int
main(int argc, const char **argv)
{
int i;
playerc_client_t *client;
playerc_position2d_t *position2d;
// Create a client and connect it to the server.
client = playerc_client_create(NULL, "localhost", 6666);
if (0 != playerc_client_connect(client))
return -1;
// Create and subscribe to a position2d device.
position2d = playerc_position2d_create(client, 1);
if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
return -1;
// Make the robot spin!
if (0 != playerc_position2d_set_cmd_vel(position2d, 0.25, 0, DTOR(40.0), 1))
return -1;
for (i = 0; i < 200; i++)
{
// Wait for new data from server
playerc_client_read(client);
// Print current robot pose
printf("position2d : %f %f %f\n",
position2d->px, position2d->py, position2d->pa);
}
// Shutdown
playerc_position2d_unsubscribe(position2d);
playerc_position2d_destroy(position2d);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
int
main(int argc, char **argv)
{
// Initialize movement parameters (default to a square)
int n = 4;
int l = 65;
int v = 50;
int a = 90;
// Parse command-line arguements
int option_index = 0;
static struct option long_options[] = {
{"line", 0, 0, 0 },
{"triangle", 0, 0, 1 },
{"square", 0, 0, 2 },
{"pentagon", 0, 0, 3 },
{"hexagon", 0, 0, 4 },
{0, 0, 0, 0 }
};
int shape_set = false;
int angle_set = false;
int num_set = false;
int reverse_direction = false;
int smooth_acceleration = false;
int c;
while ((c = getopt_long(argc, argv, "l:v:n:a:rs",
long_options, &option_index)) != -1)
switch (c) {
case 0: // line
n = 2; a = 180; shape_set = true; break;
case 1: // triangle
n = 3; a = 120; shape_set = true; break;
case 2: // square
n = 4; a = 90; shape_set = true; break;
case 3: // pentagon
n = 5; a = 72; shape_set = true; break;
case 4: // hexagon
n = 6; a = 60; shape_set = true; break;
case 'l': // 0 to 200 cm (default 65)
l = atoi(optarg); break;
case 'v': // 0 to 50 cm/sec (default 50)
v = atoi(optarg); break;
case 'n': // 0 to 10 (default 4)
n = atoi(optarg); num_set = true; break;
case 'a': // 0 to 180 degrees (default 90)
a = atoi(optarg); angle_set = true; break;
case 'r':
reverse_direction = true; break;
case 's':
smooth_acceleration = true; break;
case '?':
if (optopt == 'v' || optopt == 'a' || optopt == 'l' || optopt == 'n')
fprintf (stderr, "Option -%c requires an argument.\n", optopt);
else if (isprint (optopt))
fprintf (stderr, "Unknown option `-%c'.\n", optopt);
else
fprintf (stderr, "Unknown option character `\\x%x'.\n", optopt);
return 1;
default:
printf("Bad arguments.\n\nUsage: dead_reckoning -n <number of sides> "
"-l <length of each side> -v <velocity (cm/sec)> "
"-a <turning angle (degrees)>");
exit(1);
}
int i = 0;
for (i = optind; i < argc; i++)
printf ("Non-option argument %s\n", argv[i]);
if(!shape_set && (!num_set || !angle_set)) {
printf("\nYou need to specify a shape (by name, or with the arguments "
"'n' and 'a').\n\nUsage: dead_reckoning --<shape> "
"[-l <side length>] [-v <velocity>] [-r] [-s]\n\n"
"Alternative usage: dead_reckoning -n <number of sides> "
"-a <angle of each corner in degrees> "
"[-l <length of each side>] [-v <velocity>]\n\n"
"Valid shapes are: line, triangle, square, pentagon, hexagon\n"
"Side length is in cm. Valid range is [10,200]. Default value is 65.\n"
"Velocity is in cm/sec. Valid range is [10,50]. Default value is 50.\n"
"The -r option reverses the turn direction (clockwise by default)\n"
"The -s option enables smooth acceleration and deceleration\n\n"
"e.g. dead_reckoning --hexagon\n"
"e.g. dead_reckoning --hexagon -l 100\n"
"e.g. dead_reckoning --hexagon -l 100 -v 40\n"
"e.g. dead_reckoning -n 6 -a 60 -l 100 -v 40\n\n");
exit(1);
}
// Initialize player
i = 0;
playerc_client_t *client;
playerc_position2d_t *position2d;
// Create a client and connect it to the server.
