callback function. typedef _playerc_client_t  playerc_client_t   Client object data. typedef _playerc_device_t  playerc_device_t   Common device info. typedef playerc_localize_particle  playerc_localize_particle_t Functions const char *  playerc_error_str (void) const char *  playerc_lookup_name (int code) int  playerc_lookup_code (const char *name) playerc_mclient_t *  playerc_mclient_create (void) void  playerc_mclient_destroy (playerc_mclient_t *mclient) int  playerc_mclient_addclient (playerc_mclient_t *mclient, struct _playerc_client_t *client) int  playerc_mclient_peek (playerc_mclient_t *mclient, int timeout) int  playerc_mclient_read (playerc_mclient_t *mclient, int timeout) playerc_client_t *  playerc_client_create (playerc_mclient_t *mclient, const char *host, int port)   Create a client object. void  playerc_client_destroy (playerc_client_t *client)   Destroy a client object. int  playerc_client_connect (playerc_client_t *client)   Connect to the server. int  playerc_client_disconnect (playerc_client_t *client)   Disconnect from the server. int  playerc_client_datamode (playerc_client_t *client, int mode)   Change the server's data delivery mode. int  playerc_client_requestdata (playerc_client_t *client)   Request a round of data. int  playerc_client_datafreq (playerc_client_t *client, int freq)   Change the server's data delivery frequency. int  playerc_client_adddevice (playerc_client_t *client, struct _playerc_device_t *device)   Add a device proxy. int  playerc_client_deldevice (playerc_client_t *client, struct _playerc_device_t *device)   Remove a device proxy. 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). 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). int  playerc_client_get_devlist (playerc_client_t *client)   Get the list of available device ids. int  playerc_client_subscribe (playerc_client_t *client, int code, int index, int access, char *drivername, size_t len)   Subscribe a device. int  playerc_client_unsubscribe (playerc_client_t *client, int code, int index)   Unsubscribe a device. int  playerc_client_request (playerc_client_t *client, struct _playerc_device_t *device, void *req_data, int req_len, void *rep_data, int rep_len)   Issue a request to the server and await a reply (blocking). int  playerc_client_peek (playerc_client_t *client, int timeout)   Test to see if there is pending data. void *  playerc_client_read (playerc_client_t *client)   Read data from the server (blocking). int  playerc_client_write (playerc_client_t *client, struct _playerc_device_t *device, void *cmd, int len)   Write data to the server. void  playerc_device_init (playerc_device_t *device, playerc_client_t *client, int code, int index, playerc_putdata_fn_t putdata)   Initialise the device. void  playerc_device_term (playerc_device_t *device)   Finalize the device. int  playerc_device_subscribe (playerc_device_t *device, int access)   Subscribe the device. int  playerc_device_unsubscribe (playerc_device_t *device)   Unsubscribe the device. playerc_blobfinder_t *  playerc_blobfinder_create (playerc_client_t *client, int index)   Create a blobfinder proxy. void  playerc_blobfinder_destroy (playerc_blobfinder_t *device)   Destroy a blobfinder proxy. int  playerc_blobfinder_subscribe (playerc_blobfinder_t *device, int access)   Subscribe to the blobfinder device. int  playerc_blobfinder_unsubscribe (playerc_blobfinder_t *device)   Un-subscribe from the blobfinder device. void  playerc_blobfinder_putdata (playerc_blobfinder_t *device, player_msghdr_t *header, player_blobfinder_data_t *data, size_t len) playerc_bumper_t *  playerc_bumper_create (playerc_client_t *client, int index)   Create a bumper proxy. void  playerc_bumper_destroy (playerc_bumper_t *device)   Destroy a bumper proxy. int  playerc_bumper_subscribe (playerc_bumper_t *device, int access)   