Interface specifications

All Player communication occurs through interfaces, which specify the syntax and semantics for a set of messages. More...

Detailed Description

All Player communication occurs through interfaces, which specify the syntax and semantics for a set of messages.

See the tutorial Interfaces, drivers, and devices for a discussion of what an interface is.

Below are the details. For each interface, the following is given:

• Relevant constants (size limits, etc.)
• Message subtypes:
  • Data subtypes : codes for each kind of data message defined by the interface
  • Command subtypes : codes for each kind of command message define by the interfce.
  • Request/reply subtypes: codes for each kind of request/reply message defined by the interface. Also specified are the interaction semantics, such as when to send a null request and when to expect a null response. A "null" request or response is a zero-length message.
• Utility structures : structures that appear inside messages.
• Message structures:
  • Data message structures : data messages that can be published via this interface.
  • Command message structures : command messages that can be sent to this interface.
  • Request/reply message structures : request messages that can be sent to this interface and reply messages that can be expected from it.

It can be the case that a given message can be sent as data or in response to a request. A common example is geometry. For many devices geometry is fixed and so need only be requested once. For others geometry may change dynamically and so the device will publish it periodically.

Todo:

Normalize subtype names (PLAYER_PTZ_REQ_GEOM vs PLAYER_POSITION2D_REQ_GET_GEOM)

Modules
	player
	Player: the meta-device.
	power
	Power system.
	gripper
	Gripper interface.
	position2d
	Planar mobile robot.
	sonar
	DEPRECATED Array of ultrasonic rangers
	laser
	DEPRECATED Laser range-finder
	blobfinder
	A visual blob-detection system.
	ptz
	Pan-tilt-zoom unit.
	audio
	Interface to an audio system.
	fiducial
	Fiducial (marker) detection.
	speech
	Speech synthesis.
	gps
	Global positioning system.
	bumper
	An array of bumpers.
	dio
	Digital I/O.
	aio
	Analog I/O.
	ir
	DEPRECATED Array of infrared rangers
	wifi
	WiFi signal information.
	localize
	Multi-hypothesis planar localization system.
	position3d
	A robot that moves in 3-D.
	simulation
	A robot simulator.
	blinkenlight
	An indicator light.
	camera
	Camera imagery.
	map
	Access maps.
	planner
	A planar path-planner.
	log
	Log read / write control.
	joystick
	Joystick control.
	speech_recognition
	Speech recognition.
	opaque
	A generic interface for user-defined messages.
	position1d
	A 1-D linear actuator.
	actarray
	An array of actuators.
	limb
	A multi-jointed limb.
	graphics2d
	Two-dimensional graphics interface.
	rfid
	RFID reader.
	wsn
	Wireless Sensor Networks.
	graphics3d
	Three-dimensional graphics interface.
	health
	Statgrab - System Infos.
	imu
	Inertial Measurement Unit.
	pointcloud3d
	A 3-D point cloud.
	ranger
	A range sensor.
	vectormap
	Access and update geometric features in a map.
	blackboard
	Access properties stored in a central repository.
	stereo
	Stereo imagery (left-right channels, disparity and a 3-D stereo point cloud)
	coopobject
	intelligent cooperating objects (WSNs, RFIDs, Networked Robots, etc.)