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PlayerClient Class Reference [Core functionality] #include <playerclient.h> List of all members. Detailed Description One PlayerClient object is used to control each connection to a Player server. Contained within this object are methods for changing the connection parameters and obtaining access to devices, which we explain next. Public Member Functions   PlayerClient (const char *hostname=NULL, const int port=PLAYER_PORTNUM, const int protocol=PLAYER_TRANSPORT_TCP)   PlayerClient (const struct in_addr *hostaddr, const int port, const int protocol=PLAYER_TRANSPORT_TCP)   ~PlayerClient () int  Connect (const char *hostname="localhost", int port=PLAYER_PORTNUM) int  Connect (const struct in_addr *addr, int port) int  ConnectRNS (const char *robotname, const char *hostname="localhost", int port=PLAYER_PORTNUM) int  Disconnect () bool  Connected () int  Peek (int timeout=0) int  Read (bool await_sync=true, ClientProxy **dev=NULL) int  Write (player_device_id_t device_id, const char *command, size_t commandlen) int  Request (player_device_id_t device_id, const char *payload, size_t payloadlen, player_msghdr_t *replyhdr, char *reply, size_t replylen) int  Request (player_device_id_t device_id, const char *payload, size_t payloadlen) int  RequestDeviceAccess (player_device_id_t device_id, unsigned char req_access, unsigned char *grant_access, char *driver_name=NULL, int driver_name_len=0) int  SetFrequency (unsigned short freq) int  SetDataMode (unsigned char mode) int  RequestData () int  Authenticate (char *key) int  LookupPort (const char *name) void  AddProxy (ClientProxy *proxy) void  RemoveProxy (ClientProxy *proxy) int  GetDeviceList () Public Attributes player_connection_t  conn bool  connected bool  fresh char  hostname [256] int  port in_addr  hostaddr timeval  timestamp int  id_count player_device_id_t  ids [PLAYER_MAX_DEVICES] char  drivernames [PLAYER_MAX_DEVICES][PLAYER_MAX_DEVICE_STRING_LEN] Constructor & Destructor Documentation PlayerClient::PlayerClient (  const char *  hostname = NULL, const int  port = PLAYER_PORTNUM, const int  protocol = PLAYER_TRANSPORT_TCP )    Make a client and connect it as indicated. If hostname is omitted (or NULL) then the client will not be connected. In that cast, call Connect() yourself later. PlayerClient::PlayerClient (  const struct in_addr *  hostaddr, const int  port, const int  protocol = PLAYER_TRANSPORT_TCP )    Make a client and connect it as indicated, using a binary IP instead of a hostname PlayerClient::~PlayerClient (   )  Member Function Documentation int PlayerClient::Connect (  const char *  hostname = "localhost", int  port = PLAYER_PORTNUM )    Connect to the indicated host and port. Returns 0 on success; -1 on error. int PlayerClient::Connect (  const struct in_addr *  addr, int  port )    Connect to the indicated host and port, using a binary IP. Returns 0 on success; -1 on error. int PlayerClient::ConnectRNS (  const char *  robotname, const char *  hostname = "localhost", int  port = PLAYER_PORTNUM )    Connect to a robot, based on its name, by using the Player robot name service (RNS) on the indicated host and port. Returns 0 on success; -1 on error. int PlayerClient::Disconnect (   )    Disconnect from server. Returns 0 on success; -1 on error. bool PlayerClient::Connected (   )  [inline]   Check if we are connected. int PlayerClient::Peek (  int  timeout = 0  )    Check whether there is data waiting on the connection, blocking for up to timeout milliseconds (set to 0 to not block). Returns: 0 if there is no data waiting 1 if there is data waiting -1 if something went wrong int PlayerClient::Read (  bool  await_sync = true, ClientProxy **  dev = NULL )    Use this method to read data from the server, blocking until at least one message is received. Use PlayerClient::Peek() to check whether any data is currently waiting. If await_sync is true, Read() will read one round of data; that is, it will read until a SYNC packet is received from the server. If await_sync is false, then Read() will return after reading one message, which could be either a data message or a SYNC. Depending