Subscribe to the bumper device. int  playerc_bumper_unsubscribe (playerc_bumper_t *device)   Un-subscribe from the bumper device. int  playerc_bumper_get_geom (playerc_bumper_t *device)   Get the bumper geometry. playerc_camera_t *  playerc_camera_create (playerc_client_t *client, int index)   Create a camera proxy. void  playerc_camera_destroy (playerc_camera_t *device)   Destroy a camera proxy. int  playerc_camera_subscribe (playerc_camera_t *device, int access)   Subscribe to the camera device. int  playerc_camera_unsubscribe (playerc_camera_t *device)   Un-subscribe from the camera device. void  playerc_camera_decompress (playerc_camera_t *device)   Decompress the image (modifies the current proxy data). playerc_fiducial_t *  playerc_fiducial_create (playerc_client_t *client, int index)   Create a fiducial proxy. void  playerc_fiducial_destroy (playerc_fiducial_t *device)   Destroy a fiducial proxy. int  playerc_fiducial_subscribe (playerc_fiducial_t *device, int access)   Subscribe to the fiducial device. int  playerc_fiducial_unsubscribe (playerc_fiducial_t *device)   Un-subscribe from the fiducial device. int  playerc_fiducial_get_geom (playerc_fiducial_t *device)   Get the fiducial geometry. playerc_gps_t *  playerc_gps_create (playerc_client_t *client, int index)   Create a gps proxy. void  playerc_gps_destroy (playerc_gps_t *device)   Destroy a gps proxy. int  playerc_gps_subscribe (playerc_gps_t *device, int access)   Subscribe to the gps device. int  playerc_gps_unsubscribe (playerc_gps_t *device)   Un-subscribe from the gps device. playerc_ir_t *  playerc_ir_create (playerc_client_t *client, int index)   Create a ir proxy. void  playerc_ir_destroy (playerc_ir_t *device)   Destroy a ir proxy. int  playerc_ir_subscribe (playerc_ir_t *device, int access)   Subscribe to the ir device. int  playerc_ir_unsubscribe (playerc_ir_t *device)   Un-subscribe from the ir device. int  playerc_ir_get_geom (playerc_ir_t *device)   Get the ir geometry. playerc_joystick_t *  playerc_joystick_create (playerc_client_t *client, int index)   Create a joystick device proxy. void  playerc_joystick_destroy (playerc_joystick_t *device)   Destroy a joystick device proxy. int  playerc_joystick_subscribe (playerc_joystick_t *device, int access)   Subscribe to the joystick device. int  playerc_joystick_unsubscribe (playerc_joystick_t *device)   Un-subscribe from the joystick device. void  playerc_joystick_putdata (playerc_joystick_t *device, player_msghdr_t *header, player_joystick_data_t *data, size_t len) playerc_laser_t *  playerc_laser_create (playerc_client_t *client, int index)   Create a laser proxy. void  playerc_laser_destroy (playerc_laser_t *device)   Destroy a laser proxy. int  playerc_laser_subscribe (playerc_laser_t *device, int access)   Subscribe to the laser device. int  playerc_laser_unsubscribe (playerc_laser_t *device)   Un-subscribe from the laser device. void  playerc_laser_putdata (playerc_laser_t *device, player_msghdr_t *header, player_laser_data_t *data, size_t len) int  playerc_laser_set_config (playerc_laser_t *device, double min_angle, double max_angle, int resolution, int range_res, int intensity)   Configure the laser. int  playerc_laser_get_config (playerc_laser_t *device, double *min_angle, double *max_angle, int *resolution, int *range_res, int *intensity)   Get the laser configuration. int  playerc_laser_get_geom (playerc_laser_t *device)   Get the laser geometry. playerc_localize_t *  playerc_localize_create (playerc_client_t *client, int index)   Create a localize proxy. void  playerc_localize_destroy (playerc_localize_t *device)   Destroy a localize proxy. int  playerc_localize_subscribe (playerc_localize_t *device, int access)   Subscribe to the localize device. int  playerc_localize_unsubscribe (playerc_localize_t *device)   Un-subscribe from