Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25217/libplayercore
Modified Files:
player.h
Log Message:
added geoffs patch to add state to the audio interface data
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.114
retrieving revision 1.115
diff -C2 -d -r1.114 -r1.115
*** player.h 19 Aug 2006 00:51:18 -0000 1.114
--- player.h 24 Aug 2006 01:38:23 -0000 1.115
***************
*** 772,775 ****
--- 772,780 ----
#define PLAYER_AUDIO_MIXER_CHANNEL_DATA 3
+ /** Data subtype: state_data, driver state data (eg playing, stopped, ...)
+
+ data is a @ref player_audio_state_t structure*/
+ #define PLAYER_AUDIO_STATE_DATA 4
+
***************
*** 831,834 ****
--- 836,844 ----
#define PLAYER_AUDIO_MIXER_CHANNEL_LEVEL_REQ 6
+ /** Driver states */
+
+ #define PLAYER_AUDIO_STATE_STOPPED 0x00
+ #define PLAYER_AUDIO_STATE_PLAYING 0x01
+ #define PLAYER_AUDIO_STATE_RECORDING 0x02
/** Audio formats */
***************
*** 1017,1020 ****
--- 1027,1042 ----
} player_audio_sample_item_t;
+ /** @brief Player audio driver state
+
+ Describes the current state of the audio driver. Usually only sent when state
+ changes.
+
+ */
+ typedef struct player_audio_state
+ {
+ /** The state of the driver: will be a bitmask of PLAYER_AUDIO_STATE_*
values */
+ uint32_t state;
+ } player_audio_state_t;
+
/** @} */
***************
*** 1972,1976 ****
* @defgroup interface_gripper gripper
* @brief Gripper interface
!
The @p gripper interface provides access to a robotic gripper. A gripper is a
device capable of closing around and carrying an object of suitable size and
--- 1994,1998 ----
* @defgroup interface_gripper gripper
* @brief Gripper interface
!
The @p gripper interface provides access to a robotic gripper. A gripper is a
device capable of closing around and carrying an object of suitable size and
***************
*** 1982,1989 ****
gripper to pick up a new object, and move objects from the storage system back
into the gripper. */
!
/** @ingroup interface_gripper
* @{ */
!
/** Gripper state: open */
#define PLAYER_GRIPPER_STATE_OPEN 1
--- 2004,2011 ----
gripper to pick up a new object, and move objects from the storage system back
into the gripper. */
!
/** @ingroup interface_gripper
* @{ */
!
/** Gripper state: open */
#define PLAYER_GRIPPER_STATE_OPEN 1
***************
*** 1997,2004 ****
/** Data subtype: state */
#define PLAYER_GRIPPER_DATA_STATE 1
!
/** Request subtype: get geometry */
#define PLAYER_GRIPPER_REQ_GET_GEOM 1
!
/** Command subtype: open */
#define PLAYER_GRIPPER_CMD_OPEN 1
--- 2019,2026 ----
/** Data subtype: state */
#define PLAYER_GRIPPER_DATA_STATE 1
!
/** Request subtype: get geometry */
#define PLAYER_GRIPPER_REQ_GET_GEOM 1
!
/** Command subtype: open */
#define PLAYER_GRIPPER_CMD_OPEN 1
***************
*** 2011,2017 ****
/** Command subtype: retrieve object from the storage system */
#define PLAYER_GRIPPER_CMD_RETRIEVE 5
!
/** @brief Data: state (@ref PLAYER_GRIPPER_DATA_STATE)
!
The @p gripper interface returns the current state of the gripper
and information on a potential object in the gripper.
--- 2033,2039 ----
/** Command subtype: retrieve object from the storage system */
#define PLAYER_GRIPPER_CMD_RETRIEVE 5
!
/** @brief Data: state (@ref PLAYER_GRIPPER_DATA_STATE)
!
The @p gripper interface returns the current state of the gripper
and information on a potential object in the gripper.
***************
*** 2031,2037 ****
uint8_t stored;
} player_gripper_data_t;
!
/** @brief Request/reply: get geometry
!
The geometry (pose, outer size and inner size) of the gripper device can be
queried by sending a null @ref PLAYER_GRIPPER_REQ_GET_GEOM request.
--- 2053,2059 ----
uint8_t stored;
} player_gripper_data_t;
!
/** @brief Request/reply: get geometry
!
The geometry (pose, outer size and inner size) of the gripper device can be
queried by sending a null @ref PLAYER_GRIPPER_REQ_GET_GEOM request.
***************
*** 2051,2055 ****
uint8_t capacity;
} player_gripper_geom_t;
!
/** @brief Command: Open (@ref PLAYER_GRIPPER_CMD_OPEN)
--- 2073,2077 ----
uint8_t capacity;
} player_gripper_geom_t;
!
/** @brief Command: Open (@ref PLAYER_GRIPPER_CMD_OPEN)
***************
*** 2095,2100 ****
* @brief Statgrab - System Infos
! The HEALTH driver allows for a user to get general systems data concerning a
! specific robot. Allows a user to look at cpu and memory usage of the robot.
