player_interfaces.h
00001 /* START OF AUTOGENERATED CODE */
00002 /* This file or section was automatically generated by playerinterfacegen.py
00003 To modify the interfaces in this file please edit their interface definition in libplayerinterface/interfaces/ */
00004 
00007 #define PLAYER_PLAYER_CODE 1
00008 
00011 #define PLAYER_PLAYER_STRING "player" 
00012 
00013 // /////////////////////////////////////////////////////////////////////////////
00032 #define PLAYER_PLAYER_REQ_DEVLIST 1
00033 
00035 #define PLAYER_PLAYER_REQ_DRIVERINFO 2
00036 
00038 #define PLAYER_PLAYER_REQ_DEV 3
00039 
00046 #define PLAYER_PLAYER_REQ_DATA 4
00047 
00048 
00049 #define PLAYER_PLAYER_REQ_DATAMODE 5
00050 
00051 
00052 #define PLAYER_PLAYER_REQ_AUTH 7
00053 
00054 
00055 #define PLAYER_PLAYER_REQ_NAMESERVICE 8
00056 
00057 
00058 #define PLAYER_PLAYER_REQ_ADD_REPLACE_RULE 10
00059 
00060 
00061 #define PLAYER_PLAYER_SYNCH_OK 1
00062 
00063 
00064 #define PLAYER_PLAYER_SYNCH_OVERFLOW 2
00065 
00066 
00067 
00069 #define PLAYER_OPEN_MODE   1
00070 
00071 #define PLAYER_CLOSE_MODE  2
00072 
00073 #define PLAYER_ERROR_MODE  3
00074 
00075 
00078 #define PLAYER_DATAMODE_PUSH  1
00079 
00083 #define PLAYER_DATAMODE_PULL   2
00084 
00085 
00086 
00089 #define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT  0
00090 #define PLAYER_PLAYER_MSG_REPLACE_RULE_REPLACE 1
00091 #define PLAYER_PLAYER_MSG_REPLACE_RULE_IGNORE  2
00092 
00099 typedef struct player_device_devlist
00100 {
00102   uint32_t devices_count;
00104   player_devaddr_t devices[PLAYER_MAX_DEVICES];
00105 } player_device_devlist_t;
00106 
00113 typedef struct player_device_driverinfo
00114 {
00116   player_devaddr_t addr;
00118   uint32_t driver_name_count;
00120   char driver_name[PLAYER_MAX_DRIVER_STRING_LEN];
00121 } player_device_driverinfo_t;
00122 
00140 typedef struct player_device_req
00141 {
00143   player_devaddr_t addr;
00145   uint8_t access;
00147   uint32_t driver_name_count;
00149   char driver_name[PLAYER_MAX_DRIVER_STRING_LEN];
00150 } player_device_req_t;
00151 
00152 
00159 typedef struct player_device_datamode_req
00160 {
00162   uint8_t mode;
00163 
00164 } player_device_datamode_req_t;
00165 
00166 
00198 typedef struct player_device_auth_req
00199 {
00201   uint32_t auth_key_count;
00203   uint8_t auth_key[PLAYER_KEYLEN];
00204 
00205 } player_device_auth_req_t;
00206 
00207 
00212 typedef struct player_device_nameservice_req
00213 {
00215   uint32_t name_count;
00217   uint8_t name[PLAYER_MAX_DRIVER_STRING_LEN];
00219   uint16_t port;
00220 } player_device_nameservice_req_t;
00221 
00232 typedef struct player_add_replace_rule_req
00233 {
00235   int32_t interf;
00237   int32_t index;
00239   int32_t type;
00241   int32_t subtype;
00243   int32_t replace ;
00244 } player_add_replace_rule_req_t;
00245 
00246  
00252 #define PLAYER_POWER_CODE 2
00253 
00256 #define PLAYER_POWER_STRING "power" 
00257 
00258 // /////////////////////////////////////////////////////////////////////////////
00274 #define PLAYER_POWER_DATA_STATE 1
00275 
00277 #define PLAYER_POWER_REQ_SET_CHARGING_POLICY 1
00278 
00279 
00280 
00282 #define PLAYER_POWER_MASK_VOLTS 1
00283 #define PLAYER_POWER_MASK_WATTS 2
00284 #define PLAYER_POWER_MASK_JOULES 4
00285 #define PLAYER_POWER_MASK_PERCENT 8
00286 #define PLAYER_POWER_MASK_CHARGING 16
00287 
00291 typedef struct player_power_data
00292 {
00296   uint32_t valid;
00297 
00299   float  volts;
00301   float percent;
00303   float joules;
00306   float watts;
00311   int32_t charging;
00312 
00313 } player_power_data_t;
00314 
00315 
00320 typedef struct player_power_chargepolicy_config
00321 {
00324   uint8_t enable_input;
00327   uint8_t enable_output;
00328 } player_power_chargepolicy_config_t;
00329 
00330 
00331  
00337 #define PLAYER_GRIPPER_CODE 3
00338 
00341 #define PLAYER_GRIPPER_STRING "gripper" 
00342 
00343 // /////////////////////////////////////////////////////////////////////////////
00365 #define PLAYER_GRIPPER_DATA_STATE 1
00366 
00368 #define PLAYER_GRIPPER_REQ_GET_GEOM 1
00369 
00373 #define PLAYER_GRIPPER_CMD_OPEN 1
00374 
00378 #define PLAYER_GRIPPER_CMD_CLOSE 2
00379 
00383 #define PLAYER_GRIPPER_CMD_STOP 3
00384 
00388 #define PLAYER_GRIPPER_CMD_STORE 4
00389 
00394 #define PLAYER_GRIPPER_CMD_RETRIEVE 5
00395 
00396 
00397 
00399 #define PLAYER_GRIPPER_STATE_OPEN 1
00400 
00401 #define PLAYER_GRIPPER_STATE_CLOSED 2
00402 
00403 #define PLAYER_GRIPPER_STATE_MOVING 3
00404 
00405 #define PLAYER_GRIPPER_STATE_ERROR 4
00406 
00407 
00418 typedef struct player_gripper_data
00419 {
00421   uint8_t state;
00423   uint32_t beams;
00425   uint8_t stored;
00426 } player_gripper_data_t;
00427 
00433 typedef struct player_gripper_geom
00434 {
00436   player_pose3d_t pose;
00438   player_bbox3d_t outer_size;
00441   player_bbox3d_t inner_size;
00443   uint8_t num_beams;
00445   uint8_t capacity;
00446 } player_gripper_geom_t;
00447 
00448 
00449 
00450 
00451 
00452 
00453  
00459 #define PLAYER_POSITION2D_CODE 4
00460 
00463 #define PLAYER_POSITION2D_STRING "position2d" 
00464 
00465 // /////////////////////////////////////////////////////////////////////////////
00483 #define PLAYER_POSITION2D_REQ_GET_GEOM 1
00484 
00496 #define PLAYER_POSITION2D_REQ_MOTOR_POWER 2
00497 
00522 #define PLAYER_POSITION2D_REQ_VELOCITY_MODE 3
00523 
00529 #define PLAYER_POSITION2D_REQ_POSITION_MODE 4
00530 
00535 #define PLAYER_POSITION2D_REQ_SET_ODOM 5
00536 
00541 #define PLAYER_POSITION2D_REQ_RESET_ODOM 6
00542 
00548 #define PLAYER_POSITION2D_REQ_SPEED_PID 7
00549 
00556 #define PLAYER_POSITION2D_REQ_POSITION_PID 8
00557 
00562 #define PLAYER_POSITION2D_REQ_SPEED_PROF 9
00563 
00568 #define PLAYER_POSITION2D_DATA_STATE 1
00569 
00574 #define PLAYER_POSITION2D_DATA_GEOM 2
00575 
00581 #define PLAYER_POSITION2D_CMD_VEL 1
00582 
00588 #define PLAYER_POSITION2D_CMD_POS 2
00589 
00594 #define PLAYER_POSITION2D_CMD_CAR 3
00595 
00599 #define PLAYER_POSITION2D_CMD_VEL_HEAD 4
00600 
00601 
00602 
00603 
00604 
00606 typedef struct player_position2d_data
00607 {
00609   player_pose2d_t pos;
00611   player_pose2d_t vel;
00613   uint8_t stall;
00614 } player_position2d_data_t;
00615 
00617 typedef struct player_position2d_cmd_vel
00618 {
00620   player_pose2d_t vel;
00622   uint8_t state;
00623 } player_position2d_cmd_vel_t;
00624 
00626 typedef struct player_position2d_cmd_pos
00627 {
00629   player_pose2d_t pos;
00631   player_pose2d_t vel;
00633   uint8_t state;
00634 } player_position2d_cmd_pos_t;
00635 
00637 typedef struct player_position2d_cmd_car
00638 {
00640   double velocity;
00642   double angle;
00643 } player_position2d_cmd_car_t;
00644 
00646 typedef struct player_position2d_cmd_vel_head
00647 {
00649   double velocity;
00651   double angle;
00652 } player_position2d_cmd_vel_head_t;
00653 
00655 typedef struct player_position2d_geom
00656 {
00658   player_pose3d_t pose;
00660   player_bbox3d_t size;
00661 } player_position2d_geom_t;
00662 
00664 typedef struct player_position2d_power_config
00665 {
00667   uint8_t state;
00668 } player_position2d_power_config_t;
00669 
00671 typedef struct player_position2d_velocity_mode_config
00672 {
00674   uint32_t value;
00675 } player_position2d_velocity_mode_config_t;
00676 
00677 
00679 typedef struct player_position2d_position_mode_req
00680 {
00682   uint32_t state;
00683 } player_position2d_position_mode_req_t;
00684 
00686 typedef struct player_position2d_set_odom_req
00687 {
00689   player_pose2d_t pose;
00690 } player_position2d_set_odom_req_t;
00691 
00693 typedef struct player_position2d_speed_pid_req
00694 {
00696   float kp;
00698   float ki;
00700   float kd;
00701 } player_position2d_speed_pid_req_t;
00702 
00704 typedef struct player_position2d_position_pid_req
00705 {
00707   float kp;
00709   float ki;