the localize device. int  playerc_localize_set_pose (playerc_localize_t *device, double pose[3], double cov[3][3])   Set the the robot pose (mean and covariance). int  playerc_localize_get_config (playerc_localize_t *device, player_localize_config_t *config)   Get the current configuration. int  playerc_localize_set_config (playerc_localize_t *device, player_localize_config_t config)   Modify the current configuration. int  playerc_localize_get_particles (playerc_localize_t *device) playerc_log_t *  playerc_log_create (playerc_client_t *client, int index)   Create a log proxy. void  playerc_log_destroy (playerc_log_t *device)   Destroy a log proxy. int  playerc_log_subscribe (playerc_log_t *device, int access)   Subscribe to the log device. int  playerc_log_unsubscribe (playerc_log_t *device)   Un-subscribe from the log device. int  playerc_log_set_write_state (playerc_log_t *device, int state)   Start/stop logging. int  playerc_log_set_read_state (playerc_log_t *device, int state)   Start/stop playback. int  playerc_log_set_read_rewind (playerc_log_t *device)   Rewind playback. int  playerc_log_get_state (playerc_log_t *device)   Get logging/playback state. int  playerc_log_set_filename (playerc_log_t *device, const char *fname)   Change name of log file to write to. playerc_map_t *  playerc_map_create (playerc_client_t *client, int index)   Create a map proxy. void  playerc_map_destroy (playerc_map_t *device)   Destroy a map proxy. int  playerc_map_subscribe (playerc_map_t *device, int access)   Subscribe to the map device. int  playerc_map_unsubscribe (playerc_map_t *device)   Un-subscribe from the map device. int  playerc_map_get_map (playerc_map_t *device)   Get the map, which is stored in the proxy. playerc_motor_t *  playerc_motor_create (playerc_client_t *client, int index)   Create a motor device proxy. void  playerc_motor_destroy (playerc_motor_t *device)   Destroy a motor device proxy. int  playerc_motor_subscribe (playerc_motor_t *device, int access)   Subscribe to the motor device. int  playerc_motor_unsubscribe (playerc_motor_t *device)   Un-subscribe from the motor device. int  playerc_motor_enable (playerc_motor_t *device, int enable)   Enable/disable the motors. int  playerc_motor_position_control (playerc_motor_t *device, int type)   Change position control. int  playerc_motor_set_cmd_vel (playerc_motor_t *device, double vt, int state)   Set the target rotational velocity. int  playerc_motor_set_cmd_pose (playerc_motor_t *device, double gt, int state)   Set the target pose. playerc_planner_t *  playerc_planner_create (playerc_client_t *client, int index)   Create a planner device proxy. void  playerc_planner_destroy (playerc_planner_t *device)   Destroy a planner device proxy. int  playerc_planner_subscribe (playerc_planner_t *device, int access)   Subscribe to the planner device. int  playerc_planner_unsubscribe (playerc_planner_t *device)   Un-subscribe from the planner device. int  playerc_planner_set_cmd_pose (playerc_planner_t *device, double gx, double gy, double ga)   Set the goal pose (gx, gy, ga). int  playerc_planner_get_waypoints (playerc_planner_t *device)   Get the list of waypoints. int  playerc_planner_enable (playerc_planner_t *device, int state)   Enable / disable the robot's motion. playerc_position_t *  playerc_position_create (playerc_client_t *client, int index)   Create a position device proxy. void  playerc_position_destroy (playerc_position_t *device)   Destroy a position device proxy. int  playerc_position_subscribe (playerc_position_t *device, int access)   Subscribe to the position device. int  playerc_position_unsubscribe (playerc_position_t *device)   Un-subscribe from the position device. void  playerc_position_putdata (playerc_position_t *device, player_msghdr_t *header, player_position_data_t *data, size_t len) int  playerc_position_enable (playerc_position_t *device, int enable)   Enable/disable the motors. int  playerc_position_get_geom (playerc_position_t *device)   Get the position geometry. int  playerc_position_set_cmd_vel (playerc_position_t *device, double vx, double vy, double va, int state)   Set the target speed. int  playerc_position_set_cmd_pose (playerc_position_t *device, double gx, double gy, double ga, int state)   Set the target pose. playerc_position2d_t *  playerc_position2d_create (playerc_client_t *client, int index) void  playerc_position2d_destroy (playerc_position2d_t *device) int  playerc_position2d_subscribe (playerc_position2d_t *device, int access) int  playerc_position2d_unsubscribe (playerc_position2d_t *device) int  playerc_position2d_enable (playerc_position2d_t *device, int enable) int  playerc_position2d_get_geom (playerc_position2d_t *device) int  playerc_position2d_set_cmd_vel (playerc_position2d_t *device, double vx, double vy, double va, int state) int  playerc_position2d_set_cmd_pose (playerc_position2d_t *device, double gx, double gy, double ga, int state) playerc_position3d_t *  playerc_position3d_create (playerc_client_t *client, int index) void  playerc_position3d_destroy (playerc_position3d_t *device) int  playerc_position3d_subscribe (playerc_position3d_t *device, int access) int  playerc_position3d_unsubscribe (playerc_position3d_t *device) void  playerc_position3d_putdata (playerc_position3d_t *device, player_msghdr_t *header, player_position3d_data_t *data, size_t len) int  playerc_position3d_enable (playerc_position3d_t *device, int enable) int  playerc_position3d_get_geom (playerc_position3d_t *device) int  playerc_position3d_set_velocity (playerc_position3d_t *device, double vx, double vy, double vz, double vr, double vp, double vt, int state) int  playerc_position3d_set_speed (playerc_position3d_t *device, double vx, double vy, double vz, int state) int  playerc_position3d_set_pose (playerc_position3d_t *device, double gx, double gy, double gz, double gr, double gp, double gt) int  playerc_position3d_set_cmd_pose (playerc_position3d_t *device, double gx, double gy, double gz) playerc_power_t *  playerc_power_create (playerc_client_t *client, int index)   Create a power device proxy. void  playerc_power_destroy (playerc_power_t *device)   Destroy a power device proxy. int  playerc_power_subscribe (playerc_power_t *device, int access)   Subscribe to the power device. int  playerc_power_unsubscribe (playerc_power_t *device)   Un-subscribe from the power device. playerc_ptz_t *  playerc_ptz_create (playerc_client_t *client, int index)   Create a ptz proxy. void  playerc_ptz_destroy (playerc_ptz_t *device)   Destroy a ptz proxy. int  playerc_ptz_subscribe (playerc_ptz_t *device, int access)   Subscribe to the ptz device. int  playerc_ptz_unsubscribe (playerc_ptz_t *device)   Un-subscribe from the ptz device. int  playerc_ptz_set (playerc_ptz_t *device, double pan, double tilt, double zoom)   Set the pan, tilt and zoom values. 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). playerc_sonar_t *  playerc_sonar_create (playerc_client_t *client, int index)   Create a sonar proxy. void  playerc_sonar_destroy (playerc_sonar_t *device)   Destroy a sonar proxy. int  playerc_sonar_subscribe (playerc_sonar_t *device, int access)   Subscribe to the sonar device. int  playerc_sonar_unsubscribe (playerc_sonar_t *device)   Un-subscribe from the sonar device. int  playerc_sonar_get_geom (playerc_sonar_t *device)   Get the sonar geometry. playerc_truth_t *  playerc_truth_create (playerc_client_t *client, int index)   Create a truth proxy. void  playerc_truth_destroy (playerc_truth_t *device)   Destroy a truth proxy. int  playerc_truth_subscribe (playerc_truth_t *device, int access)   Subscribe to the truth device. int  playerc_truth_unsubscribe (playerc_truth_t *device)   Un-subscribe from the truth device. int  playerc_truth_get_pose (playerc_truth_t *device, double *px, double *py, double *pz, double *rx, double *ry, double *rz)   Get the object pose. int  playerc_truth_set_pose (playerc_truth_t *device, double px, double py, double pz, double rx, double ry, double rz)   Set the object pose. playerc_wifi_t *  playerc_wifi_create (playerc_client_t *client, int index)   Create a wifi proxy. void  playerc_wifi_destroy (playerc_wifi_t *device)   Destroy a wifi proxy. int  playerc_wifi_subscribe (playerc_wifi_t *device, int access)   Subscribe to the wifi device. int  playerc_wifi_unsubscribe (playerc_wifi_t *device)   Un-subscribe from the wifi device. playerc_wifi_link_t *  playerc_wifi_get_link (playerc_wifi_t *device, int link)   Get link state. playerc_simulation_t *  playerc_simulation_create (playerc_client_t *client, int index) void  playerc_simulation_destroy (playerc_simulation_t *device) int  playerc_simulation_subscribe (playerc_simulation_t *device, int access) int  playerc_simulation_unsubscribe (playerc_simulation_t *device) void  playerc_simulation_putdata (playerc_simulation_t *device, player_msghdr_t *header, player_simulation_data_t *data, size_t len) int  playerc_simulation_set_pose2d (playerc_simulation_t *device, char *name, double gx, double gy, double ga) int  playerc_simulation_get_pose2d (playerc_simulation_t *device, char *identifier, double *x, double *y, double *a) playerc_gripper_t *  playerc_gripper_create (playerc_client_t *client, int index)   Create a gripper device proxy. void  playerc_gripper_destroy (playerc_gripper_t *device)   Destroy a gripper device proxy. int  playerc_gripper_subscribe (playerc_gripper_t *device, int access)   Subscribe to the gripper device. int  playerc_gripper_unsubscribe (playerc_gripper_t *device)   Un-subscribe from the gripper device. int  playerc_gripper_set_cmd (playerc_gripper_t *device, uint8_t cmd, uint8_t arg)   Send the gripper a command. playerc_dio_t *  playerc_dio_create (playerc_client_t *client, int index) void  playerc_dio_destroy (playerc_dio_t *device) int  playerc_dio_subscribe (playerc_dio_t *device, int access) int  playerc_dio_unsubscribe (playerc_dio_t *device) int  playerc_dio_set_output (playerc_dio_t *device, uint8_t output_count, uint32_t digout) playerc_speech_t *  playerc_speech_create (playerc_client_t *client, int index) void  playerc_speech_destroy (playerc_speech_t *device) int  playerc_speech_subscribe (playerc_speech_t *device, int access) int  playerc_speech_unsubscribe (playerc_speech_t *device) int  playerc_speech_say (playerc_speech_t *device, char *) Define Documentation #define MIN (  a, b   )     ((a < b) ? a : b) #define MAX (  a, b   )     ((a > b) ? a : b) #define PLAYERC_READ_MODE   PLAYER_READ_MODE   The device access modes #define PLAYERC_WRITE_MODE   PLAYER_WRITE_MODE #define PLAYERC_ALL_MODE   PLAYER_ALL_MODE #define PLAYERC_CLOSE_MODE   PLAYER_CLOSE_MODE #define PLAYERC_ERROR_MODE   PLAYER_ERROR_MODE #define PLAYERC_DATAMODE_PUSH_ALL   PLAYER_DATAMODE_PUSH_ALL   The valid data delivery modes #define PLAYERC_DATAMODE_PULL_ALL   PLAYER_DATAMODE_PULL_ALL #define PLAYERC_DATAMODE_PUSH_NEW   PLAYER_DATAMODE_PUSH_NEW #define PLAYERC_DATAMODE_PULL_NEW   PLAYER_DATAMODE_PULL_NEW #define PLAYERC_DATAMODE_PUSH_ASYNC   PLAYER_DATAMODE_PUSH_ASYNC #define PLAYERC_MAX_DEVICES   PLAYER_MAX_DEVICES #define PLAYERC_LASER_MAX_SAMPLES   PLAYER_LASER_MAX_SAMPLES #define PLAYERC_FIDUCIAL_MAX_SAMPLES   PLAYER_FIDUCIAL_MAX_SAMPLES #define PLAYERC_SONAR_MAX_SAMPLES   PLAYER_SONAR_MAX_SAMPLES #define PLAYERC_BUMPER_MAX_SAMPLES   PLAYER_BUMPER_MAX_SAMPLES #define PLAYERC_IR_MAX_SAMPLES   PLAYER_IR_MAX_SAMPLES #define PLAYERC_BLOBFINDER_MAX_BLOBS   PLAYER_BLOBFINDER_MAX_BLOBS #define PLAYERC_WIFI_MAX_LINKS   PLAYER_WIFI_MAX_LINKS