client = playerc_client_create(NULL, "localhost", 6665);
if (0 != playerc_client_connect(client))
return -1;
// Create and subscribe to a position2d device.
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
return -1;
// Read initial position
playerc_client_read(client);
double start_x = position2d->px;
double start_y = position2d->py;
double start_a = position2d->pa;
// Convert parameters to motor control arguments
double max_vel = 0.01 * v;
int move_time = l * 28000;
move_time *= 50.0 / (double)v;
double max_turn_speed = 1.57; // 90 degrees per second
int turn_time = (int)(((double)a/90.0) * 560000);
int d = -1;
if (reverse_direction) d = 1;
// Move the robot (e.g. square)
double accel_rate = 0.01; // 2 meters per sec^2
double turn_accel_rate = 0.0314; // 360 degrees per sec^2
int cycle_time = 5000; // 5 miliseconds
for (i = 0; i < n; ++i) {
// FORWARD
int acceleration_time = 0;
double vel = 0;
int t = 0;
if (smooth_acceleration) {
// accelerate (up to max speed in 0.25 seconds)
acceleration_time = (max_vel / accel_rate) * cycle_time;
for (; vel < max_vel && t < move_time / 2;
t += cycle_time, vel += accel_rate, usleep(cycle_time))
if (playerc_position2d_set_cmd_vel(position2d, vel, 0, 0, 1)) return -1;
}
//max forward speed
if (playerc_position2d_set_cmd_vel(position2d, max_vel, 0, 0, 1)) return -1;
usleep(move_time - acceleration_time); // not 2x acceleration time in order to make
// up for ground not covered durring acceleration
// (at an average of half of full speed)
if (smooth_acceleration) {
// decelerate
for (; vel >= 0; vel -= accel_rate, usleep(cycle_time))
if (playerc_position2d_set_cmd_vel(position2d, vel, 0, 0, 1)) return -1;
}
// TURN
double turn_speed = 0;
if (smooth_acceleration) {
// accelerate (up to max speed in 0.25 seconds)
acceleration_time = (max_turn_speed / turn_accel_rate) * cycle_time;
for (t = 0; turn_speed < max_turn_speed && t < move_time / 2;
t += cycle_time, turn_speed += turn_accel_rate, usleep(cycle_time))
if (playerc_position2d_set_cmd_vel(position2d, 0, 0, d * turn_speed, 1)) return -1;
}
// max turn speed
if (playerc_position2d_set_cmd_vel(position2d, 0, 0, d * max_turn_speed, 1)) return -1;
usleep(turn_time - acceleration_time);
if (smooth_acceleration) {
// decelerate
for (; turn_speed >= 0; turn_speed -= turn_accel_rate, usleep(cycle_time))
if (playerc_position2d_set_cmd_vel(position2d, 0, 0, d * turn_speed, 1)) return -1;
}
}
// Stop
if (playerc_position2d_set_cmd_vel(position2d, 0, 0, 0, 1)) return -1;
// Read final position, get error
playerc_client_read(client);
double error_x = position2d->px - start_x;
double error_y = position2d->py - start_y;
double error_a = position2d->pa - start_a;
// Report odometry error
printf("\n\nMovement error according to onboard odometry:\n"
"\tX pos: %f cm\n\tY pos: %f cm\n\tAngle: %f degrees\n",
error_x * 100, error_y * 100, error_a * -57.325);
// Shutdown
playerc_position2d_unsubscribe(position2d);
playerc_position2d_destroy(position2d);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
int main(int argc, const char **argv)
{
//Variaveis
int degrees,PosRelX,PosRelY;
float radians,Dlaser,ODM_ang, ang;
int width = 500, height = 500; //Coloque o tamanho do mapa aqui (em pixel)