00711   float kd;
00712 } player_position2d_position_pid_req_t;
00713 
00715 typedef struct player_position2d_speed_prof_req
00716 {
00718   float speed;
00720   float acc;
00721 } player_position2d_speed_prof_req_t;
00731 #define PLAYER_SONAR_CODE 5
00732 
00735 #define PLAYER_SONAR_STRING "sonar" 
00736 
00737 // /////////////////////////////////////////////////////////////////////////////
00755 #define PLAYER_SONAR_REQ_GET_GEOM 1
00756 
00758 #define PLAYER_SONAR_REQ_POWER 2
00759 
00761 #define PLAYER_SONAR_DATA_RANGES 1
00762 
00764 #define PLAYER_SONAR_DATA_GEOM 2
00765 
00766 
00767 
00771 typedef struct player_sonar_data
00772 {
00774   uint32_t ranges_count;
00776   float *ranges;
00777 } player_sonar_data_t;
00778 
00785 typedef struct player_sonar_geom
00786 {
00788   uint32_t poses_count;
00790   player_pose3d_t *poses;
00791 } player_sonar_geom_t;
00792 
00797 typedef struct player_sonar_power_config
00798 {
00800   uint8_t state;
00801 } player_sonar_power_config_t;
00802 
00811 #define PLAYER_LASER_CODE 6
00812 
00815 #define PLAYER_LASER_STRING "laser" 
00816 
00817 // /////////////////////////////////////////////////////////////////////////////
00845 #define PLAYER_LASER_DATA_SCAN 1
00846 
00848 #define PLAYER_LASER_DATA_SCANPOSE 2
00849 
00851 #define PLAYER_LASER_DATA_SCANANGLE 3
00852 
00854 #define PLAYER_LASER_REQ_GET_GEOM 1
00855 
00857 #define PLAYER_LASER_REQ_SET_CONFIG 2
00858 
00860 #define PLAYER_LASER_REQ_GET_CONFIG 3
00861 
00863 #define PLAYER_LASER_REQ_POWER 4
00864 
00866 #define PLAYER_LASER_REQ_GET_ID 5
00867 
00869 #define PLAYER_LASER_REQ_SET_FILTER 6
00870 
00871 
00872 
00874 #define PLAYER_LASER_MAX_FILTER_PARAMS 8
00875 #define PLAYER_LASER_FILTER_MEDIAN 1
00876 #define PLAYER_LASER_FILTER_EDGE   2
00877 #define PLAYER_LASER_FILTER_RANGE  3
00878 #define PLAYER_LASER_FILTER_MEAN   4
00879 
00883 typedef struct player_laser_data
00884 {
00886   float min_angle;
00888   float max_angle;
00890   float resolution;
00892   float max_range;
00894   uint32_t ranges_count;
00896   float *ranges;
00898   uint32_t intensity_count;
00900   uint8_t *intensity;
00902   uint32_t id;
00903 } player_laser_data_t;
00904 
00909 typedef struct player_laser_data_scanpose
00910 {
00912   player_laser_data_t scan;
00914   player_pose2d_t pose;
00915 } player_laser_data_scanpose_t;
00916 
00920 typedef struct player_laser_data_scanangle
00921 {
00923   float max_range;
00925   uint32_t ranges_count;
00927   float *ranges;
00929   uint32_t angles_count;
00931   float *angles;
00933   uint32_t intensity_count;
00935   uint8_t *intensity;
00937   uint32_t id;
00938 } player_laser_data_scanangle_t;
00939 
00940 
00945 typedef struct player_laser_geom
00946 {
00948   player_pose3d_t pose;
00950   player_bbox3d_t size;
00951 } player_laser_geom_t;
00952 
00961 typedef struct player_laser_config
00962 {
00964   float min_angle;
00966   float max_angle;
00968   float resolution;
00970   float max_range;
00972   float range_res;
00974   uint8_t  intensity;
00976   float scanning_frequency;
00977 } player_laser_config_t;
00978 
00983 typedef struct player_laser_power_config
00984 {
00986   uint8_t state;
00987 } player_laser_power_config_t;
00988 
00993 typedef struct player_laser_get_id_config
00994 {
00996   uint32_t serial_number;
00997 } player_laser_get_id_config_t;
00998 
01016 typedef struct player_laser_set_filter_config
01017 {
01019   uint8_t filter_type;
01021   uint32_t parameters_count;
01023   float parameters[PLAYER_LASER_MAX_FILTER_PARAMS];
01024 } player_laser_set_filter_config_t;
01025 
01026 
01027  
01033 #define PLAYER_BLOBFINDER_CODE 7
01034 
01037 #define PLAYER_BLOBFINDER_STRING "blobfinder" 
01038 
01039 // /////////////////////////////////////////////////////////////////////////////
01055 #define PLAYER_BLOBFINDER_DATA_BLOBS 1
01056 
01057 
01058 #define PLAYER_BLOBFINDER_REQ_SET_COLOR 1
01059 
01060 
01061 #define PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS 2
01062 
01063 
01064 #define PLAYER_BLOBFINDER_REQ_GET_COLOR 3
01065 
01066 
01068 typedef struct player_blobfinder_blob
01069 {
01071   uint32_t id;
01074   uint32_t color;
01076   uint32_t area;
01078   uint32_t x;
01080   uint32_t y;
01082   uint32_t left;
01084   uint32_t right;
01086   uint32_t top;
01088   uint32_t bottom;
01090   float range;
01091 } player_blobfinder_blob_t;
01092 
01096 typedef struct player_blobfinder_data
01097 {
01099   uint32_t width;
01101   uint32_t height;
01103   uint32_t blobs_count;
01105   player_blobfinder_blob_t *blobs;
01106 } player_blobfinder_data_t;
01107 
01108 
01118 typedef struct player_blobfinder_color_config
01119 {
01123   uint32_t channel;
01125   uint32_t rmin;
01127   uint32_t rmax;
01129   uint32_t gmin;
01131   uint32_t gmax;
01133   uint32_t bmin;
01135   uint32_t bmax;
01136 } player_blobfinder_color_config_t;
01137 
01138 
01153 typedef struct player_blobfinder_imager_config
01154 {
01156   int32_t brightness;
01158   int32_t contrast;
01163   int32_t  colormode;
01165   int32_t  autogain;
01166 } player_blobfinder_imager_config_t;
01167 
01168 
01169  
01175 #define PLAYER_PTZ_CODE 8
01176 
01179 #define PLAYER_PTZ_STRING "ptz" 
01180 
01181 // /////////////////////////////////////////////////////////////////////////////
01196 #define PLAYER_PTZ_REQ_GENERIC 1
01197 
01199 #define PLAYER_PTZ_REQ_CONTROL_MODE 2
01200 
01202 #define PLAYER_PTZ_REQ_GEOM 4
01203 
01205 #define PLAYER_PTZ_REQ_STATUS 5
01206 
01208 #define PLAYER_PTZ_DATA_STATE 1
01209 
01211 #define PLAYER_PTZ_DATA_GEOM 2
01212 
01214 #define PLAYER_PTZ_CMD_STATE 1
01215 
01216 
01217 
01219 #define PLAYER_PTZ_VELOCITY_CONTROL 0
01220 
01221 #define PLAYER_PTZ_POSITION_CONTROL 1
01222 
01223 
01228 typedef struct player_ptz_data
01229 {
01231   float pan;
01233   float tilt;
01235   float zoom;
01237   float panspeed;
01239   float tiltspeed;
01241   uint32_t status;
01242 } player_ptz_data_t;
01243 
01248 typedef struct player_ptz_cmd
01249 {
01251   float pan;
01253   float tilt;
01255   float zoom;
01257   float panspeed;
01259   float tiltspeed;
01260 } player_ptz_cmd_t;
01261 
01265 typedef struct player_ptz_req_status
01266 {
01267   uint32_t status;
01268 } player_ptz_req_status_t;
01269 
01273 typedef struct player_ptz_geom
01274 {
01276   player_pose3d_t pos;
01278   player_bbox3d_t size;
01279 } player_ptz_geom_t;
01280 
01287 typedef struct player_ptz_req_generic
01288 {
01290   uint32_t  config_count;
01292   uint32_t  *config;
01293 } player_ptz_req_generic_t;
01294 
01301 typedef struct player_ptz_req_control_mode
01302 {
01305   uint32_t mode;
01306 } player_ptz_req_control_mode_t;
01307 
01308  
01314 #define PLAYER_AUDIO_CODE 9
01315 
01318 #define PLAYER_AUDIO_STRING "audio" 
01319 
01320 // /////////////////////////////////////////////////////////////////////////////
01344 #define PLAYER_AUDIO_DATA_WAV_REC 1
01345 
01349 #define PLAYER_AUDIO_DATA_SEQ 2
01350 
01354 #define PLAYER_AUDIO_DATA_MIXER_CHANNEL 3
01355 
01359 #define PLAYER_AUDIO_DATA_STATE 4
01360 
01364 #define PLAYER_AUDIO_CMD_WAV_PLAY 1
01365 
01369 #define PLAYER_AUDIO_CMD_WAV_STREAM_REC 2
01370 
01374 #define PLAYER_AUDIO_CMD_SAMPLE_PLAY 3
01375 
01379 #define PLAYER_AUDIO_CMD_SEQ_PLAY 4
01380 
01384 #define PLAYER_AUDIO_CMD_MIXER_CHANNEL 5
01385 
01389 #define PLAYER_AUDIO_REQ_WAV_REC 1
01390 
01394 #define PLAYER_AUDIO_REQ_SAMPLE_LOAD 2
01395 
01399 #define PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE 3
01400 
01404 #define PLAYER_AUDIO_REQ_SAMPLE_REC 4
01405 
01409 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST 5
01410 
01414 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL 6
01415 
01416 
01417 
01420 #define PLAYER_AUDIO_STATE_STOPPED            0x00
01421 #define PLAYER_AUDIO_STATE_PLAYING            0x01
