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<h1>playerclient.h</h1> </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2000-2003</span>
<a name="l00004"></a>00004 <span class="comment"> * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> */</span>
<a name="l00022"></a>00022 <span class="comment">/********************************************************************</span>
<a name="l00023"></a>00023 <span class="comment"> *</span>
<a name="l00024"></a>00024 <span class="comment"> * This library is free software; you can redistribute it and/or</span>
<a name="l00025"></a>00025 <span class="comment"> * modify it under the terms of the GNU Lesser General Public</span>
<a name="l00026"></a>00026 <span class="comment"> * License as published by the Free Software Foundation; either</span>
<a name="l00027"></a>00027 <span class="comment"> * version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00028"></a>00028 <span class="comment"> *</span>
<a name="l00029"></a>00029 <span class="comment"> * This library is distributed in the hope that it will be useful,</span>
<a name="l00030"></a>00030 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00031"></a>00031 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00032"></a>00032 <span class="comment"> * Lesser General Public License for more details.</span>
<a name="l00033"></a>00033 <span class="comment"> *</span>
<a name="l00034"></a>00034 <span class="comment"> * You should have received a copy of the GNU Lesser General Public</span>
<a name="l00035"></a>00035 <span class="comment"> * License along with this library; if not, write to the Free Software</span>
<a name="l00036"></a>00036 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00037"></a>00037 <span class="comment"> *</span>
<a name="l00038"></a>00038 <span class="comment"> ********************************************************************/</span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">/*</span>
<a name="l00041"></a>00041 <span class="comment"> $Id: playerclient.h 8463 2009-12-16 00:33:35Z gbiggs $</span>
<a name="l00042"></a>00042 <span class="comment">*/</span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="preprocessor">#ifndef PLAYERCLIENT_H</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#define PLAYERCLIENT_H</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span>
<a name="l00047"></a>00047 <span class="preprocessor">#include "libplayerc++/utility.h"</span>
<a name="l00048"></a>00048 <span class="preprocessor">#include "libplayerc++/playerc++config.h"</span>
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="preprocessor">#include <string></span>
<a name="l00051"></a>00051 <span class="preprocessor">#include <list></span>
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="preprocessor">#if defined (WIN32)</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor"> #if defined (PLAYER_STATIC)</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor"> #define PLAYERCC_EXPORT</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor"> #elif defined (playerc___EXPORTS)</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor"> #define PLAYERCC_EXPORT __declspec (dllexport)</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor"> #else</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor"> #define PLAYERCC_EXPORT __declspec (dllimport)</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor"> #endif</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor"> #define PLAYERCC_EXPORT</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span>
<a name="l00065"></a>00065 <span class="preprocessor">#ifdef HAVE_BOOST_SIGNALS</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor"> #include <boost/signal.hpp></span>
<a name="l00067"></a>00067 <span class="preprocessor">#endif</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span>
<a name="l00069"></a>00069 <span class="preprocessor">#ifdef HAVE_BOOST_THREAD</span>
<a name="l00070"></a>00070 <span class="preprocessor"></span><span class="preprocessor"> #include <boost/thread/mutex.hpp></span>
<a name="l00071"></a>00071 <span class="preprocessor"> #include <boost/thread/thread.hpp></span>
<a name="l00072"></a>00072 <span class="preprocessor"> #include <boost/thread/xtime.hpp></span>
<a name="l00073"></a>00073 <span class="preprocessor"> #include <boost/bind.hpp></span>
<a name="l00074"></a>00074 <span class="preprocessor">#else</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span> <span class="comment">// we have to define this so we don't have to</span>
<a name="l00076"></a>00076 <span class="comment">// comment out all the instances of scoped_lock</span>
<a name="l00077"></a>00077 <span class="comment">// in all the proxies</span>
<a name="l00078"></a>00078 <span class="keyword">namespace </span>boost
