Detailed DescriptionAll Player communication occurs through interfaces, which specify the syntax and semantics for a set of messages.
See the tutorial Interfaces, drivers, and devices for a discussion of what an interface is.
Below are the details. For each interface, the following is given:
- Relevant constants (size limits, etc.)
- Message subtypes:
- Data subtypes : codes for each kind of data message defined by the interface
- Command subtypes : codes for each kind of command message define by the interfce.
- Request/reply subtypes: codes for each kind of request/reply message defined by the interface. Also specified are the interaction semantics, such as when to send a null request and when to expect a null response. A "null" request or response is a zero-length message.
- Utility structures : structures that appear inside messages.
- Message structures:
- Data message structures : data messages that can be published via this interface.
- Command message structures : command messages that can be sent to this interface.
- Request/reply message structures : request messages that can be sent to this interface and reply messages that can be expected from it.
It can be the case that a given message can be sent as data or in response to a request. A common example is geometry. For many devices geometry is fixed and so need only be requested once. For others geometry may change dynamically and so the device will publish it periodically.
- Normalize subtype names (PLAYER_PTZ_REQ_GEOM vs PLAYER_POSITION2D_REQ_GET_GEOM)
- Normalize subtype numbers (PLAYER_POSITION2D_SET_ODOM = 6 and PLAYER_POSITION2D_RESET_ODOM = 5, while position3d has PLAYER_POSITION3D_REQ_SET_ODOM = 5 and PLAYER_POSITION_3D_REQ_RESET_ODOM = 6)
|An array of actuators. |
|Analog I/O. |
|Audible tone emission / detection (deprecated). |
|Audible tone emission / detection. |
|Sound level control. |
|A blinking light. |
|A visual blob-detection system. |
|An array of bumpers. |
|Camera imagery. |
|Digital I/O. |
|Energy storage / consumption. |
|Fiducial (marker) detection. |
|Global positioning system. |
|Two-dimensional graphics interface. |
|Three-dimensional graphics interface. |
|An actuated gripper. |
|Array of infrared rangers. |
|Joystick control. |
|Laser range-finder. |
|A multi-jointed limb. |
|Multi-hypothesis planar localization system. |
|Log read / write control. |
|Access maps. |
|Client - client communication. |
|A generic interface for user-defined messages. |
|A planar path-planner. |
|Player: the meta-device. |
|A 1-D linear actuator. |
|Planar mobile robot. |
|A robot that moves in 3-D. |
|Power system. |
|Pan-tilt-zoom unit. |
|A robot simulator. |
|Array of ultrasonic rangers. |
|Play sound clips. |
|Speech synthesis. |
|Speech recognition. |
|Access to true state. |
|Digital waveforms. |
|WiFi signal information. |
|RFID reader. |
|Wireless Sensor Networks. |