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<h1>playersd.h</h1> </div>
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<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) 2007</span>
<a name="l00004"></a>00004 <span class="comment"> * Brian Gerkey</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"> * Player - One Hell of a Robot Server</span>
<a name="l00024"></a>00024 <span class="comment"> * Copyright (C) 2007</span>
<a name="l00025"></a>00025 <span class="comment"> * Brian Gerkey</span>
<a name="l00026"></a>00026 <span class="comment"> * </span>
<a name="l00027"></a>00027 <span class="comment"> *</span>
<a name="l00028"></a>00028 <span class="comment"> * This library is free software; you can redistribute it and/or</span>
<a name="l00029"></a>00029 <span class="comment"> * modify it under the terms of the GNU Lesser General Public</span>
<a name="l00030"></a>00030 <span class="comment"> * License as published by the Free Software Foundation; either</span>
<a name="l00031"></a>00031 <span class="comment"> * version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00032"></a>00032 <span class="comment"> *</span>
<a name="l00033"></a>00033 <span class="comment"> * This library is distributed in the hope that it will be useful,</span>
<a name="l00034"></a>00034 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00035"></a>00035 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00036"></a>00036 <span class="comment"> * Lesser General Public License for more details.</span>
<a name="l00037"></a>00037 <span class="comment"> *</span>
<a name="l00038"></a>00038 <span class="comment"> * You should have received a copy of the GNU Lesser General Public</span>
<a name="l00039"></a>00039 <span class="comment"> * License along with this library; if not, write to the Free Software</span>
<a name="l00040"></a>00040 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00041"></a>00041 <span class="comment"> */</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/*</span>
<a name="l00044"></a>00044 <span class="comment"> * Interface to libplayersd</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * $Id: playersd.h 8004 2009-07-13 14:03:44Z thjc $</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048
<a name="l00058"></a>00058 <span class="preprocessor">#ifndef _PLAYER_SD_H</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define _PLAYER_SD_H</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span>
<a name="l00061"></a>00061 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00063"></a>00063 <span class="preprocessor">#endif</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span>
<a name="l00065"></a>00065 <span class="preprocessor">#include <libplayerinterface/player.h></span>
<a name="l00066"></a>00066
<a name="l00067"></a><a class="code" href="group__libplayersd.html#gaf1e594af06d4528d1e4ec5129d7b2369">00067</a> <span class="preprocessor">#define PLAYER_SD_SERVICENAME "_player21._tcp"</span>
<a name="l00068"></a><a class="code" href="group__libplayersd.html#ga8194d7579221bdafd7b73412ed223296">00068</a> <span class="preprocessor"></span><span class="preprocessor">#define PLAYER_SD_DEVICE_TXTNAME "device"</span>
<a name="l00069"></a><a class="code" href="group__libplayersd.html#ga9c64d8ba807bb4245c0248ba042fa508">00069</a> <span class="preprocessor"></span><span class="preprocessor">#define PLAYER_SD_NAME_MAXLEN 256</span>
<a name="l00070"></a><a class="code" href="group__libplayersd.html#gad95db6674f6fe83448b17f4b8810b6b1">00070</a> <span class="preprocessor"></span><span class="preprocessor">#define PLAYER_SD_TXT_MAXLEN 256</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span>
<a name="l00073"></a><a class="code" href="structplayer__sd__dev.html">00073</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structplayer__sd__dev.html" title="A device, represented by its name and address.">player_sd_dev</a>
<a name="l00074"></a>00074 {
<a name="l00075"></a>00075 <span class="comment">// Is this entry valid?</span>
<a name="l00076"></a>00076 uint8_t valid;
<a name="l00077"></a>00077 <span class="comment">// Name of the device</span>
<a name="l00078"></a>00078 <span class="keywordtype">char</span> name[PLAYER_SD_NAME_MAXLEN];
<a name="l00079"></a>00079 <span class="comment">// Is the address valid?</span>
<a name="l00080"></a>00080 uint8_t addr_valid;