int centroX = (width / 2);
int centroY = (height / 2);
playerc_client_t *client;
playerc_laser_t *laser;
playerc_position2d_t *position2d;
CvPoint pt,pt1,pt2;
CvScalar cinzaE,preto,cinzaC;
char window_name[] = "Mapa";
IplImage* image = cvCreateImage( cvSize(width,height), 8, 3 );
cvNamedWindow(window_name, 1 );
preto = CV_RGB(0, 0, 0); //Para indicar obstaculos
cinzaE = CV_RGB(92, 92, 92); //Para indicar o desconhecido
cinzaC = CV_RGB(150, 150, 150); //Para indicar espacos livres
printf ("debug: 11 - INICIO\n");
client = playerc_client_create(NULL, "localhost", 6665);
printf ("debug: 12\n");
if (playerc_client_connect(client) != 0)
return -1;
printf ("debug: 13\n");
laser = playerc_laser_create(client, 0);
printf ("debug: 21\n");
if (playerc_laser_subscribe(laser, PLAYERC_OPEN_MODE))
return -1;
printf ("debug: 22\n");
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYERC_OPEN_MODE) != 0) {
printf ("err1\n");
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf ("debug: 23\n");
if (playerc_client_datamode (client, PLAYERC_DATAMODE_PULL) != 0) {
printf ("err2\n");
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf ("debug: 24\n");
if (playerc_client_set_replace_rule (client, -1, -1, PLAYER_MSGTYPE_DATA, -1, 1) != 0) {
printf ("err3\n");
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
playerc_position2d_enable(position2d, 1); // Liga os motores
printf ("debug: 25\n");
playerc_position2d_set_odom(position2d, 0, 0, 0); // Zera o odômetro
cvSet(image, cinzaE,0); //Preencha a imagem com fundo cinza escuro
pt.x = centroX; // Zera a coordenada X
pt.y = centroY; // Zera a coordenada Y
/*
if( 0 != playerc_position2d_set_cmd_vel(position2d, 0, 0, DTOR(40.0), 1))
return -1;
*/
while(1) {
printf ("debug: 26\n");
playerc_client_read(client);
printf ("debug: 27\n");
//cvSaveImage("mapa1.jpg",image,0);
printf ("debug: 28\n");
//playerc_client_read(client);
printf ("debug: 29\n");
for (degrees = 2; degrees <= 360; degrees+=2) {
printf ("debug: 30\n");
Dlaser = laser->scan[degrees][0];
printf ("debug: 31\n");
if (Dlaser < 8) {
radians = graus2rad (degrees/2); //Converte o angulo do laser em graus para radianos
printf ("debug: 32\n");
ODM_ang = position2d->pa; //Obtem o angulo relativo do robo
ang = ((1.5*PI)+radians+ODM_ang); //Converte o angulo relativo em global
printf ("debug: 33\n");
PosRelX = arredonda(position2d->px); //Posicao X relativa do robo
PosRelY = arredonda(position2d->py); //Posicao Y relativa do robo
printf ("debug: 34\n");
pt1.y = (centroY-PosRelY); //Coordenada y global do robo
pt1.x = (centroX+PosRelX); //Coordenada x global do robo
//converte coordenadas polares para retangulares (global)
printf ("debug: 35\n");
pt.y = (int)(pt1.y-(sin(ang)*Dlaser*10));
pt.x = (int)(pt1.x+(cos(ang)*Dlaser*10));
printf ("debug: 36\n");
//Desenha a area livre
cvLine(image, pt1,pt,cinzaC, 1,4,0);
printf ("debug: 37\n");
//Marca o objeto no mapa
cvLine(image, pt,pt,preto, 1,4,0);
printf ("debug: 38\n");
//Mostra o resultado do mapeamento na tela
//cvShowImage(window_name, image );
printf ("debug: 39\n");
//cvWaitKey(10);
printf ("debug: 40\n");
}
}
}
//Desconecta o player
printf ("debug: 41\n");
playerc_laser_unsubscribe(laser);
printf ("debug: 42\n");
