javaclient2
Class PlayerClient

java.lang.Object
  java.lang.Thread
      javaclient2.PlayerClient

All Implemented Interfaces:

java.lang.Runnable, PlayerConstants

public class PlayerClient
extends java.lang.Thread
implements PlayerConstants

The PlayerClient is the main Javaclient class. It contains methods for interacting with the player device. The player device represents the server itself, and is used in configuring the behavior of the server. There is only one such device (with index 0) and it is always open.

Version:

• v2.0 - Player 2.0 supported

Author:

Radu Bogdan Rusu, Maxim Batalin, Esben Ostergaard

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler

Field Summary

protected java.io.BufferedOutputStream	buffer
protected java.util.Vector<PlayerDevice>	deviceList
protected java.io.DataInputStream	is The input stream for the socket connected to the player server.
static boolean	isDebugging
protected java.io.DataOutputStream	os The output stream for the socket connected to the player server.
protected java.net.Socket	socket

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Fields inherited from interface javaclient2.structures.PlayerConstants

MCOM_CHANNEL_LEN, MCOM_DATA_BUFFER_SIZE, MCOM_DATA_LEN, MCOM_N_BUFS, PLAYER_ACTARRAY_ACTSTATE_BRAKED, PLAYER_ACTARRAY_ACTSTATE_IDLE, PLAYER_ACTARRAY_ACTSTATE_MOVING, PLAYER_ACTARRAY_ACTSTATE_STALLED, PLAYER_ACTARRAY_BRAKES_REQ, PLAYER_ACTARRAY_CODE, PLAYER_ACTARRAY_DATA_STATE, PLAYER_ACTARRAY_GET_GEOM_REQ, PLAYER_ACTARRAY_HOME_CMD, PLAYER_ACTARRAY_NUM_ACTUATORS, PLAYER_ACTARRAY_POS_CMD, PLAYER_ACTARRAY_POWER_REQ, PLAYER_ACTARRAY_SPEED_CMD, PLAYER_ACTARRAY_SPEED_REQ, PLAYER_ACTARRAY_STRING, PLAYER_ACTARRAY_TYPE_LINEAR, PLAYER_ACTARRAY_TYPE_ROTARY, PLAYER_AIO_CMD_STATE, PLAYER_AIO_CODE, PLAYER_AIO_DATA_STATE, PLAYER_AIO_MAX_INPUTS, PLAYER_AIO_MAX_OUTPUTS, PLAYER_AIO_STRING, PLAYER_AUDIO_CODE, PLAYER_AUDIO_COMMAND_BUFFER_SIZE, PLAYER_AUDIO_DATA_BUFFER_SIZE, PLAYER_AUDIO_PAIRS, PLAYER_AUDIO_STRING, PLAYER_AUDIODSP_CODE, PLAYER_AUDIODSP_DATA_TONES, PLAYER_AUDIODSP_GET_CONFIG, PLAYER_AUDIODSP_MAX_BITSTRING_LEN, PLAYER_AUDIODSP_MAX_FREQS, PLAYER_AUDIODSP_PLAY_CHIRP, PLAYER_AUDIODSP_PLAY_TONE, PLAYER_AUDIODSP_REPLAY, PLAYER_AUDIODSP_SET_CONFIG, PLAYER_AUDIODSP_STRING, PLAYER_AUDIOMIXER_CODE, PLAYER_AUDIOMIXER_GET_LEVELS, PLAYER_AUDIOMIXER_SET_IGAIN, PLAYER_AUDIOMIXER_SET_LINE, PLAYER_AUDIOMIXER_SET_MASTER, PLAYER_AUDIOMIXER_SET_MIC, PLAYER_AUDIOMIXER_SET_OGAIN, PLAYER_AUDIOMIXER_SET_PCM, PLAYER_AUDIOMIXER_STRING, PLAYER_BLINKENLIGHT_CMD_COLOR, PLAYER_BLINKENLIGHT_CMD_DUTYCYCLE, PLAYER_BLINKENLIGHT_CMD_PERIOD, PLAYER_BLINKENLIGHT_CMD_POWER, PLAYER_BLINKENLIGHT_CMD_STATE, PLAYER_BLINKENLIGHT_CODE, PLAYER_BLINKENLIGHT_DATA_STATE, PLAYER_BLINKENLIGHT_STRING, PLAYER_BLOBFINDER_CODE, PLAYER_BLOBFINDER_DATA_BLOBS, PLAYER_BLOBFINDER_MAX_BLOBS, PLAYER_BLOBFINDER_REQ_SET_COLOR, PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS, PLAYER_BLOBFINDER_STRING, PLAYER_BUMPER_CODE, PLAYER_BUMPER_DATA_GEOM, PLAYER_BUMPER_DATA_STATE, PLAYER_BUMPER_GET_GEOM, PLAYER_BUMPER_MAX_SAMPLES, PLAYER_BUMPER_STRING, PLAYER_CAMERA_CODE, PLAYER_CAMERA_COMPRESS_JPEG, PLAYER_CAMERA_COMPRESS_RAW, PLAYER_CAMERA_DATA_STATE, PLAYER_CAMERA_FORMAT_MONO16, PLAYER_CAMERA_FORMAT_MONO8, PLAYER_CAMERA_FORMAT_RGB565, PLAYER_CAMERA_FORMAT_RGB888, PLAYER_CAMERA_IMAGE_HEIGHT, PLAYER_CAMERA_IMAGE_SIZE, PLAYER_CAMERA_IMAGE_WIDTH, PLAYER_CAMERA_STRING, PLAYER_CLOSE_MODE, PLAYER_DATAMODE_PULL, PLAYER_DATAMODE_PUSH, PLAYER_DIO_CMD_VALUES, PLAYER_DIO_CODE, PLAYER_DIO_DATA_VALUES, PLAYER_DIO_STRING, PLAYER_ENERGY_CODE, PLAYER_ENERGY_DATA_STATE, PLAYER_ENERGY_SET_CHARGING_POLICY_REQ, PLAYER_ENERGY_STRING, PLAYER_ERROR_MODE, PLAYER_FIDUCIAL_CODE, PLAYER_FIDUCIAL_DATA_SCAN, PLAYER_FIDUCIAL_MAX_SAMPLES, PLAYER_FIDUCIAL_REQ_GET_FOV, PLAYER_FIDUCIAL_REQ_GET_GEOM, PLAYER_FIDUCIAL_REQ_GET_ID, PLAYER_FIDUCIAL_REQ_SET_FOV, PLAYER_FIDUCIAL_REQ_SET_ID, PLAYER_FIDUCIAL_STRING, PLAYER_GPS_CODE, PLAYER_GPS_DATA_STATE, PLAYER_GPS_STRING, PLAYER_GRAPHICS2D_CODE, PLAYER_GRAPHICS2D_STRING, PLAYER_GRIPPER_CMD_STATE, PLAYER_GRIPPER_CODE, PLAYER_GRIPPER_DATA_STATE, PLAYER_GRIPPER_REQ_GET_GEOM, PLAYER_GRIPPER_STRING, PLAYER_IDENT_STRLEN, PLAYER_IR_CODE, PLAYER_IR_DATA_RANGES, PLAYER_IR_MAX_SAMPLES, PLAYER_IR_POSE, PLAYER_IR_POWER, PLAYER_IR_STRING, PLAYER_JOYSTICK_CODE, PLAYER_JOYSTICK_DATA_STATE, PLAYER_JOYSTICK_STRING, PLAYER_KEYLEN, PLAYER_LASER_CODE, PLAYER_LASER_DATA_SCAN, PLAYER_LASER_DATA_SCANPOSE, PLAYER_LASER_MAX_SAMPLES, PLAYER_LASER_REQ_GET_CONFIG, PLAYER_LASER_REQ_GET_GEOM, PLAYER_LASER_REQ_POWER, PLAYER_LASER_REQ_SET_CONFIG, PLAYER_LASER_STRING, PLAYER_LIMB_BRAKES_REQ, PLAYER_LIMB_CODE, PLAYER_LIMB_DATA, PLAYER_LIMB_GEOM_REQ, PLAYER_LIMB_HOME_CMD, PLAYER_LIMB_POWER_REQ, PLAYER_LIMB_SETPOSE_CMD, PLAYER_LIMB_SETPOSITION_CMD, PLAYER_LIMB_SPEED_REQ, PLAYER_LIMB_STATE_BRAKED, PLAYER_LIMB_STATE_COLL, PLAYER_LIMB_STATE_IDLE, PLAYER_LIMB_STATE_MOVING, PLAYER_LIMB_STATE_OOR, PLAYER_LIMB_STOP_CMD, PLAYER_LIMB_STRING, PLAYER_LIMB_VECMOVE_CMD, PLAYER_LOCALIZE_CODE, PLAYER_LOCALIZE_DATA_HYPOTHS, PLAYER_LOCALIZE_MAX_HYPOTHS, PLAYER_LOCALIZE_PARTICLES_MAX, PLAYER_LOCALIZE_REQ_GET_PARTICLES, PLAYER_LOCALIZE_REQ_SET_POSE, PLAYER_LOCALIZE_STRING, PLAYER_LOG_CODE, PLAYER_LOG_REQ_GET_STATE, PLAYER_LOG_REQ_SET_FILENAME, PLAYER_LOG_REQ_SET_READ_REWIND, PLAYER_LOG_REQ_SET_READ_STATE, PLAYER_LOG_REQ_SET_WRITE_STATE, PLAYER_LOG_STRING, PLAYER_LOG_TYPE_READ, PLAYER_LOG_TYPE_WRITE, PLAYER_MAP_CODE, PLAYER_MAP_DATA_INFO, PLAYER_MAP_MAX_SEGMENTS, PLAYER_MAP_MAX_TILE_SIZE, PLAYER_MAP_REQ_GET_DATA, PLAYER_MAP_REQ_GET_INFO, PLAYER_MAP_REQ_GET_VECTOR, PLAYER_MAP_STRING, PLAYER_MAX_DEVICES, PLAYER_MAX_DRIVER_STRING_LEN, PLAYER_MAX_MESSAGE_SIZE, PLAYER_MAX_REQREP_SIZE, PLAYER_MCOM_CLEAR, PLAYER_MCOM_CODE, PLAYER_MCOM_POP, PLAYER_MCOM_PUSH, PLAYER_MCOM_READ, PLAYER_MCOM_SET_CAPACITY, PLAYER_MCOM_STRING, PLAYER_MSGQUEUE_DEFAULT_MAXLEN, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_DATA, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_MSGTYPE_SYNCH, PLAYER_NOMAD_CODE, PLAYER_NOMAD_STRING, PLAYER_NULL_CODE, PLAYER_NULL_STRING, PLAYER_OPAQUE_CODE, PLAYER_OPAQUE_STRING, PLAYER_OPEN_MODE, PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CODE, PLAYER_PLANNER_DATA_STATE, PLAYER_PLANNER_MAX_WAYPOINTS, PLAYER_PLANNER_REQ_ENABLE, PLAYER_PLANNER_REQ_GET_WAYPOINTS, PLAYER_PLANNER_STRING, PLAYER_PLAYER_CODE, PLAYER_PLAYER_REQ_ADD_REPLACE_RULE, PLAYER_PLAYER_REQ_AUTH, PLAYER_PLAYER_REQ_DATA, PLAYER_PLAYER_REQ_DATAFREQ, PLAYER_PLAYER_REQ_DATAMODE, PLAYER_PLAYER_REQ_DEV, PLAYER_PLAYER_REQ_DEVLIST, PLAYER_PLAYER_REQ_DRIVERINFO, PLAYER_PLAYER_REQ_IDENT, PLAYER_PLAYER_REQ_NAMESERVICE, PLAYER_PLAYER_STRING, PLAYER_POSITION1D_CMD_STATE, PLAYER_POSITION1D_CODE, PLAYER_POSITION1D_DATA_GEOM, PLAYER_POSITION1D_DATA_STATE, PLAYER_POSITION1D_GET_GEOM, PLAYER_POSITION1D_MOTOR_POWER, PLAYER_POSITION1D_POSITION_MODE, PLAYER_POSITION1D_POSITION_PID, PLAYER_POSITION1D_RESET_ODOM, PLAYER_POSITION1D_SET_ODOM, PLAYER_POSITION1D_SPEED_PID, PLAYER_POSITION1D_SPEED_PROF, PLAYER_POSITION1D_STRING, PLAYER_POSITION1D_VELOCITY_MODE, PLAYER_POSITION2D_CMD_CAR, PLAYER_POSITION2D_CMD_POS, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_CODE, PLAYER_POSITION2D_DATA_GEOM, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_POSITION_MODE, PLAYER_POSITION2D_REQ_POSITION_PID, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_POSITION2D_REQ_SPEED_PID, PLAYER_POSITION2D_REQ_SPEED_PROF, PLAYER_POSITION2D_REQ_VELOCITY_MODE, PLAYER_POSITION2D_STRING, PLAYER_POSITION3D_CMD_SET_POS, PLAYER_POSITION3D_CMD_SET