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player.h File Reference #include "playerconfig.h" Go to the source code of this file. Classes struct   player_msghdr struct   player_device_id   A device identifier. More... struct   player_device_devlist   Configuration request: Get the list of available devices. More... struct   player_device_driverinfo   Configuration request: Get the driver name for a particular device. More... struct   player_device_req   Configuration request: Get device access. More... struct   player_device_resp   The format of the server's reply to a PLAYER_PLAYER_DEV_REQ request. More... struct   player_device_data_req   Configuration request: Get data. More... struct   player_device_datamode_req   Configuration request: Change data delivery mode. More... struct   player_device_datafreq_req   Configuration request: Change data delivery frequency. More... struct   player_device_auth_req   Configuration request: Authentication. More... struct   player_device_nameservice_req struct   player_power_data   Data. More... struct   player_gripper_data   Data. More... struct   player_gripper_cmd   Command. More... struct   player_motor_data   Data. More... struct   player_motor_cmd   Command. More... struct   player_motor_position_mode_req   Configuration request: Change position control. More... struct   player_motor_velocitymode_config   Configuration request: Change velocity control mode. More... struct   player_motor_resetodom_config   Configuration request: Reset odometry. More... struct   player_motor_set_odom_req   Configuration request: Set odometry. More... struct   player_motor_speed_pid_req   Configuration request: Set velocity PID parameters. More... struct   player_motor_position_pid_req   Configuration request: Set motor PID parameters. More... struct   player_motor_speed_prof_req   Configuration request: Set speed profile parameters. More... struct   player_motor_power_config   Configuration request: Motor power. More... struct   player_position_data   Data. More... struct   player_position_cmd   Command. More... struct   player_position_geom   Configuration request: Query geometry. More... struct   player_position_power_config   Configuratoin request: Motor power. More... struct   player_position_velocitymode_config   Configuration request: Change velocity control. More... struct   player_position_resetodom_config   Configuration request: Reset odometry. More... struct   player_position_position_mode_req   Configuration request: Change control mode. More... struct   player_position_set_odom_req   Configuration request: Set odometry. More... struct   player_position_speed_pid_req   Configuration request: Set velocity PID parameters. More... struct   player_position_position_pid_req   Configuration request: Set position PID parameters. More... struct   player_position_speed_prof_req   Configuration request: Set speed profile parameters. More... struct   player_rmp_config   Configuration request: Segway RMP-specific configuration. More... struct   player_position2d_data   Data. More... struct   player_position2d_cmd   Command. More... struct   player_position2d_geom   Configuration request: Query geometry. More... struct   player_position2d_power_config   Configuration request : Motor power. More... struct   player_position2d_velocitymode_config   Configuration request: Change velocity control. More... struct   player_position2d_resetodom_config   Configuration request: Reset odometry. More... struct   player_position2d_position_mode_req   Configuration request: Change position control. More... struct   player_position2d_set_odom_req   Configuration request: Set odometry. More... struct   player_position2d_speed_pid_req   Configuration request: Set velocity PID parameters. More... struct   player_position2d_position_pid_req   Configuration request: Set position PID parameters. More... struct   player_position2d_speed_prof_req   Configuration request: Set speed profile parameters. More... struct   