33 #include <libplayercore/playercore.h>
34 #include <sys/types.h>
36 #if !defined (WIN32) || defined (__MINGW32__)
54 #if defined (WIN32) && !defined (__MINGW32__)
55 typedef unsigned int ssize_t;
60 #define BUFFER_SIZE 256
70 uint8_t data [MAXLEN-HEADER_SIZE-FOOTER_SIZE+1];
119 friend class SickNAV200;
130 int GetVersionNumber();
131 char* GetVersionString();
132 short GetDeviceSerial();
133 bool rotateDirection(uint8_t direction);
134 bool GetReflectorPosition(uint8_t layer, uint8_t number,
PositionXY & reflector);
135 bool ChangeReflectorPosition(uint8_t layer, uint8_t number,
int newX,
int newY);
136 bool InsertReflectorPosition(uint8_t layer, uint8_t number,
int X,
int Y);
137 bool DeleteReflectorPosition(uint8_t layer, uint8_t number,
PositionXY & reflector);
140 int GetReflectorRadius(uint8_t layer);
141 bool SetReflectorRadius(uint8_t layer, uint8_t radius);
145 int StartMapping(uint8_t layer,
int X,
int Y,
short orientation, uint8_t radius);
146 int StartMappingMeasurement(uint8_t layer, uint8_t scans,
int X,
int Y,
short orientation, uint8_t radius);
147 int StartNegativeMappingMeasurement(uint8_t layer, uint8_t scans,
int X,
int Y,
short orientation, uint8_t radius);
148 bool MappingPosition(uint8_t layer, uint8_t number,
PositionXY & reflector);
151 bool EnterPositioning();
152 bool EnterPositioningInput(uint8_t NumberOfMeasurements);
153 bool GetPositionAuto(
LaserPos & laserPosition);
154 bool GetPositionSpeed(
short speedX,
short speedY,
LaserPos & laserPosition);
155 bool GetPositionSpeedVelocity(
short speedX,
short speedY,
short velocity,
LaserPos & laserPosition);
156 bool GetPositionSpeedVelocityAbsolute(
short speedX,
short speedY,
short velocity,
LaserPos & laserPosition);
157 bool ChangeLayer(uint8_t layer);
158 bool ChangeLayerDefPosition(uint8_t layer,
int X,
int Y,
short orientation);
159 bool SetActionRadii(
int min,
int max);
160 bool SelectNearest(uint8_t N_nearest);
164 bool GetUploadTrans(uint8_t layer,
ReflectorData & reflector);
166 bool EnterDownload();
167 bool DownloadReflector(uint8_t layer, uint8_t number,
int X,
int Y);
175 uint8_t receivedBuffer[BUFFER_SIZE];
180 void PrintErrorMsg(
void);
182 int ReadFromNav200(
int timeout_usec=5000000);
183 int WriteCommand(
char mode,
char function,
int dataLength, uint8_t * data);
184 uint8_t CreateCRC(uint8_t* data, ssize_t len);
T min(T a, T b)
Return the minimum of a, b.
Definition: utility.h:109
Definition: player_interfaces.h:3039
#define PLAYER_WARN1(msg, a)
Error message macros.
Definition: error.h:89
position 2d velocity command
Definition: player_interfaces.h:617
uint32_t data_count
The number of cells.
Definition: player_interfaces.h:3071
Request/reply: Get/set scan properties.
Definition: player_interfaces.h:961
uint32_t data_count
Size of data as stored in buffer (bytes)
Definition: player_interfaces.h:3452
Definition: mixed/mricp/include/map.h:34
uint32_t host
The "host" on which the device resides.
Definition: player.h:147
#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
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
int8_t * data
Cell occupancy value.
Definition: player_interfaces.h:3075
Generic message header.
Definition: player.h:160
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:165
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.
#define PLAYER_POSITION2D_REQ_MOTOR_POWER
Request/reply: Motor power.
Definition: player_interfaces.h:496
position2d power config
Definition: player_interfaces.h:664
Definition: mixed/mricp/include/map.h:39
double px
X [m].
Definition: player.h:219
Request/reply: get grid map tile.
Definition: player_interfaces.h:3060
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
uint8_t subtype
Message subtype; interface specific.
Definition: player.h:167
uint32_t robot
The "robot" or device collection in which the device resides.
Definition: player.h:150
struct player_position2d_geom player_position2d_geom_t
position2d geom
int ReadInt(int section, const char *name, int value)
Read an integer value.
void ClearFilter(void)
Clear (i.e., turn off) message filter.
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
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:284
double py
Y [m].
Definition: player.h:221
#define PLAYER_ERROR2(msg, a, b)
Error message macros.
Definition: error.h:82
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
void PutMsg(QueuePointer &resp_queue, uint8_t type, uint8_t subtype, void *src, size_t deprecated, double *timestamp)
Send a message to this device.
#define PLAYER_WARN2(msg, a, b)
Error message macros.
Definition: error.h:90
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
float * ranges
Range readings [m].
Definition: player_interfaces.h:896
Definition: geometry2D.h:57
uint32_t row
The tile origin [pixels].
Definition: player_interfaces.h:3065
uint32_t width
The size of the tile [pixels].
Definition: player_interfaces.h:3067
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:105
uint32_t height
The size of the tile [pixels].
Definition: player_interfaces.h:3069
#define PLAYER_LASER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:854
Request/reply: Get geometry.
Definition: player_interfaces.h:945
int8_t data_range
Maximum value for each cell (-range <= EMPTY < 0, unknown = 0, 0 < OCCUPIED <= range)
Definition: player_interfaces.h:3073
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
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.
#define PLAYER_MAP_REQ_GET_DATA
Request/reply subtype: get grid map tile
Definition: player_interfaces.h:3024
uint32_t col
The tile origin [pixels].
Definition: player_interfaces.h:3063
A device address.
Definition: player.h:144
#define PLAYER_POSITION2D_REQ_RESET_ODOM
Request/reply: Reset odometry.
Definition: player_interfaces.h:541
An autopointer for the message queue.
Definition: message.h:72
void SetFilter(int host, int robot, int interf, int index, int type, int subtype)
Set filter values.
position2d data
Definition: player_interfaces.h:606
position2d geom
Definition: player_interfaces.h:655
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:80
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
Base class for drivers which oeprate with a thread.
Definition: driver.h:551
#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 size
Size in bytes of the payload to follow.
Definition: player.h:173
Reference-counted message objects.
Definition: message.h:131
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:88
#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 pa
yaw [rad]
Definition: player.h:223
Base class for all drivers.
Definition: driver.h:107
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:890
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
set odometry
Definition: player_interfaces.h:686
Data: scan (PLAYER_LASER_DATA_SCAN)
Definition: player_interfaces.h:883
player_msghdr_t * GetHeader()
Get pointer to header.
Definition: message.h:185
uint16_t index
Which device of that interface.
Definition: player.h:154
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:163
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition: player.h:152
#define PLAYER_MAP_REQ_GET_INFO
Request/reply subtype: get grid map metadata
Definition: player_interfaces.h:3021
void ProcessMessages(int maxmsgs)
Process pending messages.
T max(T a, T b)
Return the maximum of a, b.
Definition: utility.h:122
#define PLAYER_POSITION2D_REQ_SET_ODOM
Request/reply: Set odometry.
Definition: player_interfaces.h:535
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3454
Definition: geometry2D.h:50