_VEL, PLAYER_POSITION3D_CODE, PLAYER_POSITION3D_DATA_GEOMETRY, PLAYER_POSITION3D_DATA_STATE, PLAYER_POSITION3D_GET_GEOM, PLAYER_POSITION3D_MOTOR_POWER, PLAYER_POSITION3D_POSITION_MODE, PLAYER_POSITION3D_POSITION_PID, PLAYER_POSITION3D_RESET_ODOM, PLAYER_POSITION3D_SET_ODOM, PLAYER_POSITION3D_SPEED_PID, PLAYER_POSITION3D_SPEED_PROF, PLAYER_POSITION3D_STRING, PLAYER_POSITION3D_VELOCITY_MODE, PLAYER_POWER_CODE, PLAYER_POWER_DATA_STATE, PLAYER_POWER_MASK_CHARGING, PLAYER_POWER_MASK_JOULES, PLAYER_POWER_MASK_PERCENT, PLAYER_POWER_MASK_VOLTS, PLAYER_POWER_MASK_WATTS, PLAYER_POWER_SET_CHARGING_POLICY_REQ, PLAYER_POWER_STRING, PLAYER_PTZ_CMD_STATE, PLAYER_PTZ_CODE, PLAYER_PTZ_DATA_GEOM, PLAYER_PTZ_DATA_STATE, PLAYER_PTZ_MAX_CONFIG_LEN, PLAYER_PTZ_POSITION_CONTROL, PLAYER_PTZ_REQ_AUTOSERVO, PLAYER_PTZ_REQ_CONTROL_MODE, PLAYER_PTZ_REQ_GENERIC, PLAYER_PTZ_REQ_GEOM, PLAYER_PTZ_STRING, PLAYER_PTZ_VELOCITY_CONTROL, PLAYER_RFID_CODE, PLAYER_RFID_DATA, PLAYER_RFID_MAX_GUID, PLAYER_RFID_MAX_TAGS, PLAYER_RFID_REQ_LOCKTAG, PLAYER_RFID_REQ_POWER, PLAYER_RFID_REQ_READTAG, PLAYER_RFID_REQ_WRITETAG, PLAYER_RFID_STRING, PLAYER_SERVICE_ADV_CODE, PLAYER_SERVICE_ADV_STRING, PLAYER_SIMULATION_CODE, PLAYER_SIMULATION_IDENTIFIER_MAXLEN, PLAYER_SIMULATION_REQ_GET_POSE2D, PLAYER_SIMULATION_REQ_SET_POSE2D, PLAYER_SIMULATION_STRING, PLAYER_SONAR_CODE, PLAYER_SONAR_DATA_GEOM, PLAYER_SONAR_DATA_RANGES, PLAYER_SONAR_MAX_SAMPLES, PLAYER_SONAR_REQ_GET_GEOM, PLAYER_SONAR_REQ_POWER, PLAYER_SONAR_STRING, PLAYER_SOUND_CMD_IDX, PLAYER_SOUND_CODE, PLAYER_SOUND_STRING, PLAYER_SPEECH_CMD_SAY, PLAYER_SPEECH_CODE, PLAYER_SPEECH_MAX_STRING_LEN, PLAYER_SPEECH_RECOGNITION_CODE, PLAYER_SPEECH_RECOGNITION_STRING, PLAYER_SPEECH_STRING, PLAYER_TRUTH_CODE, PLAYER_TRUTH_DATA_FIDUCIAL_ID, PLAYER_TRUTH_DATA_POSE, PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID, PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID, PLAYER_TRUTH_REQ_SET_POSE, PLAYER_TRUTH_STRING, PLAYER_WAVEFORM_CODE, PLAYER_WAVEFORM_DATA_MAX, PLAYER_WAVEFORM_DATA_SAMPLE, PLAYER_WAVEFORM_STRING, PLAYER_WIFI_CODE, PLAYER_WIFI_DATA_STATE, PLAYER_WIFI_IWSPY_ADD, PLAYER_WIFI_IWSPY_DEL, PLAYER_WIFI_IWSPY_PING, PLAYER_WIFI_MAC, PLAYER_WIFI_MAX_LINKS, PLAYER_WIFI_MODE_ADHOC, PLAYER_WIFI_MODE_AUTO, PLAYER_WIFI_MODE_INFRA, PLAYER_WIFI_MODE_MASTER, PLAYER_WIFI_MODE_REPEAT, PLAYER_WIFI_MODE_SECOND, PLAYER_WIFI_MODE_UNKNOWN, PLAYER_WIFI_QUAL_DBM, PLAYER_WIFI_QUAL_REL, PLAYER_WIFI_QUAL_UNKNOWN, PLAYER_WIFI_STRING, SPEECH_RECOGNITION_DATA_STRING, SPEECH_RECOGNITION_TEXT_LEN