01422 #define PLAYER_AUDIO_STATE_RECORDING          0x02
01423 
01427 #define PLAYER_AUDIO_DESCRIPTION_BITS         0xFF
01428 #define PLAYER_AUDIO_BITS                     0x03
01429 
01430 #define PLAYER_AUDIO_8BIT                     0
01431 
01432 #define PLAYER_AUDIO_16BIT                    1
01433 
01434 #define PLAYER_AUDIO_24BIT                    2
01435 
01436 #define PLAYER_AUDIO_MONO                     0
01437 
01438 #define PLAYER_AUDIO_STEREO                   4
01439 
01440 #define PLAYER_AUDIO_FREQ                     0x18
01441 #define PLAYER_AUDIO_FREQ_44k                 0
01442 #define PLAYER_AUDIO_FREQ_11k                 8
01443 #define PLAYER_AUDIO_FREQ_22k                 16
01444 #define PLAYER_AUDIO_FREQ_48k                 24
01445 
01447 #define PLAYER_AUDIO_FORMAT_BITS              0xFF00
01448 
01449 #define PLAYER_AUDIO_FORMAT_NULL              0x0000
01450 #define PLAYER_AUDIO_FORMAT_RAW               0x0100
01451 #define PLAYER_AUDIO_FORMAT_MP3               0x0200
01452 #define PLAYER_AUDIO_FORMAT_OGG               0x0300
01453 #define PLAYER_AUDIO_FORMAT_FLAC              0x0400
01454 #define PLAYER_AUDIO_FORMAT_AAC               0x0500
01455 
01456 
01457 
01463 typedef struct player_audio_wav
01464 {
01466   uint32_t data_count;
01468   uint8_t *data;
01470   uint32_t format;
01471 } player_audio_wav_t;
01472 
01473 
01481 typedef struct player_audio_seq_item
01482 {
01484   float freq;
01486   float duration;
01488   float amplitude;
01490   player_bool_t link;
01491 } player_audio_seq_item_t;
01492 
01493 
01499 typedef struct player_audio_seq
01500 {
01502   uint32_t tones_count;
01504   player_audio_seq_item_t *tones;
01505 } player_audio_seq_t;
01506 
01507 
01513 typedef struct player_audio_mixer_channel
01514 {
01516   float amplitude;
01518   player_bool_t active;
01520   uint32_t index;
01521 } player_audio_mixer_channel_t;
01522 
01523 
01524 
01530 typedef struct player_audio_mixer_channel_list
01531 {
01533   uint32_t channels_count;
01535   player_audio_mixer_channel_t *channels;
01536 } player_audio_mixer_channel_list_t;
01537 
01538 
01539 
01541 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_INPUT 1
01542 
01543 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_OUTPUT 2
01544 
01545 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_SPECIAL 4
01546 
01552 typedef struct player_audio_mixer_channel_detail
01553 {
01555   uint32_t name_count;
01557   char *name;
01559   uint8_t caps;
01560 } player_audio_mixer_channel_detail_t;
01561 
01562 
01563 
01569 typedef struct player_audio_mixer_channel_list_detail
01570 {
01572   uint32_t details_count;
01574   player_audio_mixer_channel_detail_t *details;
01576   int32_t default_output;
01578   int32_t default_input;
01579 } player_audio_mixer_channel_list_detail_t;
01580 
01581 
01582 
01589 typedef struct player_audio_sample
01590 {
01592   player_audio_wav_t sample;
01594   int32_t index;
01595 } player_audio_sample_t;
01596 
01602 typedef struct player_audio_sample_item
01603 {
01605   int32_t index;
01606 } player_audio_sample_item_t;
01607 
01613 typedef struct player_audio_sample_rec_req
01614 {
01617   int32_t index;
01619   uint32_t length;
01620 } player_audio_sample_rec_req_t;
01621 
01628 typedef struct player_audio_state
01629 {
01631   uint32_t state;
01632 } player_audio_state_t;
01633 
01634  
01640 #define PLAYER_FIDUCIAL_CODE 10
01641 
01644 #define PLAYER_FIDUCIAL_STRING "fiducial" 
01645 
01646 // /////////////////////////////////////////////////////////////////////////////
01663 #define PLAYER_FIDUCIAL_DATA_SCAN 1
01664 
01665 
01666 #define PLAYER_FIDUCIAL_REQ_GET_GEOM 1
01667 
01668 
01669 #define PLAYER_FIDUCIAL_REQ_GET_FOV 2
01670 
01671 
01672 #define PLAYER_FIDUCIAL_REQ_SET_FOV 3
01673 
01674 
01675 #define PLAYER_FIDUCIAL_REQ_GET_ID 7
01676 
01677 
01678 #define PLAYER_FIDUCIAL_REQ_SET_ID 8
01679 
01680 
01685 typedef struct player_fiducial_item
01686 {
01689   int32_t id;
01691   player_pose3d_t pose;
01693   player_pose3d_t upose;
01694 } player_fiducial_item_t;
01695 
01696 
01700 typedef struct player_fiducial_data
01701 {
01703   uint32_t fiducials_count;
01705   player_fiducial_item_t *fiducials;
01706 
01707 } player_fiducial_data_t;
01708 
01714 typedef struct player_fiducial_geom
01715 {
01717   player_pose3d_t pose;
01719   player_bbox3d_t size;
01721   player_bbox2d_t fiducial_size;
01722 } player_fiducial_geom_t;
01723 
01730 typedef struct player_fiducial_fov
01731 {
01733   float min_range;
01735   float max_range;
01737   float view_angle;
01738 } player_fiducial_fov_t;
01739 
01755 typedef struct player_fiducial_id
01756 {
01758   uint32_t id;
01759 } player_fiducial_id_t;
01760 
01761 
01762  
01768 #define PLAYER_SPEECH_CODE 12
01769 
01772 #define PLAYER_SPEECH_STRING "speech" 
01773 
01774 // /////////////////////////////////////////////////////////////////////////////
01789 #define PLAYER_SPEECH_CMD_SAY 1
01790 
01791 
01792 
01797 typedef struct player_speech_cmd
01798 {
01800   uint32_t string_count;
01802   char *string;
01803 } player_speech_cmd_t;
01804 
01805 
01806  
01812 #define PLAYER_GPS_CODE 13
01813 
01816 #define PLAYER_GPS_STRING "gps" 
01817 
01818 // /////////////////////////////////////////////////////////////////////////////
01834 #define PLAYER_GPS_DATA_STATE 1
01835 
01836 
01841 typedef struct player_gps_data
01842 {
01844   uint32_t time_sec;
01846   uint32_t time_usec;
01850   int32_t latitude;
01854   int32_t longitude;
01857   int32_t altitude;
01859   double utm_e;
01861   double utm_n;
01863   uint32_t quality;
01865   uint32_t num_sats;
01867   uint32_t hdop;
01869   uint32_t vdop;
01871   double err_horz;
01873   double err_vert;
01874 } player_gps_data_t;
01875 
01876 
01877  
01883 #define PLAYER_BUMPER_CODE 14
01884 
01887 #define PLAYER_BUMPER_STRING "bumper" 
01888 
01889 // /////////////////////////////////////////////////////////////////////////////
01905 #define PLAYER_BUMPER_DATA_STATE 1
01906 
01907 
01908 #define PLAYER_BUMPER_DATA_GEOM 2
01909 
01910 
01911 #define PLAYER_BUMPER_REQ_GET_GEOM 1
01912 
01913 
01917 typedef struct player_bumper_data
01918 {
01920   uint32_t bumpers_count;
01922   uint8_t *bumpers;
01923 } player_bumper_data_t;
01924 
01926 typedef struct player_bumper_define
01927 {
01929   player_pose3d_t pose;
01931   float length;
01933   float radius;
01934 } player_bumper_define_t;
01935 
01943 typedef struct player_bumper_geom
01944 {
01946   uint32_t bumper_def_count;
01948   player_bumper_define_t *bumper_def;
01949 } player_bumper_geom_t;
01950 
01951 
01952  
01958 #define PLAYER_DIO_CODE 20
01959 
01962 #define PLAYER_DIO_STRING "dio" 
01963 
01964 // /////////////////////////////////////////////////////////////////////////////
01979 #define PLAYER_DIO_DATA_VALUES 1
01980 
01981 
01982 #define PLAYER_DIO_CMD_VALUES 1
01983 
01984 
01989 typedef struct player_dio_data
01990 {
01992   uint32_t count;
01994   uint32_t bits;
01995 } player_dio_data_t;
01996 
02001 typedef struct player_dio_cmd
02002 {
02004   uint32_t count;
02006   uint32_t digout;
02007 } player_dio_cmd_t;
02008 
02017 #define PLAYER_AIO_CODE 21
02018 
02021 #define PLAYER_AIO_STRING "aio" 
02022 
02023 // /////////////////////////////////////////////////////////////////////////////
02038 #define PLAYER_AIO_CMD_STATE 1
02039 
02040 
02041 #define PLAYER_AIO_DATA_STATE 1
02042 
02043 
02048 typedef struct player_aio_data
02049 {
02051   uint32_t voltages_count;
02053   float *voltages;
02054 } player_aio_data_t;
02055 
02059 typedef struct player_aio_cmd
02060 {
02062   uint32_t id;
02064   float voltage;
02065 } player_aio_cmd_t;
02066 
02067  
02073 #define PLAYER_IR_CODE 22
02074 
02077 #define PLAYER_IR_STRING "ir" 
02078 