player_position3d_data   Data. More... struct   player_position3d_cmd   Command. More... struct   player_position3d_geom   Configuration request: Query geometry. More... struct   player_position3d_power_config   Configuration request: Motor power. More... struct   player_position3d_position_mode_req   Configuration request: Change position control. More... struct   player_position3d_velocitymode_config   Configuration request: Change velocity control. More... struct   player_position3d_set_odom_req   Configuration request: Set odometry. More... struct   player_position3d_resetodom_config   Configuration request: Reset odometry. More... struct   player_position3d_speed_pid_req   Configuration request: Set velocity PID parameters. More... struct   player_position3d_position_pid_req   Configuration request: Set position PID parameters. More... struct   player_position3d_speed_prof_req   Configuration request: Set odometry. More... struct   player_sonar_data   Data. More... struct   player_sonar_geom   Configuration request: Query geometry. More... struct   player_sonar_power_config   Configuration request: Sonar power. More... struct   player_laser_data   Data. More... struct   player_laser_geom   Configuration request: Get geometry. More... struct   player_laser_config   Configuration request: Get/set scan properties. More... struct   player_laser_power_config   Configuration request: Turn power on/off. More... struct   player_blobfinder_blob   Structure describing a single blob. More... struct   player_blobfinder_data   Data. More... struct   player_blobfinder_color_config   Configuration request: Set tracking color. More... struct   player_blobfinder_imager_config   Configuration request: Set imager params. More... struct   player_ptz_data   Data. More... struct   player_ptz_cmd   Command. More... struct   player_ptz_generic_config   Configuration request: Generic request. More... struct   player_ptz_controlmode_config   Configuration request: Control mode. More... struct   player_camera_data   Data. More... struct   player_audio_data   Data. More... struct   player_audio_cmd   Command. More... struct   player_audiodsp_data   Data. More... struct   player_audiodsp_cmd   Command. More... struct   player_audiodsp_config   Configuration request : Get/set audio properties. Configuration request: Get/set audio configuration. More... struct   player_audiomixer_cmd   Command. More... struct   player_audiomixer_config   Configuration request: Get levels. More... struct   player_waveform_data   Data. More... struct   player_blinkenlight_data   Data. More... struct   player_fiducial_item   Info on a single detected fiducial. More... struct   player_fiducial_data   Data. More... struct   player_fiducial_geom   Configuration request: Get geometry. More... struct   player_fiducial_fov   Configuration request: Get/set sensor field of view. More... struct   player_fiducial_id   Configuration request: Get/set fiducial value. More... struct   player_fiducial_msg   Configuration request: Fiducial messaging. More... struct   player_fiducial_msg_rx_req   Configuration request: Fiducial receive message request. More... struct   player_fiducial_msg_tx_req   Configuration request: Fiducial send message request. More... struct   player_fiducial_msg_txrx_req   Configuration request: Fiducial exchange message request. More... struct   player_speech_cmd   Command. More... struct   player_gps_data   Data. More... struct   player_bumper_data   Data. More... struct   player_bumper_define   The geometry of a single bumper. More... struct   player_bumper_geom   Configuration request: Query geometry. More... struct   player_truth_data   Data. More... struct   player_truth_pose   Configuration request: Get/set pose. More... struct   player_truth_fiducial_id   Configuration request: Get/set fiducial ID number. More... struct   player_simulation_data   Data. More... struct   player_simulation_cmd   Command. More... struct   player_simulation_pose2d_req   