Constructor Summary

PlayerClient(java.lang.String serverName, int portNumber)
The PlayerClient constructor.

Method Summary

void	close() The PlayerClient "destructor".
PlayerDeviceDriverInfo	getPDDI() Get the driver name for a particular device after a PLAYER_PLAYER_DRIVERINFO_REQ request.
PlayerDeviceDevlist	getPDDList() Get the list of available devices after a PLAYER_PLAYER_REQ_DEVLIST request.
int	getPortNumber() Get the port number for the specified robot after a PLAYER_PLAYER_NAMESERVICE_REQ request.
boolean	isAuthenticated() Check to see if the client has authenticated successfully.
boolean	isReadyPDDI() Check to see if the Player server replied with a PLAYER_PLAYER_DRIVERINFO_REQ successfully.
boolean	isReadyPDDList() Check to see if the Player server replied with a PLAYER_PLAYER_REQ_DEVLIST successfully.
boolean	isReadyPortNumber() Check to see if the port number has been identified.
boolean	isReadyRequestDevice() Check to see if the Player server replied with a PLAYER_PLAYER_REQ_DEV successfully.
void	readAll() Read the Player server replies in non-threaded mode.
void	requestAddReplaceRule(int interf, int index, int type, int subtype, int replace) Configuration request: Add client queue replace rule.
void	requestAuthentication(byte[] key) [NEEDS TESTING, OBSOLETE? - NOT IMPLEMENTED IN PLAYER2] Configuration request: Authentication.
void	requestData() [NEEDS TESTING, returns NACK - NOT FINISHED IN PLAYER2] (warning : player interface discarding message of unsupported subtype 4) Configuration request: Get data.
void	requestDataDeliveryFrequency(int frequency) [NEEDS TESTING, returns NACK - NOT FINISHED IN PLAYER2] (warning : player interface discarding message of unsupported subtype 6) Configuration request: Change data delivery frequency.
void	requestDataDeliveryMode(int mode) [NEEDS TESTING, returns NACK - NOT FINISHED IN PLAYER2] (warning : player interface discarding message of unsupported subtype 5) Configuration request: Change data delivery mode.
void	requestDeviceList() Request/reply: Get the list of available devices.
void	requestDriverInfo(PlayerDevAddr device) Request/reply: Get the driver name for a particular device.
void	requestIdent() [NOT IMPLEMENTED IN PLAYER2 YET?]
ActarrayInterface	requestInterfaceActarray(int index, int access) Request an Actarray device.
AIOInterface	requestInterfaceAIO(int index, int access) Request an AIO device.
AudioDSPInterface	requestInterfaceAudioDSP(int index, int access) Request an AudioDSP device.
AudioMixerInterface	requestInterfaceAudioMixer(int index, int access) Request an AudioMixer device.
BlinkenlightInterface	requestInterfaceBlinkenlight(int index, int access) Request a Blinkenlight device.
BlobfinderInterface	requestInterfaceBlobfinder(int index, int access) Request a Blobfinder device.
BumperInterface	requestInterfaceBumper(int index, int access) Request a Bumper device.
CameraInterface	requestInterfaceCamera(int index, int access) Request a Camera device.
DIOInterface	requestInterfaceDIO(int index, int access) Request a DIO device.
FiducialInterface	requestInterfaceFiducial(int index, int access) Request a Fiducial device.
GPSInterface	requestInterfaceGPS(int index, int access) Request a GPS device.
GripperInterface	requestInterfaceGripper(int index, int access) Request a Gripper device.
IRInterface	requestInterfaceIR(int index, int access) Request an IR device.
JoystickInterface	requestInterfaceJoystick(int index, int access) Request a Joystick device.
LaserInterface	requestInterfaceLaser(int index, int access) Request a Laser device.
LimbInterface	requestInterfaceLimb(int index, int access) Request a Limb device.
LocalizeInterface	requestInterfaceLocalize(int index, int access) Request a Localize device.
LogInterface	requestInterfaceLog(int index, int access) Request a Log device.
MapInterface	requestInterfaceMap(int index, int access) Request a Map device.
MComInterface	requestInterfaceMCom(int index, int access) Request a MComm device.
PlannerInterface	requestInterfacePlanner(int index, int access) Request a Planner device.
Position1DInterface	requestInterfacePosition1D(int index, int access) Request a Position1D device.
Position2DInterface	requestInterfacePosition2D(int index, int access) Request a Position2D device.
Position3DInterface	requestInterfacePosition3D(int index, int access) Request a Position3D device.
PowerInterface	requestInterfacePower(int index, int access) Request a Power device.
PtzInterface	requestInterfacePtz(int index, int access) Request a Ptz device.
RFIDInterface	requestInterfaceRFID(int index, int access) Request a RFID device.
SimulationInterface	requestInterfaceSimulation(int index, int access) Request a Simulation device.
SonarInterface	requestInterfaceSonar(int index, int access) Request a Sonar device.
SoundInterface	requestInterfaceSound(int index, int access) Request a Sound device.
SpeechInterface	requestInterfaceSpeech(int index, int access) Request a Speech device.
SpeechRecognitionInterface	requestInterfaceSpeechRecognition(int index, int access) Request a Speech Recognition device.
WaveformInterface	requestInterfaceWaveform(int index, int access) Request a Waveform device.
WiFiInterface	requestInterfaceWiFi(int index, int access) Request a WiFi device.
void	requestNameService(char[] name) [NEEDS TESTING, returns NACK - NOT FINISHED IN PLAYER2] (warning : player interface discarding message of unsupported subtype 8) Use nameservice to get the corresponding port for a robot name (only with Stage).
void	run() Start the Javaclient thread.
void	runThreaded(long millis, int nanos) Start a threaded copy of Javaclient.
void	setNotThreaded() Change the mode Javaclient runs to non-threaded.

Methods inherited from class java.lang.Thread

activeCount, checkAccess, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

isDebugging

public static final boolean isDebugging

socket

protected java.net.Socket socket

buffer

protected java.io.BufferedOutputStream buffer

is

protected java.io.DataInputStream is

The input stream for the socket connected to the player server.

os

protected java.io.DataOutputStream os

The output stream for the socket connected to the player server. It's buffered, so remember to flush()!

deviceList

protected java.util.Vector<PlayerDevice> deviceList

Constructor Detail

PlayerClient

public PlayerClient(java.lang.String serverName,
                    int portNumber)

The PlayerClient constructor. Once called, it will create a socket with the Player server running on host servername on port portNumber.

Parameters:

serverName - url of the host running Player

portNumber - the port number of the Player server

Method Detail

close

public void close()

The PlayerClient "destructor". Once called, it will close all the open streams/sockets with the Player server.

setNotThreaded

public void setNotThreaded()

Change the mode Javaclient runs to non-threaded.

runThreaded

public void runThreaded(long millis,
                        int nanos)

Start a threaded copy of Javaclient.

