main.cc

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#include <iostream>
#include <stdio.h>
#include <libplayerc++/playerc++.h>
#include <scorpion.h>
#include <args.h>
using namespace PlayerCc;

int
main(int argc, char *argv[])
{
   // Parse input arguments
  parse_args(argc,argv);
   
   timespec move_sleep = { 5, 0 };
   timespec turn_sleep = { 3, 0 };
   timespec stop_sleep = { 10, 0 };

  // libplayerc++ throws a PlayerError exception when
  // it runs into trouble
   // The PlayerError is often more readable...
   try
   {
      PlayerClient robot(gHostname, gPort);
      Position2dProxy pp(&robot, gIndex);
      BumperProxy bp(&robot, gIndex);

      // Using pull datamode, so we only get newest data
      // Replacerule make old data being overwritten
      robot.SetDataMode(PLAYER_DATAMODE_PULL);
      robot.SetReplaceRule(true, PLAYER_MSGTYPE_DATA);
     
      // Speed and turn settings
      double turn_rate = 0.5;
      double move_speed = 0.10;
   
      
      /* Go into read-think-act loop */
      while (true) {
         // read from the proxies
         robot.Read();
   
         // Stop if bumpsensors not activated
         if (!bp.IsAnyBumped()) {
            printf("Nothing ... waiting for bump\n");
            pp.SetSpeed(0, 0);
         }
         
         // depending on the "bumpside" avoid the bump
         if (bp.IsBumped(SCORPION_BUMP_BNE) && bp.IsBumped(SCORPION_BUMP_BNW)) 
         { // both bumped
            printf("Both bumpsensors bumped \n");
            pp.SetSpeed(-move_speed, 0);              // go backwards
            nanosleep(&move_sleep, NULL);             
            nanosleep(&move_sleep, NULL);             
            pp.SetSpeed(0, 0);                              // stop
         } 
         else if (bp.IsBumped(SCORPION_BUMP_BNW))  
         {  //left bump
            printf("Left bump!\n");
            pp.SetSpeed(-move_speed, 0);              // go backwards
            nanosleep(&move_sleep, NULL);
            pp.SetSpeed(-move_speed, -turn_rate); // go backwards turning left 
            nanosleep(&turn_sleep, NULL);
            pp.SetSpeed(0, 0);                              // stop
         } 
         else if (bp.IsBumped(SCORPION_BUMP_BNE)) 
         { // right bump
            printf("Right bump!\n");
            pp.SetSpeed(-move_speed, 0);              // go backwards
            nanosleep(&move_sleep, NULL);             
            pp.SetSpeed(-move_speed, turn_rate);   // go backwards turning right
            nanosleep(&turn_sleep, NULL);
            pp.SetSpeed(0, 0);                              // stop
         }
      }
   }
    catch (PlayerCc::PlayerError e)
   {
    std::cerr << e << std::endl;
    return -1;
   }
}

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