khepera.h
virtual void Publish(player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
Publish a message via one of this driver's interfaces.
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
#define PLAYER_LOG_REQ_SET_WRITE_STATE
Request/reply subtype: set write state.
Definition: player_interfaces.h:3228
#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:159
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: khepera.cc:426
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
#define PLAYER_WIFI_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2188
#define PLAYER_LASER_DATA_SCANPOSE
Data subtype: pose-stamped scan.
Definition: player_interfaces.h:848
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:948
uint32_t links_count
length of said list
Definition: player_interfaces.h:2250
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:888
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
#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:166
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
virtual int Subscribe(player_devaddr_t addr)
Subscribe to this driver.
Definition: khepera.cc:352
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
Definition: khepera_serial.h:33
uint32_t robot
The "robot" or device collection in which the device resides.
Definition: player.h:151
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.
Definition: khepera.h:69
#define PLAYER_LOG_REQ_GET_STATE
Request/reply subtype: get state.
Definition: player_interfaces.h:3234
Definition: khepera.h:81
player_pose2d_t pose
The global pose of the laser at the time the scan was acquired.
Definition: player_interfaces.h:914
Available interfaces are stored in an array of these, defined in interface_util.c.
Definition: interface_util.h:71
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition: khepera.cc:402
uint8_t type
The type of log device, either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition: player_interfaces.h:3285
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
player_laser_data_t scan
The scan data.
Definition: player_interfaces.h:912
#define PLAYER_LOG_TYPE_WRITE
Types of log device: write.
Definition: player_interfaces.h:3247
#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.
int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: khepera.cc:162
uint8_t state
State: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3257
#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:125
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.
uint8_t state
Logging/playback state: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3287
#define PLAYER_SONAR_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:755
#define PLAYER_POSITION2D_REQ_RESET_ODOM
Request/reply: Reset odometry.
Definition: player_interfaces.h:541
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
player_wifi_link_t * links
A list of links.
Definition: player_interfaces.h:2252
virtual int Unsubscribe(player_devaddr_t addr)
Unsubscribe from this driver.
Definition: khepera.cc:375
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
uint32_t ranges_count
The number of valid range readings.
Definition: player_interfaces.h:774
uint32_t voltages_count
number of samples
Definition: player_interfaces.h:2118
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
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:170
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
#define PLAYER_POSITION2D_REQ_VELOCITY_MODE
Request/reply: Change velocity control.
Definition: player_interfaces.h:522
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
Definition: player_interfaces.h:909
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:890
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
int Unsubscribe(QueuePointer &sub_queue)
Unsubscribe the given queue from this device.
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:164
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition: player.h:153
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:76
#define PLAYER_POSITION2D_REQ_SET_ODOM
Request/reply: Set odometry.
Definition: player_interfaces.h:535