<a name="l00081"></a>00081 <span class="comment">// Did address resolution fail?</span>
<a name="l00082"></a>00082 uint8_t addr_fail;
<a name="l00083"></a>00083 <span class="comment">// Player address components</span>
<a name="l00084"></a>00084 <span class="keywordtype">char</span> hostname[PLAYER_SD_NAME_MAXLEN];
<a name="l00085"></a>00085 uint32_t robot;
<a name="l00086"></a>00086 uint16_t interf;
<a name="l00087"></a>00087 uint16_t index;
<a name="l00088"></a>00088 } <a class="code" href="structplayer__sd__dev.html" title="A device, represented by its name and address.">player_sd_dev_t</a>;
<a name="l00089"></a>00089
<a name="l00091"></a><a class="code" href="structplayer__sd.html">00091</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd</a>
<a name="l00092"></a>00092 {
<a name="l00095"></a><a class="code" href="structplayer__sd.html#a4aafaa88476a9d409f318e5ddaabc4a4">00095</a> <span class="keywordtype">void</span>* <a class="code" href="structplayer__sd.html#a4aafaa88476a9d409f318e5ddaabc4a4" title="Opaque pointer to underlying zeroconf client object.">sdRef</a>;
<a name="l00097"></a><a class="code" href="structplayer__sd.html#a961a7d76671d355af42d8bc06f22340d">00097</a> <a class="code" href="structplayer__sd__dev.html" title="A device, represented by its name and address.">player_sd_dev_t</a>* <a class="code" href="structplayer__sd.html#a961a7d76671d355af42d8bc06f22340d" title="List of devices discovered by browsing.">devs</a>;
<a name="l00099"></a><a class="code" href="structplayer__sd.html#ae4af16ae970de969ecbb686107edf9df">00099</a> <span class="keywordtype">size_t</span> <a class="code" href="structplayer__sd.html#ae4af16ae970de969ecbb686107edf9df" title="Number of devices discovered.">devs_len</a>;
<a name="l00100"></a>00100 } <a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>;
<a name="l00101"></a>00101
<a name="l00104"></a>00104 <a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* <a class="code" href="group__libplayersd.html#ga7dcfc04e91b995d9e831a06f6883c97f" title="Initialize service discovery, passing back a pointer that will be passed into all future calls...">player_sd_init</a>(<span class="keywordtype">void</span>);
<a name="l00105"></a>00105
<a name="l00107"></a>00107 <span class="keywordtype">void</span> <a class="code" href="group__libplayersd.html#ga1e806097736fdc1073e85d8990dba982" title="Finalize service discovery, freeing associated resources.">player_sd_fini</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd);
<a name="l00108"></a>00108
<a name="l00110"></a>00110 <span class="keywordtype">void</span> <a class="code" href="group__libplayersd.html#ga52b37990e82edeec68a425a22b80c1c0" title="Lock access to playersd structures, such as the local device cache.">player_sd_lock</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd);
<a name="l00111"></a>00111
<a name="l00113"></a>00113 <span class="keywordtype">void</span> <a class="code" href="group__libplayersd.html#ga4e1f4631e733c609ca47d63488cdace7" title="Unlock access to playersd structures, such as the local device cache.">player_sd_unlock</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd);
<a name="l00114"></a>00114
<a name="l00117"></a>00117 <span class="keywordtype">int</span> <a class="code" href="group__libplayersd.html#gadacf4e2e00de739daf48e48f01b45bb9" title="Register the named device.">player_sd_register</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd,
<a name="l00118"></a>00118 <span class="keyword">const</span> <span class="keywordtype">char</span>* name,
<a name="l00119"></a>00119 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> addr);
<a name="l00120"></a>00120
<a name="l00123"></a>00123 <span class="keywordtype">int</span> <a class="code" href="group__libplayersd.html#ga1bafb01f77a70d6d6865dfbe260a3a9c" title="Unregister (terminate) the named device.">player_sd_unregister</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd,
<a name="l00124"></a>00124 <span class="keyword">const</span> <span class="keywordtype">char</span>* name);
<a name="l00125"></a>00125
<a name="l00128"></a><a class="code" href="group__libplayersd.html#gae9fbb34f6d6ffaa3939d3f50e822ef61">00128</a> <span class="keyword">typedef</span> void (*<a class="code" href="group__libplayersd.html#gae9fbb34f6d6ffaa3939d3f50e822ef61" title="Prototype for a callback function that can be invoked when devices are added or removed.">player_sd_browse_callback_fn_t</a>)(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd,