<a name="l00079"></a>00079 {
<a name="l00080"></a><a class="code" href="classboost_1_1thread.html">00080</a> <span class="keyword">class </span>PLAYERCC_EXPORT <a class="code" href="classboost_1_1thread.html">thread</a>
<a name="l00081"></a>00081 {
<a name="l00082"></a>00082 <span class="keyword">public</span>:
<a name="l00083"></a>00083 <a class="code" href="classboost_1_1thread.html">thread</a>() {};
<a name="l00084"></a>00084 };
<a name="l00085"></a>00085
<a name="l00086"></a><a class="code" href="classboost_1_1mutex.html">00086</a> <span class="keyword">class </span>PLAYERCC_EXPORT <a class="code" href="classboost_1_1mutex.html">mutex</a>
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088 <span class="keyword">public</span>:
<a name="l00089"></a>00089 <a class="code" href="classboost_1_1mutex.html">mutex</a>() {};
<a name="l00090"></a><a class="code" href="classboost_1_1mutex_1_1scoped__lock.html">00090</a> <span class="keyword">class </span><a class="code" href="classboost_1_1mutex_1_1scoped__lock.html">scoped_lock</a>
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 <span class="keyword">public</span>: <a class="code" href="classboost_1_1mutex_1_1scoped__lock.html">scoped_lock</a>(<a class="code" href="classboost_1_1mutex.html">mutex</a> <span class="comment">/*m*/</span>) {};
<a name="l00093"></a>00093 };
<a name="l00094"></a>00094 };
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="preprocessor">#endif</span>
<a name="l00098"></a>00098 <span class="preprocessor"></span>
<a name="l00099"></a>00099 <span class="keyword">namespace </span>PlayerCc
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="keyword">class </span>ClientProxy;
<a name="l00103"></a>00103
<a name="l00115"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html">00115</a> <span class="keyword">class </span>PLAYERCC_EXPORT <a class="code" href="classPlayerCc_1_1PlayerClient.html" title="The PlayerClient is used for communicating with the player server.">PlayerClient</a>
<a name="l00116"></a>00116 {
<a name="l00117"></a>00117 <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classPlayerCc_1_1ClientProxy.html" title="The client proxy base class.">ClientProxy</a>;
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment">// our thread type</span>
<a name="l00120"></a>00120 <span class="keyword">typedef</span> <a class="code" href="classboost_1_1thread.html">boost::thread</a> <a class="code" href="classboost_1_1thread.html">thread_t</a>;
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="comment">// our mutex type</span>
<a name="l00123"></a>00123 <span class="keyword">typedef</span> <a class="code" href="classboost_1_1mutex.html">boost::mutex</a> <a class="code" href="classboost_1_1mutex.html">mutex_t</a>;
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="keyword">private</span>:
<a name="l00126"></a>00126 <span class="comment">// list of proxies associated with us</span>
<a name="l00127"></a>00127 std::list<PlayerCc::ClientProxy*> mProxyList;
<a name="l00128"></a>00128
<a name="l00129"></a>00129 std::list<playerc_device_info_t> mDeviceList;
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="comment">// Connect to the indicated host and port.</span>
<a name="l00132"></a>00132 <span class="comment">// @exception throws PlayerError if unsuccessfull</span>
<a name="l00133"></a>00133 <span class="keywordtype">void</span> Connect(<span class="keyword">const</span> std::string aHostname, uint32_t aPort);
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="comment">// Disconnect from server.</span>
<a name="l00136"></a>00136 <span class="keywordtype">void</span> Disconnect();
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="comment">// our c-client from playerc</span>
<a name="l00139"></a>00139 <a class="code" href="struct__playerc__client__t.html" title="Client object data.">playerc_client_t</a>* mClient;
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="comment">// The hostname of the server, stored for convenience</span>
<a name="l00142"></a>00142 std::string mHostname;
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="comment">// The port number of the server, stored for convenience</span>
<a name="l00145"></a>00145 uint32_t mPort;
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment">// Which transport (TCP or UDP) we're using</span>
<a name="l00148"></a>00148 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> mTransport;
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="comment">// Is the thread currently stopped or stopping?</span>
<a name="l00151"></a>00151 <span class="keywordtype">bool</span> mIsStop;
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="comment">// This is the thread where we run @ref Run()</span>
<a name="l00154"></a>00154 <a class="code" href="classboost_1_1thread.html">thread_t</a>* mThread;