Parameters:

millis - number of miliseconds to sleep between calls

nanos - number of nanoseconds to sleep between calls

run

public void run()

Start the Javaclient thread. Ran automatically from runThreaded ().

Specified by:

run in interface java.lang.Runnable

Overrides:

run in class java.lang.Thread

requestDeviceList

public void requestDeviceList()

Request/reply: Get the list of available devices.

It's useful for applications such as viewer programs and test suites that tailor behave differently depending on which devices are available. To request the list, send a null PLAYER_PLAYER_REQ_DEVLIST.

requestDriverInfo

public void requestDriverInfo(PlayerDevAddr device)

Request/reply: Get the driver name for a particular device.

To get a name, send a PLAYER_PLAYER_REQ_DRIVERINFO request that specifies the address of the desired device in the addr field. Set driver_name_count to 0 and leave driver_name empty. The response will contain the driver name.

Parameters:

device - the device

requestData

public void requestData()

[NEEDS TESTING, returns NACK - NOT FINISHED IN PLAYER2] (warning : player interface discarding message of unsupported subtype 4)

Configuration request: Get data.

When the server is in a PLAYER_DATAMODE_PULL_* data delivery mode, the client can request a single round of data by sending a zero-argument request with type code 0x0003. The response will be a zero-length acknowledgement. The client only needs to make this request when a PLAYER_DATAMODE_PULL_* mode is in use.

requestDataDeliveryMode

public void requestDataDeliveryMode(int mode)

[NEEDS TESTING, returns NACK - NOT FINISHED IN PLAYER2] (warning : player interface discarding message of unsupported subtype 5)

Configuration request: Change data delivery mode.

The Player server supports four data modes, described above. By default, the server operates in PLAYER_DATAMODE_PUSH_NEW mode at a frequency of 10Hz. To switch to a different mode send a request with the format given below. The server's reply will be a zero-length acknowledgement.

Parameters:

mode - the requested mode

requestDataDeliveryFrequency

public void requestDataDeliveryFrequency(int frequency)

[NEEDS TESTING, returns NACK - NOT FINISHED IN PLAYER2] (warning : player interface discarding message of unsupported subtype 6)

Configuration request: Change data delivery frequency.

By default, the fixed frequency for the PUSH data delivery modes is 10Hz; thus a client which makes no configuration changes will receive sensor data approximately every 100ms.
The server can send data faster or slower; to change the frequency, send a request with this format. The server's reply will be a zero-length acknowledgement.

Parameters:

frequency - requested frequency in Hz

requestAuthentication

public void requestAuthentication(byte[] key)

[NEEDS TESTING, OBSOLETE? - NOT IMPLEMENTED IN PLAYER2]

Configuration request: Authentication.

If server authentication has been enabled (by providing '-key ' on the command-line; see Command line options); then each client must authenticate itself before otherwise interacting with the server. To authenticate, send a request with this format.

If the key matches the server's key then the client is authenticated, the server will reply with a zero-length acknowledgement, and the client can continue with other operations. If the key does not match, or if the client attempts any other server interactions before authenticating, then the connection will be closed immediately. It is only necessary to authenticate each client once.

Note that this support for authentication is NOT a security mechanism. The keys are always in plain text, both in memory and when transmitted over the network; further, since the key is given on the command-line, there is a very good chance that you can find it in plain text in the process table (in Linux try 'ps -ax | grep player'). Thus you should not use an important password as your key, nor should you rely on Player authentication to prevent bad guys from driving your robots (use a firewall instead). Rather, authentication was introduced into Player to prevent accidentally connecting one's client program to someone else's robot. This kind of accident occurs primarily when Stage is running in a multi-user environment. In this case it is very likely that there is a Player server listening on port 6665, and clients will generally connect to that port by default, unless a specific option is given.

This mechanism was never really used, and may be removed.

Parameters:

key - the authentication key

requestNameService

public void requestNameService(char[] name)

[NEEDS TESTING, returns NACK - NOT FINISHED IN PLAYER2] (warning : player interface discarding message of unsupported subtype 8)

Use nameservice to get the corresponding port for a robot name (only with Stage).

Parameters:

name - the robot name

requestIdent

public void requestIdent()

[NOT IMPLEMENTED IN PLAYER2 YET?]

requestAddReplaceRule

public void requestAddReplaceRule(int interf,
                                  int index,
                                  int type,
                                  int subtype,
                                  int replace)

Configuration request: Add client queue replace rule.

Allows the client to add a replace rule to their server queue. Replace rules define which messages will be replaced when new data arrives. If you are not updating frequently from the server then the use of replace rules for data packets will stop any queue overflow messages.

Each field in the request corresponds to the equivalent field in the message header (use -1 for a "don't care" value).