Configuration request: set or get 2D pose of a named simulation object. More... struct   player_dio_data   Data. More... struct   player_dio_cmd   Command. More... struct   player_aio_data   Data. More... struct   player_joystick_data   Data. More... struct   player_wifi_link   Link information for one host. More... struct   player_wifi_data   Data. More... struct   player_wifi_mac_req   Configuration request. More... struct   player_wifi_iwspy_addr_req   Configuration request. More... struct   player_ir_data   Data. More... struct   player_ir_pose   A set of IR poses. More... struct   player_ir_pose_req   Configuration request: Query pose. More... struct   player_ir_power_req   Configuration request: IR power. More... struct   player_localize_hypoth   Hypothesis format. More... struct   player_localize_data   Data. More... struct   player_localize_set_pose   Configuration request: Set the robot pose estimate. More... struct   player_localize_config   Configuration request: Get/Set configuration. More... struct   player_localize_particle struct   player_localize_get_particles   Configuration request: Get particles. More... struct   player_map_info   Configuration request: Get map information. More... struct   player_map_data   Configuration request: Get map data. More... struct   player_mcom_data   A piece of data. More... struct   player_mcom_config   Configuration request: Config requests sent to server. More... struct   player_mcom_return   Configuration reply from server. More... struct   player_nomad_data   Data. More... struct   player_nomad_cmd   Command. More... struct   player_sound_cmd   Command. More... struct   player_energy_data   Data. More... struct   player_energy_command   Configuration request. More... struct   player_planner_data   Data. More... struct   player_planner_cmd   Command. More... struct   player_planner_waypoint   A waypoint. More... struct   player_planner_waypoints_req   Configuration request: Get waypoints. More... struct   player_planner_enable_req   Configuration request: Enable/disable robot motion. More... struct   player_log_set_write_state   Configuration request: Set logging state. More... struct   player_log_set_read_state   Configuration request: Set playback state. More... struct   player_log_set_read_rewind   Configuration request: Rewind playback. More... struct   player_log_get_state   Configuration request: Get state. More... struct   player_log_set_filename   Configuration request: Set filename. More... struct   player_speech_recognition_data   Data. More... Defines #define  PLAYER_STXX   ((uint16_t) 0x5878) #define  PLAYER_TRANSPORT_TCP   1 #define  PLAYER_TRANSPORT_UDP   2 #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) #define  PLAYER_MAX_DEVICE_STRING_LEN   64 #define  PLAYER_NULL_CODE   ((uint16_t)256) #define  PLAYER_PLAYER_CODE   ((uint16_t)1) #define  PLAYER_POWER_CODE   ((uint16_t)2) #define  PLAYER_GRIPPER_CODE   ((uint16_t)3) #define  PLAYER_POSITION_CODE   ((uint16_t)4) #define  PLAYER_SONAR_CODE   ((uint16_t)5) #define  PLAYER_LASER_CODE   ((uint16_t)6) #define  PLAYER_BLOBFINDER_CODE   ((uint16_t)7) #define  PLAYER_PTZ_CODE   ((uint16_t)8) #define  PLAYER_AUDIO_CODE   ((uint16_t)9) #define  PLAYER_FIDUCIAL_CODE   ((uint16_t)10) #define  PLAYER_SPEECH_CODE   ((uint16_t)12) #define  PLAYER_GPS_CODE   ((uint16_t)13) #define  PLAYER_BUMPER_CODE   ((uint16_t)14) #define  PLAYER_TRUTH_CODE   ((uint16_t)15) #define  PLAYER_IDARTURRET_CODE   ((uint16_t)16) #define  PLAYER_IDAR_CODE   ((uint16_t)17) #define  PLAYER_DESCARTES_CODE   ((uint16_t)18) #define  PLAYER_DIO_CODE   ((uint16_t)20) #define  PLAYER_AIO_CODE   ((uint16_t)21) #define  PLAYER_IR_CODE   ((uint16_t)22) #define  PLAYER_WIFI_CODE   ((uint16_t)23) #define  PLAYER_WAVEFORM_CODE   ((uint16_t)24) #define  PLAYER_LOCALIZE_CODE   ((uint16_t)25) #define  PLAYER_MCOM_CODE   ((uint16_t)26) #define  PLAYER_SOUND_CODE   ((uint16_t)27) #define  PLAYER_AUDIODSP_CODE   ((uint16_t)28) #define  