1 #ifndef _STAGE_PLAYER_DRIVER_H 2 #define _STAGE_PLAYER_DRIVER_H 8 #include <libplayercore/playercore.h> 10 #include "../libstage/stage.hh" 12 #define DRIVER_ERROR(X) printf( "Stage driver error: %s\n", X ) 33 virtual int Subscribe(QueuePointer &queue, player_devaddr_t addr);
34 virtual int Unsubscribe(QueuePointer &queue, player_devaddr_t addr);
48 player_devaddr_t* addr,
49 const std::string& type );
68 player_devaddr_t addr;
76 void* data) {
return(-1); }
105 const std::string& type );
127 virtual void Publish(
void );
129 player_msghdr_t* hdr,
139 player_msghdr_t* hdr,
141 virtual void Publish(
void );
150 player_msghdr_t* hdr,
152 virtual void Publish(
void );
161 player_msghdr_t* hdr,
163 virtual void Publish(
void );
188 player_msghdr_t* hdr,
190 virtual void Publish(
void );
225 virtual void Publish(
void );
234 virtual void Publish(
void );
236 player_msghdr_t* hdr,
250 virtual void Publish(
void );
262 virtual void Publish(
void );
274 virtual void Publish(
void );
300 virtual void Publish(
void );
313 virtual void Publish(
void );
315 player_msghdr_t* hdr,
332 int HandleMsgReqInfo( QueuePointer & resp_queue,
335 int HandleMsgReqData( QueuePointer & resp_queue,
388 int GetTime(
struct timeval* time);
389 int GetTimeDouble(
double* time);
virtual ~InterfaceGripper(void)
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
virtual void Subscribe(QueuePointer &queue)
PlayerGraphics3dVis * vis
const char * basename(const char *filename)
Stg::Model * LocateModel(char *basename, player_devaddr_t *addr, const std::string &type)
double publish_interval_msec
virtual ~InterfaceBlobfinder(void)
virtual ~InterfacePower(void)
virtual int Unsubscribe(QueuePointer &queue, player_devaddr_t addr)
virtual ~InterfaceWifi(void)
virtual ~InterfaceLocalize(void)
virtual ~InterfaceActArray(void)
std::vector< Interface * > devices
an array of pointers to Interface objects, defined below
virtual ~InterfaceMap(void)
uint64_t GetTime(Stg::Model *mod)
StgDriver(ConfigFile *cf, int section)
virtual void Publish(void)
virtual void Subscribe(void)
virtual void Unsubscribe(void)
virtual int Subscribe(QueuePointer &queue, player_devaddr_t addr)
virtual ~InterfaceFiducial(void)
virtual ~InterfaceSimulation(void)
virtual ~InterfaceBumper(void)
static Stg::World * world
all player devices share the same Stage world (for now)
virtual ~InterfacePosition(void)
virtual ~InterfaceModel(void)
virtual ~InterfaceSpeech(void)
Interface * LookupDevice(player_devaddr_t addr)
find the device record with this Player id
PlayerGraphics2dVis * vis
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
virtual ~InterfaceRanger(void)
virtual ~InterfacePtz(void)
virtual void Unsubscribe(QueuePointer &queue)