50 #if defined (PLAYER_STATIC)
51 #define PLAYERCORE_EXPORT
52 #elif defined (playercore_EXPORTS)
53 #define PLAYERCORE_EXPORT __declspec (dllexport)
55 #define PLAYERCORE_EXPORT __declspec (dllimport)
58 #define PLAYERCORE_EXPORT
61 #include <libplayerinterface/player.h>
62 #include <libplayercore/message.h>
64 #define LOCALHOST_ADDR 16777343
158 bool threaded =
true);
192 double* timestamp = NULL,
193 bool threaded =
true);
209 return(((addr1.
host == addr2.
host) ||
210 ((addr1.
host == 0) && (addr2.
host == LOCALHOST_ADDR)) ||
211 ((addr1.
host == LOCALHOST_ADDR) && (addr2.
host == 0))) &&
position 2d velocity command
Definition: player_interfaces.h:617
Device * next
Next entry in the device table (this is a linked-list)
Definition: device.h:218
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
uint32_t host
The "host" on which the device resides.
Definition: player.h:148
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:159
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
Driver * driver
Pointer to the underlying driver.
Definition: device.h:237
player_devaddr_t addr
Address for this device.
Definition: device.h:221
Generic message header.
Definition: player.h:161
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
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:166
Encapsulates a device (i.e., a driver bound to an interface)
Definition: device.h:74
double px
X [m].
Definition: player.h:220
size_t len_queues
Length of queues.
Definition: device.h:234
#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:168
uint32_t robot
The "robot" or device collection in which the device resides.
Definition: player.h:151
virtual void Main(void)=0
Main method for driver thread.
void * GetPayload()
Get pointer to payload.
Definition: message.h:188
#define PLAYER_MSGTYPE_DATA
A data message.
Definition: player.h:95
double py
Y [m].
Definition: player.h:222
#define PLAYER_WARN2(msg, a, b)
Error message macros.
Definition: error.h:91
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:201
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:106
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
Class for loading configuration file information.
Definition: configfile.h:196
A device address.
Definition: player.h:145
An autopointer for the message queue.
Definition: message.h:73
pthread_mutex_t accessMutex
Mutex used to lock access, via Lock() and Unlock(), to device internals, like the list of subscribed ...
Definition: device.h:242
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:81
Base class for drivers which oeprate with a thread.
Definition: driver.h:552
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
QueuePointer * queues
Linked list of subscribed queues.
Definition: device.h:231
Reference-counted message objects.
Definition: message.h:132
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:89
#define PLAYER_MSGTYPE_CMD
A command message.
Definition: player.h:99
double pa
yaw [rad]
Definition: player.h:224
Base class for all drivers.
Definition: driver.h:108
QueuePointer InQueue
Pointer to the underlying driver's queue.
Definition: device.h:228
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:622
#define PLAYER_MAX_DRIVER_STRING_LEN
Maximum length for a driver name.
Definition: player.h:72
player_msghdr_t * GetHeader()
Get pointer to header.
Definition: message.h:186
uint16_t index
Which device of that interface.
Definition: player.h:155
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