PLAYER_AUDIOMIXER_CODE   ((uint16_t)29) #define  PLAYER_POSITION3D_CODE   ((uint16_t)30) #define  PLAYER_SIMULATION_CODE   ((uint16_t)31) #define  PLAYER_SERVICE_ADV_CODE   ((uint16_t)32) #define  PLAYER_BLINKENLIGHT_CODE   ((uint16_t)33) #define  PLAYER_NOMAD_CODE   ((uint16_t)34) #define  PLAYER_CAMERA_CODE   ((uint16_t)40) #define  PLAYER_MAP_CODE   ((uint16_t)42) #define  PLAYER_PLANNER_CODE   ((uint16_t)44) #define  PLAYER_LOG_CODE   ((uint16_t)45) #define  PLAYER_ENERGY_CODE   ((uint16_t)46) #define  PLAYER_MOTOR_CODE   ((uint16_t)47) #define  PLAYER_POSITION2D_CODE   ((uint16_t)48) #define  PLAYER_JOYSTICK_CODE   ((uint16_t)49) #define  PLAYER_SPEECH_RECOGNITION_CODE   ((uint16_t)50) #define  PLAYER_OPAQUE_CODE   ((uint16_t)51) #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" #define  PLAYER_MAX_DEVICES   256 #define  PLAYER_MAX_REQREP_SIZE   4096 /*4KB*/ #define  PLAYER_PORTNUM   6665 #define  PLAYER_IDENT_STRING   "Player v." #define  PLAYER_IDENT_STRLEN   32 #define  PLAYER_KEYLEN   32 #define  __PACKED__   __attribute__ ((packed)) #define  PLAYER_MAX_PAYLOAD_SIZE   (PLAYER_MAX_MESSAGE_SIZE - sizeof(player_msghdr_t)) #define  PLAYER_READ_MODE   114 #define  PLAYER_WRITE_MODE   119 #define  PLAYER_ALL_MODE   97 #define  PLAYER_CLOSE_MODE   99 #define  PLAYER_ERROR_MODE   101 #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 #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) #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) #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) #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) #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 #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) #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) #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 #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) #define  PLAYER_SONAR_MAX_SAMPLES   64 #define  PLAYER_SONAR_GET_GEOM_REQ   ((uint8_t)1) #define  PLAYER_SONAR_POWER_REQ   ((uint8_t)2) #define  PLAYER_LASER_MAX_SAMPLES   401 #define  PLAYER_LASER_GET_GEOM   0x01 #define  PLAYER_LASER_SET_CONFIG   0x02 #define  PLAYER_LASER_GET_CONFIG   0x03 #define  PLAYER_LASER_POWER_CONFIG   0x04 #define  PLAYER_BLOBFINDER_MAX_BLOBS   256 #define  PLAYER_BLOBFINDER_SET_COLOR_REQ   ((uint8_t)1) #define  PLAYER_BLOBFINDER_SET_IMAGER_PARAMS_REQ   ((uint8_t)2) #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 #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 #define  PLAYER_CAMERA_COMPRESS_RAW   0 #define  PLAYER_CAMERA_COMPRESS_JPEG   1 #define  AUDIO_DATA_BUFFER_SIZE   20 #define  AUDIO_COMMAND_BUFFER_SIZE   3*sizeof(short) #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 #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 #define  PLAYER_WAVEFORM_DATA_MAX   4096 #define  PLAYER_FIDUCIAL_MAX_SAMPLES   32 #define  PLAYER_FIDUCIAL_MAX_MSG_LEN   32 #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 #define  PLAYER_SPEECH_MAX_STRING_LEN   256 #define  PLAYER_BUMPER_MAX_SAMPLES   32 #define  PLAYER_BUMPER_GET_GEOM_REQ   ((uint8_t)1) #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 #define  PLAYER_SIMULATION_SET_POSE2D   0x00 #define  PLAYER_SIMULATION_GET_POSE2D   0x01 #define  PLAYER_SIMULATION_IDENTIFIER_MAXLEN   64 #define  PLAYER_AIO_MAX_SAMPLES   8 #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 #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) #define  PLAYER_IR_MAX_SAMPLES   32 #define  PLAYER_IR_POSE_REQ   ((uint8_t)1) #define  PLAYER_IR_POWER_REQ   ((uint8_t)2) #define  PLAYER_LOCALIZE_MAX_HYPOTHS   10 #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) #define  PLAYER_LOCALIZE_PARTICLES_MAX   100 #define  PLAYER_MAP_MAX_CELLS_PER_TILE   (PLAYER_MAX_REQREP_SIZE - 17) #define  PLAYER_MAP_GET_INFO_REQ   ((uint8_t)1) #define  PLAYER_MAP_GET_DATA_REQ   ((uint8_t)2) #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)" #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 #define  PLAYER_NOMAD_SONAR_COUNT   16 #define  