playerc_laser_destroy(laser);
printf ("debug: 43\n");
playerc_client_disconnect(client);
printf ("debug: 44\n");
playerc_client_destroy(client);
printf ("debug: 45\n");
//Destroi a janela OpenCV
cvReleaseImage(&image);
printf ("debug: 46\n");
cvDestroyWindow(window_name);
printf ("debug: 47\n");
return 0;
}
int main(int argc, const char **argv) {
int i;
int porta = 6665;
double x, y;
char livre;
char end_ip[20];
// OpenCV Variables
char wndname[30] = "Drawing Demo";
int line_type = CV_AA; // change it to 8 to see non-antialiased graphics
CvPoint pt1, pt2;
IplImage* image;
int width = MAX_X, height = MAX_Y; // 200 x 100 pixels
// Player-Stage Variables
playerc_client_t *client;
playerc_position2d_t *position2d;
playerc_laser_t *laser;
// Create a window
image = cvCreateImage(cvSize(width, height), 8, 3);
cvNamedWindow(wndname, 1);
cvZero(image);
pt1.x = 100;
pt1.y = MAX_Y;
pt2.x = 100;
pt2.y = MAX_Y - 80;
cvLine(image, pt1, pt2, CV_RGB(255, 255, 255), 2, line_type, 0);
pt2.x = 20;
pt2.y = MAX_Y;
cvLine(image, pt1, pt2, CV_RGB(255, 255, 255), 2, line_type, 0);
pt2.x = 180;
pt2.y = MAX_Y;
cvLine(image, pt1, pt2, CV_RGB(255, 255, 255), 2, line_type, 0);
cvShowImage(wndname, image);
cvWaitKey(1000);
cvZero(image);
pt1.x = 20;
pt1.y = MAX_Y;
pt2.x = 160;
pt2.y = MAX_Y - 80;
cvRectangle(image, pt1, pt2, CV_RGB(255, 255, 255), 2, line_type, 0);
cvShowImage(wndname, image);
cvWaitKey(1000);
strcpy(end_ip, "localhost");
if (argc >= 2) /* Get Port */
porta = atoi(argv[1]);
if (argc >= 3) /* Get IP Address */
strcpy(end_ip, argv[2]);
printf("Porta: %d\n", porta);
printf("IP: %s\n", end_ip);
client = playerc_client_create(NULL, end_ip, porta);
if (playerc_client_connect(client) != 0)
return -1;
// Connect to Position
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYERC_OPEN_MODE) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
// Enable motor control
playerc_position2d_enable(position2d, 1);
// Connect to Laser
laser = playerc_laser_create(client, 0);
if (playerc_laser_subscribe(laser, PLAYERC_OPEN_MODE))
return -1;
// Read several times the robot data (delay)
playerc_client_read(client);
playerc_client_read(client);
playerc_client_read(client);
playerc_client_read(client);
playerc_client_read(client);
while (1) {
playerc_client_read(client);
// scan for free 100 cm in front of robot
livre = 1;
cvZero(image);
for (i = 0; i < 360; i++) {
if ((laser->scan[i][0]) < 0.5)
livre = 0;
// Debug: if (laser->scan[i][0] <= 0) printf("#");
if (laser->scan[i][0] < 7.8) {
x = laser->scan[i][0] * cos(laser->scan[i][1] + 3.1415926 / 2.0);
y = laser->scan[i][0] * sin(laser->scan[i][1] + 3.1415926 / 2.0);
pt1.x = (int) (x * 10 + 100);
pt1.y = (int) (MAX_Y - y * 10);
cvCircle(image, pt1, 2, CV_RGB(255, 255, 255), 1, line_type, 0);
}
}
cvShowImage(wndname, image);
// if free moves, otherwise turns
if (livre)
playerc_position2d_set_cmd_vel(position2d, 0.2, 0, 0.0, 1);
else
playerc_position2d_set_cmd_vel(position2d, 0.0, 0, 0.4, 1);
cvWaitKey(10);
}
playerc_laser_unsubscribe(laser);
playerc_laser_destroy(laser);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
int
player_update()
{
int i;
if (NULL != playerc_client_read(g_client))
{
if (NULL != g_camera)
{
// Decompress the image if necessary