02079 // /////////////////////////////////////////////////////////////////////////////
02097 #define PLAYER_IR_REQ_POSE 1
02098 
02100 #define PLAYER_IR_REQ_POWER 2
02101 
02103 #define PLAYER_IR_DATA_RANGES 1
02104 
02105 
02106 
02110 typedef struct player_ir_data
02111 {
02113   uint32_t voltages_count;
02115   float *voltages;
02117   uint32_t ranges_count;
02119   float *ranges;
02120 } player_ir_data_t;
02121 
02125 typedef struct player_ir_pose
02126 {
02128   uint32_t poses_count;
02130   player_pose3d_t *poses;
02131 } player_ir_pose_t;
02132 
02137 typedef struct player_ir_power_req
02138 {
02140   uint8_t state;
02141 } player_ir_power_req_t;
02142 
02143  
02149 #define PLAYER_WIFI_CODE 23
02150 
02153 #define PLAYER_WIFI_STRING "wifi" 
02154 
02155 // /////////////////////////////////////////////////////////////////////////////
02171 #define PLAYER_WIFI_REQ_MAC 1
02172 
02174 #define PLAYER_WIFI_REQ_IWSPY_ADD 2
02175 
02177 #define PLAYER_WIFI_REQ_IWSPY_DEL 3
02178 
02180 #define PLAYER_WIFI_REQ_IWSPY_PING 4
02181 
02183 #define PLAYER_WIFI_DATA_STATE 1
02184 
02185 
02186 
02188 #define PLAYER_WIFI_QUAL_DBM     1
02189 
02190 #define PLAYER_WIFI_QUAL_REL     2
02191 
02192 #define PLAYER_WIFI_QUAL_UNKNOWN 3
02193 
02195 #define PLAYER_WIFI_MODE_UNKNOWN 0
02196 
02197 #define PLAYER_WIFI_MODE_AUTO    1
02198 
02199 #define PLAYER_WIFI_MODE_ADHOC   2
02200 
02201 #define PLAYER_WIFI_MODE_INFRA   3
02202 
02203 #define PLAYER_WIFI_MODE_MASTER  4
02204 
02205 #define PLAYER_WIFI_MODE_REPEAT  5
02206 
02207 #define PLAYER_WIFI_MODE_SECOND  6
02208 
02214 typedef struct player_wifi_link
02215 {
02217   uint32_t mac_count;
02218   uint8_t mac[32];
02220   uint32_t ip_count;
02221   uint8_t ip[32];
02223   uint32_t essid_count;
02224   uint8_t essid[32];
02226   uint32_t mode;
02228   uint32_t freq;
02230   uint32_t encrypt;
02232   uint32_t qual;
02234   uint32_t level;
02236   uint32_t noise;
02237 } player_wifi_link_t;
02238 
02242 typedef struct player_wifi_data
02243 {
02245   uint32_t links_count;
02247   player_wifi_link_t *links;
02249   uint32_t throughput;
02251   uint32_t bitrate;
02253   uint32_t mode;
02255   uint32_t qual_type;
02257   uint32_t maxqual;
02259   uint32_t maxlevel;
02261   uint32_t maxnoise;
02263   char ap[32];
02264 } player_wifi_data_t;
02265 
02267 typedef struct player_wifi_mac_req
02268 {
02270   uint32_t mac_count;
02271   uint8_t mac[32];
02272 } player_wifi_mac_req_t;
02273 
02275 typedef struct player_wifi_iwspy_addr_req
02276 {
02278   char      address[32];
02279 } player_wifi_iwspy_addr_req_t;
02280 
02281 
02282  
02288 #define PLAYER_LOCALIZE_CODE 25
02289 
02292 #define PLAYER_LOCALIZE_STRING "localize" 
02293 
02294 // /////////////////////////////////////////////////////////////////////////////
02315 #define PLAYER_LOCALIZE_DATA_HYPOTHS 1
02316 
02318 #define PLAYER_LOCALIZE_REQ_SET_POSE 1
02319 
02321 #define PLAYER_LOCALIZE_REQ_GET_PARTICLES 2
02322 
02323 
02324 
02330 typedef struct player_localize_hypoth
02331 {
02333   player_pose2d_t mean;
02337   double cov[6];
02339   double alpha;
02340 } player_localize_hypoth_t;
02341 
02346 typedef struct player_localize_data
02347 {
02349   uint32_t pending_count;
02351   double pending_time;
02353   uint32_t hypoths_count;
02355   player_localize_hypoth_t *hypoths;
02356 } player_localize_data_t;
02357 
02362 typedef struct player_localize_set_pose
02363 {
02365   player_pose2d_t mean;
02370   double cov[6];
02371 } player_localize_set_pose_t;
02372 
02374 typedef struct player_localize_particle
02375 {
02377   player_pose2d_t pose;
02379   double alpha;
02380 } player_localize_particle_t;
02381 
02387 typedef struct player_localize_get_particles
02388 {
02390   player_pose2d_t mean;
02392   double variance;
02394   uint32_t particles_count;
02396   player_localize_particle_t *particles;
02397 } player_localize_get_particles_t;
02398 
02399  
02405 #define PLAYER_POSITION3D_CODE 30
02406 
02409 #define PLAYER_POSITION3D_STRING "position3d" 
02410 
02411 // /////////////////////////////////////////////////////////////////////////////
02427 #define PLAYER_POSITION3D_DATA_STATE 1
02428 
02430 #define PLAYER_POSITION3D_DATA_GEOMETRY 2
02431 
02433 #define PLAYER_POSITION3D_CMD_SET_VEL 1
02434 
02436 #define PLAYER_POSITION3D_CMD_SET_POS 2
02437 
02439 #define PLAYER_POSITION3D_REQ_GET_GEOM 1
02440 
02442 #define PLAYER_POSITION3D_REQ_MOTOR_POWER 2
02443 
02445 #define PLAYER_POSITION3D_REQ_VELOCITY_MODE 3
02446 
02448 #define PLAYER_POSITION3D_REQ_POSITION_MODE 4
02449 
02451 #define PLAYER_POSITION3D_REQ_RESET_ODOM 5
02452 
02454 #define PLAYER_POSITION3D_REQ_SET_ODOM 6
02455 
02457 #define PLAYER_POSITION3D_REQ_SPEED_PID 7
02458 
02460 #define PLAYER_POSITION3D_REQ_POSITION_PID 8
02461 
02463 #define PLAYER_POSITION3D_REQ_SPEED_PROF 9
02464 
02465 
02466 
02471 typedef struct player_position3d_data
02472 {
02474   player_pose3d_t pos;
02476   player_pose3d_t vel;
02478   uint8_t stall;
02479 } player_position3d_data_t;
02480 
02485 typedef struct player_position3d_cmd_pos
02486 {
02488   player_pose3d_t pos;
02490   player_pose3d_t vel;
02492   uint8_t state;
02493 } player_position3d_cmd_pos_t;
02494 
02499 typedef struct player_position3d_cmd_vel
02500 {
02502   player_pose3d_t vel;
02504   uint8_t state;
02505 } player_position3d_cmd_vel_t;
02506 
02510 typedef struct player_position3d_geom
02511 {
02513   player_pose3d_t pose;
02515   player_bbox3d_t size;
02516 } player_position3d_geom_t;
02517 
02528 typedef struct player_position3d_power_config
02529 {
02531   uint8_t state;
02532 } player_position3d_power_config_t;
02533 
02539 typedef struct player_position3d_position_mode_req
02540 {
02542   uint32_t value;
02543 } player_position3d_position_mode_req_t;
02544 
02552 typedef struct player_position3d_velocity_mode_config
02553 {
02555   uint32_t value;
02556 } player_position3d_velocity_mode_config_t;
02557 
02562 typedef struct player_position3d_set_odom_req
02563 {
02565   player_pose3d_t pos;
02566 } player_position3d_set_odom_req_t;
02567 
02577 typedef struct player_position3d_speed_pid_req
02578 {
02580   float kp;
02582   float ki;
02584   float kd;
02585 } player_position3d_speed_pid_req_t;
02586 
02591 typedef struct player_position3d_position_pid_req
02592 {
02594   float kp;
02596   float ki;
02598   float kd;
02599 } player_position3d_position_pid_req_t;
02600 
02605 typedef struct player_position3d_speed_prof_req
02606 {
02608   float speed;
02610   float acc;
02611 } player_position3d_speed_prof_req_t;
02612 
02613 
02614  
02620 #define PLAYER_SIMULATION_CODE 31
02621 
02624 #define PLAYER_SIMULATION_STRING "simulation" 
02625 
02626 // /////////////////////////////////////////////////////////////////////////////
02650 #define PLAYER_SIMULATION_REQ_GET_POSE2D 1
02651 
02653 #define PLAYER_SIMULATION_REQ_SET_POSE2D 2
02654 
02656 #define PLAYER_SIMULATION_REQ_GET_POSE3D 3
02657 
02659 #define PLAYER_SIMULATION_REQ_SET_POSE3D 4
02660 
02662 #define PLAYER_SIMULATION_REQ_GET_PROPERTY 5
02663 
02665 #define PLAYER_SIMULATION_REQ_SET_PROPERTY 6
02666 
02668 #define PLAYER_SIMULATION_CMD_PAUSE 1
02669 
02671 #define PLAYER_SIMULATION_CMD_RESET 2
02672 
02674 #define PLAYER_SIMULATION_CMD_SAVE 3
02675 
02676 
02677 
02678 
02683 typedef struct player_simulation_data
02684 {
02686   uint8_t data;
02687 } player_simulation_data_t;
02688 
02693 typedef struct player_simulation_cmd
02694 {
02696   uint8_t cmd;
02697 } player_simulation_cmd_t;
02698 
02705 typedef struct player_simulation_pose2d_req
02706 {
02708   uint32_t name_count;
02710   char *name;
02712   player_pose2d_t pose;
02713 } player_simulation_pose2d_req_t;
02714 
02721 typedef struct player_simulation_pose3d_req
02722 {
02724   uint32_t name_count;
02726   char *name;