PLAYER_NOMAD_BUMPER_COUNT   16 #define  PLAYER_NOMAD_IR_COUNT   16 #define  PLAYER_PLANNER_GET_WAYPOINTS_REQ   ((uint8_t)10) #define  PLAYER_PLANNER_ENABLE_REQ   ((uint8_t)11) #define  PLAYER_PLANNER_MAX_WAYPOINTS   128 #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 #define  PLAYER_LOG_TYPE_READ   1 #define  PLAYER_LOG_TYPE_WRITE   2 #define  SPEECH_RECOGNITION_TEXT_LEN   256 Typedefs typedef player_msghdr  player_msghdr_t typedef player_device_id  player_device_id_t   A device identifier. typedef player_device_devlist  player_device_devlist_t   Configuration request: Get the list of available devices. typedef player_device_driverinfo  player_device_driverinfo_t   Configuration request: Get the driver name for a particular device. typedef player_device_req  player_device_req_t   Configuration request: Get device access. typedef player_device_resp  player_device_resp_t   The format of the server's reply to a PLAYER_PLAYER_DEV_REQ request. typedef player_device_data_req  player_device_data_req_t   Configuration request: Get data. typedef player_device_datamode_req  player_device_datamode_req_t   Configuration request: Change data delivery mode. typedef player_device_datafreq_req  player_device_datafreq_req_t   Configuration request: Change data delivery frequency. typedef player_device_auth_req  player_device_auth_req_t   Configuration request: Authentication. typedef player_device_nameservice_req  player_device_nameservice_req_t typedef player_power_data  player_power_data_t   Data. typedef player_gripper_data  player_gripper_data_t   Data. typedef player_gripper_cmd  player_gripper_cmd_t   Command. typedef player_motor_data  player_motor_data_t   Data. typedef player_motor_cmd  player_motor_cmd_t   Command. typedef player_motor_position_mode_req  player_motor_position_mode_req_t   Configuration request: Change position control. typedef player_motor_velocitymode_config  player_motor_velocitymode_config_t   Configuration request: Change velocity control mode. typedef player_motor_resetodom_config  player_motor_resetodom_config_t   Configuration request: Reset odometry. typedef player_motor_set_odom_req  player_motor_set_odom_req_t   Configuration request: Set odometry. typedef player_motor_speed_pid_req  player_motor_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef player_motor_position_pid_req  player_motor_position_pid_req_t   Configuration request: Set motor PID parameters. typedef player_motor_speed_prof_req  player_motor_speed_prof_req_t   Configuration request: Set speed profile parameters. typedef player_motor_power_config  player_motor_power_config_t   Configuration request: Motor power. typedef player_position_data  player_position_data_t   Data. typedef player_position_cmd  player_position_cmd_t   Command. typedef player_position_geom  player_position_geom_t   Configuration request: Query geometry. typedef player_position_power_config  player_position_power_config_t   Configuratoin request: Motor power. typedef player_position_velocitymode_config  player_position_velocitymode_config_t   Configuration request: Change velocity control. typedef player_position_resetodom_config  player_position_resetodom_config_t   Configuration request: Reset odometry. typedef player_position_position_mode_req  player_position_position_mode_req_t   Configuration request: Change control mode. typedef player_position_set_odom_req  player_position_set_odom_req_t   Configuration request: Set odometry. typedef player_position_speed_pid_req  player_position_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef player_position_position_pid_req  player_position_position_pid_req_t   Configuration request: Set position PID parameters. typedef player_position_speed_prof_req  player_position_speed_prof_req_t   Configuration request: Set speed profile parameters. typedef player_rmp_config  player_rmp_config_t   Configuration request: Segway RMP-specific configuration. typedef player_position2d_data  player_position2d_data_t   