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player.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & 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: Player communication packet structures and codes * CVS: $Id: player.h,v 1.149 2005/03/18 22:38:18 gerkey Exp $ */ #ifndef PLAYER_H #define PLAYER_H /* Include values from the configure script */ #include "playerconfig.h" /*********************************************************/ /* the message start signifier */ #define PLAYER_STXX ((uint16_t) 0x5878) /* the player transport protocol types */ #define PLAYER_TRANSPORT_TCP 1 #define PLAYER_TRANSPORT_UDP 2 /* the player message types */ #define PLAYER_MSGTYPE_DATA ((uint16_t)1) #define PLAYER_MSGTYPE_CMD ((uint16_t)2) #define PLAYER_MSGTYPE_REQ ((uint16_t)3) #define PLAYER_MSGTYPE_RESP_ACK ((uint16_t)4) #define PLAYER_MSGTYPE_SYNCH ((uint16_t)5) #define PLAYER_MSGTYPE_RESP_NACK ((uint16_t)6) #define PLAYER_MSGTYPE_RESP_ERR ((uint16_t)7) /* strings to match the currently assigned devices (used for pretty-printing * and command-line parsing) */ #define PLAYER_MAX_DEVICE_STRING_LEN 64 /* the currently assigned interface codes */ #define PLAYER_NULL_CODE ((uint16_t)256) // /dev/null analogue #define PLAYER_PLAYER_CODE ((uint16_t)1) // the server itself #define PLAYER_POWER_CODE ((uint16_t)2) // power subsystem #define PLAYER_GRIPPER_CODE ((uint16_t)3) // gripper #define PLAYER_POSITION_CODE ((uint16_t)4) // device that moves about #define PLAYER_SONAR_CODE ((uint16_t)5) // fixed range-finder #define PLAYER_LASER_CODE ((uint16_t)6) // scanning range-finder #define PLAYER_BLOBFINDER_CODE ((uint16_t)7) // visual blobfinder #define PLAYER_PTZ_CODE ((uint16_t)8) // pan-tilt-zoom unit #define PLAYER_AUDIO_CODE ((uint16_t)9) // audio I/O #define PLAYER_FIDUCIAL_CODE ((uint16_t)10) // fiducial detector #define PLAYER_SPEECH_CODE ((uint16_t)12) // speech I/O #define PLAYER_GPS_CODE ((uint16_t)13) // GPS unit #define PLAYER_BUMPER_CODE ((uint16_t)14) // bumper array #define PLAYER_TRUTH_CODE ((uint16_t)15) // ground-truth (via Stage) #define PLAYER_IDARTURRET_CODE ((uint16_t)16) // ranging + comms #define PLAYER_IDAR_CODE ((uint16_t)17) // ranging + comms #define PLAYER_DESCARTES_CODE ((uint16_t)18) // the Descartes platform #define PLAYER_DIO_CODE ((uint16_t)20) // digital I/O #define PLAYER_AIO_CODE ((uint16_t)21) // analog I/O #define PLAYER_IR_CODE ((uint16_t)22) // IR array #define PLAYER_WIFI_CODE ((uint16_t)23) // wifi card status #define PLAYER_WAVEFORM_CODE ((uint16_t)24) // fetch raw waveforms #define PLAYER_LOCALIZE_CODE ((uint16_t)25) // localization #define PLAYER_MCOM_CODE ((uint16_t)26) // multicoms #define PLAYER_SOUND_CODE ((uint16_t)27) // sound file playback #define PLAYER_AUDIODSP_CODE ((uint16_t)28) // audio dsp I/O #define PLAYER_AUDIOMIXER_CODE ((uint16_t)29) // audio I/O #define PLAYER_POSITION3D_CODE ((uint16_t)30) // 3-D position #define PLAYER_SIMULATION_CODE ((uint16_t)31) // simulators #define PLAYER_SERVICE_ADV_CODE ((uint16_t)32) // LAN service advertisement #define PLAYER_BLINKENLIGHT_CODE ((uint16_t)33) // blinking lights #define PLAYER_NOMAD_CODE ((uint16_t)34) // Nomad robot #define PLAYER_CAMERA_CODE ((uint16_t)40) // camera device (gazebo) #define PLAYER_MAP_CODE ((uint16_t)42) // get a map #define PLAYER_PLANNER_CODE ((uint16_t)44) // 2D motion planner #define PLAYER_LOG_CODE ((uint16_t)45) // log read/write control #define PLAYER_ENERGY_CODE ((uint16_t)46) // energy consumption & charging #define PLAYER_MOTOR_CODE ((uint16_t)47) // motor interface #define PLAYER_POSITION2D_CODE ((uint16_t)48) // 2-D position #define PLAYER_JOYSTICK_CODE ((uint16_t)49) // Joytstick #define PLAYER_SPEECH_RECOGNITION_CODE ((uint16_t)50) // speech recognitionI/O #define PLAYER_OPAQUE_CODE ((uint16_t)51) // plugin interface /* the currently assigned device strings */ #define PLAYER_NULL_STRING "null" #define PLAYER_PLAYER_STRING "player" #define PLAYER_POWER_STRING "power" #define PLAYER_GRIPPER_STRING "gripper" #define PLAYER_POSITION_STRING "position" #define PLAYER_SONAR_STRING "sonar" #define PLAYER_LASER_STRING "laser" #define PLAYER_BLOBFINDER_STRING "blobfinder" #define PLAYER_PTZ_STRING "ptz" #define PLAYER_AUDIO_STRING "audio" #define PLAYER_FIDUCIAL_STRING "fiducial" #define PLAYER_SPEECH_STRING "speech" #define PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition" #define PLAYER_GPS_STRING "gps" #define PLAYER_BUMPER_STRING "bumper" #define PLAYER_TRUTH_STRING "truth" #define PLAYER_IDARTURRET_STRING "idarturret" #define PLAYER_IDAR_STRING "idar" #define PLAYER_DESCARTES_STRING "descartes" #define PLAYER_DIO_STRING "dio" #define PLAYER_AIO_STRING "aio" #define PLAYER_IR_STRING "ir" #define PLAYER_WIFI_STRING "wifi" #define PLAYER_WAVEFORM_STRING "waveform" #define PLAYER_LOCALIZE_STRING "localize" #define PLAYER_MCOM_STRING "mcom" #define PLAYER_SOUND_STRING "sound" #define PLAYER_AUDIODSP_STRING "audiodsp" #define PLAYER_AUDIOMIXER_STRING "audiomixer" #define PLAYER_MOTOR_STRING "motor" #define PLAYER_POSITION2D_STRING "position2d" #define PLAYER_POSITION3D_STRING "position3d" #define PLAYER_SERVICE_ADV_STRING "service_adv" #define PLAYER_SIMULATION_STRING "simulation" #define PLAYER_BLINKENLIGHT_STRING "blinkenlight" #define PLAYER_NOMAD_STRING "nomad" #define PLAYER_ENERGY_STRING "energy" #define PLAYER_MAP_STRING "map" #define PLAYER_PLANNER_STRING "planner" #define PLAYER_LOG_STRING "log" #define PLAYER_CAMERA_STRING "camera" #define PLAYER_JOYSTICK_STRING "joystick" #define PLAYER_OPAQUE_STRING "opaque" /* The maximum number of devices the server will support. */ #define PLAYER_MAX_DEVICES 256 /* maximum size for request/reply. * this is a convenience so that the PlayerQueue can used fixed size elements. * need to think about this a little */ #define PLAYER_MAX_REQREP_SIZE 4096 /*4KB*/ /* the default player port */ #define PLAYER_PORTNUM 6665 /* * info that is spit back as a banner on connection */ #define PLAYER_IDENT_STRING "Player v." #define PLAYER_IDENT_STRLEN 32 #define PLAYER_KEYLEN 32 /* Macro for byte-aligning structures; this is a little work-around so the file can be parsed by non-GCC pre-processors (such as SWIG). */ #ifndef __PACKED__ #define __PACKED__ __attribute__ ((packed)) #endif typedef struct player_msghdr { uint16_t stx; uint16_t type; uint16_t device; uint16_t device_index; uint32_t time_sec; uint32_t time_usec; uint32_t timestamp_sec; uint32_t timestamp_usec; uint32_t reserved; uint32_t size; } __PACKED__ player_msghdr_t; #define PLAYER_MAX_PAYLOAD_SIZE (PLAYER_MAX_MESSAGE_SIZE - sizeof(player_msghdr_t)) /* The device access modes */ #define PLAYER_READ_MODE 114 // 'r' #define PLAYER_WRITE_MODE 119 // 'w' #define PLAYER_ALL_MODE 97 // 'a' #define PLAYER_CLOSE_MODE 99 // 'c' #define PLAYER_ERROR_MODE 101 // 'e' #define PLAYER_DATAMODE_PUSH_ALL 0 #define PLAYER_DATAMODE_PULL_ALL 1 #define PLAYER_DATAMODE_PUSH_NEW 2 #define PLAYER_DATAMODE_PULL_NEW 3 #define PLAYER_DATAMODE_PUSH_ASYNC 4 /* The request subtypes */ #define PLAYER_PLAYER_DEVLIST_REQ ((uint16_t)1) #define PLAYER_PLAYER_DRIVERINFO_REQ ((uint16_t)2) #define PLAYER_PLAYER_DEV_REQ ((uint16_t)3) #define PLAYER_PLAYER_DATA_REQ ((uint16_t)4) #define PLAYER_PLAYER_DATAMODE_REQ ((uint16_t)5) #define PLAYER_PLAYER_DATAFREQ_REQ ((uint16_t)6) #define PLAYER_PLAYER_AUTH_REQ ((uint16_t)7) #define PLAYER_PLAYER_NAMESERVICE_REQ ((uint16_t)8) typedef struct player_device_id { uint16_t code; uint16_t index; uint16_t port; } __PACKED__ player_device_id_t; typedef struct player_device_devlist { uint16_t subtype; uint16_t device_count; player_device_id_t devices[PLAYER_MAX_DEVICES]; } __PACKED__ player_device_devlist_t; typedef struct player_device_driverinfo { uint16_t subtype; player_device_id_t id; char driver_name[PLAYER_MAX_DEVICE_STRING_LEN]; } __PACKED__ player_device_driverinfo_t; typedef struct player_device_req { uint16_t subtype; uint16_t code; uint16_t index; uint8_t access; } __PACKED__ player_device_req_t; typedef struct player_device_resp { uint16_t subtype; uint16_t code; uint16_t index; uint8_t access; uint8_t driver_name[PLAYER_MAX_DEVICE_STRING_LEN]; } __PACKED__ player_device_resp_t; typedef struct player_device_data_req { uint16_t subtype; } __PACKED__ player_device_data_req_t; typedef struct player_device_datamode_req { uint16_t subtype; uint8_t mode; } __PACKED__ player_device_datamode_req_t; typedef struct player_device_datafreq_req { uint16_t subtype; uint16_t frequency; } __PACKED__ player_device_datafreq_req_t; typedef struct player_device_auth_req { uint16_t subtype; uint8_t auth_key[PLAYER_KEYLEN]; } __PACKED__ player_device_auth_req_t; typedef struct player_device_nameservice_req { uint16_t subtype; uint8_t name[PLAYER_MAX_DEVICE_STRING_LEN]; uint16_t port; } __PACKED__ player_device_nameservice_req_t; typedef struct player_power_data { uint16_t charge; } __PACKED__ player_power_data_t; typedef struct player_gripper_data { uint8_t state, beams; } __PACKED__ player_gripper_data_t; typedef struct player_gripper_cmd { uint8_t cmd, arg; } __PACKED__ player_gripper_cmd_t; /* The various configuration request types. */ //#define PLAYER_MOTOR_GET_GEOM_REQ ((uint8_t)1) #define PLAYER_MOTOR_POWER_REQ ((uint8_t)2) #define