02728   player_pose3d_t pose;
02730   double simtime;
02731 } player_simulation_pose3d_req_t;
02732 
02753 typedef struct player_simulation_property_req
02754 {
02756   uint32_t name_count;
02758   char *name;
02760   uint32_t prop_count;
02762   char *prop;
02764   uint32_t index;
02766   uint32_t value_count;
02768   char *value;
02769 } player_simulation_property_req_t;
02770 
02771 
02772  
02778 #define PLAYER_BLINKENLIGHT_CODE 33
02779 
02782 #define PLAYER_BLINKENLIGHT_STRING "blinkenlight" 
02783 
02784 // /////////////////////////////////////////////////////////////////////////////
02803 #define PLAYER_BLINKENLIGHT_DATA_STATE 1
02804 
02805 
02806 #define PLAYER_BLINKENLIGHT_CMD_STATE 1
02807 
02808 
02809 #define PLAYER_BLINKENLIGHT_CMD_POWER 2
02810 
02811 
02812 #define PLAYER_BLINKENLIGHT_CMD_COLOR 3
02813 
02814 
02815 #define PLAYER_BLINKENLIGHT_CMD_FLASH 4
02816 
02817 
02821 typedef struct player_blinkenlight_data
02822 {
02824   uint8_t enable;
02826   float period;
02828   float dutycycle;
02830   player_color_t color;
02831 } player_blinkenlight_data_t;
02832 
02836 typedef struct player_blinkenlight_cmd
02837 {
02839   uint16_t id;  
02841   uint8_t enable;
02843   float period;
02845   float dutycycle;
02847   player_color_t color;
02848 } player_blinkenlight_cmd_t;
02849 
02853 typedef struct player_blinkenlight_cmd_power
02854 {
02856   uint16_t id;  
02858   uint8_t enable;
02859 } player_blinkenlight_cmd_power_t;
02860 
02864 typedef struct player_blinkenlight_cmd_color
02865 {
02867   uint16_t id;  
02869   player_color_t color;
02870 } player_blinkenlight_cmd_color_t;
02871         
02875 typedef struct player_blinkenlight_cmd_flash
02876 {
02878   uint16_t id;  
02880   float period;
02882   float dutycycle;  
02883 } player_blinkenlight_cmd_flash_t;
02884 
02885 
02886  
02892 #define PLAYER_CAMERA_CODE 40
02893 
02896 #define PLAYER_CAMERA_STRING "camera" 
02897 
02898 // /////////////////////////////////////////////////////////////////////////////
02917 #define PLAYER_CAMERA_DATA_STATE 1
02918 
02920 #define PLAYER_CAMERA_REQ_GET_SOURCE 1
02921 
02923 #define PLAYER_CAMERA_REQ_SET_SOURCE 2
02924 
02926 #define PLAYER_CAMERA_REQ_GET_IMAGE 3
02927 
02928 
02929 
02931 #define PLAYER_CAMERA_FORMAT_MONO8  1
02932 
02933 #define PLAYER_CAMERA_FORMAT_MONO16 2
02934 
02935 #define PLAYER_CAMERA_FORMAT_RGB565 4
02936 
02937 #define PLAYER_CAMERA_FORMAT_RGB888 5
02938 
02940 #define PLAYER_CAMERA_COMPRESS_RAW  0
02941 
02942 #define PLAYER_CAMERA_COMPRESS_JPEG 1
02943 
02945 typedef struct player_camera_data
02946 {
02948   uint32_t width;
02950   uint32_t height;
02952   uint32_t bpp;
02954   uint32_t format;
02958   uint32_t fdiv;
02961   uint32_t compression;
02963   uint32_t image_count;
02967   uint8_t *image;
02968 } player_camera_data_t;
02969 
02974 typedef struct player_camera_source
02975 {
02977   uint32_t norm_count;
02978   char * norm;
02979   int32_t source;
02980 } player_camera_source_t;
02981 
02982  
02988 #define PLAYER_MAP_CODE 42
02989 
02992 #define PLAYER_MAP_STRING "map" 
02993 
02994 // /////////////////////////////////////////////////////////////////////////////
03013 #define PLAYER_MAP_DATA_INFO 1
03014 
03016 #define PLAYER_MAP_REQ_GET_INFO 1
03017 
03019 #define PLAYER_MAP_REQ_GET_DATA 2
03020 
03022 #define PLAYER_MAP_REQ_GET_VECTOR 3
03023 
03024 
03025 
03026 
03028 #define PLAYER_MAP_DATA_INFO               1
03034 typedef struct player_map_info
03035 {
03037   float scale;
03039   uint32_t width;
03041   uint32_t height;
03044   player_pose2d_t origin;
03045 } player_map_info_t;
03046 
03055 typedef struct player_map_data
03056 {
03058   uint32_t col;
03060   uint32_t row;
03062   uint32_t width;
03064   uint32_t height;
03066   uint32_t data_count;
03068   int8_t data_range;  
03070   int8_t *data;
03071 } player_map_data_t;
03072 
03077 typedef struct player_map_data_vector
03078 {
03080   float minx;
03082   float maxx;
03084   float miny;
03086   float maxy;
03088   uint32_t segments_count;
03090   player_segment_t *segments;
03091 } player_map_data_vector_t;
03092 
03093 
03094  
03100 #define PLAYER_PLANNER_CODE 44
03101 
03104 #define PLAYER_PLANNER_STRING "planner" 
03105 
03106 // /////////////////////////////////////////////////////////////////////////////
03121 #define PLAYER_PLANNER_DATA_STATE 1
03122 
03124 #define PLAYER_PLANNER_CMD_GOAL 1
03125 
03127 #define PLAYER_PLANNER_REQ_GET_WAYPOINTS 1
03128 
03130 #define PLAYER_PLANNER_REQ_ENABLE 2
03131 
03132 
03133 
03134 
03139 typedef struct player_planner_data
03140 {
03142   uint8_t valid;
03144   uint8_t done;
03146   player_pose2d_t pos;
03148   player_pose2d_t goal;
03150   player_pose2d_t waypoint;
03154   int32_t waypoint_idx;
03156   uint32_t waypoints_count;
03157 } player_planner_data_t;
03158 
03162 typedef struct player_planner_cmd
03163 {
03165   player_pose2d_t goal;
03166 } player_planner_cmd_t;
03167 
03173 typedef struct player_planner_waypoints_req
03174 {
03176   uint32_t waypoints_count;
03178   player_pose2d_t *waypoints;
03179 } player_planner_waypoints_req_t;
03180 
03186 typedef struct player_planner_enable_req
03187 {
03189   uint8_t state;
03190 } player_planner_enable_req_t;
03191 
03192 
03193  
03199 #define PLAYER_LOG_CODE 45
03200 
03203 #define PLAYER_LOG_STRING "log" 
03204 
03205 // /////////////////////////////////////////////////////////////////////////////
03223 #define PLAYER_LOG_REQ_SET_WRITE_STATE 1
03224 
03226 #define PLAYER_LOG_REQ_SET_READ_STATE 2
03227 
03229 #define PLAYER_LOG_REQ_GET_STATE 3
03230 
03232 #define PLAYER_LOG_REQ_SET_READ_REWIND 4
03233 
03235 #define PLAYER_LOG_REQ_SET_FILENAME 5
03236 
03237 
03238 
03240 #define  PLAYER_LOG_TYPE_READ       1
03241 
03242 #define  PLAYER_LOG_TYPE_WRITE      2
03243 
03244 
03249 typedef struct player_log_set_write_state
03250 {
03252   uint8_t state;
03253 } player_log_set_write_state_t;
03254 
03259 typedef struct player_log_set_read_state
03260 {
03262   uint8_t state;
03263 } player_log_set_read_state_t;
03264 
03276 typedef struct player_log_get_state
03277 {
03280   uint8_t type;
03282   uint8_t state;
03283 } player_log_get_state_t;
03284 
03289 typedef struct player_log_set_filename
03290 {
03292   uint32_t filename_count;
03294   char filename[256];
03295 } player_log_set_filename_t;
03296 
03297 
03298  
03304 #define PLAYER_JOYSTICK_CODE 49
03305 
03308 #define PLAYER_JOYSTICK_STRING "joystick" 
03309 
03310 // /////////////////////////////////////////////////////////////////////////////
03327 #define PLAYER_JOYSTICK_DATA_STATE 1
03328 
03329 
03330 
03331 
03336  typedef struct player_joystick_data
03337  {
03339   int32_t pos[8];
03341   int32_t scale[8];
03343    uint32_t buttons;
03345    uint32_t axes_count;
03346  } player_joystick_data_t;
03347  
03348 
03349 
03350  
03356 #define PLAYER_SPEECH_RECOGNITION_CODE 50
03357 
03360 #define PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition" 
03361 
03362 // /////////////////////////////////////////////////////////////////////////////
03378 #define PLAYER_SPEECH_RECOGNITION_DATA_STRING 1
03379 
03380 
03381 
03385 typedef struct player_speech_recognition_data
03386 {
03388   uint32_t text_count;
03390   char *text;
03391 } player_speech_recognition_data_t;
03392 
03393 
03394  
03400 #define PLAYER_OPAQUE_CODE 51
03401 
03404 #define PLAYER_OPAQUE_STRING "opaque" 
03405 
03406 // /////////////////////////////////////////////////////////////////////////////
03424 #define PLAYER_OPAQUE_DATA_STATE 1
03425 
03427 #define PLAYER_OPAQUE_CMD_DATA 1
03428 
03430 #define PLAYER_OPAQUE_REQ_DATA 1
03431 
03432 
03433 
03434 /* for backwards compatibility */
03435 #define PLAYER_OPAQUE_REQ PLAYER_OPAQUE_REQ_DATA
03436 #define PLAYER_OPAQUE_CMD PLAYER_OPAQUE_CMD_DATA