playerc_camera_decompress(g_camera);
assert(allocated_size > g_camera->image_count*3);
// figure out the colorspace
switch (g_camera->format)
{
case PLAYER_CAMERA_FORMAT_MONO8:
// we should try to use the alpha layer,
// but for now we need to change
// the image data
for (i=0;i<g_camera->image_count;++i)
{
memcpy(g_img+i*3, g_camera->image+i, 3);
}
break;
case PLAYER_CAMERA_FORMAT_MONO16:
{
int j = 0;
// Transform to MONO8
for (i = 0; i < g_camera->image_count; i++, j+=2)
{
g_img[i*3+1] = g_img[i*3+2] = g_img[i*3+3] =
((unsigned char)(g_camera->image[j]) << 8) +
(unsigned char)(g_camera->image[j+1]);
}
break;
}
case PLAYER_CAMERA_FORMAT_RGB888:
// do nothing
memcpy(g_img, g_camera->image, g_camera->image_count);
break;
default:
g_print("Unknown camera format: %i\n", g_camera->format);
exit(-1);
}
g_width = g_camera->width;
g_height = g_camera->height;
}
if (NULL != g_blobfinder)
{
g_blob_count = PLAYERCAM_MAX_BLOBS < g_blobfinder->blobs_count ? PLAYERCAM_MAX_BLOBS : g_blobfinder->blobs_count;
memcpy(g_blobs,
g_blobfinder->blobs,
g_blob_count*sizeof(player_blobfinder_blob_t));
if ((g_width != g_blobfinder->width) ||
(g_height != g_blobfinder->height))
{
g_print("camera and blobfinder height or width do not match %d,%d != %d,%d\n",g_width,g_height,g_blobfinder->width,g_blobfinder->height);
// should we die here?
//exit(-1);
}
}
}
else
{
g_print("ERROR reading player g_client\n");
//exit(-1);
}
return 0;
}
int
player_init(int argc, char *argv[])
{
int csize, usize, i;
if(get_options(argc, argv) < 0)
{
print_usage();
exit(-1);
}
// Create a g_client object and connect to the server; the server must
// be running on "localhost" at port 6665
g_client = playerc_client_create(NULL, g_hostname, g_port);
playerc_client_set_transport(g_client, g_transport);
if (0 != playerc_client_connect(g_client))
{
fprintf(stderr, "error: %s\n", playerc_error_str());
exit(-1);
}
/* if (0 != playerc_client_datafreq(g_client, 20))
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
*/
// Create a camera proxy (device id "camera:index") and susbscribe
g_camera = playerc_camera_create(g_client, g_camera_index);
if (0 != playerc_camera_subscribe(g_camera, PLAYER_OPEN_MODE))
{
fprintf(stderr, "camera error: %s\n", playerc_error_str());
fprintf(stderr, "playercam will attempt to continue without a camera\n");
playerc_camera_destroy(g_camera);
g_camera = NULL;
}
// Create a blobfinder proxy (device id "blobfinder:index") and susbscribe
g_blobfinder = playerc_blobfinder_create(g_client, g_blobfinder_index);
if (0 != playerc_blobfinder_subscribe(g_blobfinder, PLAYER_OPEN_MODE))
{
fprintf(stderr, "blobfinder error: %s\n", playerc_error_str());
fprintf(stderr, "playercam will attempt to continue without a blobfinder\n");
playerc_blobfinder_destroy(g_blobfinder);
g_blobfinder = NULL;
}
if ((NULL == g_camera) && (NULL == g_blobfinder))
{
fprintf(stderr, "we need either a camera or blobfinder! aborting\n");
exit(-1);
}
// Get up to 10 images until we have a valid frame (g_wdith > 0)
for (i=0, g_width=0; i < 10 && g_width==0 && NULL != playerc_client_read(g_client); ++i)
{
if (NULL != g_camera)
{
// Decompress the image
csize = g_camera->image_count;
playerc_camera_decompress(g_camera);