*/
--- 2117,2122 ----
* @brief Statgrab - System Infos
! The HEALTH driver allows for a user to get general systems data concerning a
! specific robot. Allows a user to look at cpu and memory usage of the robot.
*/
***************
*** 2137,2141 ****
/** The swap stats
*/
player_health_memory_t swap;
!
} player_health_data_t;
/** @} */
--- 2159,2163 ----
/** The swap stats
*/
player_health_memory_t swap;
!
} player_health_data_t;
/** @} */
***************
*** 2148,2152 ****
* @brief Inertial Measurement Unit
! The @p imu interface provides access to an Inertial Measurement Unit sensor
(such as the XSens MTx/MTi).
*/
--- 2170,2174 ----
* @brief Inertial Measurement Unit
! The @p imu interface provides access to an Inertial Measurement Unit sensor
(such as the XSens MTx/MTi).
*/
***************
*** 2169,2173 ****
/** @brief Data: calibrated IMU data (@ref PLAYER_IMU_DATA_STATE)
! The @p imu interface returns the complete 3D coordinates + angles position in
space, of the IMU sensor. */
typedef struct player_imu_data_state
--- 2191,2195 ----
/** @brief Data: calibrated IMU data (@ref PLAYER_IMU_DATA_STATE)
! The @p imu interface returns the complete 3D coordinates + angles position in
space, of the IMU sensor. */
typedef struct player_imu_data_state
***************
*** 2179,2183 ****
/** @brief Data: calibrated IMU data (@ref PLAYER_IMU_DATA_CALIB)
! The @p imu interface returns calibrated acceleration, gyro and magnetic
values
from the IMU sensor. */
typedef struct player_imu_data_calib
--- 2201,2205 ----
/** @brief Data: calibrated IMU data (@ref PLAYER_IMU_DATA_CALIB)
! The @p imu interface returns calibrated acceleration, gyro and magnetic values
from the IMU sensor. */
typedef struct player_imu_data_calib
***************
*** 2211,2215 ****
/** Calibrated IMU data (accel, gyro, magnetometer) */
player_imu_data_calib_t calib_data;
!
/** Orientation data as quaternions */
float q0;
--- 2233,2237 ----
/** Calibrated IMU data (accel, gyro, magnetometer) */
player_imu_data_calib_t calib_data;
!
/** Orientation data as quaternions */
float q0;
***************
*** 2227,2231 ****
/** Calibrated IMU data (accel, gyro, magnetometer) */
player_imu_data_calib_t calib_data;
!
/** Orientation data as Euler angles */
player_orientation_3d_t orientation;
--- 2249,2253 ----
/** Calibrated IMU data (accel, gyro, magnetometer) */
player_imu_data_calib_t calib_data;
!
/** Orientation data as Euler angles */
player_orientation_3d_t orientation;
***************
*** 2235,2244 ****
structures.
! Send a @ref PLAYER_IMU_REQ_SET_DATATYPE request to switch between calibrated
data, 3D pose and orientation, Euler orientation or Quaternions orientation
in the data packet. Null response. */
typedef struct player_imu_datatype_config
{
! /** Data type setting: 1 for pose/orientation, 2 for calibrated (raw)
data,
3 for quaternions, 4 for Euler.
*/
--- 2257,2266 ----
structures.
! Send a @ref PLAYER_IMU_REQ_SET_DATATYPE request to switch between calibrated
data, 3D pose and orientation, Euler orientation or Quaternions orientation
in the data packet. Null response. */
typedef struct player_imu_datatype_config
{
! /** Data type setting: 1 for pose/orientation, 2 for calibrated (raw)
data,
3 for quaternions, 4 for Euler.
*/
***************
*** 3167,3171 ****
! /** A replace rule can either accept, replace or ignore
a message.*/
#define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT 0
--- 3189,3193 ----
! /** A replace rule can either accept, replace or ignore
a message.*/
#define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT 0
***************
*** 3357,3361 ****
/** @brief 3D Pointcloud element structure
! * An element as stored in a 3D pointcloud, containing a 3D position
* plus other corresponding information. */
typedef struct player_pointcloud3d_element
--- 3379,3383 ----
/** @brief 3D Pointcloud element structure
! * An element as stored in a 3D pointcloud, containing a 3D position
* plus other corresponding information. */
typedef struct player_pointcloud3d_element
***************
*** 3364,3374 ****
player_color_t color;
/** Add other data here as necessary */
! /** Storage area for generic user data (temperature,
* intensity, polygon association, flags, etc.)
! * Probably best left until when variable sized
* structures are fully implemented so we
* don't unnecessarily allocate huge
* amounts of data per point */
! //uint32_t data_count;
//uchar data[PLAYER_3DPOINTCLOUD_MAX_DATA]
} player_pointcloud3d_element_t;
--- 3386,3396 ----
player_color_t color;
/** Add other data here as necessary */
! /** Storage area for generic user data (temperature,
* intensity, polygon association, flags, etc.)
! * Probably best left until when variable sized
* structures are fully implemented so we
* don't unnecessarily allocate huge
* amounts of data per point */
! //uint32_t data_count;
//uchar data[PLAYER_3DPOINTCLOUD_MAX_DATA]
} player_pointcloud3d_element_t;
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