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stage1p3.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 * */ /* * $Id: stage1p3.h,v 1.1 2003/10/16 22:06:11 rtv Exp $ * * defines information necessary for the Stage/Player interaction */ #ifndef _STAGE_H #define _STAGE_H /* get types and device-specific packet formats */ #include <player.h> /* for playerqueue functionality (used in configuration req/rep) */ #include <playerqueue.h> #include <sys/time.h> // for struct timeval #include <semaphore.h> // for sem_t #include <fcntl.h> // for fcntl #include <unistd.h> // for fcntl #define STAGE_CLOCK_NAME "clock" #define STAGE_LOCK_NAME "lock" // the largest number of unique ports player can bind // this is only used for a temporary buffer // and can easily be replaced with dynamic allocation if necessary #define MAXPORTS 2048 // Notes on stage/player shared memory format. // // Each device is allocateed a block of shared memory. // Each simulated device is allocated a block of shared memory. // This block is subdivided into 5 parts: // info buffer -- device ids, plus timestamps and available byte-counts // data buffer // command buffer // config buffer // truth buffer // these notes might be a little wrong - check stage's entity.cc behavior: // player/stage info buffer // available is set by stage and read by player. // subscribed is set by player and read by stage. // data_timestamp is set by stage and read by player. // data_len is set by stage and read by player. // command_len is set by player. // config_len is set by player and reset (to zero) by stage. // typedef struct player_stage_info { //sem_t lock; // POSIX semaphore used to protect this structure int32_t lockbyte; // use this byte in the lock file to guard this device player_device_id_t player_id; // identify this entity to Player uint8_t drivername[PLAYER_MAX_DEVICE_STRING_LEN]; // name of simulated driver uint8_t robotname[PLAYER_MAX_DEVICE_STRING_LEN]; // name of robot uint32_t len; // total size of this struct + all the buffers uint8_t subscribed; // the number of Players connected to this device uint8_t local; // the type-specific stuff is stored in variable length buffers // after this header - we store useful info about the availability // and freshness of that data here uint32_t data_len; uint32_t data_avail; uint32_t data_timestamp_sec; uint32_t data_timestamp_usec; uint32_t command_len; uint32_t command_avail; uint32_t command_timestamp_sec; uint32_t command_timestamp_usec; // config_len is this the # of elts in the queue, NOT the # of bytes used! uint32_t config_len; uint32_t config_avail; uint32_t config_timestamp_sec; uint32_t config_timestamp_usec; // reply_len is this the # of elts in the queue, NOT the # of bytes used! uint32_t reply_len; uint32_t reply_avail; uint32_t reply_timestamp_sec; uint32_t reply_timestamp_usec; } __attribute__ ((packed)) player_stage_info_t; typedef struct stage_clock { sem_t lock; // POSIX semaphore used to protect this structure struct timeval time; } __attribute__ ((packed)) stage_clock_t; #endif // _STAGE_H