Home FAQ Player Stage Gazebo Contrib Documentation Publications Contributors Users Project Download Bugs/Feedback Mailing lists Radish Old news Old stuff

Client API [libplayerc] Detailed Description The client object manages the connection with the Player server; it is responsible for reading new data, setting data transmission modes and so on. The client object must be created and connected before device proxies are initialized. Classes struct   playerc_device_info_t   Info about an available (but not necessarily subscribed) device. More... struct   _playerc_client_t   Client object data. More... Typedefs typedef void(*  playerc_putdata_fn_t )(void *device, char *header, char *data, size_t len)   Typedef for proxy callback function. typedef void(*  playerc_callback_fn_t )(void *data)   Typedef for proxy callback function. typedef _playerc_client_t  playerc_client_t   Client object data. Functions playerc_client_t *  playerc_client_create (playerc_mclient_t *mclient, const char *host, int port)   Create a client object. void  playerc_client_destroy (playerc_client_t *client)   Destroy a client object. int  playerc_client_connect (playerc_client_t *client)   Connect to the server. int  playerc_client_disconnect (playerc_client_t *client)   Disconnect from the server. int  playerc_client_datamode (playerc_client_t *client, int mode)   Change the server's data delivery mode. int  playerc_client_requestdata (playerc_client_t *client)   Request a round of data. int  playerc_client_datafreq (playerc_client_t *client, int freq)   Change the server's data delivery frequency. int  playerc_client_adddevice (playerc_client_t *client, struct _playerc_device_t *device)   Add a device proxy. int  playerc_client_deldevice (playerc_client_t *client, struct _playerc_device_t *device)   Remove a device proxy. int  playerc_client_addcallback (playerc_client_t *client, struct _playerc_device_t *device, playerc_callback_fn_t callback, void *data)   Add user callbacks (called when new data arrives). int  playerc_client_delcallback (playerc_client_t *client, struct _playerc_device_t *device, playerc_callback_fn_t callback, void *data)   Remove user callbacks (called when new data arrives). int  playerc_client_get_devlist (playerc_client_t *client)   Get the list of available device ids. int  playerc_client_subscribe (playerc_client_t *client, int code, int index, int access, char *drivername, size_t len)   Subscribe a device. int  playerc_client_unsubscribe (playerc_client_t *client, int code, int index)   Unsubscribe a device. int  playerc_client_request (playerc_client_t *client, struct _playerc_device_t *device, void *req_data, int req_len, void *rep_data, int rep_len)   Issue a request to the server and await a reply (blocking). int  playerc_client_peek (playerc_client_t *client, int timeout)   Test to see if there is pending data. void *  playerc_client_read (playerc_client_t *client)   Read data from the server (blocking). int  playerc_client_write (playerc_client_t *client, struct _playerc_device_t *device, void *cmd, int len)   Write data to the server. Typedef Documentation typedef void(* playerc_putdata_fn_t)(void *device, char *header, char *data, size_t len)   Typedef for proxy callback function. typedef void(* playerc_callback_fn_t)(void *data)   Typedef for proxy callback function. typedef struct _playerc_client_t playerc_client_t   Client object data. Function Documentation playerc_client_t* playerc_client_create (  playerc_mclient_t *  mclient, const char *  host, int  port )    Create a client object. Parameters: mclient  Multiclient object; set this NULL if this is a stand-alone client. host  Player server host name (i.e., name of the machine with the Player server). port  Player server port (typically 6665, but depends on the server configuration). Returns: Returns a newly allocated pointer to the client object; use playerc_client_destroy() to delete the object. void playerc_client_destroy (  playerc_client_t *  client  )    Destroy a client object. Parameters: client  Pointer to client object. int playerc_client_connect (  playerc_client_t *  client  )    Connect to the server. Parameters: client  Pointer to client object. Returns: Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message. int playerc_client_disconnect (  playerc_client_t *  client  )    Disconnect from the server. Parameters: client  Pointer to client object. Returns: Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message. int playerc_client_datamode (  playerc_client_t *  client, int  mode )    Change the server's data delivery mode. Parameters: client  Pointer to client object. mode  Data delivery mode; must be one of PLAYERC_DATAMODE_PUSH_ALL, PLAYERC_DATAMODE_PUSH_NEW, PLAYERC_DATAMODE_PUSH_ASYNC; the defalt mode is PLAYERC_DATAMODE_PUSH_ASYNC. Returns: Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message. int playerc_client_requestdata (  playerc_client_t *  client  )    Request a round of data. Parameters: client  Pointer to client object. Request a round of data; only valid when in a request/reply (aka PULL) data delivery mode. But you don't need to call this function, because playerc_client_read will do it for you if the client is in a PULL mode. Use playerc_client_datamode to change modes. int playerc_client_datafreq (  playerc_client_t *  client, int  freq )    Change the server's data delivery frequency. Parameters: client  Pointer to client object. freq  Delivery frequency (in Hz). Has no effect if the data delivery mode is PLAYERC_DATAMODE_PUSH_ASYNC. Returns: Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message. int playerc_client_adddevice (  playerc_client_t *  client, struct _playerc_device_t *  device )    Add a device proxy. For internal use only. int playerc_client_deldevice (  playerc_client_t *  client, struct _playerc_device_t *  device )    Remove a device proxy. For internal use only. int playerc_client_addcallback (  playerc_client_t *  client, struct _playerc_device_t *  device, playerc_callback_fn_t  callback, void *  data )    Add user callbacks (called when new data arrives). For internal use only. int playerc_client_delcallback (  playerc_client_t *  client, struct _playerc_device_t *  device, playerc_callback_fn_t  callback, void *  data )    Remove user callbacks (called when new data arrives). For internal use only. int playerc_client_get_devlist (  playerc_client_t *  client  )    Get the list of available device ids. This function queries the server for the list of available devices, and write result to the devinfos list in the client object. Parameters: client  Pointer to client object. Returns: Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message. int playerc_client_subscribe (  playerc_client_t *  client, int  code, int  index, int  access, char *  drivername, size_t  len )    Subscribe a device. For internal use only. int playerc_client_unsubscribe (  playerc_client_t *  client, int  code, int  index )    Unsubscribe a device. For internal use only. int playerc_client_request (  playerc_client_t *  client, struct _playerc_device_t *  device, void *  req_data, int  req_len, void *  rep_data, int  rep_len )    Issue a request to the server and await a reply (blocking). For internal use only. Returns: Returns -1 on error and -2 on NACK. int playerc_client_peek (  playerc_client_t *  client, int  timeout )    Test to see if there is pending data. Parameters: client  Pointer to client object. timeout  Timeout value (ms). Set timeout to 0 to check for currently queued data. Returns: Returns -1 on error, 0 or 1 otherwise. void* playerc_client_read (  playerc_client_t *  client  )    Read data from the server (blocking). Parameters: client  Pointer to client object. Returns: For data packets, will return the ID of the proxy that got the data; for synch packets, will return the ID of the client itself; on error, will return NULL. int playerc_client_write (  playerc_client_t *  client, struct _playerc_device_t *  device, void *  cmd, int  len )    Write data to the server. For internal use only.