erratic/sip.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2000
4  * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
5  *
6  *
7  * This program is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2 of the License, or
10  * (at your option) any later version.
11  *
12  * This program is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with this program; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 
23 /*
24  * $Id$
25  *
26  * part of the P2OS parser. methods for filling and parsing server
27  * information packets (SIPs)
28  */
29 #ifndef _SIP_H
30 #define _SIP_H
31 
32 #include <limits.h>
33 
34 #include "erratic.h"
35 
36 
37 class erSIP
38 {
39  private:
40  int PositionChange( unsigned short, unsigned short );
41  int param_idx; // index of our robot's data in the parameter table
42 
43  public:
44  // these values are returned in every standard SIP
45  bool lwstall, rwstall;
46  unsigned char status, battery;
47  unsigned short ptu, timer, rawxpos;
48  unsigned short rawypos;
49  short angle, lvel, rvel, control;
50  int xpos, ypos;
51  int x_offset,y_offset,angle_offset;
52 
53  bool Parse( unsigned char *buffer, int length );
54  void Print();
55  void Fill(player_erratic_data_t* data);
56 
57  erSIP(int idx)
58  {
59  param_idx = idx;
60 
61  xpos = INT_MAX;
62  ypos = INT_MAX;
63  }
64 };
65 
66 #endif
T min(T a, T b)
Return the minimum of a, b.
Definition: utility.h:109
Request to get an integer property.
Definition: player.h:457
#define PLAYER_VECTORMAP_REQ_WRITE_LAYER
Request/reply subtype: write layer data.
Definition: player_interfaces.h:5143
#define PLAYER_WARN1(msg, a)
Error message macros.
Definition: error.h:89
#define PLAYER_ACTARRAY_ACTSTATE_STALLED
Stalled state code.
Definition: player_interfaces.h:3784
uint32_t blobs_count
The number of blobs.
Definition: player_interfaces.h:1103
Request/reply: Get/set scan properties.
Definition: player_interfaces.h:961
char * name
Identifier for the geometric shape.
Definition: player_interfaces.h:5153
uint32_t data_count
Size of data as stored in buffer (bytes)
Definition: player_interfaces.h:3452
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS)
Definition: player_interfaces.h:1096
Definition: nav200.h:81
String Property Class.
Definition: property.h:169
uint32_t color
A descriptive color for the blob (useful for gui's).
Definition: player_interfaces.h:1074
#define PLAYER_MSG1(level, msg, a)
Error message macros.
Definition: error.h:105
#define PLAYER_MSG3(level, msg, a, b, c)
Error message macros.
Definition: error.h:107
#define PLAYER_LASER_DATA_SCAN
Data subtype: scan.
Definition: player_interfaces.h:845
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
uint32_t right
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1084
player_vectormap_feature_data_t * features
Array of map features.
Definition: player_interfaces.h:5185
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
double px
X [m].
Definition: player.h:230
#define PLAYER_LASER_REQ_SET_CONFIG
Request/reply subtype: set configuration.
Definition: player_interfaces.h:857
Definition: nav200.h:88
A pose in the plane.
Definition: player.h:216
Definition: nav200.h:96
#define PLAYER_SET_STRPROP_REQ
String property set request subtype.
Definition: player.h:439
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:948
Definition: erratic/sip.h:37
uint32_t height
The image dimensions.
Definition: player_interfaces.h:1101
double ReadTupleLength(int section, const char *name, int index, double value)
Read a length from a tuple (includes units conversion)
char * name
Identifier for the layer.
Definition: player_interfaces.h:5170
uint32_t left
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1082
Generic message header.
Definition: player.h:160
uint32_t layers_count
The number of layers.
Definition: player_interfaces.h:5194
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:657
uint32_t compression
Image compression; PLAYER_CAMERA_COMPRESS_RAW indicates no compression.
Definition: player_interfaces.h:2966
Request/reply: Turn power on/off.
Definition: player_interfaces.h:983
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:663
uint32_t width
Image dimensions [pixels].
Definition: player_interfaces.h:2953
#define PLAYER_CAMERA_FORMAT_RGB888
Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B).
Definition: player_interfaces.h:2942
#define PLAYER_GRIPPER_STATE_CLOSED
Gripper state: closed.
Definition: player_interfaces.h:401
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:165
Data: scan (PLAYER_LASER_DATA_SCANANGLE)
Definition: player_interfaces.h:920
uint32_t bottom
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1088
Encapsulates a device (i.e., a driver bound to an interface)
Definition: device.h:73
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5179
double px
X [m].
Definition: player.h:219
#define PLAYER_POWER_MASK_VOLTS
bit masks for the player_power_data_t mask field
Definition: player_interfaces.h:282
double x1
Endpoints [m].