Parameters:

interf - interface to set replace rule for (-1 for wildcard)

index - index to set replace rule for (-1 for wildcard)

type - message type to set replace rule for (-1 for wildcard), i.e. PLAYER_MSGTYPE_DATA

subtype - message subtype to set replace rule for (-1 for wildcard)

replace - should we replace these messages

readAll

public void readAll()

Read the Player server replies in non-threaded mode.

isReadyPDDList

public boolean isReadyPDDList()

Check to see if the Player server replied with a PLAYER_PLAYER_REQ_DEVLIST successfully.

Returns:

true if the PLAYER_PLAYER_REQ_DEVLIST occured, false otherwise

See Also:

getPDDList()

isReadyPDDI

public boolean isReadyPDDI()

Check to see if the Player server replied with a PLAYER_PLAYER_DRIVERINFO_REQ successfully.

Returns:

true if the PLAYER_PLAYER_DRIVERINFO_REQ occured, false otherwise

See Also:

getPDDI()

getPDDList

public PlayerDeviceDevlist getPDDList()

Get the list of available devices after a PLAYER_PLAYER_REQ_DEVLIST request.

Returns:

an object of PlayerDeviceDevlist type

See Also:

isReadyPDDList()

getPDDI

public PlayerDeviceDriverInfo getPDDI()

Get the driver name for a particular device after a PLAYER_PLAYER_DRIVERINFO_REQ request.

Returns:

an object of PlayerDeviceDriverInfo type

See Also:

isReadyPDDI()

getPortNumber

public int getPortNumber()

Get the port number for the specified robot after a PLAYER_PLAYER_NAMESERVICE_REQ request.

Returns:

the port number the specified robot runs on

See Also:

requestNameService(char[]), isReadyPortNumber()

isAuthenticated

public boolean isAuthenticated()

Check to see if the client has authenticated successfully.

Returns:

true if client has authenticated, false otherwise

isReadyPortNumber

public boolean isReadyPortNumber()

Check to see if the port number has been identified.

Returns:

true if the port is ready to be read, false otherwise

See Also:

getPortNumber()

isReadyRequestDevice

public boolean isReadyRequestDevice()

Check to see if the Player server replied with a PLAYER_PLAYER_REQ_DEV successfully.

Returns:

true if the PLAYER_PLAYER_REQ_DEV occured, false otherwise

requestInterfacePower

public PowerInterface requestInterfacePower(int index,
                                            int access)

Request a Power device.

Parameters:

index - the device index

access - access mode

Returns:

a Power device if successful, null otherwise

requestInterfaceGripper

public GripperInterface requestInterfaceGripper(int index,
                                                int access)

Request a Gripper device.

Parameters:

index - the device index

access - access mode

Returns:

a Gripper device if successful, null otherwise

requestInterfacePosition2D

public Position2DInterface requestInterfacePosition2D(int index,
                                                      int access)

Request a Position2D device.

Parameters:

index - the device index

access - access mode

Returns:

a Position2D device if successful, null otherwise

requestInterfaceSonar

public SonarInterface requestInterfaceSonar(int index,
                                            int access)

Request a Sonar device.

Parameters:

index - the device index

access - access mode

Returns:

a Sonar device if successful, null otherwise

requestInterfaceLaser

public LaserInterface requestInterfaceLaser(int index,
                                            int access)

Request a Laser device.

Parameters:

index - the device index

access - access mode

Returns:

a Laser device if successful, null otherwise

requestInterfaceBlobfinder

public BlobfinderInterface requestInterfaceBlobfinder(int index,
                                                      int access)

Request a Blobfinder device.

Parameters:

index - the device index

access - access mode

Returns:

a Blobfinder device if successful, null otherwise

requestInterfacePtz

public PtzInterface requestInterfacePtz(int index,
                                        int access)

Request a Ptz device.

Parameters:

index - the device index

access - access mode

Returns:

a Ptz device if successful, null otherwise

requestInterfaceFiducial

public FiducialInterface requestInterfaceFiducial(int index,
                                                  int access)

Request a Fiducial device.

Parameters:

index - the device index

access - access mode

Returns:

a Fiducial device if successful, null otherwise

requestInterfaceSpeech

public SpeechInterface requestInterfaceSpeech(int index,
                                              int access)

Request a Speech device.

Parameters:

index - the device index

access - access mode

Returns:

a Speech device if successful, null otherwise

requestInterfaceGPS

public GPSInterface requestInterfaceGPS(int index,
                                        int access)

Request a GPS device.

Parameters:

index - the device index

access - access mode

Returns:

a GPS device if successful, null otherwise

requestInterfaceBumper

public BumperInterface requestInterfaceBumper(int index,
                                              int access)

Request a Bumper device.

Parameters:

index - the device index

access - access mode

Returns:

a Bumper device if successful, null otherwise

requestInterfaceDIO

public DIOInterface requestInterfaceDIO(int index,
                                        int access)

Request a DIO device.

Parameters:

index - the device index

access - access mode

Returns:

a DIO device if successful, null otherwise

requestInterfaceAIO

public AIOInterface requestInterfaceAIO(int index,
                                        int access)

Request an AIO device.

