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gazebo.h Go to the documentation of this file. /* * Gazebo - Outdoor Multi-Robot Simulator * Copyright (C) 2003 * Nate Koenig & Andrew Howard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Desc: External interfaces for Gazebo * Author: Andrew Howard * Date: 6 Apr 2003 * CVS: $Id: gazebo.h,v 1.80 2005/05/06 17:18:54 natepak Exp $ */ #ifndef GAZEBO_H #define GAZEBO_H #include <sys/types.h> #include <stdlib.h> #include <stdint.h> #ifdef __cplusplus extern "C" { #endif /*************************************************************************** * Constants, etc **************************************************************************/ #define LIBGAZEBO_VERSION 0x050 /***************************************************************************/ /***************************************************************************/ void gz_error_init(int print, int level); const char *gz_error_str(void); /***************************************************************************/ /***************************************************************************/ typedef struct gz_server { int server_id; char *filename; int sem_key, sem_cid; } gz_server_t; extern gz_server_t *gz_server_alloc(); extern void gz_server_free(gz_server_t *self); extern int gz_server_init(gz_server_t *self, int server_id, int force); extern int gz_server_fini(gz_server_t *self); extern int gz_server_post(gz_server_t *self); /***************************************************************************/ /***************************************************************************/ #define GZ_SEM_KEY 0x135135FA #define GZ_CLIENT_ID_USER_FIRST 0x00 #define GZ_CLIENT_ID_USER_LAST 0x07 #define GZ_CLIENT_ID_WXGAZEBO 0x08 #define GZ_CLIENT_ID_PLAYER 0x09 typedef struct gz_client { int server_id; int client_id; char *filename; int sem_key, sem_cid; } gz_client_t; extern gz_client_t *gz_client_alloc(); extern void gz_client_free(gz_client_t *self); extern int gz_client_query(gz_client_t *self, int server_id); extern int gz_client_connect(gz_client_t *self, int server_id); extern int gz_client_connect_wait(gz_client_t *self, int server_id, int client_id); extern int gz_client_disconnect(gz_client_t *self); extern int gz_client_wait(gz_client_t *self); /***************************************************************************/ #define GAZEBO_MAX_MODEL_TYPE 128 typedef struct gz_data { int version; size_t size; char model_type[GAZEBO_MAX_MODEL_TYPE]; int model_id; int parent_model_id; } gz_data_t; /***************************************************************************/ typedef struct gz_iface { // The server we are associated with gz_server_t *server; // The client we are associated with gz_client_t *client; // File descriptor for the mmap file int mmap_fd; // Pointer to the mmap'ed mem void *mmap; // The name of the file we created/opened char *filename; } gz_iface_t; // Create an interface extern gz_iface_t *gz_iface_alloc(); // @internal Destroy an interface extern void gz_iface_free(gz_iface_t *self); // @internal Create the interface (used by Gazebo server) extern int gz_iface_create(gz_iface_t *self, gz_server_t *server, const char *type, const char *id, size_t size); // @internal Destroy the interface (server) extern int gz_iface_destroy(gz_iface_t *self); // Open an existing interface extern int gz_iface_open(gz_iface_t *self, gz_client_t *client, const char *type, const char *id, size_t size); // Close the interface extern int gz_iface_close(gz_iface_t *self); // Lock the interface. Set blocking to 1 if the caller should block // until the lock is acquired. Returns 0 if the lock is acquired. extern int gz_iface_lock(gz_iface_t *self, int blocking); // Unlock the interface extern void gz_iface_unlock(gz_iface_t *self); // Tell clients that new data is available extern int gz_iface_post(gz_iface_t *self); /***************************************************************************/ typedef struct gz_sim_data { gz_data_t head; double sim_time; double pause_time; // Elapsed real time since start of simulation (from system clock). double real_time; int pause; int reset; int save; } gz_sim_data_t; typedef struct gz_sim { gz_iface_t *iface; gz_sim_data_t *data; } gz_sim_t; extern gz_sim_t *gz_sim_alloc(); extern void gz_sim_free(gz_sim_t *self); extern int gz_sim_create(gz_sim_t *self, gz_server_t *server, const char *id); extern int gz_sim_destroy(gz_sim_t *self); extern int