67 lines
3.2 KiB
C++
67 lines
3.2 KiB
C++
/*************************************************************************************
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* Copyright (c) 2016, Miguel Angel Astor Romero *
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* All rights reserved. *
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* *
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* Redistribution and use in source and binary forms, with or without *
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* modification, are permitted provided that the following conditions are met: *
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* *
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* 1. Redistributions of source code must retain the above copyright notice, this *
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* list of conditions and the following disclaimer. *
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* 2. Redistributions in binary form must reproduce the above copyright notice, *
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* this list of conditions and the following disclaimer in the documentation *
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* and/or other materials provided with the distribution. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
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* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
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*************************************************************************************/
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#include "robot.hpp"
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Robot::Robot(std::string hostname, uint32_t port) {
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_p_client = new PlayerCc::PlayerClient(hostname, port);
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_p_proxy = new PlayerCc::Position2dProxy(_p_client, 0);
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_r_proxy = new PlayerCc::RangerProxy(_p_client, 0);
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_p_proxy->RequestGeom();
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_r_proxy->RequestGeom();
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_r_proxy->RequestConfigure();
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}
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Robot::~Robot() {
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std::cout << "Destroying robot" << std::endl;
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delete _p_proxy;
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delete _r_proxy;
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delete _p_client;
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}
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IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port) : Robot(hostname, port) {
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std::cout << "Creating IAS-SS robot on host \"" << hostname << "\" and port " << port << "." << std::endl;
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}
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IASSS_Robot::~IASSS_Robot() {
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std::cout << "Destroying IAS-SS robot." << std::endl;
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}
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void IASSS_Robot::run() {
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_p_client->Read();
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if(_r_proxy->GetRange(1) < 1.0) {
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if(_r_proxy->GetRange(0) > 1.0)
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_p_proxy->SetSpeed(0.0f, PlayerCc::dtor(-45));
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else if(_r_proxy->GetRange(2) > 1.0)
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_p_proxy->SetSpeed(0.0f, PlayerCc::dtor(45));
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else
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_p_proxy->SetSpeed(0.0f, PlayerCc::dtor(180));
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} else {
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_p_proxy->SetSpeed(0.3f, 0.0f);
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}
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sleep(1);
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}
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