PLAYER_MOTOR_VELOCITY_MODE_REQ ((uint8_t)3) #define PLAYER_MOTOR_RESET_ODOM_REQ ((uint8_t)4) #define PLAYER_MOTOR_POSITION_MODE_REQ ((uint8_t)5) #define PLAYER_MOTOR_SPEED_PID_REQ ((uint8_t)6) #define PLAYER_MOTOR_POSITION_PID_REQ ((uint8_t)7) #define PLAYER_MOTOR_SPEED_PROF_REQ ((uint8_t)8) #define PLAYER_MOTOR_SET_ODOM_REQ ((uint8_t)9) #define PLAYER_MOTOR_SET_GEAR_REDUCITION_REQ ((uint8_t)10) #define PLAYER_MOTOR_SET_TICS_REQ ((uint8_t)11) typedef struct player_motor_data { int32_t theta; int32_t thetaspeed; uint8_t stall; } __PACKED__ player_motor_data_t; typedef struct player_motor_cmd { int32_t theta; int32_t thetaspeed; uint8_t state; uint8_t type; } __PACKED__ player_motor_cmd_t; typedef struct player_motor_position_mode_req { uint8_t subtype; uint8_t state; } __PACKED__ player_motor_position_mode_req_t; typedef struct player_motor_velocitymode_config { uint8_t request; uint8_t value; } __PACKED__ player_motor_velocitymode_config_t; typedef struct player_motor_resetodom_config { uint8_t request; } __PACKED__ player_motor_resetodom_config_t; typedef struct player_motor_set_odom_req { uint8_t subtype; int32_t theta; }__PACKED__ player_motor_set_odom_req_t; typedef struct player_motor_speed_pid_req { uint8_t subtype; int32_t kp, ki, kd; } __PACKED__ player_motor_speed_pid_req_t; typedef struct player_motor_position_pid_req { uint8_t subtype; int32_t kp, ki, kd; } __PACKED__ player_motor_position_pid_req_t; typedef struct player_motor_speed_prof_req { uint8_t subtype; int32_t speed; int32_t acc; } __PACKED__ player_motor_speed_prof_req_t; typedef struct player_motor_power_config { uint8_t request; uint8_t value; } __PACKED__ player_motor_power_config_t; /***************************************************************************/ /* The various configuration request types. */ #define PLAYER_POSITION_GET_GEOM_REQ ((uint8_t)1) #define PLAYER_POSITION_MOTOR_POWER_REQ ((uint8_t)2) #define PLAYER_POSITION_VELOCITY_MODE_REQ ((uint8_t)3) #define PLAYER_POSITION_RESET_ODOM_REQ ((uint8_t)4) #define PLAYER_POSITION_POSITION_MODE_REQ ((uint8_t)5) #define PLAYER_POSITION_SPEED_PID_REQ ((uint8_t)6) #define PLAYER_POSITION_POSITION_PID_REQ ((uint8_t)7) #define PLAYER_POSITION_SPEED_PROF_REQ ((uint8_t)8) #define PLAYER_POSITION_SET_ODOM_REQ ((uint8_t)9) /* These are possible Segway RMP config commands; see the status command in the RMP manual */ #define PLAYER_POSITION_RMP_VELOCITY_SCALE ((uint8_t)51) #define PLAYER_POSITION_RMP_ACCEL_SCALE ((uint8_t)52) #define PLAYER_POSITION_RMP_TURN_SCALE ((uint8_t)53) #define PLAYER_POSITION_RMP_GAIN_SCHEDULE ((uint8_t)54) #define PLAYER_POSITION_RMP_CURRENT_LIMIT ((uint8_t)55) #define PLAYER_POSITION_RMP_RST_INTEGRATORS ((uint8_t)56) #define PLAYER_POSITION_RMP_SHUTDOWN ((uint8_t)57) /* These are used for resetting the Segway RMP's integrators. */ #define PLAYER_POSITION_RMP_RST_INT_RIGHT 0x01 #define PLAYER_POSITION_RMP_RST_INT_LEFT 0x02 #define PLAYER_POSITION_RMP_RST_INT_YAW 0x04 #define PLAYER_POSITION_RMP_RST_INT_FOREAFT 0x08 typedef struct player_position_data { int32_t xpos, ypos; int32_t yaw; int32_t xspeed, yspeed; int32_t yawspeed; uint8_t stall; } __PACKED__ player_position_data_t; typedef struct player_position_cmd { int32_t xpos, ypos; int32_t yaw; int32_t xspeed, yspeed; int32_t yawspeed; uint8_t state; uint8_t type; } __PACKED__ player_position_cmd_t; typedef struct player_position_geom { uint8_t subtype; int16_t pose[3]; uint16_t size[2]; } __PACKED__ player_position_geom_t; typedef struct player_position_power_config { uint8_t request; uint8_t value; } __PACKED__ player_position_power_config_t; typedef struct player_position_velocitymode_config { uint8_t request; uint8_t value; } __PACKED__ player_position_velocitymode_config_t; typedef struct player_position_resetodom_config { uint8_t request; } __PACKED__ player_position_resetodom_config_t; typedef struct player_position_position_mode_req { uint8_t subtype; uint8_t state; } __PACKED__ player_position_position_mode_req_t; typedef struct player_position_set_odom_req { uint8_t subtype; int32_t x, y; int32_t theta; }__PACKED__ player_position_set_odom_req_t; typedef struct player_position_speed_pid_req { uint8_t subtype; int32_t kp, ki, kd; } __PACKED__ player_position_speed_pid_req_t; typedef struct player_position_position_pid_req { uint8_t subtype; int32_t kp, ki, kd; } __PACKED__ player_position_position_pid_req_t; typedef struct player_position_speed_prof_req { uint8_t subtype; int16_t speed; int16_t acc; } __PACKED__ player_position_speed_prof_req_t; typedef struct player_rmp_config { uint8_t subtype; uint16_t