Data. typedef player_position2d_cmd  player_position2d_cmd_t   Command. typedef player_position2d_geom  player_position2d_geom_t   Configuration request: Query geometry. typedef player_position2d_power_config  player_position2d_power_config_t   Configuration request : Motor power. typedef player_position2d_velocitymode_config  player_position2d_velocitymode_config_t   Configuration request: Change velocity control. typedef player_position2d_resetodom_config  player_position2d_resetodom_config_t   Configuration request: Reset odometry. typedef player_position2d_position_mode_req  player_position2d_position_mode_req_t   Configuration request: Change position control. typedef player_position2d_set_odom_req  player_position2d_set_odom_req_t   Configuration request: Set odometry. typedef player_position2d_speed_pid_req  player_position2d_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef player_position2d_position_pid_req  player_position2d_position_pid_req_t   Configuration request: Set position PID parameters. typedef player_position2d_speed_prof_req  player_position2d_speed_prof_req_t   Configuration request: Set speed profile parameters. typedef player_position3d_data  player_position3d_data_t   Data. typedef player_position3d_cmd  player_position3d_cmd_t   Command. typedef player_position3d_geom  player_position3d_geom_t   Configuration request: Query geometry. typedef player_position3d_power_config  player_position3d_power_config_t   Configuration request: Motor power. typedef player_position3d_position_mode_req  player_position3d_position_mode_req_t   Configuration request: Change position control. typedef player_position3d_velocitymode_config  player_position3d_velocitymode_config_t   Configuration request: Change velocity control. typedef player_position3d_set_odom_req  player_position3d_set_odom_req_t   Configuration request: Set odometry. typedef player_position3d_resetodom_config  player_position3d_resetodom_config_t   Configuration request: Reset odometry. typedef player_position3d_speed_pid_req  player_position3d_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef player_position3d_position_pid_req  player_position3d_position_pid_req_t   Configuration request: Set position PID parameters. typedef player_position3d_speed_prof_req  player_position3d_speed_prof_req_t   Configuration request: Set odometry. typedef player_sonar_data  player_sonar_data_t   Data. typedef player_sonar_geom  player_sonar_geom_t   Configuration request: Query geometry. typedef player_sonar_power_config  player_sonar_power_config_t   Configuration request: Sonar power. typedef player_laser_data  player_laser_data_t   Data. typedef player_laser_geom  player_laser_geom_t   Configuration request: Get geometry. typedef player_laser_config  player_laser_config_t   Configuration request: Get/set scan properties. typedef player_laser_power_config  player_laser_power_config_t   Configuration request: Turn power on/off. typedef player_blobfinder_blob  player_blobfinder_blob_t   Structure describing a single blob. typedef player_blobfinder_data  player_blobfinder_data_t   Data. typedef player_blobfinder_color_config  player_blobfinder_color_config_t   Configuration request: Set tracking color. typedef player_blobfinder_imager_config  player_blobfinder_imager_config_t   Configuration request: Set imager params. typedef player_ptz_data  player_ptz_data_t   Data. typedef player_ptz_cmd  player_ptz_cmd_t   Command. typedef player_ptz_generic_config  player_ptz_generic_config_t   Configuration request: Generic request. typedef player_ptz_controlmode_config  player_ptz_velocitymode_config_t   Configuration request: Control mode. typedef player_camera_data  player_camera_data_t   Data. typedef player_audio_data  player_audio_data_t   Data. typedef player_audio_cmd  player_audio_cmd_t   Command. typedef player_audiodsp_data  player_audiodsp_data_t   Data. typedef player_audiodsp_cmd  player_audiodsp_cmd_t   Command. typedef player_audiodsp_config  