<a name="l00155"></a>00155
<a name="l00156"></a>00156 <span class="comment">// A helper function for starting the thread</span>
<a name="l00157"></a>00157 <span class="keywordtype">void</span> RunThread();
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keyword">public</span>:
<a name="l00160"></a>00160
<a name="l00162"></a>00162 <a class="code" href="classPlayerCc_1_1PlayerClient.html" title="The PlayerClient is used for communicating with the player server.">PlayerClient</a>(<span class="keyword">const</span> std::string aHostname=<a class="code" href="group__player__clientlib__utility.html#ga877a8a285e27eba8490bdd5861e4d288" title="The default hostname for PlayerClient.">PLAYER_HOSTNAME</a>,
<a name="l00163"></a>00163 uint32_t aPort=<a class="code" href="group__player__clientlib__utility.html#ga6f4cc8d7ad32a50feb9c285cbe795df7" title="The default port number for PlayerClient.">PLAYER_PORTNUM</a>,
<a name="l00164"></a>00164 <span class="keywordtype">int</span> transport=<a class="code" href="group__player__clientlib__libplayerc.html#gae8f3ab5c538dae89d783bd2b56c7c4c9" title="The valid transports.">PLAYERC_TRANSPORT_TCP</a>);
<a name="l00165"></a>00165
<a name="l00167"></a>00167 ~<a class="code" href="classPlayerCc_1_1PlayerClient.html" title="The PlayerClient is used for communicating with the player server.">PlayerClient</a>();
<a name="l00168"></a>00168
<a name="l00170"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#ae680c636ec2b279a2cef636f1e747bd3">00170</a> <span class="keywordtype">bool</span> <a class="code" href="classPlayerCc_1_1PlayerClient.html#ae680c636ec2b279a2cef636f1e747bd3" title="Are we currently connected?">Connected</a>() { <span class="keywordflow">return</span> (NULL!=mClient && mClient->connected == 1) ? <span class="keyword">true</span> : <span class="keyword">false</span>; }
<a name="l00171"></a>00171
<a name="l00173"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#a1d2e785237492fa038310251b497ca4e">00173</a> <a class="code" href="classboost_1_1mutex.html">mutex_t</a> mMutex;
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="comment">// ideally, we'd use the read_write mutex, but I was having some problems</span>
<a name="l00176"></a>00176 <span class="comment">// (with their code) because it's under development</span>
<a name="l00177"></a>00177 <span class="comment">//boost::read_write_mutex mMutex;</span>
<a name="l00178"></a>00178
<a name="l00180"></a>00180 <span class="keywordtype">void</span> StartThread();
<a name="l00181"></a>00181
<a name="l00183"></a>00183 <span class="keywordtype">void</span> StopThread();
<a name="l00184"></a>00184
<a name="l00186"></a>00186 <span class="keywordtype">void</span> Run(uint32_t aTimeout=10); <span class="comment">// aTimeout in ms</span>
<a name="l00187"></a>00187
<a name="l00189"></a>00189 <span class="keywordtype">void</span> Stop();
<a name="l00190"></a>00190
<a name="l00197"></a>00197 <span class="keywordtype">bool</span> Peek(uint32_t timeout=0);
<a name="l00198"></a>00198 <span class="comment">//bool Peek2(uint32_t timeout=0);</span>
<a name="l00199"></a>00199
<a name="l00201"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#ab1a28cc46355fc9c56813373a1c2bf89">00201</a> <span class="keywordtype">void</span> <a class="code" href="classPlayerCc_1_1PlayerClient.html#ab1a28cc46355fc9c56813373a1c2bf89" title="Set the timeout for client requests.">SetRequestTimeout</a>(uint32_t seconds) { <a class="code" href="group__playerc__client.html#gaddf1663a4370b15be7941aa87ddfe16c" title="Set the timeout for client requests.">playerc_client_set_request_timeout</a>(this->mClient,seconds); }
<a name="l00202"></a>00202
<a name="l00203"></a>00203
<a name="l00207"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#ad355a259243d1ad7596366a0313244b0">00207</a> <span class="keywordtype">void</span> <a class="code" href="classPlayerCc_1_1PlayerClient.html#ad355a259243d1ad7596366a0313244b0" title="Set connection retry limit, which is the number of times that we&#39;ll try to reconnect to the serve...">SetRetryLimit</a>(<span class="keywordtype">int</span> <a class="code" href="group__player__clientlib__utility.html#ga902d23bb9582b278d85e10477126a10a" title="Limit a value to the range of min, max.">limit</a>) { <a class="code" href="group__playerc__client.html#ga3025a79ece2a7c6608eab9de3f08c195" title="Set the connection retry limit.">playerc_client_set_retry_limit</a>(this->mClient,limit); }
<a name="l00208"></a>00208
<a name="l00211"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#abcfae465ada932f0eb6602a182e33fef">00211</a> <span class="keywordtype">int</span> <a class="code" href="classPlayerCc_1_1PlayerClient.html#abcfae465ada932f0eb6602a182e33fef" title="Get connection retry limit, which is the number of times that we&#39;ll try to reconnect to the serve...">GetRetryLimit</a>() { <span class="keywordflow">return</span>(this->mClient->retry_limit); }
