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#include <RobotRaconteur.h>
#include "robotraconteur_generated.h"
namespace RR = RobotRaconteur;
namespace c3 = ::experimental::create3;
// This program provides a simple client to the iRobotCreate service
// that connects, drives a bit, and then disconnects
int main(int argc, char* argv[])
{
std::string url = "rr+tcp://localhost:22354?service=create";
if (argc > 1)
{
url = argv[1];
}
try
{
// Use node setup to help initialize client node
RR::ClientNodeSetup node_setup(ROBOTRACONTEUR_SERVICE_TYPES);
// Connect to the service
c3::CreatePtr c = RR::rr_cast<c3::Create>(
RR::RobotRaconteurNode::s()->ConnectService(url, "", nullptr, NULL, "experimental.create3.Create"));
// Set an event handler for the "Bump" event. This can be any valid boost::function, use lambda here
c->get_bump().connect([]() { std::cout << "Bump!!" << std::endl; });
// Connect the "packets" wire and add a value changed event handler
auto wire = c->get_create_state()->Connect();
// Connect the event handler. This can be any valid boost::function, use lambda here
wire->WireValueChanged.connect([](const RR::WireConnectionPtr<c3::CreateStatePtr>& wire_connection,
const c3::CreateStatePtr& value, const RR::TimeSpec& time) {
c3::CreateStatePtr value2 = wire_connection->GetInValue();
// Uncomment this line to show the current service time
// std::cout << ((int)value2->time) << std::endl;
});
// Set the callback function for the play_callback. This can be
// any valid boost::function, use lambda here
c->get_play_callback()->SetFunction([](double dist, double angle) {
uint8_t notes[] = {69, 16, 60, 16, 69, 16};
return RR::AttachRRArrayCopy(notes, 6);
});
c->claim_play_callback();
// Drive the robot a bit
c->drive(0.2, 5.0);
boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
c->stop();
boost::this_thread::sleep(boost::posix_time::milliseconds(5000));
// Close the wire connection
wire->Close();
}
catch (std::exception& exp)
{
// Report an error
std::cout << "Error occurred in client: " << exp.what() << std::endl;
return 1;
}
return 0;
}
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