03437 
03439 typedef struct player_opaque_data
03440 {
03442   uint32_t data_count;
03444   uint8_t *data;
03445 } player_opaque_data_t;
03446 
03447 
03448  
03454 #define PLAYER_POSITION1D_CODE 52
03455 
03458 #define PLAYER_POSITION1D_STRING "position1d" 
03459 
03460 // /////////////////////////////////////////////////////////////////////////////
03475 #define PLAYER_POSITION1D_REQ_GET_GEOM 1
03476 
03478 #define PLAYER_POSITION1D_REQ_MOTOR_POWER 2
03479 
03481 #define PLAYER_POSITION1D_REQ_VELOCITY_MODE 3
03482 
03484 #define PLAYER_POSITION1D_REQ_POSITION_MODE 4
03485 
03487 #define PLAYER_POSITION1D_REQ_SET_ODOM 5
03488 
03490 #define PLAYER_POSITION1D_REQ_RESET_ODOM 6
03491 
03493 #define PLAYER_POSITION1D_REQ_SPEED_PID 7
03494 
03496 #define PLAYER_POSITION1D_REQ_POSITION_PID 8
03497 
03499 #define PLAYER_POSITION1D_REQ_SPEED_PROF 9
03500 
03502 #define PLAYER_POSITION1D_DATA_STATE 1
03503 
03505 #define PLAYER_POSITION1D_DATA_GEOM 2
03506 
03508 #define PLAYER_POSITION1D_CMD_VEL 1
03509 
03511 #define PLAYER_POSITION1D_CMD_POS 2
03512 
03513 
03514 
03516 #define PLAYER_POSITION1D_STATUS_LIMIT_MIN 0
03517 
03518 #define PLAYER_POSITION1D_STATUS_LIMIT_CEN 1
03519 
03520 #define PLAYER_POSITION1D_STATUS_LIMIT_MAX 2
03521 
03522 #define PLAYER_POSITION1D_STATUS_OC 3
03523 
03524 #define PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE 4
03525 
03526 #define PLAYER_POSITION1D_STATUS_ENABLED 5
03527 
03532 typedef struct player_position1d_data
03533 {
03535   float pos;
03537   float vel;
03539   uint8_t stall;
03551   uint8_t status;
03552 
03553 } player_position1d_data_t;
03554 
03560 typedef struct player_position1d_cmd_vel
03561 {
03563   float vel;
03565   uint8_t state;
03566 } player_position1d_cmd_vel_t;
03567 
03573 typedef struct player_position1d_cmd_pos
03574 {
03576   float pos;
03578   float vel;
03580   uint8_t state;
03581 } player_position1d_cmd_pos_t;
03582 
03587 typedef struct player_position1d_geom
03588 {
03590   player_pose3d_t pose;
03592   player_bbox3d_t size;
03593 } player_position1d_geom_t;
03594 
03606 typedef struct player_position1d_power_config
03607 {
03609   uint8_t state;
03610 } player_position1d_power_config_t;
03611 
03620 typedef struct player_position1d_velocity_mode_config
03621 {
03623   uint32_t value;
03624 } player_position1d_velocity_mode_config_t;
03625 
03630 typedef struct player_position1d_reset_odom_config
03631 {
03633   uint32_t value;
03634 } player_position1d_reset_odom_config_t;
03635 
03641 typedef struct player_position1d_position_mode_req
03642 {
03644   uint32_t state;
03645 } player_position1d_position_mode_req_t;
03646 
03652 typedef struct player_position1d_set_odom_req
03653 {
03655   float pos;
03656 } player_position1d_set_odom_req_t;
03657 
03663 typedef struct player_position1d_speed_pid_req
03664 {
03666   float kp;
03668   float ki;
03670   float kd;
03671 } player_position1d_speed_pid_req_t;
03672 
03678 typedef struct player_position1d_position_pid_req
03679 {
03681   float kp;
03683   float ki;
03685   float kd;
03686 } player_position1d_position_pid_req_t;
03687 
03693 typedef struct player_position1d_speed_prof_req
03694 {
03696   float speed;
03698   float acc;
03699 } player_position1d_speed_prof_req_t;
03700 
03701  
03707 #define PLAYER_ACTARRAY_CODE 53
03708 
03711 #define PLAYER_ACTARRAY_STRING "actarray" 
03712 
03713 // /////////////////////////////////////////////////////////////////////////////
03728 #define PLAYER_ACTARRAY_REQ_POWER 1
03729 
03730 
03731 #define PLAYER_ACTARRAY_REQ_BRAKES 2
03732 
03733 
03734 #define PLAYER_ACTARRAY_REQ_GET_GEOM 3
03735 
03736 
03737 #define PLAYER_ACTARRAY_REQ_SPEED 4
03738 
03739 
03740 #define PLAYER_ACTARRAY_REQ_ACCEL 5
03741 
03742 
03743 #define PLAYER_ACTARRAY_CMD_POS 1
03744 
03745 
03746 #define PLAYER_ACTARRAY_CMD_MULTI_POS 2
03747 
03748 
03749 #define PLAYER_ACTARRAY_CMD_SPEED 3
03750 
03751 
03752 #define PLAYER_ACTARRAY_CMD_MULTI_SPEED 4
03753 
03754 
03755 #define PLAYER_ACTARRAY_CMD_HOME 5
03756 
03757 
03758 #define PLAYER_ACTARRAY_CMD_CURRENT 6
03759 
03760 
03761 #define PLAYER_ACTARRAY_CMD_MULTI_CURRENT 7
03762 
03763 
03764 #define PLAYER_ACTARRAY_DATA_STATE 1
03765 
03766 
03768 #define PLAYER_ACTARRAY_ACTSTATE_IDLE     1
03769 
03770 #define PLAYER_ACTARRAY_ACTSTATE_MOVING   2
03771 
03772 #define PLAYER_ACTARRAY_ACTSTATE_BRAKED   4
03773 
03774 #define PLAYER_ACTARRAY_ACTSTATE_STALLED  8
03775 
03777 #define PLAYER_ACTARRAY_TYPE_LINEAR       1
03778 
03779 #define PLAYER_ACTARRAY_TYPE_ROTARY       2
03780 
03781 
03783 typedef struct player_actarray_actuator
03784 {
03786   float position;
03788   float speed;
03790   float acceleration;
03792   float current;
03794   uint8_t state;
03795 } player_actarray_actuator_t;
03796 
03800 typedef struct player_actarray_data
03801 {
03803   uint32_t actuators_count;
03805   player_actarray_actuator_t *actuators;
03807   uint8_t motor_state;
03808 } player_actarray_data_t;
03809 
03811 typedef struct player_actarray_actuatorgeom
03812 {
03814   uint8_t type;
03817   float length;
03822   player_orientation_3d_t orientation;
03825   player_point_3d_t axis;
03827   float min;
03829   float centre;
03831   float max;
03833   float home;
03835   float config_speed;
03837   uint8_t hasbrakes;
03838 } player_actarray_actuatorgeom_t;
03839 
03844 typedef struct player_actarray_geom
03845 {
03847   uint32_t actuators_count;
03849   player_actarray_actuatorgeom_t *actuators;
03852   player_point_3d_t base_pos;
03855   player_orientation_3d_t base_orientation;
03856 } player_actarray_geom_t;
03857 
03858 
03862 typedef struct player_actarray_position_cmd
03863 {
03865   int32_t joint;
03867   float position;
03868 } player_actarray_position_cmd_t;
03869 
03873 typedef struct player_actarray_multi_position_cmd
03874 {
03876   uint32_t positions_count;
03878   float *positions;
03879 } player_actarray_multi_position_cmd_t;
03880 
03884 typedef struct player_actarray_speed_cmd
03885 {
03887   int32_t joint;
03889   float speed;
03890 } player_actarray_speed_cmd_t;
03891 
03895 typedef struct player_actarray_multi_speed_cmd
03896 {
03898   uint32_t speeds_count;
03900   float *speeds;
03901 } player_actarray_multi_speed_cmd_t;
03902 
03906 typedef struct player_actarray_home_cmd
03907 {
03909   int32_t joint;
03910 } player_actarray_home_cmd_t;
03911 
03915 typedef struct player_actarray_current_cmd
03916 {
03918   int32_t joint;
03920   float current;
03921 } player_actarray_current_cmd_t;
03922 
03926 typedef struct player_actarray_multi_current_cmd
03927 {
03929   uint32_t currents_count;
03931   float *currents;
03932 } player_actarray_multi_current_cmd_t;
03933 
03934 
03935 
03936 
03943 typedef struct player_actarray_power_config
03944 {
03946   uint8_t value;
03947 } player_actarray_power_config_t;
03948 
03953 typedef struct player_actarray_brakes_config
03954 {
03956   uint8_t value;
03957 } player_actarray_brakes_config_t;
03958 
03963 typedef struct player_actarray_speed_config
03964 {
03966   int32_t joint;
03968   float speed;
03969 } player_actarray_speed_config_t;
03970 
03971 
03976 typedef struct player_actarray_accel_config
03977 {
03979   int32_t joint;
03981   float accel;
03982 } player_actarray_accel_config_t;
03983 
03984 
03985 
03986  
03992 #define PLAYER_LIMB_CODE 54
03993 
03996 #define PLAYER_LIMB_STRING "limb" 
03997 
03998 // /////////////////////////////////////////////////////////////////////////////
04013 #define PLAYER_LIMB_STATE_IDLE        1
04014 
04015 #define PLAYER_LIMB_STATE_BRAKED      2
04016 
04017 #define PLAYER_LIMB_STATE_MOVING      3
04018 
04019 #define PLAYER_LIMB_STATE_OOR         4
04020 
04021 #define PLAYER_LIMB_STATE_COLL        5
04022 
04024 #define PLAYER_LIMB_DATA_STATE 1
04025 
