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playercclient.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000-2003 * 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 * */ /* * Player - One Hell of a Robot Server * Copyright (C) 2003 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard * * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library 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 * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ /* * $Id: playercclient.h,v 1.25 2005/01/26 18:48:28 gerkey Exp $ * * a pure C client */ #ifndef PLAYERCCLIENT_H #define PLAYERCCLIENT_H #ifdef __cplusplus extern "C" { #endif #include <player.h> #include <netinet/in.h> /* for struct in_addr */ typedef struct player_connection { /* the socket we will talk on */ int sock; /* transport that we'll use (either PLAYER_TRANSPORT_TCP or * PLAYER_TRANSPORT_UDP) */ int protocol; /* our server-supplied unique id; it gets inserted into the first two * bytes of the reserved field on all messages sent in UDP mode */ uint16_t id; /* the server's address */ struct sockaddr_in server_addr; /* the banner given back by the server after connection */ char banner[PLAYER_IDENT_STRLEN]; } player_connection_t; #define PLAYER_CCLIENT_DEBUG_LEVEL_DEFAULT 5 int player_debug_level(int level); int player_connect(player_connection_t* conn, const char* host, const int port); int player_connect_host(player_connection_t* conn, const char* host, const int port); int player_connect_ip(player_connection_t* conn, const struct in_addr* addr, const int port); int player_connect_sockaddr(player_connection_t* conn, const struct sockaddr_in* server); int player_disconnect(player_connection_t* conn); int player_request(player_connection_t* conn, uint16_t device, uint16_t device_index, const char* payload, size_t payloadlen, player_msghdr_t* replyhdr, char* reply, size_t replylen); int player_request_device_access(player_connection_t* conn, uint16_t device, uint16_t device_index, uint8_t req_access, uint8_t* grant_access, char* driver_name, int driver_name_len); int player_peek(player_connection_t *conn, int timeout); int player_read(player_connection_t* conn, player_msghdr_t* hdr, char* payload, size_t payloadlen); int player_read_tcp(player_connection_t* conn, player_msghdr_t* hdr, char* payload, size_t payloadlen); int player_read_udp(player_connection_t* conn, player_msghdr_t* hdr, char* payload, size_t payloadlen); int player_write(player_connection_t* conn, uint16_t device, uint16_t device_index, const char* command, size_t commandlen); #ifdef __cplusplus } #endif #endif