value; } __PACKED__ player_rmp_config_t; /***************************************************************************/ /* The various configuration request types. */ #define PLAYER_POSITION2D_GET_GEOM_REQ ((uint8_t)1) #define PLAYER_POSITION2D_MOTOR_POWER_REQ ((uint8_t)2) #define PLAYER_POSITION2D_VELOCITY_MODE_REQ ((uint8_t)3) #define PLAYER_POSITION2D_RESET_ODOM_REQ ((uint8_t)4) #define PLAYER_POSITION2D_POSITION_MODE_REQ ((uint8_t)5) #define PLAYER_POSITION2D_SPEED_PID_REQ ((uint8_t)6) #define PLAYER_POSITION2D_POSITION_PID_REQ ((uint8_t)7) #define PLAYER_POSITION2D_SPEED_PROF_REQ ((uint8_t)8) #define PLAYER_POSITION2D_SET_ODOM_REQ ((uint8_t)9) /* These are possible Segway RMP config commands; see the status command in the RMP manual */ #define PLAYER_POSITION2D_RMP_VELOCITY_SCALE ((uint8_t)51) #define PLAYER_POSITION2D_RMP_ACCEL_SCALE ((uint8_t)52) #define PLAYER_POSITION2D_RMP_TURN_SCALE ((uint8_t)53) #define PLAYER_POSITION2D_RMP_GAIN_SCHEDULE ((uint8_t)54) #define PLAYER_POSITION2D_RMP_CURRENT_LIMIT ((uint8_t)55) #define PLAYER_POSITION2D_RMP_RST_INTEGRATORS ((uint8_t)56) #define PLAYER_POSITION2D_RMP_SHUTDOWN ((uint8_t)57) /* These are used for resetting the Segway RMP's integrators. */ #define PLAYER_POSITION2D_RMP_RST_INT_RIGHT 0x01 #define PLAYER_POSITION2D_RMP_RST_INT_LEFT 0x02 #define PLAYER_POSITION2D_RMP_RST_INT_YAW 0x04 #define PLAYER_POSITION2D_RMP_RST_INT_FOREAFT 0x08 typedef struct player_position2d_data { int32_t xpos, ypos; int32_t yaw; int32_t xspeed, yspeed; int32_t yawspeed; uint8_t stall; } __PACKED__ player_position2d_data_t; typedef struct player_position2d_cmd { int32_t xpos, ypos; int32_t yaw; int32_t xspeed, yspeed; int32_t yawspeed; uint8_t state; uint8_t type; } __PACKED__ player_position2d_cmd_t; typedef struct player_position2d_geom { uint8_t subtype; int16_t pose[3]; uint16_t size[2]; } __PACKED__ player_position2d_geom_t; typedef struct player_position2d_power_config { uint8_t request; uint8_t value; } __PACKED__ player_position2d_power_config_t; typedef struct player_position2d_velocitymode_config { uint8_t request; uint8_t value; } __PACKED__ player_position2d_velocitymode_config_t; typedef struct player_position2d_resetodom_config { uint8_t request; } __PACKED__ player_position2d_resetodom_config_t; typedef struct player_position2d_position_mode_req { uint8_t subtype; uint8_t state; } __PACKED__ player_position2d_position_mode_req_t; typedef struct player_position2d_set_odom_req { uint8_t subtype; int32_t x, y; int32_t theta; }__PACKED__ player_position2d_set_odom_req_t; typedef struct player_position2d_speed_pid_req { uint8_t subtype; int32_t kp, ki, kd; } __PACKED__ player_position2d_speed_pid_req_t; typedef struct player_position2d_position_pid_req { uint8_t subtype; int32_t kp, ki, kd; } __PACKED__ player_position2d_position_pid_req_t; typedef struct player_position2d_speed_prof_req { uint8_t subtype; int32_t speed; int32_t acc; } __PACKED__ player_position2d_speed_prof_req_t; /***************************************************************************/ /* Supported config requests */ #define PLAYER_POSITION3D_GET_GEOM_REQ ((uint8_t)1) #define PLAYER_POSITION3D_MOTOR_POWER_REQ ((uint8_t)2) #define PLAYER_POSITION3D_VELOCITY_MODE_REQ ((uint8_t)3) #define PLAYER_POSITION3D_RESET_ODOM_REQ ((uint8_t)4) #define PLAYER_POSITION3D_POSITION_MODE_REQ ((uint8_t)5) #define PLAYER_POSITION3D_SPEED_PID_REQ ((uint8_t)6) #define PLAYER_POSITION3D_POSITION_PID_REQ ((uint8_t)7) #define PLAYER_POSITION3D_SPEED_PROF_REQ ((uint8_t)8) #define PLAYER_POSITION3D_SET_ODOM_REQ ((uint8_t)9) typedef struct player_position3d_data { int32_t xpos, ypos, zpos; int32_t roll, pitch, yaw; int32_t xspeed, yspeed, zspeed; int32_t rollspeed, pitchspeed, yawspeed; uint8_t stall; } __PACKED__ player_position3d_data_t; typedef struct player_position3d_cmd { int32_t xpos, ypos, zpos; int32_t roll, pitch, yaw; int32_t xspeed, yspeed, zspeed; int32_t rollspeed, pitchspeed, yawspeed; uint8_t state; uint8_t type; } __PACKED__ player_position3d_cmd_t; typedef struct player_position3d_geom { uint8_t subtype; int16_t pose[6]; uint16_t size[3]; } __PACKED__ player_position3d_geom_t; typedef struct player_position3d_power_config { uint8_t request; uint8_t value; } __PACKED__ player_position3d_power_config_t; typedef struct player_position3d_position_mode_req { uint8_t subtype; uint8_t state; } __PACKED__ player_position3d_position_mode_req_t; typedef struct player_position3d_velocitymode_config { uint8_t request; uint8_t value; } __PACKED__ player_position3d_velocitymode_config_t; typedef struct player_position3d_set_odom_req { uint8_t