04029 #define PLAYER_LIMB_CMD_HOME 1
04030 
04034 #define PLAYER_LIMB_CMD_STOP 2
04035 
04037 #define PLAYER_LIMB_CMD_SETPOSE 3
04038 
04040 #define PLAYER_LIMB_CMD_SETPOSITION 4
04041 
04043 #define PLAYER_LIMB_CMD_VECMOVE 5
04044 
04046 #define PLAYER_LIMB_REQ_POWER 1
04047 
04049 #define PLAYER_LIMB_REQ_BRAKES 2
04050 
04052 #define PLAYER_LIMB_REQ_GEOM 3
04053 
04055 #define PLAYER_LIMB_REQ_SPEED 4
04056 
04057 
04058 
04062 typedef struct player_limb_data
04063 {
04065   player_point_3d_t position;
04067   player_point_3d_t approach;
04071   player_point_3d_t orientation;
04073   uint8_t state;
04074 } player_limb_data_t;
04075 
04076 
04081 typedef struct player_limb_setpose_cmd
04082 {
04084   player_point_3d_t position;
04086   player_point_3d_t approach;
04088   player_point_3d_t orientation;
04089 } player_limb_setpose_cmd_t;
04090 
04095 typedef struct player_limb_setposition_cmd
04096 {
04098   player_point_3d_t position;
04099 } player_limb_setposition_cmd_t;
04100 
04105 typedef struct player_limb_vecmove_cmd
04106 {
04108   player_point_3d_t direction;
04110   float length;
04111 } player_limb_vecmove_cmd_t;
04112 
04118 typedef struct player_limb_power_req
04119 {
04121   uint8_t value;
04122 } player_limb_power_req_t;
04123 
04128 typedef struct player_limb_brakes_req
04129 {
04131   uint8_t value;
04132 } player_limb_brakes_req_t;
04133 
04137 typedef struct player_limb_geom_req
04138 {
04140   player_point_3d_t basePos;
04141 } player_limb_geom_req_t;
04142 
04147 typedef struct player_limb_speed_req
04148 {
04150   float speed;
04151 } player_limb_speed_req_t;
04152 
04153 
04154  
04160 #define PLAYER_GRAPHICS2D_CODE 55
04161 
04164 #define PLAYER_GRAPHICS2D_STRING "graphics2d" 
04165 
04166 // /////////////////////////////////////////////////////////////////////////////
04184 #define PLAYER_GRAPHICS2D_CMD_CLEAR 1
04185 
04187 #define PLAYER_GRAPHICS2D_CMD_POINTS 2
04188 
04190 #define PLAYER_GRAPHICS2D_CMD_POLYLINE 3
04191 
04193 #define PLAYER_GRAPHICS2D_CMD_POLYGON 4
04194 
04196 #define PLAYER_GRAPHICS2D_CMD_MULTILINE 5
04197 
04198 
04199 
04207 typedef struct player_graphics2d_cmd_points
04208 {
04210   uint32_t points_count;
04212   player_point_2d_t *points;
04214   player_color_t color;
04215 } player_graphics2d_cmd_points_t;
04216 
04220 typedef struct player_graphics2d_cmd_polyline
04221 {
04223   uint32_t points_count;
04225   player_point_2d_t *points;
04227   player_color_t color;
04228 } player_graphics2d_cmd_polyline_t;
04229 
04233 typedef struct player_graphics2d_cmd_polygon
04234 {
04236   uint32_t points_count;
04238   player_point_2d_t *points;
04240   player_color_t color;
04242   player_color_t fill_color;
04244   uint8_t filled;
04245 } player_graphics2d_cmd_polygon_t;
04246 
04250 typedef struct player_graphics2d_cmd_multiline
04251 {
04253   uint32_t points_count;
04255   player_point_2d_t *points;
04257   player_color_t color;
04258 } player_graphics2d_cmd_multiline_t;
04259 
04260  
04266 #define PLAYER_RFID_CODE 56
04267 
04270 #define PLAYER_RFID_STRING "rfid" 
04271 
04272 // /////////////////////////////////////////////////////////////////////////////
04288 #define PLAYER_RFID_DATA_TAGS 1
04289 
04291 #define PLAYER_RFID_REQ_POWER 1
04292 
04294 #define PLAYER_RFID_REQ_READTAG 2
04295 
04297 #define PLAYER_RFID_REQ_WRITETAG 3
04298 
04300 #define PLAYER_RFID_REQ_LOCKTAG 4
04301 
04302 
04303 
04304 
04306 typedef struct player_rfid_tag
04307 {
04309   uint32_t type;
04311   uint32_t guid_count;
04313   char *guid;
04314 } player_rfid_tag_t;
04315 
04319 typedef struct player_rfid_data
04320 {
04322   uint32_t tags_count;
04324   player_rfid_tag_t *tags;
04325 } player_rfid_data_t;
04326 
04327  
04333 #define PLAYER_WSN_CODE 57
04334 
04337 #define PLAYER_WSN_STRING "wsn" 
04338 
04339 // /////////////////////////////////////////////////////////////////////////////
04359 #define PLAYER_WSN_DATA_STATE 1
04360 
04362 #define PLAYER_WSN_CMD_DEVSTATE 1
04363 
04365 #define PLAYER_WSN_REQ_POWER 1
04366 
04368 #define PLAYER_WSN_REQ_DATATYPE 2
04369 
04371 #define PLAYER_WSN_REQ_DATAFREQ 3
04372 
04373 
04374 
04376 typedef struct player_wsn_node_data
04377 {
04379   float light;
04381   float mic;
04383   float accel_x;
04385   float accel_y;
04387   float accel_z;
04389   float magn_x;
04391   float magn_y;
04393   float magn_z;
04395   float temperature;
04397   float battery;
04398 } player_wsn_node_data_t;
04399 
04403 typedef struct player_wsn_data
04404 {
04406   uint32_t node_type;
04408   uint32_t node_id;
04410   uint32_t node_parent_id;
04412   player_wsn_node_data_t data_packet;
04413 } player_wsn_data_t;
04414 
04418 typedef struct player_wsn_cmd
04419 {
04421   int32_t node_id;
04423   int32_t group_id;
04425   uint32_t device;
04427   uint8_t enable;
04428 } player_wsn_cmd_t;
04429 
04434 typedef struct player_wsn_power_config
04435 {
04437   int32_t node_id;
04439   int32_t group_id;
04441   uint8_t value;
04442 } player_wsn_power_config_t;
04443 
04449 typedef struct player_wsn_datatype_config
04450 {
04452   uint8_t value;
04453 } player_wsn_datatype_config_t;
04454 
04460 typedef struct player_wsn_datafreq_config
04461 {
04463   int32_t node_id;
04465   int32_t group_id;
04467   double  frequency;
04468 } player_wsn_datafreq_config_t;
04469 
04470  
04476 #define PLAYER_GRAPHICS3D_CODE 58
04477 
04480 #define PLAYER_GRAPHICS3D_STRING "graphics3d" 
04481 
04482 // /////////////////////////////////////////////////////////////////////////////
04504 #define PLAYER_GRAPHICS3D_CMD_CLEAR 1
04505 
04507 #define PLAYER_GRAPHICS3D_CMD_DRAW 2
04508 
04510 #define PLAYER_GRAPHICS3D_CMD_TRANSLATE 3
04511 
04513 #define PLAYER_GRAPHICS3D_CMD_ROTATE 4
04514 
04516 #define PLAYER_GRAPHICS3D_CMD_PUSH 5
04517 
04519 #define PLAYER_GRAPHICS3D_CMD_POP 6
04520 
04521 
04522 
04524 typedef enum player_graphics3d_draw_mode
04525 {
04526   PLAYER_DRAW_POINTS,
04527   PLAYER_DRAW_LINES,
04528   PLAYER_DRAW_LINE_STRIP,
04529   PLAYER_DRAW_LINE_LOOP,
04530   PLAYER_DRAW_TRIANGLES,
04531   PLAYER_DRAW_TRIANGLE_STRIP,
04532   PLAYER_DRAW_TRIANGLE_FAN,
04533   PLAYER_DRAW_QUADS,
04534   PLAYER_DRAW_QUAD_STRIP,
04535   PLAYER_DRAW_POLYGON
04536 } player_graphics3d_draw_mode_t;
04537 
04538 
04546 typedef struct player_graphics3d_cmd_draw
04547 {
04549   uint32_t draw_mode;
04551   uint32_t points_count;
04553   player_point_3d_t *points;
04555   player_color_t color;
04556 
04557 } player_graphics3d_cmd_draw_t;
04558 
04562 typedef struct player_graphics3d_cmd_translate
04563 {
04564   double x; 
04565   double y; 
04566   double z; 
04567 } player_graphics3d_cmd_translate_t;
04568 
04572 typedef struct player_graphics3d_cmd_rotate
04573 {
04574   double a; 
04575   double x; 
04576   double y; 
04577   double z; 
04578 } player_graphics3d_cmd_rotate_t;
04579 
04580 
04581  
04587 #define PLAYER_HEALTH_CODE 59
04588 
04591 #define PLAYER_HEALTH_STRING "health" 
04592 
04593 // /////////////////////////////////////////////////////////////////////////////
04609 #define PLAYER_HEALTH_DATA_STATE 1
04610 
04611 
04613 typedef struct player_health_cpu
04614 {
04616     float idle;
04618     float system;
04620     float user;
04621 } player_health_cpu_t;
04622 
04624 typedef struct player_health_memory
04625 {
04627     int64_t total;
04629     int64_t used;
04631     int64_t free;
04632 } player_health_memory_t;
04635 typedef struct player_health_data
04636 {
04638     player_health_cpu_t cpu_usage;
04640     player_health_memory_t mem;
04642     player_health_memory_t swap;
04643 
04644 } player_health_data_t;
04645 
04646  
04652 #define PLAYER_IMU_CODE 60
04653 
04656 #define PLAYER_IMU_STRING "imu" 
04657 
04658 // /////////////////////////////////////////////////////////////////////////////
04674 #define PLAYER_IMU_DATA_STATE 1