Definition: player.h:313
#define PLAYER_BLOBFINDER_DATA_BLOBS
Structure describing a single blob.
Definition: player_interfaces.h:1055
uint32_t fdiv
Some images (such as disparity maps) use scaled pixel values; for these images, fdiv specifies the sc...
Definition: player_interfaces.h:2963
#define PLAYER_ACTARRAY_ACTSTATE_IDLE
Idle state code.
Definition: player_interfaces.h:3778
double pyaw
yaw [rad]
Definition: player.h:240
Vectormap data.
Definition: player_interfaces.h:5176
uint8_t subtype
Message subtype; interface specific.
Definition: player.h:167
double ReadTupleFloat(int section, const char *name, int index, double value)
Read a float (double) from a tuple field.
virtual void Main(void)=0
Main method for driver thread.
float speed
The speed of the actuator in m/s or rad/s depending on the type.
Definition: player_interfaces.h:3798
Request/reply: Get IDentification information.
Definition: player_interfaces.h:993
Definition: lms400_cola.h:63
const char * ReadFilename(int section, const char *name, const char *value)
Read a filename.
uint32_t image_count
Size of image data as stored in image buffer (bytes)
Definition: player_interfaces.h:2968
Structure containing a single actuator's information.
Definition: player_interfaces.h:3793
int ReadInt(int section, const char *name, int value)
Read an integer value.
double ReadLength(int section, const char *name, double value)
Read a length (includes unit conversion, if any).
uint32_t y
The blob centroid [pixels].
Definition: player_interfaces.h:1080
void * GetPayload()
Get pointer to payload.
Definition: message.h:187
#define PLAYER_OPAQUE_DATA_STATE
Data subtype: generic state.
Definition: player_interfaces.h:3434
#define PLAYER_MSGTYPE_DATA
A data message.
Definition: player.h:94
double py
Y [m].
Definition: player.h:221
#define PLAYER_ERROR2(msg, a, b)
Error message macros.
Definition: error.h:82
float range
Range to the blob center [meters].
Definition: player_interfaces.h:1090
uint32_t area
The blob area [pixels].
Definition: player_interfaces.h:1076
int32_t value
The property value.
Definition: player.h:464
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, rad).
Definition: player_interfaces.h:658
#define PLAYER_WARN2(msg, a, b)
Error message macros.
Definition: error.h:90
#define PLAYER_CAMERA_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2922
#define PLAYER_RFID_DATA_TAGS
Data subtype.
Definition: player_interfaces.h:4298
#define PLAYER_GRIPPER_STATE_OPEN
Gripper state: open.
Definition: player_interfaces.h:399
uint8_t * image
Compressed image data (byte-aligned, row major order).
Definition: player_interfaces.h:2972
#define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA
Request/reply subtype: get layer data.
Definition: player_interfaces.h:5140
Data: state (PLAYER_GRIPPER_DATA_STATE)
Definition: player_interfaces.h:418
uint32_t id
Blob id.
Definition: player_interfaces.h:1071
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
static bool MatchDeviceAddress(player_devaddr_t addr1, player_devaddr_t addr2)
Compare two addresses.
Definition: device.h:200
uint32_t srid
Spatial reference identifier.
Definition: player_interfaces.h:5192
A rectangular bounding box, used to define the origin and bounds of an object.
Definition: player.h:306
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition: imagebase.cc:83
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:105
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: imagebase.cc:104
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5168
double x0
Origin x [m].
Definition: player.h:309
#define PLAYER_GRIPPER_STATE_ERROR
Gripper state: error.
Definition: player_interfaces.h:405
#define PLAYER_LASER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:854
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:124
Integer property class.
Definition: property.h:113
#define PLAYER_GRIPPER_STATE_MOVING
Gripper state: moving.
Definition: player_interfaces.h:403
Vectormap info.
Definition: player_interfaces.h:5189
double sl
Length [m].
Definition: player.h:258
Request/reply: Get geometry.
Definition: player_interfaces.h:945
#define PLAYER_LASER_REQ_GET_CONFIG
Request/reply subtype: get configuration.
Definition: player_interfaces.h:860
uint32_t wkb_count
Length of data in bytes.
Definition: player_interfaces.h:5155
Definition: imagebase.h:61
#define PLAYER_ACTARRAY_ACTSTATE_MOVING
Moving state code.
Definition: player_interfaces.h:3780
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
Data: state (PLAYER_CAMERA_DATA_STATE)
Definition: player_interfaces.h:2950
uint32_t top
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1086
int GetTupleCount(int section, const char *name)
Get the number of values in a tuple.
Class for loading configuration file information.
Definition: configfile.h:195
int ReadTupleInt(int section, const char *name, int index, int value)
Read an integer from a tuple field.
double sw
Width [m].
Definition: player.h:256
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:396
A device address.