gz_sim_open(gz_sim_t *self, gz_client_t *client, const char *id); extern int gz_sim_close(gz_sim_t *self); extern int gz_sim_lock(gz_sim_t *self, int blocking); extern void gz_sim_unlock(gz_sim_t *self); /***************************************************************************/ //#define GAZEBO_CAMERA_MAX_IMAGE_SIZE 640 * 480 * 3 #define GAZEBO_CAMERA_MAX_IMAGE_SIZE 320 * 240 * 3 typedef struct gz_camera_data { gz_data_t head; double time; unsigned int width, height; unsigned int image_size; unsigned char image[GAZEBO_CAMERA_MAX_IMAGE_SIZE]; } gz_camera_data_t; typedef struct gz_camera { gz_iface_t *iface; gz_camera_data_t *data; } gz_camera_t; extern gz_camera_t *gz_camera_alloc(); extern void gz_camera_free(gz_camera_t *self); extern int gz_camera_create(gz_camera_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_camera_destroy(gz_camera_t *self); extern int gz_camera_open(gz_camera_t *self, gz_client_t *client, const char *id); extern int gz_camera_close(gz_camera_t *self); extern int gz_camera_lock(gz_camera_t *self, int blocking); extern void gz_camera_unlock(gz_camera_t *self); extern int gz_camera_post(gz_camera_t *self); /***************************************************************************/ typedef struct gz_factory_data { gz_data_t head; double time; uint8_t string[4096]; } gz_factory_data_t; typedef struct gz_factory { gz_iface_t *iface; gz_factory_data_t *data; } gz_factory_t; extern gz_factory_t *gz_factory_alloc(); extern void gz_factory_free(gz_factory_t *self); extern int gz_factory_create(gz_factory_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_factory_destroy(gz_factory_t *self); extern int gz_factory_open(gz_factory_t *self, gz_client_t *client, const char *id); extern int gz_factory_close(gz_factory_t *self); extern int gz_factory_lock(gz_factory_t *self, int blocking); extern void gz_factory_unlock(gz_factory_t *self); /***************************************************************************/ #define GZ_FIDUCIAL_MAX_FIDS 401 typedef struct gz_fiducial_fid { int id; double pos[3]; double rot[3]; } gz_fiducial_fid_t; typedef struct gz_fiducial_data { gz_data_t head; double time; int fid_count; gz_fiducial_fid_t fids[GZ_FIDUCIAL_MAX_FIDS]; } gz_fiducial_data_t; typedef struct gz_fiducial { gz_iface_t *iface; gz_fiducial_data_t *data; } gz_fiducial_t; extern gz_fiducial_t *gz_fiducial_alloc(); extern void gz_fiducial_free(gz_fiducial_t *self); extern int gz_fiducial_create(gz_fiducial_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_fiducial_destroy(gz_fiducial_t *self); extern int gz_fiducial_open(gz_fiducial_t *self, gz_client_t *client, const char *id); extern int gz_fiducial_close(gz_fiducial_t *self); extern int gz_fiducial_lock(gz_fiducial_t *self, int blocking); extern void gz_fiducial_unlock(gz_fiducial_t *self); extern int gz_fiducial_post(gz_fiducial_t *self); /***************************************************************************/ #define GAZEBO_GUICAM_MAX_IMAGE_SIZE 1024 * 768 * 3 typedef struct gz_guicam_data { gz_data_t head; double sim_time; double pause_time; double pos[3]; double rot[3]; int cmd_spot_mode; int cmd_spot_state; double cmd_spot_a[2], cmd_spot_b[2]; int roll_lock; int display_bbox; int display_axes; int display_com; int display_skins; int display_rays; int display_frustrums; int display_materials; int display_textures; int polygon_fill; int shade_smooth; int save_frames; unsigned int width, height; unsigned char image[GAZEBO_GUICAM_MAX_IMAGE_SIZE]; unsigned int image_size; } gz_guicam_data_t; typedef struct gz_guicam { gz_iface_t *iface; gz_guicam_data_t *data; } gz_guicam_t; extern gz_guicam_t *gz_guicam_alloc(); extern void gz_guicam_free(gz_guicam_t *self); extern int gz_guicam_create(gz_guicam_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_guicam_destroy(gz_guicam_t *self); extern int gz_guicam_open(gz_guicam_t *self, gz_client_t *client, const char *id); extern int gz_guicam_close(gz_guicam_t *self); extern int gz_guicam_lock(gz_guicam_t *self, int blocking); extern void gz_guicam_unlock(gz_guicam_t *self); extern int gz_guicam_post(gz_guicam_t *self); /***************************************************************************/ typedef struct gz_gps_data { gz_data_t head; double time; double utc_time; double latitude; double longitude; double altitude; double utm_e, utm_n; int satellites; int quality; double hdop; double vdop; double err_horz, err_vert; } gz_gps_data_t; typedef struct gz_gps { gz_iface_t *iface; gz_gps_data_t *data; } gz_gps_t; extern gz_gps_t *gz_gps_alloc(); extern void gz_gps_free(gz_gps_t *self); extern int gz_gps_create(gz_gps_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_gps_destroy(gz_gps_t *self); extern int gz_gps_open(gz_gps_t *self, gz_client_t *client, const char *id); extern int gz_gps_close(gz_gps_t *self); extern int gz_gps_lock(gz_gps_t *self, int blocking); extern void gz_gps_unlock(gz_gps_t *self); extern int gz_gps_post(gz_gps_t *self); /***************************************************************************/ typedef struct gz_gripper_data { gz_data_t head; double time; int cmd; int lift_limit_reach; int grip_limit_reach; int outer_beam_obstruct; int inner_beam_obstruct; int left_paddle_open; int right_paddle_open; int paddles_opened; int paddles_closed; int paddles_moving; int paddles_error; int lift_up; int lift_down; int lift_moving; int lift_error; } gz_gripper_data_t; typedef struct gz_gripper { gz_iface_t *iface; gz_gripper_data_t *data; } gz_gripper_t; extern gz_gripper_t *gz_gripper_alloc(); extern void gz_gripper_free(gz_gripper_t *self); extern int gz_gripper_create(gz_gripper_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_gripper_destroy(gz_gripper_t *self); extern int gz_gripper_open(gz_gripper_t *self, gz_client_t *client, const char *id); extern int gz_gripper_close(gz_gripper_t *self); extern int gz_gripper_lock(gz_gripper_t *self, int blocking); extern void gz_gripper_unlock(gz_gripper_t *self); /***************************************************************************/ #define GZ_LASER_MAX_RANGES 401 typedef struct gz_laser_data { gz_data_t head; double time; double min_angle, max_angle; double res_angle; double max_range; int range_count; double ranges[GZ_LASER_MAX_RANGES]; int intensity[GZ_LASER_MAX_RANGES]; // New command ( 0 or 1 ) int cmd_new_angle; int cmd_new_length; // Commanded range value double cmd_max_range; double cmd_min_angle, cmd_max_angle; int cmd_range_count; } gz_laser_data_t; typedef struct gz_laser { gz_iface_t *iface; gz_laser_data_t *data; } gz_laser_t; extern gz_laser_t *gz_laser_alloc(); extern void gz_laser_free(gz_laser_t *self); extern int gz_laser_create(gz_laser_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_laser_destroy(gz_laser_t *self); extern int gz_laser_open(gz_laser_t *self, gz_client_t *client, const char *id); extern int gz_laser_close(gz_laser_t *self); extern int gz_laser_lock(gz_laser_t *self, int blocking); extern void gz_laser_unlock(gz_laser_t *self); extern int gz_laser_post(gz_laser_t *self); /***************************************************************************/ typedef struct gz_position_data { gz_data_t head; double time; double pos[3]; double rot[3]; double vel_pos[3]; double vel_rot[3]; int stall; int cmd_enable_motors; double cmd_vel_pos[3]; double cmd_vel_rot[3]; } gz_position_data_t; typedef struct gz_position { gz_iface_t *iface; gz_position_data_t *data; } gz_position_t; extern gz_position_t *gz_position_alloc(); extern void gz_position_free(gz_position_t *self); extern int gz_position_create(gz_position_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_position_destroy(gz_position_t *self); extern int gz_position_open(gz_position_t *self, gz_client_t *client, const char *id); extern int gz_position_close(gz_position_t *self); extern int gz_position_lock(gz_position_t *self, int blocking); extern void gz_position_unlock(gz_position_t *self); extern int gz_position_post(gz_position_t *self); /***************************************************************************/ typedef struct gz_power_data { gz_data_t head; double time; double levels[10]; } gz_power_data_t; typedef struct gz_power { gz_iface_t *iface; gz_power_data_t *data; } gz_power_t; extern gz_power_t *gz_power_alloc(); extern void gz_power_free(gz_power_t *self); extern int gz_power_create(gz_power_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_power_destroy(gz_power_t *self); extern int gz_power_open(gz_power_t *self, gz_client_t *client, const char *id); extern int gz_power_close(gz_power_t *self); extern int gz_power_lock(gz_power_t *self, int blocking); extern void gz_power_unlock(gz_power_t *self); extern int gz_power_post(gz_power_t *self); /***************************************************************************/ typedef struct gz_ptz_data { gz_data_t head; double time; double pan, tilt; double zoom; double cmd_pan, cmd_tilt; double cmd_zoom; } gz_ptz_data_t; typedef