Fawkes API Fawkes Development Version
qa_player_setmotor.cpp
1
2/***************************************************************************
3 * qa_player_setmotor.cpp - Player QA App: set motor values
4 *
5 * Created: Tue Sep 30 23:40:57 2008
6 * Copyright 2006-2008 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#include <blackboard/remote.h>
24#include <interfaces/MotorInterface.h>
25
26#include <cstdio>
27#include <unistd.h>
28
29using namespace fawkes;
30
31int
32main(int argc, char **argv)
33{
34 BlackBoard *bb = new RemoteBlackBoard("localhost", 1910);
35
36 MotorInterface *motor = bb->open_for_reading<MotorInterface>("Player Motor");
37 motor->read();
38
39 printf("Motor x=%f y=%f z=%f\n",
40 motor->odometry_position_x(),
41 motor->odometry_position_y(),
42 motor->odometry_orientation());
43
44 printf("Setting relative (2, 0, 0), this is (%f, %f, %f) global\n",
45 motor->odometry_position_x() + 2,
46 motor->odometry_position_y(),
47 motor->odometry_orientation());
48
50 motor->odometry_position_y(),
51 motor->odometry_orientation(),
52 1 /* sec */));
53
54 bb->close(motor);
55
56 delete bb;
57 return 0;
58}
The BlackBoard abstract class.
Definition: blackboard.h:46
virtual Interface * open_for_reading(const char *interface_type, const char *identifier, const char *owner=NULL)=0
Open interface for reading.
virtual void close(Interface *interface)=0
Close interface.
unsigned int msgq_enqueue(Message *message, bool proxy=false)
Enqueue message at end of queue.
Definition: interface.cpp:915
void read()
Read from BlackBoard into local copy.
Definition: interface.cpp:479
GotoMessage Fawkes BlackBoard Interface Message.
MotorInterface Fawkes BlackBoard Interface.
float odometry_position_y() const
Get odometry_position_y value.
float odometry_orientation() const
Get odometry_orientation value.
float odometry_position_x() const
Get odometry_position_x value.
Remote BlackBoard.
Definition: remote.h:50
Fawkes library namespace.