roomba_comms.h
#define PLAYER_VECTORMAP_REQ_WRITE_LAYER
Request/reply subtype: write layer data.
Definition: player_interfaces.h:5143
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:667
#define PLAYER_BUMPER_REQ_GET_GEOM
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1916
uint32_t bumpers_count
the number of valid bumper readings
Definition: player_interfaces.h:1925
Command: state (PLAYER_POSITION1D_CMD_POS)
Definition: player_interfaces.h:3583
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
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
#define PLAYER_IR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:2108
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
Definition: roomba_comms.h:88
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.
player_bumper_define_t * bumper_def
geometry of each bumper
Definition: player_interfaces.h:1953
uint32_t poses_count
the number of ir samples returned by this robot
Definition: player_interfaces.h:2133
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:657
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:663
#define PLAYER_IR_REQ_POSE
Request/reply subtype: get pose.
Definition: player_interfaces.h:2102
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:165
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
#define PLAYER_POSITION2D_REQ_MOTOR_POWER
Request/reply: Motor power.
Definition: player_interfaces.h:496
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5179
#define PLAYER_POWER_DATA_STATE
Data subtype: voltage.
Definition: player_interfaces.h:274
#define PLAYER_POWER_MASK_VOLTS
bit masks for the player_power_data_t mask field
Definition: player_interfaces.h:282
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
double ReadTupleFloat(int section, const char *name, int index, double value)
Read a float (double) from a tuple field.
const char * ReadTupleString(int section, const char *name, int index, const char *value)
Read a string from a tuple field.
#define PLAYER_POWER_MASK_WATTS
Data subtype: voltage.
Definition: player_interfaces.h:283
#define PLAYER_OPAQUE_DATA_STATE
Data subtype: generic state.
Definition: player_interfaces.h:3434
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2135
float radius
radius of curvature [m] - zero for straight lines
Definition: player_interfaces.h:1938
uint32_t bumper_def_count
The number of valid bumper definitions.
Definition: player_interfaces.h:1951
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:3619
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
char * attrib
Attrib data for the feature.
Definition: player_interfaces.h:5162
#define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA
Request/reply subtype: get layer data.
Definition: player_interfaces.h:5140
#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.
bool ReadBool(int section, const char *name, bool value)
Read a boolean value (one of: yes, no, true, false, 1, 0)
#define PLAYER_POSITION1D_REQ_MOTOR_POWER
Request/reply subtype: motor power.
Definition: player_interfaces.h:3488
float watts
estimated current energy consumption (negative values) or aquisition (positive values) [W].
Definition: player_interfaces.h:306
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:124
uint32_t wkb_count
Length of data in bytes.
Definition: player_interfaces.h:5155
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
player_pose2d_t pose
(x, y, yaw) [m, m, rad]
Definition: player_interfaces.h:689
int GetTupleCount(int section, const char *name)
Get the number of values in a tuple.
#define PLAYER_BUMPER_DATA_STATE
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1910
#define PLAYER_POSITION2D_REQ_RESET_ODOM
Request/reply: Reset odometry.
Definition: player_interfaces.h:541
uint8_t * bumpers
array of bumper values
Definition: player_interfaces.h:1927
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
char * name
Identifier for the layer.
Definition: player_interfaces.h:5181
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5151
#define PLAYER_GET_DBLPROP_REQ
Double property get request subtype.
Definition: player.h:433
uint32_t ranges_count
number of samples
Definition: player_interfaces.h:2122
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
uint32_t attrib_count
Length of data in bytes.
Definition: player_interfaces.h:5160
uint32_t features_count
The number of map features.
Definition: player_interfaces.h:5183
float length
length of the sensor [m]
Definition: player_interfaces.h:1936
uint8_t * wkb
Well known binary describing the geometric shape.
Definition: player_interfaces.h:5157
struct player_blobfinder_blob player_blobfinder_blob_t
Structure describing a single blob.
#define PLAYER_POSITION2D_REQ_SPEED_PID
Request/reply: Set velocity PID parameters.
Definition: player_interfaces.h:548
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
#define PLAYER_POSITION1D_CMD_POS
Command subtype: position command.
Definition: player_interfaces.h:3521
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
#define PLAYER_POSITION2D_REQ_SET_ODOM
Request/reply: Set odometry.
Definition: player_interfaces.h:535
player_pose3d_t pose
the local pose of a single bumper
Definition: player_interfaces.h:1934
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3454