Parameters:

index - the device index

access - access mode

Returns:

an AIO device if successful, null otherwise

requestInterfaceIR

public IRInterface requestInterfaceIR(int index,
                                      int access)

Request an IR device.

Parameters:

index - the device index

access - access mode

Returns:

an IR device if successful, null otherwise

requestInterfaceWiFi

public WiFiInterface requestInterfaceWiFi(int index,
                                          int access)

Request a WiFi device.

Parameters:

index - the device index

access - access mode

Returns:

a WiFi device if successful, null otherwise

requestInterfaceWaveform

public WaveformInterface requestInterfaceWaveform(int index,
                                                  int access)

Request a Waveform device.

Parameters:

index - the device index

access - access mode

Returns:

a Waveform device if successful, null otherwise

requestInterfaceLocalize

public LocalizeInterface requestInterfaceLocalize(int index,
                                                  int access)

Request a Localize device.

Parameters:

index - the device index

access - access mode

Returns:

a Localize device if successful, null otherwise

requestInterfaceMCom

public MComInterface requestInterfaceMCom(int index,
                                          int access)

Request a MComm device.

Parameters:

index - the device index

access - access mode

Returns:

a MComm device if successful, null otherwise

requestInterfaceSound

public SoundInterface requestInterfaceSound(int index,
                                            int access)

Request a Sound device.

Parameters:

index - the device index

access - access mode

Returns:

a Sound device if successful, null otherwise

requestInterfaceAudioDSP

public AudioDSPInterface requestInterfaceAudioDSP(int index,
                                                  int access)

Request an AudioDSP device.

Parameters:

index - the device index

access - access mode

Returns:

an AudioDSP device if successful, null otherwise

requestInterfaceAudioMixer

public AudioMixerInterface requestInterfaceAudioMixer(int index,
                                                      int access)

Request an AudioMixer device.

Parameters:

index - the device index

access - access mode

Returns:

an AudioMixer device if successful, null otherwise

requestInterfacePosition3D

public Position3DInterface requestInterfacePosition3D(int index,
                                                      int access)

Request a Position3D device.

Parameters:

index - the device index

access - access mode

Returns:

a Position3D device if successful, null otherwise

requestInterfaceSimulation

public SimulationInterface requestInterfaceSimulation(int index,
                                                      int access)

Request a Simulation device.

Parameters:

index - the device index

access - access mode

Returns:

a Simulation device if successful, null otherwise

requestInterfaceBlinkenlight

public BlinkenlightInterface requestInterfaceBlinkenlight(int index,
                                                          int access)

Request a Blinkenlight device.

Parameters:

index - the device index

access - access mode

Returns:

a Blinkenlight device if successful, null otherwise

requestInterfaceCamera

public CameraInterface requestInterfaceCamera(int index,
                                              int access)

Request a Camera device.

Parameters:

index - the device index

access - access mode

Returns:

a Camera device if successful, null otherwise

requestInterfaceMap

public MapInterface requestInterfaceMap(int index,
                                        int access)

Request a Map device.

Parameters:

index - the device index

access - access mode

Returns:

a Map device if successful, null otherwise

requestInterfacePlanner

public PlannerInterface requestInterfacePlanner(int index,
                                                int access)

Request a Planner device.

Parameters:

index - the device index

access - access mode

Returns:

a Planner device if successful, null otherwise

requestInterfaceLog

public LogInterface requestInterfaceLog(int index,
                                        int access)

Request a Log device.

Parameters:

index - the device index

access - access mode

Returns:

a Log device if successful, null otherwise

requestInterfaceJoystick

public JoystickInterface requestInterfaceJoystick(int index,
                                                  int access)

Request a Joystick device.

Parameters:

index - the device index

access - access mode

Returns:

a Joystick device if successful, null otherwise

requestInterfaceSpeechRecognition

public SpeechRecognitionInterface requestInterfaceSpeechRecognition(int index,
                                                                    int access)

Request a Speech Recognition device.

Parameters:

index - the device index

access - access mode

Returns:

a Speech Recognition device if successful, null otherwise

requestInterfacePosition1D

public Position1DInterface requestInterfacePosition1D(int index,
                                                      int access)

Request a Position1D device.

Parameters:

index - the device index

access - access mode

Returns:

a Position1D device if successful, null otherwise

requestInterfaceActarray

public ActarrayInterface requestInterfaceActarray(int index,
                                                  int access)

Request an Actarray device.

Parameters:

index - the device index

access - access mode

Returns:

an Actarray device if successful, null otherwise

requestInterfaceLimb

public LimbInterface requestInterfaceLimb(int index,
                                          int access)

Request a Limb device.

Parameters:

index - the device index

access - access mode

Returns:

a Limb device if successful, null otherwise

requestInterfaceRFID

public RFIDInterface requestInterfaceRFID(int index,
                                          int access)

Request a RFID device.

Parameters:

index - the device index

access - access mode

Returns:

a RFID device if successful, null otherwise