on which data delivery mode is in use, new data may or may not be received for each open device. The data that is received for each device device will be processed by the appropriate device proxy and stored there for access by your program. If no errors occurred 0 is returned. Otherwise, -1 is returned and diagnostic information is printed to stderr (you should probably close the connection!). int PlayerClient::Write (  player_device_id_t  device_id, const char *  command, size_t  commandlen )    Write a command to the server. This method is not intended for direct use. Rather, device proxies should implement higher-level methods atop this one. Returns 0 on success, -1 otherwise. int PlayerClient::Request (  player_device_id_t  device_id, const char *  payload, size_t  payloadlen, player_msghdr_t *  replyhdr, char *  reply, size_t  replylen )    Send a request to the server. This method is not intended for direct use. Rather, device proxies should implement higher-level methods atop this one. Returns 0 on success, -1 otherwise. int PlayerClient::Request (  player_device_id_t  device_id, const char *  payload, size_t  payloadlen )    Another form of Request(), this one can be used if the caller is not interested in the reply. This method is not intended for direct use. Rather, device proxies should implement higher-level methods atop this one. Returns 0 if an ACK is received, -1 otherwise. int PlayerClient::RequestDeviceAccess (  player_device_id_t  device_id, unsigned char  req_access, unsigned char *  grant_access, char *  driver_name = NULL, int  driver_name_len = 0 )    Request access to a device; meant mostly for use by client-side device proxy constructors. req_access is requested access. grant_access, if non-NULL, will be filled with the granted access. Returns 0 if everything went OK or -1 if something went wrong. int PlayerClient::SetFrequency (  unsigned short  freq  )    You can change the rate at which your client receives data from the server with this method. The value of freq is interpreted as Hz; this will be the new rate at which your client receives data (when in continuous mode). On error, -1 is returned; otherwise 0. int PlayerClient::SetDataMode (  unsigned char  mode  )    You can toggle the mode in which the server sends data to your client with this method. The mode should be one of PLAYER_DATAMODE_PUSH_ALL (all data at fixed frequency) PLAYER_DATAMODE_PULL_ALL (all data on demand) PLAYER_DATAMODE_PUSH_NEW (only new new data at fixed freq) PLAYER_DATAMODE_PULL_NEW (only new data on demand) PLAYER_DATAMODE_PUSH_ASYNC (new data, as fast as it is produced) On error, -1 is returned; otherwise 0. int PlayerClient::RequestData (   )    When in a PULL data delivery mode, you can request a single round of data using this method. On error -1 is returned; otherwise 0. int PlayerClient::Authenticate (  char *  key  )    Attempt to authenticate your client using the provided key. If authentication fails, the server will close your connection. int PlayerClient::LookupPort (  const char *  name  )    Documentation on LookupPort goes here void PlayerClient::AddProxy (  ClientProxy *  proxy  )  void PlayerClient::RemoveProxy (  ClientProxy *  proxy  )  int PlayerClient::GetDeviceList (   )  Member Data Documentation player_connection_t PlayerClient::conn bool PlayerClient::connected bool PlayerClient::fresh   Flag set if data has just been read into one or more of this clients' open devices. If you use it, you must set it to false yourself after examining the data. char PlayerClient::hostname[256]   The host of the Player server to which we are connected. int PlayerClient::port   The port of the Player server to which we are connected. struct in_addr PlayerClient::hostaddr struct timeval PlayerClient::timestamp   The latest time received from the server. int PlayerClient::id_count   List of ids for available devices. This list is villed in by GetDeviceList() player_device_id_t PlayerClient::ids[PLAYER_MAX_DEVICES] char PlayerClient::drivernames[PLAYER_MAX_DEVICES][PLAYER_MAX_DEVICE_STRING_LEN] The documentation for this class was generated from the following file: playerclient.h