player_audiodsp_config_t   Configuration request : Get/set audio properties. Configuration request: Get/set audio configuration. typedef player_audiomixer_cmd  player_audiomixer_cmd_t   Command. typedef player_audiomixer_config  player_audiomixer_config_t   Configuration request: Get levels. typedef player_waveform_data  player_waveform_data_t   Data. typedef player_blinkenlight_data  player_blinkenlight_data_t   Data. typedef player_blinkenlight_data_t  player_blinkenlight_cmd_t   Command. typedef player_fiducial_item  player_fiducial_item_t   Info on a single detected fiducial. typedef player_fiducial_data  player_fiducial_data_t   Data. typedef player_fiducial_geom  player_fiducial_geom_t   Configuration request: Get geometry. typedef player_fiducial_fov  player_fiducial_fov_t   Configuration request: Get/set sensor field of view. typedef player_fiducial_id  player_fiducial_id_t   Configuration request: Get/set fiducial value. typedef player_fiducial_msg  player_fiducial_msg_t   Configuration request: Fiducial messaging. typedef player_fiducial_msg_rx_req  player_fiducial_msg_rx_req_t   Configuration request: Fiducial receive message request. typedef player_fiducial_msg_tx_req  player_fiducial_msg_tx_req_t   Configuration request: Fiducial send message request. typedef player_fiducial_msg_txrx_req  player_fiducial_msg_txrx_req_t   Configuration request: Fiducial exchange message request. typedef player_speech_cmd  player_speech_cmd_t   Command. typedef player_gps_data  player_gps_data_t   Data. typedef player_bumper_data  player_bumper_data_t   Data. typedef player_bumper_define  player_bumper_define_t   The geometry of a single bumper. typedef player_bumper_geom  player_bumper_geom_t   Configuration request: Query geometry. typedef player_truth_data  player_truth_data_t   Data. typedef player_truth_pose  player_truth_pose_t   Configuration request: Get/set pose. typedef player_truth_fiducial_id  player_truth_fiducial_id_t   Configuration request: Get/set fiducial ID number. typedef player_simulation_data  player_simulation_data_t   Data. typedef player_simulation_cmd  player_simulation_cmd_t   Command. typedef player_simulation_pose2d_req  player_simulation_pose2d_req_t   Configuration request: set or get 2D pose of a named simulation object. typedef player_dio_data  player_dio_data_t   Data. typedef player_dio_cmd  player_dio_cmd_t   Command. typedef player_aio_data  player_aio_data_t   Data. typedef player_joystick_data  player_joystick_data_t   Data. typedef player_wifi_link  player_wifi_link_t   Link information for one host. typedef player_wifi_data  player_wifi_data_t   Data. typedef player_wifi_mac_req  player_wifi_mac_req_t   Configuration request. typedef player_wifi_iwspy_addr_req  player_wifi_iwspy_addr_req_t   Configuration request. typedef player_ir_data  player_ir_data_t   Data. typedef player_ir_pose  player_ir_pose_t   A set of IR poses. typedef player_ir_pose_req  player_ir_pose_req_t   Configuration request: Query pose. typedef player_ir_power_req  player_ir_power_req_t   Configuration request: IR power. typedef player_localize_hypoth  player_localize_hypoth_t   Hypothesis format. typedef player_localize_data  player_localize_data_t   Data. typedef player_localize_set_pose  player_localize_set_pose_t   Configuration request: Set the robot pose estimate. typedef player_localize_config  player_localize_config_t   Configuration request: Get/Set configuration. typedef player_localize_particle  player_localize_particle_t typedef player_localize_get_particles  player_localize_get_particles_t   Configuration request: Get particles. typedef player_map_info  player_map_info_t   Configuration request: Get map information. typedef player_map_data  player_map_data_t   Configuration request: Get map data. typedef player_mcom_data  player_mcom_data_t   A piece of data. typedef player_mcom_config  player_mcom_config_t   Configuration request: Config requests sent to server. typedef player_mcom_return  player_mcom_return_t   