subtype; int32_t x, y, z; int32_t roll, pitch, yaw; }__PACKED__ player_position3d_set_odom_req_t; typedef struct player_position3d_resetodom_config { uint8_t request; } __PACKED__ player_position3d_resetodom_config_t; typedef struct player_position3d_speed_pid_req { uint8_t subtype; int32_t kp, ki, kd; } __PACKED__ player_position3d_speed_pid_req_t; typedef struct player_position3d_position_pid_req { uint8_t subtype; int32_t kp, ki, kd; } __PACKED__ player_position3d_position_pid_req_t; typedef struct player_position3d_speed_prof_req { uint8_t subtype; int32_t speed; int32_t acc; } __PACKED__ player_position3d_speed_prof_req_t; /***************************************************************************/ #define PLAYER_SONAR_MAX_SAMPLES 64 /* request types */ #define PLAYER_SONAR_GET_GEOM_REQ ((uint8_t)1) #define PLAYER_SONAR_POWER_REQ ((uint8_t)2) typedef struct player_sonar_data { uint16_t range_count; uint16_t ranges[PLAYER_SONAR_MAX_SAMPLES]; } __PACKED__ player_sonar_data_t; typedef struct player_sonar_geom { uint8_t subtype; uint16_t pose_count; int16_t poses[PLAYER_SONAR_MAX_SAMPLES][3]; } __PACKED__ player_sonar_geom_t; typedef struct player_sonar_power_config { uint8_t subtype; uint8_t value; } __PACKED__ player_sonar_power_config_t; /*************************************************************************/ #define PLAYER_LASER_MAX_SAMPLES 401 /* Laser request subtypes. */ #define PLAYER_LASER_GET_GEOM 0x01 #define PLAYER_LASER_SET_CONFIG 0x02 #define PLAYER_LASER_GET_CONFIG 0x03 #define PLAYER_LASER_POWER_CONFIG 0x04 typedef struct player_laser_data { int16_t min_angle, max_angle; uint16_t resolution; uint16_t range_res; uint16_t range_count; uint16_t ranges[PLAYER_LASER_MAX_SAMPLES]; uint8_t intensity[PLAYER_LASER_MAX_SAMPLES]; } __PACKED__ player_laser_data_t; typedef struct player_laser_geom { uint8_t subtype; int16_t pose[3]; int16_t size[2]; } __PACKED__ player_laser_geom_t; typedef struct player_laser_config { uint8_t subtype; int16_t min_angle, max_angle; uint16_t resolution; uint16_t range_res; uint8_t intensity; } __PACKED__ player_laser_config_t; typedef struct player_laser_power_config { uint8_t subtype; uint8_t value; } __PACKED__ player_laser_power_config_t; /***************************************************************************/ #define PLAYER_BLOBFINDER_MAX_BLOBS 256 /* Config request codes */ #define PLAYER_BLOBFINDER_SET_COLOR_REQ ((uint8_t)1) #define PLAYER_BLOBFINDER_SET_IMAGER_PARAMS_REQ ((uint8_t)2) typedef struct player_blobfinder_blob { int16_t id; uint32_t color; uint32_t area; uint16_t x, y; uint16_t left, right, top, bottom; uint16_t range; } __PACKED__ player_blobfinder_blob_t; typedef struct player_blobfinder_data { uint16_t width, height; uint16_t blob_count; player_blobfinder_blob_t blobs[PLAYER_BLOBFINDER_MAX_BLOBS]; } __PACKED__ player_blobfinder_data_t; typedef struct player_blobfinder_color_config { uint8_t subtype; int16_t rmin, rmax; int16_t gmin, gmax; int16_t bmin, bmax; } __PACKED__ player_blobfinder_color_config_t; typedef struct player_blobfinder_imager_config { uint8_t subtype; int16_t brightness; int16_t contrast; int8_t colormode; int8_t autogain; } __PACKED__ player_blobfinder_imager_config_t; /*************************************************************************/ #define PLAYER_PTZ_GENERIC_CONFIG_REQ ((uint8_t)1) #define PLAYER_PTZ_CONTROL_MODE_REQ ((uint8_t)2) #define PLAYER_PTZ_AUTOSERVO ((uint8_t)3) #define PLAYER_PTZ_MAX_CONFIG_LEN 32 #define PLAYER_PTZ_VELOCITY_CONTROL 0 #define PLAYER_PTZ_POSITION_CONTROL 1 typedef struct player_ptz_data { int16_t pan; int16_t tilt; int16_t zoom; int16_t panspeed, tiltspeed; } __PACKED__ player_ptz_data_t; typedef struct player_ptz_cmd { int16_t pan; int16_t tilt; int16_t zoom; int16_t panspeed, tiltspeed; } __PACKED__ player_ptz_cmd_t; typedef struct player_ptz_generic_config { uint8_t subtype; uint16_t length; uint8_t config[PLAYER_PTZ_MAX_CONFIG_LEN]; } __PACKED__ player_ptz_generic_config_t; typedef struct player_ptz_controlmode_config { uint8_t subtype; uint8_t mode; } __PACKED__ player_ptz_velocitymode_config_t; #define PLAYER_CAMERA_IMAGE_WIDTH 640 #define PLAYER_CAMERA_IMAGE_HEIGHT 480 #define PLAYER_CAMERA_IMAGE_SIZE (640 * 480 * 4) #define PLAYER_CAMERA_FORMAT_MONO8 1 #define PLAYER_CAMERA_FORMAT_MONO16 2 #define PLAYER_CAMERA_FORMAT_RGB565 4 #define PLAYER_CAMERA_FORMAT_RGB888 5 /* Compression methods. */ #define PLAYER_CAMERA_COMPRESS_RAW 0 #define PLAYER_CAMERA_COMPRESS_JPEG 1 typedef struct player_camera_data { uint16_t width, height; uint8_t bpp; uint8_t format; uint16_t fdiv; uint8_t compression; uint32_t