playersd.h

/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2007
 *     Brian Gerkey
 *                      
 *
 *  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
 *
 */
/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2007
 *     Brian Gerkey
 *                      
 *
 *  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
 */

/*
 * Interface to libplayersd
 *
 * $Id: playersd.h 9120 2013-01-07 00:18:52Z jpgr87 $
 */

#ifndef _PLAYER_SD_H
#define _PLAYER_SD_H

#ifdef __cplusplus
extern "C" {
#endif

#include <libplayerinterface/player.h>

#define PLAYER_SD_SERVICENAME "_player31._tcp"
#define PLAYER_SD_DEVICE_TXTNAME "device"
#define PLAYER_SD_NAME_MAXLEN 256
#define PLAYER_SD_TXT_MAXLEN 256

typedef struct player_sd_dev
{
  // Is this entry valid?
  uint8_t valid;
  // Name of the device
  char name[PLAYER_SD_NAME_MAXLEN];
  // Is the address valid?
  uint8_t addr_valid;
  // Did address resolution fail?
  uint8_t addr_fail;
  // Player address components
  char hostname[PLAYER_SD_NAME_MAXLEN];
  uint32_t robot;
  uint16_t interf;
  uint16_t index;
} player_sd_dev_t;

typedef struct player_sd
{
  void* sdRef;
  player_sd_dev_t* devs;
  size_t devs_len;
} player_sd_t;

player_sd_t* player_sd_init(void);

void player_sd_fini(player_sd_t* sd);

void player_sd_lock(player_sd_t* sd);

void player_sd_unlock(player_sd_t* sd);

int player_sd_register(player_sd_t* sd, 
                       const char* name, 
                       player_devaddr_t addr);

int player_sd_unregister(player_sd_t* sd, 
                         const char* name);

typedef void (*player_sd_browse_callback_fn_t)(player_sd_t* sd,
                                               player_sd_dev_t* dev);

int player_sd_browse(player_sd_t* sd,
                     double timeout, 
                     int keepalive,
                     player_sd_browse_callback_fn_t cb);

int player_sd_update(player_sd_t* sd, double timeout);

int player_sd_browse_stop(player_sd_t* sd);

// Common functions, implemented in playersd.c

player_sd_dev_t* player_sd_get_device(player_sd_t* sd, const char* name);

int player_sd_find_devices(player_sd_t* sd, 
                           player_sd_dev_t* result,
                           size_t result_len,
                           const char* name,
                           const char* hostname,
                           int robot,
                           int interf,
                           int index);

player_sd_dev_t* _player_sd_add_device(player_sd_t* sd, const char* name);

void player_sd_printcache(player_sd_t* sd);

#ifdef __cplusplus
}
#endif

#endif