Configuration reply from server. typedef player_nomad_data  player_nomad_data_t   Data. typedef player_nomad_cmd  player_nomad_cmd_t   Command. typedef player_sound_cmd  player_sound_cmd_t   Command. typedef player_energy_data  player_energy_data_t   Data. typedef player_energy_command  player_energy_chargepolicy_config_t   Configuration request. typedef player_planner_data  player_planner_data_t   Data. typedef player_planner_cmd  player_planner_cmd_t   Command. typedef player_planner_waypoint  player_planner_waypoint_t   A waypoint. typedef player_planner_waypoints_req  player_planner_waypoints_req_t   Configuration request: Get waypoints. typedef player_planner_enable_req  player_planner_enable_req_t   Configuration request: Enable/disable robot motion. typedef player_log_set_write_state  player_log_set_write_state_t   Configuration request: Set logging state. typedef player_log_set_read_state  player_log_set_read_state_t   Configuration request: Set playback state. typedef player_log_set_read_rewind  player_log_set_read_rewind_t   Configuration request: Rewind playback. typedef player_log_get_state  player_log_get_state_t   Configuration request: Get state. typedef player_log_set_filename  player_log_set_filename_t   Configuration request: Set filename. typedef player_speech_recognition_data  player_speech_recognition_data_t   Data. Define Documentation #define PLAYER_STXX   ((uint16_t) 0x5878) #define PLAYER_TRANSPORT_TCP   1 #define PLAYER_TRANSPORT_UDP   2 #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) #define PLAYER_MAX_DEVICE_STRING_LEN   64 #define PLAYER_NULL_CODE   ((uint16_t)256) #define PLAYER_PLAYER_CODE   ((uint16_t)1) #define PLAYER_POWER_CODE   ((uint16_t)2) #define PLAYER_GRIPPER_CODE   ((uint16_t)3) #define PLAYER_POSITION_CODE   ((uint16_t)4) #define PLAYER_SONAR_CODE   ((uint16_t)5) #define PLAYER_LASER_CODE   ((uint16_t)6) #define PLAYER_BLOBFINDER_CODE   ((uint16_t)7) #define PLAYER_PTZ_CODE   ((uint16_t)8) #define PLAYER_AUDIO_CODE   ((uint16_t)9) #define PLAYER_FIDUCIAL_CODE   ((uint16_t)10) #define PLAYER_SPEECH_CODE   ((uint16_t)12) #define PLAYER_GPS_CODE   ((uint16_t)13) #define PLAYER_BUMPER_CODE   ((uint16_t)14) #define PLAYER_TRUTH_CODE   ((uint16_t)15) #define PLAYER_IDARTURRET_CODE   ((uint16_t)16) #define PLAYER_IDAR_CODE   ((uint16_t)17) #define PLAYER_DESCARTES_CODE   ((uint16_t)18) #define PLAYER_DIO_CODE   ((uint16_t)20) #define PLAYER_AIO_CODE   ((uint16_t)21) #define PLAYER_IR_CODE   ((uint16_t)22) #define PLAYER_WIFI_CODE   ((uint16_t)23) #define PLAYER_WAVEFORM_CODE   ((uint16_t)24) #define PLAYER_LOCALIZE_CODE   ((uint16_t)25) #define PLAYER_MCOM_CODE   ((uint16_t)26) #define PLAYER_SOUND_CODE   ((uint16_t)27) #define PLAYER_AUDIODSP_CODE   ((uint16_t)28) #define PLAYER_AUDIOMIXER_CODE   ((uint16_t)29) #define PLAYER_POSITION3D_CODE   ((uint16_t)30) #define PLAYER_SIMULATION_CODE   ((uint16_t)31) #define PLAYER_SERVICE_ADV_CODE   ((uint16_t)32) #define PLAYER_BLINKENLIGHT_CODE   ((uint16_t)33) #define PLAYER_NOMAD_CODE   ((uint16_t)34) #define PLAYER_CAMERA_CODE   ((uint16_t)40) #define PLAYER_MAP_CODE   ((uint16_t)42) #define PLAYER_PLANNER_CODE   ((uint16_t)44) #define PLAYER_LOG_CODE   ((uint16_t)45) #define PLAYER_ENERGY_CODE   ((uint16_t)46) #define PLAYER_MOTOR_CODE   ((uint16_t)47) #define PLAYER_POSITION2D_CODE   ((uint16_t)48) #define PLAYER_JOYSTICK_CODE   ((uint16_t)49) #define PLAYER_SPEECH_RECOGNITION_CODE   ((uint16_t)50) #define PLAYER_OPAQUE_CODE   ((uint16_t)51) #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" #define PLAYER_MAX_DEVICES   256 #define PLAYER_MAX_REQREP_SIZE   4096 /*4KB*/ #define PLAYER_PORTNUM   6665 #define PLAYER_IDENT_STRING   "Player v." #define PLAYER_IDENT_STRLEN   32 #define PLAYER_KEYLEN   32 #define __PACKED__   __attribute__ ((packed)) #define PLAYER_MAX_PAYLOAD_SIZE   (PLAYER_MAX_MESSAGE_SIZE - sizeof(player_msghdr_t)) Typedef Documentation typedef struct player_msghdr player_msghdr_t   Generic message header.