image_size; uint8_t image[PLAYER_CAMERA_IMAGE_SIZE]; } __PACKED__ player_camera_data_t; #define AUDIO_DATA_BUFFER_SIZE 20 #define AUDIO_COMMAND_BUFFER_SIZE 3*sizeof(short) typedef struct player_audio_data { uint16_t frequency0, amplitude0; uint16_t frequency1, amplitude1; uint16_t frequency2, amplitude2; uint16_t frequency3, amplitude3; uint16_t frequency4, amplitude4; } __PACKED__ player_audio_data_t; typedef struct player_audio_cmd { uint16_t frequency; uint16_t amplitude; uint16_t duration; } __PACKED__ player_audio_cmd_t; #define PLAYER_AUDIODSP_SET_CONFIG 0x01 #define PLAYER_AUDIODSP_GET_CONFIG 0x02 #define PLAYER_AUDIODSP_PLAY_TONE 0x03 #define PLAYER_AUDIODSP_PLAY_CHIRP 0x04 #define PLAYER_AUDIODSP_REPLAY 0x05 typedef struct player_audiodsp_data { uint16_t freq[5]; uint16_t amp[5]; } __PACKED__ player_audiodsp_data_t; typedef struct player_audiodsp_cmd { uint8_t subtype; uint16_t frequency; uint16_t amplitude; uint32_t duration; unsigned char bitString[PLAYER_MAX_DEVICE_STRING_LEN]; uint16_t bitStringLen; } __PACKED__ player_audiodsp_cmd_t; typedef struct player_audiodsp_config { uint8_t subtype; int16_t sampleFormat; uint16_t sampleRate; uint8_t channels; } __PACKED__ player_audiodsp_config_t; #define PLAYER_AUDIOMIXER_SET_MASTER 0x01 #define PLAYER_AUDIOMIXER_SET_PCM 0x02 #define PLAYER_AUDIOMIXER_SET_LINE 0x03 #define PLAYER_AUDIOMIXER_SET_MIC 0x04 #define PLAYER_AUDIOMIXER_SET_IGAIN 0x05 #define PLAYER_AUDIOMIXER_SET_OGAIN 0x06 typedef struct player_audiomixer_cmd { uint8_t subtype; uint16_t left; uint16_t right; } __PACKED__ player_audiomixer_cmd_t; typedef struct player_audiomixer_config { uint8_t subtype; uint16_t masterLeft, masterRight; uint16_t pcmLeft, pcmRight; uint16_t lineLeft, lineRight; uint16_t micLeft, micRight; uint16_t iGain, oGain; } __PACKED__ player_audiomixer_config_t; /*4K - half the packet max*/ #define PLAYER_WAVEFORM_DATA_MAX 4096 typedef struct player_waveform_data { uint32_t rate; uint16_t depth; uint32_t samples; uint8_t data[ PLAYER_WAVEFORM_DATA_MAX ]; } __PACKED__ player_waveform_data_t; typedef struct player_blinkenlight_data { uint8_t enable; uint16_t period_ms; } __PACKED__ player_blinkenlight_data_t; typedef player_blinkenlight_data_t player_blinkenlight_cmd_t; #define PLAYER_FIDUCIAL_MAX_SAMPLES 32 #define PLAYER_FIDUCIAL_MAX_MSG_LEN 32 /* Request packet subtypes */ #define PLAYER_FIDUCIAL_GET_GEOM 0x01 #define PLAYER_FIDUCIAL_GET_FOV 0x02 #define PLAYER_FIDUCIAL_SET_FOV 0x03 #define PLAYER_FIDUCIAL_SEND_MSG 0x04 #define PLAYER_FIDUCIAL_RECV_MSG 0x05 #define PLAYER_FIDUCIAL_EXCHANGE_MSG 0x06 #define PLAYER_FIDUCIAL_GET_ID 0x07 #define PLAYER_FIDUCIAL_SET_ID 0x08 typedef struct player_fiducial_item { int16_t id; int32_t pos[3]; int32_t rot[3]; int32_t upos[3]; int32_t urot[3]; } __PACKED__ player_fiducial_item_t; typedef struct player_fiducial_data { uint16_t count; player_fiducial_item_t fiducials[PLAYER_FIDUCIAL_MAX_SAMPLES]; } __PACKED__ player_fiducial_data_t; typedef struct player_fiducial_geom { uint8_t subtype; int16_t pose[3]; uint16_t size[2]; uint16_t fiducial_size[2]; } __PACKED__ player_fiducial_geom_t; typedef struct player_fiducial_fov { uint8_t subtype; uint16_t min_range; uint16_t max_range; uint16_t view_angle; } __PACKED__ player_fiducial_fov_t; typedef struct player_fiducial_id { uint8_t subtype; uint32_t id; } __PACKED__ player_fiducial_id_t; typedef struct player_fiducial_msg { int32_t target_id; uint8_t bytes[PLAYER_FIDUCIAL_MAX_MSG_LEN]; uint8_t len; uint8_t intensity; } __PACKED__ player_fiducial_msg_t; typedef struct player_fiducial_msg_rx_req { uint8_t subtype; uint8_t consume; } __PACKED__ player_fiducial_msg_rx_req_t; typedef struct player_fiducial_msg_tx_req { uint8_t subtype; uint8_t consume; player_fiducial_msg_t msg; } __PACKED__ player_fiducial_msg_tx_req_t; typedef struct player_fiducial_msg_txrx_req { uint8_t subtype; player_fiducial_msg_t msg; uint8_t consume_send; uint8_t consume_reply; } __PACKED__ player_fiducial_msg_txrx_req_t; #define PLAYER_SPEECH_MAX_STRING_LEN 256 typedef struct player_speech_cmd { uint8_t string[PLAYER_SPEECH_MAX_STRING_LEN]; } __PACKED__ player_speech_cmd_t; typedef struct player_gps_data { uint32_t time_sec, time_usec; int32_t latitude; int32_t longitude; int32_t altitude; int32_t utm_e, utm_n; uint8_t quality; uint8_t num_sats; uint16_t hdop; uint16_t vdop; uint32_t err_horz; uint32_t err_vert; } __PACKED__ player_gps_data_t; #define PLAYER_BUMPER_MAX_SAMPLES 32 #define PLAYER_BUMPER_GET_GEOM_REQ ((uint8_t)1) typedef struct player_bumper_data { uint8_t bumper_count; uint8_t bumpers[PLAYER_BUMPER_MAX_SAMPLES]; } __PACKED__ player_bumper_data_t; typedef struct player_bumper_define { int16_t x_offset, y_offset, th_offset; uint16_t length; uint16_t radius; } __PACKED__ player_bumper_define_t; typedef struct player_bumper_geom { uint8_t subtype; uint16_t bumper_count; player_bumper_define_t bumper_def[PLAYER_BUMPER_MAX_SAMPLES]; } __PACKED__ player_bumper_geom_t; /* Request packet subtypes. */ #define PLAYER_TRUTH_GET_POSE 0x00 #define PLAYER_TRUTH_SET_POSE 0x01 #define PLAYER_TRUTH_SET_POSE_ON_ROOT 0x02 #define PLAYER_TRUTH_GET_FIDUCIAL_ID 0x03 #define PLAYER_TRUTH_SET_FIDUCIAL_ID 0x04 typedef struct player_truth_data { int32_t pos[3]; int32_t rot[3]; } __PACKED__ player_truth_data_t; typedef struct player_truth_pose { uint8_t subtype; int32_t pos[3]; int32_t rot[3]; } __PACKED__ player_truth_pose_t; typedef struct player_truth_fiducial_id { uint8_t subtype; int16_t id; } __PACKED__ player_truth_fiducial_id_t; #define PLAYER_SIMULATION_SET_POSE2D 0x00 #define PLAYER_SIMULATION_GET_POSE2D 0x01 #define PLAYER_SIMULATION_IDENTIFIER_MAXLEN 64 typedef struct player_simulation_data { uint8_t data; } __PACKED__ player_simulation_data_t; typedef struct player_simulation_cmd { uint8_t cmd; } __PACKED__ player_simulation_cmd_t; typedef struct player_simulation_pose2d_req { uint8_t subtype; char name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN]; int32_t x, y, a; } __PACKED__ player_simulation_pose2d_req_t; typedef struct player_dio_data { uint8_t count; uint32_t digin; } __PACKED__ player_dio_data_t; typedef struct player_dio_cmd { uint8_t count; /* optional argument */ uint32_t digout; } __PACKED__ player_dio_cmd_t; #define PLAYER_AIO_MAX_SAMPLES 8 typedef struct player_aio_data { uint8_t count; int32_t anin[PLAYER_AIO_MAX_SAMPLES]; } __PACKED__ player_aio_data_t; typedef struct player_joystick_data { int16_t xpos, ypos; int16_t xscale, yscale; uint16_t buttons; } __PACKED__ player_joystick_data_t; #define PLAYER_WIFI_MAX_LINKS 32 #define PLAYER_WIFI_QUAL_DBM 1 #define PLAYER_WIFI_QUAL_REL 2 #define PLAYER_WIFI_QUAL_UNKNOWN 3 #define PLAYER_WIFI_MODE_UNKNOWN 0 #define PLAYER_WIFI_MODE_AUTO 1 #define PLAYER_WIFI_MODE_ADHOC 2 #define PLAYER_WIFI_MODE_INFRA 3 #define PLAYER_WIFI_MODE_MASTER 4 #define PLAYER_WIFI_MODE_REPEAT 5 #define PLAYER_WIFI_MODE_SECOND 6 /* config requests */ #define PLAYER_WIFI_MAC_REQ ((uint8_t)1) #define PLAYER_WIFI_IWSPY_ADD_REQ ((uint8_t)10) #define PLAYER_WIFI_IWSPY_DEL_REQ ((uint8_t)11) #define PLAYER_WIFI_IWSPY_PING_REQ ((uint8_t)12) typedef struct player_wifi_link { char mac[32]; char ip[32]; char essid[32]; uint8_t mode; uint16_t freq; uint8_t encrypt; uint16_t qual, level, noise; } __PACKED__ player_wifi_link_t; typedef struct player_wifi_data { player_wifi_link_t links[PLAYER_WIFI_MAX_LINKS]; uint16_t link_count; uint32_t throughput; int32_t bitrate; uint8_t mode; uint8_t qual_type; uint16_t maxqual, maxlevel, maxnoise; char ap[32]; } __PACKED__ player_wifi_data_t; typedef struct player_wifi_mac_req { uint8_t subtype; } __PACKED__ player_wifi_mac_req_t; typedef struct player_wifi_iwspy_addr_req { uint8_t subtype; char address[32]; } __PACKED__ player_wifi_iwspy_addr_req_t; #define PLAYER_IR_MAX_SAMPLES 32 /* config requests */ #define PLAYER_IR_POSE_REQ ((uint8_t)1) #define PLAYER_IR_POWER_REQ ((uint8_t)2) typedef struct player_ir_data { uint16_t range_count; uint16_t voltages[PLAYER_IR_MAX_SAMPLES]; uint16_t ranges[PLAYER_IR_MAX_SAMPLES]; } __PACKED__ player_ir_data_t; typedef struct player_ir_pose { uint16_t pose_count; int16_t poses[PLAYER_IR_MAX_SAMPLES][3]; } __PACKED__ player_ir_pose_t; typedef struct player_ir_pose_req { uint8_t subtype; player_ir_pose_t poses; } __PACKED__ player_ir_pose_req_t; typedef struct player_ir_power_req { uint8_t subtype; uint8_t state; } __PACKED__ player_ir_power_req_t; #define PLAYER_LOCALIZE_MAX_HYPOTHS 10 /* Request/reply packet subtypes */ #define PLAYER_LOCALIZE_SET_POSE_REQ ((uint8_t)1) #define PLAYER_LOCALIZE_GET_CONFIG_REQ ((uint8_t)2) #define PLAYER_LOCALIZE_SET_CONFIG_REQ ((uint8_t)3) #define PLAYER_LOCALIZE_GET_PARTICLES_REQ ((uint8_t)4) typedef struct player_localize_hypoth { int32_t mean[3]; int64_t cov[3][3]; uint32_t alpha; } __PACKED__ player_localize_hypoth_t; typedef struct player_localize_data { uint16_t pending_count; uint32_t pending_time_sec, pending_time_usec; uint32_t hypoth_count; player_localize_hypoth_t hypoths[PLAYER_LOCALIZE_MAX_HYPOTHS]; } __PACKED__ player_localize_data_t; typedef struct player_localize_set_pose { uint8_t subtype; int32_t mean[3]; int64_t cov[3][3]; } __PACKED__ player_localize_set_pose_t; typedef struct