struct gz_ptz { gz_data_t head; gz_iface_t *iface; gz_ptz_data_t *data; } gz_ptz_t; extern gz_ptz_t *gz_ptz_alloc(); extern void gz_ptz_free(gz_ptz_t *self); extern int gz_ptz_create(gz_ptz_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_ptz_destroy(gz_ptz_t *self); extern int gz_ptz_open(gz_ptz_t *self, gz_client_t *client, const char *id); extern int gz_ptz_close(gz_ptz_t *self); extern int gz_ptz_lock(gz_ptz_t *self, int blocking); extern void gz_ptz_unlock(gz_ptz_t *self); extern int gz_ptz_post(gz_ptz_t *self); /***************************************************************************/ #define GZ_SONAR_MAX_RANGES 48 typedef struct gz_sonar_data { gz_data_t head; double time; double max_range; int sonar_count; double sonar_pos[GZ_SONAR_MAX_RANGES][3]; double sonar_rot[GZ_SONAR_MAX_RANGES][3]; double sonar_ranges[GZ_SONAR_MAX_RANGES]; int cmd_enable_sonar; } gz_sonar_data_t; typedef struct gz_sonar { gz_iface_t *iface; gz_sonar_data_t *data; } gz_sonar_t; extern gz_sonar_t *gz_sonar_alloc(); extern void gz_sonar_free(gz_sonar_t *self); extern int gz_sonar_create(gz_sonar_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_sonar_destroy(gz_sonar_t *self); extern int gz_sonar_open(gz_sonar_t *self, gz_client_t *client, const char *id); extern int gz_sonar_close(gz_sonar_t *self); extern int gz_sonar_lock(gz_sonar_t *self, int blocking); extern void gz_sonar_unlock(gz_sonar_t *self); /***************************************************************************/ #define GAZEBO_STEREO_MAX_RGB_SIZE 640 * 480 * 3 #define GAZEBO_STEREO_MAX_DISPARITY_SIZE 640 * 480 typedef struct gz_stereo_data { gz_data_t head; double time; unsigned int width, height; unsigned int left_image_size; unsigned char left_image[GAZEBO_STEREO_MAX_RGB_SIZE]; unsigned int right_image_size; unsigned char right_image[GAZEBO_STEREO_MAX_RGB_SIZE]; unsigned int left_disparity_size; float left_disparity[GAZEBO_STEREO_MAX_DISPARITY_SIZE]; unsigned int right_disparity_size; float right_disparity[GAZEBO_STEREO_MAX_DISPARITY_SIZE]; } gz_stereo_data_t; typedef struct gz_stereo { gz_iface_t *iface; gz_stereo_data_t *data; } gz_stereo_t; extern gz_stereo_t *gz_stereo_alloc(); extern void gz_stereo_free(gz_stereo_t *self); extern int gz_stereo_create(gz_stereo_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_stereo_destroy(gz_stereo_t *self); extern int gz_stereo_open(gz_stereo_t *self, gz_client_t *client, const char *id); extern int gz_stereo_close(gz_stereo_t *self); extern int gz_stereo_lock(gz_stereo_t *self, int blocking); extern void gz_stereo_unlock(gz_stereo_t *self); extern int gz_stereo_post(gz_stereo_t *self); /***************************************************************************/ typedef struct gz_truth_data { gz_data_t head; double time; double pos[3]; double rot[3]; int cmd_new; double cmd_pos[3]; double cmd_rot[3]; } gz_truth_data_t; typedef struct gz_truth { gz_iface_t *iface; gz_truth_data_t *data; } gz_truth_t; extern gz_truth_t *gz_truth_alloc(); extern void gz_truth_free(gz_truth_t *self); extern int gz_truth_create(gz_truth_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_truth_destroy(gz_truth_t *self); extern int gz_truth_open(gz_truth_t *self, gz_client_t *client, const char *id); extern int gz_truth_close(gz_truth_t *self); extern int gz_truth_lock(gz_truth_t *self, int blocking); extern void gz_truth_unlock(gz_truth_t *self); extern int gz_truth_post(gz_truth_t *self); /***************************************************************************/ #define GAZEBO_WIFI_MAX_LINKS 16 #define GAZEBO_WIFI_QUAL_DBM 1 typedef struct gz_wifi_link { char ip[32]; uint16_t qual, level, noise; } gz_wifi_link_t; typedef struct gz_wifi_data { gz_data_t head; double time; gz_wifi_link_t links[GAZEBO_WIFI_MAX_LINKS]; uint16_t link_count; } gz_wifi_data_t; typedef struct gz_wifi { gz_iface_t *iface; gz_wifi_data_t *data; } gz_wifi_t; extern gz_wifi_t *gz_wifi_alloc(); extern void gz_wifi_free(gz_wifi_t *self); extern int gz_wifi_create(gz_wifi_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id); extern int gz_wifi_destroy(gz_wifi_t *self); extern int gz_wifi_open(gz_wifi_t *self, gz_client_t *client, const char *id); extern int gz_wifi_close(gz_wifi_t *self); extern int gz_wifi_lock(gz_wifi_t *self, int blocking); extern void gz_wifi_unlock(gz_wifi_t *self); #ifdef __cplusplus } #endif #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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