<a name="l00212"></a>00212
<a name="l00215"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#afa5bddb9335bd4445170b30c0f7d2b54">00215</a> <span class="keywordtype">void</span> <a class="code" href="classPlayerCc_1_1PlayerClient.html#afa5bddb9335bd4445170b30c0f7d2b54" title="Set connection retry time, which is number of seconds to wait between reconnection attempts...">SetRetryTime</a>(<span class="keywordtype">double</span> time) { <a class="code" href="group__playerc__client.html#gaebdce291cd7c283d6f48943c265ec320" title="Set the connection retry sleep time.">playerc_client_set_retry_time</a>(this->mClient,time); }
<a name="l00216"></a>00216
<a name="l00219"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#a2e8215dddbfdc8fb6ab1fedb88ceb846">00219</a> <span class="keywordtype">double</span> <a class="code" href="classPlayerCc_1_1PlayerClient.html#a2e8215dddbfdc8fb6ab1fedb88ceb846" title="Get connection retry time, which is number of seconds to wait between reconnection attempts...">GetRetryTime</a>() { <span class="keywordflow">return</span>(this->mClient->retry_time); }
<a name="l00220"></a>00220
<a name="l00228"></a>00228 <span class="keywordtype">void</span> Read();
<a name="l00229"></a>00229
<a name="l00234"></a>00234 <span class="keywordtype">void</span> ReadIfWaiting();
<a name="l00235"></a>00235
<a name="l00236"></a>00236 <span class="comment">// /// @brief You can change the rate at which your client receives data from the</span>
<a name="l00237"></a>00237 <span class="comment">// /// server with this method. The value of @p freq is interpreted as Hz;</span>
<a name="l00238"></a>00238 <span class="comment">// /// this will be the new rate at which your client receives data (when in</span>
<a name="l00239"></a>00239 <span class="comment">// /// continuous mode).</span>
<a name="l00240"></a>00240 <span class="comment">// ///</span>
<a name="l00241"></a>00241 <span class="comment">// /// @exception throws PlayerError if unsuccessfull</span>
<a name="l00242"></a>00242 <span class="comment">// void SetFrequency(uint32_t aFreq);</span>
<a name="l00243"></a>00243
<a name="l00256"></a>00256 <span class="keywordtype">void</span> SetDataMode(uint32_t aMode);
<a name="l00257"></a>00257
<a name="l00274"></a>00274 <span class="keywordtype">void</span> SetReplaceRule(<span class="keywordtype">bool</span> aReplace,
<a name="l00275"></a>00275 <span class="keywordtype">int</span> aType = -1,
<a name="l00276"></a>00276 <span class="keywordtype">int</span> aSubtype = -1,
<a name="l00277"></a>00277 <span class="keywordtype">int</span> aInterf = -1);
<a name="l00278"></a>00278
<a name="l00281"></a>00281 <span class="keywordtype">void</span> RequestDeviceList();
<a name="l00282"></a>00282
<a name="l00283"></a>00283 std::list<playerc_device_info_t> GetDeviceList();
<a name="l00284"></a>00284
<a name="l00286"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#ad5265fb69d00172a5f20bb072ce48afa">00286</a> std::string <a class="code" href="classPlayerCc_1_1PlayerClient.html#ad5265fb69d00172a5f20bb072ce48afa" title="Returns the hostname.">GetHostname</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span>(mHostname); };
<a name="l00287"></a>00287
<a name="l00289"></a><a class="code" href="classPlayerCc_1_1PlayerClient.html#a0a10f2601dd8667b8945856a88f32ca1">00289</a> uint32_t <a class="code" href="classPlayerCc_1_1PlayerClient.html#a0a10f2601dd8667b8945856a88f32ca1" title="Returns the port.">GetPort</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span>(mPort); };
<a name="l00290"></a>00290
<a name="l00292"></a>00292 <span class="keywordtype">int</span> LookupCode(std::string aName) <span class="keyword">const</span>;
<a name="l00293"></a>00293
<a name="l00295"></a>00295 std::string LookupName(<span class="keywordtype">int</span> aCode) <span class="keyword">const</span>;
<a name="l00296"></a>00296
<a name="l00298"></a>00298 uint32_t GetOverflowCount();
<a name="l00299"></a>00299 };
<a name="l00300"></a>00300
<a name="l00301"></a>00301
<a name="l00302"></a>00302
<a name="l00303"></a>00303 }
<a name="l00304"></a>00304
<a name="l00305"></a>00305 <span class="keyword">namespace </span>std
<a name="l00306"></a>00306 {
<a name="l00307"></a>00307 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, <span class="keyword">const</span> <a class="code" href="classPlayerCc_1_1PlayerClient.html" title="The PlayerClient is used for communicating with the player server.">PlayerCc::PlayerClient</a>& c);
<a name="l00308"></a>00308 }
<a name="l00309"></a>00309
<a name="l00310"></a>00310 <span class="preprocessor">#endif</span>
<a name="l00311"></a>00311 <span class="preprocessor"></span>
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