04675 
04677 #define PLAYER_IMU_DATA_CALIB 2
04678 
04680 #define PLAYER_IMU_DATA_QUAT 3
04681 
04683 #define PLAYER_IMU_DATA_EULER 4
04684 
04686 #define PLAYER_IMU_DATA_FULLSTATE 5
04687 
04689 #define PLAYER_IMU_REQ_SET_DATATYPE 1
04690 
04692 #define PLAYER_IMU_REQ_RESET_ORIENTATION 2
04693 
04694 
04695 
04696 
04701 typedef struct player_imu_data_state
04702 {
04704     player_pose3d_t pose;
04705 } player_imu_data_state_t;
04706 
04711 typedef struct player_imu_data_calib
04712 {
04714     float accel_x;
04716     float accel_y;
04718     float accel_z;
04720     float gyro_x;
04722     float gyro_y;
04724     float gyro_z;
04726     float magn_x;
04728     float magn_y;
04730     float magn_z;
04731 } player_imu_data_calib_t;
04732 
04737 typedef struct player_imu_data_quat
04738 {
04740     player_imu_data_calib_t calib_data;
04741 
04743     float q0;
04744     float q1;
04745     float q2;
04746     float q3;
04747 } player_imu_data_quat_t;
04748 
04753 typedef struct player_imu_data_euler
04754 {
04756     player_imu_data_calib_t calib_data;
04757 
04759     player_orientation_3d_t orientation;
04760 } player_imu_data_euler_t;
04761 
04762 
04767 typedef struct player_imu_data_fullstate
04768 {
04770     player_pose3d_t pose;
04772     player_pose3d_t vel;
04774     player_pose3d_t acc;
04775 } player_imu_data_fullstate_t;
04776 
04777 
04778 
04779 
04786 typedef struct player_imu_datatype_config
04787 {
04791     uint8_t value;
04792 } player_imu_datatype_config_t;
04793 
04798 typedef struct player_imu_reset_orientation_config
04799 {
04801   uint32_t value;
04802 } player_imu_reset_orientation_config_t;
04803 
04804  
04810 #define PLAYER_POINTCLOUD3D_CODE 61
04811 
04814 #define PLAYER_POINTCLOUD3D_STRING "pointcloud3d" 
04815 
04816 // /////////////////////////////////////////////////////////////////////////////
04832 #define PLAYER_POINTCLOUD3D_DATA_STATE 1
04833 
04834 
04835 
04839 typedef struct player_pointcloud3d_element
04840 {
04841   player_point_3d_t point;
04842   player_color_t color;
04852 } player_pointcloud3d_element_t;
04853 
04857 typedef struct player_pointcloud3d_data
04858 {
04859   uint32_t points_count;
04860   player_pointcloud3d_element_t *points;
04861 } player_pointcloud3d_data_t;
04862 
04863 
04864  
04870 #define PLAYER_RANGER_CODE 62
04871 
04874 #define PLAYER_RANGER_STRING "ranger" 
04875 
04876 // /////////////////////////////////////////////////////////////////////////////
04927 #define PLAYER_RANGER_DATA_RANGE 1
04928 
04930 #define PLAYER_RANGER_DATA_RANGESTAMPED 2
04931 
04933 #define PLAYER_RANGER_DATA_INTNS 3
04934 
04936 #define PLAYER_RANGER_DATA_INTNSSTAMPED 4
04937 
04939 #define PLAYER_RANGER_DATA_GEOM 5
04940 
04942 #define PLAYER_RANGER_REQ_GET_GEOM 1
04943 
04945 #define PLAYER_RANGER_REQ_POWER 2
04946 
04948 #define PLAYER_RANGER_REQ_INTNS 3
04949 
04951 #define PLAYER_RANGER_REQ_SET_CONFIG 4
04952 
04954 #define PLAYER_RANGER_REQ_GET_CONFIG 5
04955 
04956 
04957 
04961 typedef struct player_ranger_config
04962 {
04964   double min_angle;
04966   double max_angle;
04968   double angular_res;
04971   double min_range;
04973   double max_range;
04975   double range_res;
04977   double frequency;
04978 } player_ranger_config_t;
04979 
04983 typedef struct player_ranger_geom
04984 {
04986   player_pose3d_t pose;
04988   player_bbox3d_t size;
04990   uint32_t element_poses_count;
04992   player_pose3d_t *element_poses;
04994   uint32_t element_sizes_count;
04996   player_bbox3d_t *element_sizes;
04997 } player_ranger_geom_t;
04998 
05002 typedef struct player_ranger_data_range
05003 {
05005   uint32_t ranges_count;
05007   double *ranges;
05008 } player_ranger_data_range_t;
05009 
05014 typedef struct player_ranger_data_rangestamped
05015 {
05017   player_ranger_data_range_t data;
05019   uint8_t have_geom;
05021   player_ranger_geom_t geom;
05023   uint8_t have_config;
05025   player_ranger_config_t config;
05026 } player_ranger_data_rangestamped_t;
05027 
05031 typedef struct player_ranger_data_intns
05032 {
05034   uint32_t intensities_count;
05036   double *intensities;
05037 } player_ranger_data_intns_t;
05038 
05043 typedef struct player_ranger_data_intnsstamped
05044 {
05046   player_ranger_data_intns_t data;
05048   uint8_t have_geom;
05050   player_ranger_geom_t geom;
05052   uint8_t have_config;
05054   player_ranger_config_t config;
05055 } player_ranger_data_intnsstamped_t;
05056 
05060 typedef struct player_ranger_power_config
05061 {
05063   uint8_t state;
05064 } player_ranger_power_config_t;
05065 
05072 typedef struct player_ranger_intns_config
05073 {
05075   uint8_t state;
05076 } player_ranger_intns_config_t;
05077 
05078 
05079  
05085 #define PLAYER_VECTORMAP_CODE 63
05086 
05089 #define PLAYER_VECTORMAP_STRING "vectormap" 
05090 
05091 // /////////////////////////////////////////////////////////////////////////////
05104 
05115 #define PLAYER_VECTORMAP_REQ_GET_MAP_INFO 1
05116 
05118 #define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA 3
05119 
05121 #define PLAYER_VECTORMAP_REQ_WRITE_LAYER 4
05122 
05123 
05124 
05126 typedef struct player_vectormap_feature_data
05127 {
05129   uint32_t name_count;
05131   char* name;
05133   uint32_t wkb_count;
05135   uint8_t* wkb;
05136 
05138   uint32_t attrib_count;
05140   char* attrib;
05141 } player_vectormap_feature_data_t;
05142 
05143 typedef struct player_vectormap_layer_info
05144 {
05146   uint32_t name_count;
05148   char* name;
05150   player_extent2d_t extent;
05151 } player_vectormap_layer_info_t;
05152 
05154 typedef struct player_vectormap_layer_data
05155 {
05157   uint32_t name_count;
05159   char* name;
05161   uint32_t features_count;
05163   player_vectormap_feature_data_t* features;
05164 } player_vectormap_layer_data_t;
05165 
05167 typedef struct player_vectormap_info
05168 {
05170   uint32_t srid;
05172   uint32_t layers_count;
05174   player_vectormap_layer_info_t* layers;
05176   player_extent2d_t extent;
05177 } player_vectormap_info_t;
05178 
05179 
05180  
05186 #define PLAYER_BLACKBOARD_CODE 64
05187 
05190 #define PLAYER_BLACKBOARD_STRING "blackboard" 
05191 
05192 // /////////////////////////////////////////////////////////////////////////////
05206 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY 1
05207 
05209 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY 2
05210 
05212 #define PLAYER_BLACKBOARD_REQ_SET_ENTRY 3
05213 
05215 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP 4
05216 
05218 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP 5
05219 
05221 #define PLAYER_BLACKBOARD_REQ_GET_ENTRY 6
05222 
05224 #define PLAYER_BLACKBOARD_DATA_UPDATE 1
05225 
05226 
05227 
05228 
05229  
05235 #define PLAYER_STEREO_CODE 65
05236 
05239 #define PLAYER_STEREO_STRING "stereo" 
05240 
05241 // /////////////////////////////////////////////////////////////////////////////
05259 #define PLAYER_STEREO_DATA_STATE 1
05260 
05261 
05262 typedef struct player_pointcloud3d_stereo_element
05263 {
05265   float px;
05267   float py;
05269   float pz;
05271   uint8_t red;
05273   uint8_t green;
05275   uint8_t blue;
05276 } player_pointcloud3d_stereo_element_t;
05277 
05279 typedef struct player_stereo_data
05280 {
05281   /* Left channel image */
05282   player_camera_data_t left_channel;
05283   /* Right channel image */
05284   player_camera_data_t right_channel;
05285 
05286   /* Disparity image */
05287   player_camera_data_t disparity;
05288   
05289   /* 3-D stereo point cloud */
05290   uint32_t points_count;
05291   player_pointcloud3d_stereo_element_t *points;
05292 
05293 
05294   /* Special mode flags: define what images are being sent */
05295   uint32_t mode;
05296 } player_stereo_data_t;
05297 
05298  
05301 /* END OF AUTOGENERATED CODE */