<a name="l00129"></a>00129 <a class="code" href="structplayer__sd__dev.html" title="A device, represented by its name and address.">player_sd_dev_t</a>* dev);
<a name="l00130"></a>00130
<a name="l00143"></a>00143 <span class="keywordtype">int</span> <a class="code" href="group__libplayersd.html#gaf0159fe328bd5fa04591c4801bcee468" title="Browse for player devices.">player_sd_browse</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd,
<a name="l00144"></a>00144 <span class="keywordtype">double</span> timeout,
<a name="l00145"></a>00145 <span class="keywordtype">int</span> keepalive,
<a name="l00146"></a>00146 <a class="code" href="group__libplayersd.html#gae9fbb34f6d6ffaa3939d3f50e822ef61" title="Prototype for a callback function that can be invoked when devices are added or removed.">player_sd_browse_callback_fn_t</a> cb);
<a name="l00147"></a>00147
<a name="l00157"></a>00157 <span class="keywordtype">int</span> <a class="code" href="group__libplayersd.html#gaf114899e1ec83b62e2d3a940905eb82a" title="Check for new device updates, waiting for timeout s.">player_sd_update</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd, <span class="keywordtype">double</span> timeout);
<a name="l00158"></a>00158
<a name="l00160"></a>00160 <span class="keywordtype">int</span> <a class="code" href="group__libplayersd.html#gac9e13041eacfd5615bf3e0a1cebe7e79" title="Stop browsing. Returns 0 on success, non-zero on error.">player_sd_browse_stop</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd);
<a name="l00161"></a>00161
<a name="l00163"></a>00163 <span class="comment">// Common functions, implemented in playersd.c</span>
<a name="l00164"></a>00164
<a name="l00167"></a>00167 <a class="code" href="structplayer__sd__dev.html" title="A device, represented by its name and address.">player_sd_dev_t</a>* <a class="code" href="group__libplayersd.html#gae3db57f8fbbc595fcdf43bfda6f7e26d" title="Look up a device by name.">player_sd_get_device</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd, <span class="keyword">const</span> <span class="keywordtype">char</span>* name);
<a name="l00168"></a>00168
<a name="l00184"></a>00184 <span class="keywordtype">int</span> <a class="code" href="group__libplayersd.html#ga429b3e87da0c1db34f268cb379431ade" title="Find a device in the local cache that matches the given criteria.">player_sd_find_devices</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd,
<a name="l00185"></a>00185 <a class="code" href="structplayer__sd__dev.html" title="A device, represented by its name and address.">player_sd_dev_t</a>* result,
<a name="l00186"></a>00186 <span class="keywordtype">size_t</span> result_len,
<a name="l00187"></a>00187 <span class="keyword">const</span> <span class="keywordtype">char</span>* name,
<a name="l00188"></a>00188 <span class="keyword">const</span> <span class="keywordtype">char</span>* hostname,
<a name="l00189"></a>00189 <span class="keywordtype">int</span> robot,
<a name="l00190"></a>00190 <span class="keywordtype">int</span> interf,
<a name="l00191"></a>00191 <span class="keywordtype">int</span> index);
<a name="l00192"></a>00192
<a name="l00195"></a>00195 <a class="code" href="structplayer__sd__dev.html" title="A device, represented by its name and address.">player_sd_dev_t</a>* <a class="code" href="group__libplayersd.html#ga814176b1114ebba2d63aef25ba953aa8" title="Add a device to the local cache.">_player_sd_add_device</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd, <span class="keyword">const</span> <span class="keywordtype">char</span>* name);
<a name="l00196"></a>00196
<a name="l00198"></a>00198 <span class="keywordtype">void</span> <a class="code" href="group__libplayersd.html#ga4f3d9214a3dc863c1c4aa84e6f37923f" title="Print the contents of the local device cache to the console.">player_sd_printcache</a>(<a class="code" href="structplayer__sd.html" title="Service discovery object.">player_sd_t</a>* sd);
<a name="l00199"></a>00199
<a name="l00200"></a>00200 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00201"></a>00201 <span class="preprocessor"></span>}
<a name="l00202"></a>00202 <span class="preprocessor">#endif</span>
<a name="l00203"></a>00203 <span class="preprocessor"></span>
<a name="l00206"></a>00206 <span class="preprocessor">#endif</span>
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