player.h

/*
 *  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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 */
/********************************************************************
 *
 *  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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 ********************************************************************/

/*
 * Desc: Player communication packet structures and codes
 * CVS:  $Id: player.h 9120 2013-01-07 00:18:52Z jpgr87 $
 */


#ifndef PLAYER_H
#define PLAYER_H

#include <time.h>

/* Include values from the configure script */
#include "playerconfig.h"

#define PLAYER_MAX_MESSAGE_SIZE 8388608 /*8MB*/

#define PLAYER_MAX_PAYLOAD_SIZE (PLAYER_MAX_MESSAGE_SIZE - sizeof(player_msghdr_t))

#define PLAYER_MAX_DRIVER_STRING_LEN 64

#define PLAYER_MAX_DEVICES             4096

#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN 1024

#define PLAYER_IDENT_STRING    "Player v."

#define PLAYER_IDENT_STRLEN 32

#define PLAYER_KEYLEN       32

#define PLAYER_MSGTYPE_DATA      1

#define PLAYER_MSGTYPE_CMD       2

#define PLAYER_MSGTYPE_REQ       3

#define PLAYER_MSGTYPE_RESP_ACK  4

#define PLAYER_MSGTYPE_SYNCH     5

#define PLAYER_MSGTYPE_RESP_NACK 6

typedef struct player_devaddr
{
  uint32_t host;
  uint32_t robot;
  uint16_t interf;
  uint16_t index;
} player_devaddr_t;

typedef struct player_msghdr
{
  player_devaddr_t addr;
  uint8_t type;
  uint8_t subtype;
  double timestamp;
  uint32_t seq;
  uint32_t size;
} player_msghdr_t;
typedef struct player_point_2d
{
  double px;
  double py;
} player_point_2d_t;


typedef struct player_point_3d
{
  double px;
  double py;
  double pz;
} player_point_3d_t;


typedef struct player_orientation_3d
{
  double proll;
  double ppitch;
  double pyaw;
} player_orientation_3d_t;

typedef struct player_pose2d
{
  double px;
  double py;
  double pa;
} player_pose2d_t;

typedef struct player_pose3d
{
  double px;
  double py;
  double pz;
  double proll;
  double ppitch;
  double pyaw;
} player_pose3d_t;

typedef struct player_bbox2d
{
  double sw;
  double sl;
} player_bbox2d_t;

typedef struct player_bbox3d
{
  double sw;
  double sl;
  double sh;
} player_bbox3d_t;

typedef struct player_blackboard_entry
{
  uint32_t key_count;
  char* key;
  uint32_t group_count;
  char* group;
  uint16_t type;
  uint16_t subtype;
  uint32_t data_count;
  uint8_t* data;
  uint32_t timestamp_sec;
  uint32_t timestamp_usec;
} player_blackboard_entry_t;

typedef struct player_segment
{
  double x0;
  double y0;
  double x1;
  double y1;
} player_segment_t;

typedef struct player_extent2d
{
  double x0;
  double y0;
  double x1;
  double y1;
} player_extent2d_t;

typedef struct player_color
{
  uint8_t alpha;
  uint8_t red;
  uint8_t green;
  uint8_t blue;
} player_color_t;

typedef struct player_bool
{
  uint8_t state;
} player_bool_t;

typedef struct player_uint32
{
  uint32_t value;
} player_uint32_t;


#define PLAYER_CAPABILITIES_REQ 255
#define PLAYER_CAPABILTIES_REQ 255

typedef struct player_capabilities_req
{
  uint32_t type;
  uint32_t subtype;
} player_capabilities_req_t;

#define PLAYER_GET_INTPROP_REQ 254
#define PLAYER_SET_INTPROP_REQ 253
#define PLAYER_GET_DBLPROP_REQ 252
#define PLAYER_SET_DBLPROP_REQ 251
#define PLAYER_GET_STRPROP_REQ 250
#define PLAYER_SET_STRPROP_REQ 249
#define PLAYER_GET_BOOLPROP_REQ 248
#define PLAYER_SET_BOOLPROP_REQ 247

typedef struct player_boolprop_req
{
        uint32_t key_count;
        char *key;
        char value;
} player_boolprop_req_t;

typedef struct player_intprop_req
{
  uint32_t key_count;
  char *key;
  int32_t value;
} player_intprop_req_t;

typedef struct player_dblprop_req
{
  uint32_t key_count;
  char *key;
  double value;
} player_dblprop_req_t;

typedef struct player_strprop_req
{
  uint32_t key_count;
  char *key;
  uint32_t value_count;
  char *value;
} player_strprop_req_t;

// /////////////////////////////////////////////////////////////////////////////
//
//             Here starts the alphabetical list of interfaces
//                       (please keep it that way)
//
// /////////////////////////////////////////////////////////////////////////////

#include <libplayerinterface/player_interfaces.h>

#endif /* PLAYER_H */