player_localize_config { uint8_t subtype; uint32_t num_particles; } __PACKED__ player_localize_config_t; #define PLAYER_LOCALIZE_PARTICLES_MAX 100 typedef struct player_localize_particle { int32_t pose[3]; uint32_t alpha; } __PACKED__ player_localize_particle_t; typedef struct player_localize_get_particles { uint8_t subtype; int32_t mean[3]; uint64_t variance; uint32_t num_particles; player_localize_particle_t particles[PLAYER_LOCALIZE_PARTICLES_MAX]; } __PACKED__ player_localize_get_particles_t; #define PLAYER_MAP_MAX_CELLS_PER_TILE (PLAYER_MAX_REQREP_SIZE - 17) /* Configuration subtypes */ #define PLAYER_MAP_GET_INFO_REQ ((uint8_t)1) #define PLAYER_MAP_GET_DATA_REQ ((uint8_t)2) typedef struct player_map_info { uint8_t subtype; uint32_t scale; uint32_t width, height; } __PACKED__ player_map_info_t; typedef struct player_map_data { uint8_t subtype; uint32_t col, row; uint32_t width, height; int8_t data[PLAYER_MAX_REQREP_SIZE - 17]; } __PACKED__ player_map_data_t; #define MCOM_DATA_LEN 128 #define MCOM_COMMAND_BUFFER_SIZE (sizeof(player_mcom_config_t)) #define MCOM_DATA_BUFFER_SIZE 0 #define MCOM_N_BUFS 10 #define MCOM_CHANNEL_LEN 8 #define MCOM_EMPTY_STRING "(EMPTY)" /* request ids */ #define PLAYER_MCOM_PUSH_REQ 0 #define PLAYER_MCOM_POP_REQ 1 #define PLAYER_MCOM_READ_REQ 2 #define PLAYER_MCOM_CLEAR_REQ 3 #define PLAYER_MCOM_SET_CAPACITY_REQ 4 typedef struct player_mcom_data { char full; char data[MCOM_DATA_LEN]; } __PACKED__ player_mcom_data_t; typedef struct player_mcom_config { uint8_t command; uint16_t type; char channel[MCOM_CHANNEL_LEN]; player_mcom_data_t data; } __PACKED__ player_mcom_config_t; typedef struct player_mcom_return { uint16_t type; char channel[MCOM_CHANNEL_LEN]; player_mcom_data_t data; } __PACKED__ player_mcom_return_t; #define PLAYER_NOMAD_SONAR_COUNT 16 #define PLAYER_NOMAD_BUMPER_COUNT 16 #define PLAYER_NOMAD_IR_COUNT 16 typedef struct player_nomad_data { int32_t x, y; int32_t a; int32_t vel_trans; int32_t vel_steer; int32_t vel_turret; uint16_t sonar[PLAYER_NOMAD_SONAR_COUNT]; uint16_t ir[PLAYER_NOMAD_IR_COUNT]; uint8_t bumper[PLAYER_NOMAD_BUMPER_COUNT]; } __PACKED__ player_nomad_data_t; typedef struct player_nomad_cmd { int32_t vel_trans, vel_steer, vel_turret; } __PACKED__ player_nomad_cmd_t; typedef struct player_sound_cmd { uint16_t index; } __PACKED__ player_sound_cmd_t; typedef struct player_energy_data { int32_t mjoules; int32_t mwatts; int8_t charging; } __PACKED__ player_energy_data_t; typedef struct player_energy_command { uint8_t enable_input; uint8_t enable_output; } __PACKED__ player_energy_chargepolicy_config_t; #define PLAYER_PLANNER_GET_WAYPOINTS_REQ ((uint8_t)10) #define PLAYER_PLANNER_ENABLE_REQ ((uint8_t)11) #define PLAYER_PLANNER_MAX_WAYPOINTS 128 typedef struct player_planner_data { uint8_t valid; uint8_t done; int32_t px,py,pa; int32_t gx,gy,ga; int32_t wx,wy,wa; int16_t curr_waypoint; uint16_t waypoint_count; } __PACKED__ player_planner_data_t; typedef struct player_planner_cmd { int32_t gx,gy,ga; } __PACKED__ player_planner_cmd_t; typedef struct player_planner_waypoint { int32_t x,y,a; } __PACKED__ player_planner_waypoint_t; typedef struct player_planner_waypoints_req { uint8_t subtype; uint16_t count; player_planner_waypoint_t waypoints[PLAYER_PLANNER_MAX_WAYPOINTS]; } __PACKED__ player_planner_waypoints_req_t; typedef struct player_planner_enable_req { uint8_t subtype; uint8_t state; } __PACKED__ player_planner_enable_req_t; /* The subtypes for config reqeusts */ #define PLAYER_LOG_SET_WRITE_STATE_REQ 1 #define PLAYER_LOG_SET_READ_STATE_REQ 2 #define PLAYER_LOG_GET_STATE_REQ 3 #define PLAYER_LOG_SET_READ_REWIND_REQ 4 #define PLAYER_LOG_SET_FILENAME 5 /* Types of log devices */ #define PLAYER_LOG_TYPE_READ 1 #define PLAYER_LOG_TYPE_WRITE 2 typedef struct player_log_set_write_state { uint8_t subtype; uint8_t state; } __PACKED__ player_log_set_write_state_t; typedef struct player_log_set_read_state { uint8_t subtype; uint8_t state; } __PACKED__ player_log_set_read_state_t; typedef struct player_log_set_read_rewind { uint8_t subtype; } __PACKED__ player_log_set_read_rewind_t; typedef struct player_log_get_state { uint8_t subtype; uint8_t type; uint8_t state; } __PACKED__ player_log_get_state_t; typedef struct player_log_set_filename { uint8_t subtype; uint8_t filename[256]; } __PACKED__ player_log_set_filename_t; /*************************************************************************/ #define SPEECH_RECOGNITION_TEXT_LEN 256 typedef struct player_speech_recognition_data { char text[SPEECH_RECOGNITION_TEXT_LEN]; } __PACKED__ player_speech_recognition_data_t; #endif /* PLAYER_H */