Definition: player.h:144
An autopointer for the message queue.
Definition: message.h:72
double py
Y [m].
Definition: player.h:232
uint32_t format
Image format (must be compatible with depth).
Definition: player_interfaces.h:2959
Double property class.
Definition: property.h:141
#define PLAYER_LASER_REQ_GET_ID
Request/reply subtype: get IDentification information.
Definition: player_interfaces.h:866
Definition: p2os/sip.h:36
char * key
The property key.
Definition: player.h:484
double y0
Origin y [m].
Definition: player.h:311
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
player_extent2d_t extent
Boundary area.
Definition: player_interfaces.h:5172
char * name
Identifier for the layer.
Definition: player_interfaces.h:5181
#define PLAYER_VECTORMAP_REQ_GET_MAP_INFO
Request/reply subtype: get vectormap meta-data.
Definition: player_interfaces.h:5137
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5151
position2d data
Definition: player_interfaces.h:606
Request/reply: Set filter settings.
Definition: player_interfaces.h:1016
#define PLAYER_ERROR1(msg, a)
Error message macros.
Definition: error.h:81
position2d geom
Definition: player_interfaces.h:655
uint32_t width
The image dimensions.
Definition: player_interfaces.h:1099
#define PLAYER_LASER_DATA_SCANANGLE
Data subtype: angle-stamped scan.
Definition: player_interfaces.h:851
#define PLAYER_CAMERA_COMPRESS_RAW
Compression method: raw.
Definition: player_interfaces.h:2945
Definition: rfi341_protocol.h:42
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:80
Base class for drivers which oeprate with a thread.
Definition: driver.h:551
#define PLAYER_LASER_REQ_SET_FILTER
Request/reply subtype: set filter settings.
Definition: player_interfaces.h:869
#define PLAYER_CAMERA_FORMAT_MONO8
Image format : 8-bit monochrome.
Definition: player_interfaces.h:2936
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
player_blobfinder_blob_t * blobs
The list of blobs.
Definition: player_interfaces.h:1105
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
Definition: player_interfaces.h:5165
uint32_t size
Size in bytes of the payload to follow.
Definition: player.h:173
char * key
The property key.
Definition: player.h:462
uint32_t features_count
The number of map features.
Definition: player_interfaces.h:5183
player_bbox3d_t size
Laser dimensions (m, m, m).
Definition: player_interfaces.h:950
Reference-counted message objects.
Definition: message.h:131
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:88
uint8_t * wkb
Well known binary describing the geometric shape.
Definition: player_interfaces.h:5157
#define PLAYER_MSGTYPE_CMD
A command message.
Definition: player.h:98
#define PLAYER_OPAQUE_CMD_DATA
Cmd subtype: generic command.
Definition: player_interfaces.h:3437
data
Definition: player_interfaces.h:3449
double y1
Endpoints [m].
Definition: player.h:315
double pa
yaw [rad]
Definition: player.h:223
Base class for all drivers.
Definition: driver.h:107
Structure describing a single blob.
Definition: player_interfaces.h:1068
Request to get a string property.
Definition: player.h:479
#define PLAYER_POWER_MASK_PERCENT
Data subtype: voltage.
Definition: player_interfaces.h:285
Vectormap feature data.
Definition: player_interfaces.h:5148
Definition: nav200.h:115
#define PLAYER_MSG0(level, msg)
General messages.
Definition: error.h:104
#define PLAYER_MSG2(level, msg, a, b)
Error message macros.
Definition: error.h:106
uint32_t x
The blob centroid [pixels].
Definition: player_interfaces.h:1078
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
uint32_t height
Image dimensions [pixels].
Definition: player_interfaces.h:2955
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
void ParseSERAUX(unsigned char *buffer)
Parse a SERAUX SIP packet.
Definition: p2os/sip.cc:488
Data.
Definition: player_interfaces.h:4329
player_extent2d_t extent
Boundary area.
Definition: player_interfaces.h:5198
#define PLAYER_SET_INTPROP_REQ
Integer property set request subtype.
Definition: player.h:431
Data: scan (PLAYER_LASER_DATA_SCAN)
Definition: player_interfaces.h:883
uint32_t serial_number
Laser device serial number.
Definition: player_interfaces.h:996
player_msghdr_t * GetHeader()
Get pointer to header.
Definition: message.h:185
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:163
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:75
T max(T a, T b)
Return the maximum of a, b.
Definition: utility.h:122
#define PLAYER_LASER_REQ_POWER
Request/reply subtype: set power.
Definition: player_interfaces.h:863
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3454
uint32_t bpp
Image bits-per-pixel (8, 16, 24, 32).
Definition: player_interfaces.h:2957
player_vectormap_layer_info_t * layers
Array of layers.
Definition: player_interfaces.h:5196