usize = g_camera->image_count;
g_print("camera: [w %d h %d d %d] [%d/%d bytes]\n",
g_camera->width, g_camera->height, g_camera->bpp, csize, usize);
g_width = g_camera->width;
g_height = g_camera->height;
if (allocated_size != usize)
{
g_img = realloc(g_img, usize);
allocated_size = usize;
}
}
else // try the blobfinder
{
g_print("blobfinder: [w %d h %d]\n",
g_blobfinder->width, g_blobfinder->height);
g_width = g_blobfinder->width;
g_height = g_blobfinder->height;
usize = g_width * g_height * 3;
if (allocated_size != usize)
{
g_img = realloc(g_img, usize);
allocated_size = usize;
}
// set the image data to 0 since we don't have a camera
memset(g_img, 128, usize);
}
}
g_window_width = g_width;
g_window_height = g_height;
assert(g_width>0);
assert(g_height>0);
playerc_client_datamode(g_client,PLAYER_DATAMODE_PULL);
playerc_client_set_replace_rule(g_client,-1,-1,PLAYER_MSGTYPE_DATA,-1,1);
return 0;
}
/*double
randomInt(int low, int high)
{
return low + (high - low) * (rand()/(RAND_MAX * 1.0 ));
}
// Main function for the program*/
int
main(int argc, const char **argv)
{
playerc_client_t *client;
playerc_position2d_t *position2d;
int cycle, index=0;
double dist,angle,fidAngle = 0,lineAngle=0, fidDist=0, prevYaw=0,posAngle=0;
// Create a client and connect it to the server.
client = playerc_client_create(NULL, "localhost", 6665);
if (0 != playerc_client_connect(client))
return -1;
// Create and subscribe to a position2d device.
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
return -1;
// Initiating random walk movement
/*if (0 != playerc_position2d_set_cmd_vel(position2d, randomInt(0.1,1)
,randomInt(0.1,1),DTOR(randomInt(-20,20)) ,1))
return -1;
fprintf(stdout, "robot random positions \n");*/
//looping in random positions
int i;
for (i = 0; i<=10; i++)
{
// Wait for new data from server
playerc_client_read(client);
fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",
position2d->px, position2d->py, position2d->pa);
// Random walk is continued till finding first marker
if (0 != playerc_position2d_set_cmd_vel(position2d, 3
,0 , 0,1))
return -1;
usleep(1000);
}
for (i = 0; i<=10; i++)
{
// Wait for new data from server
playerc_client_read(client);
fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",
position2d->px, position2d->py, position2d->pa);
// Random walk is continued till finding first marker
if (0 != playerc_position2d_set_cmd_vel(position2d, 0
,0 , 1,1))
return -1;
usleep(1000);
}
for (i = 0; i<=10; i++)
{
// Wait for new data from server
playerc_client_read(client);
fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",
position2d->px, position2d->py, position2d->pa);
// Random walk is continued till finding first marker
if (0 != playerc_position2d_set_cmd_vel(position2d, 3
,0 , 0,1))
return -1;
usleep(1000);
}
for (i = 0; i<=10; i++)
{
// Wait for new data from server
playerc_client_read(client);
fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",
position2d->px, position2d->py, position2d->pa);
// Random walk is continued till finding first marker
if (0 != playerc_position2d_set_cmd_vel(position2d, 0
,0 , 1,1))
return -1;
usleep(1000);
}
for (i = 0; i<=10; i++)
{
// Wait for new data from server
playerc_client_read(client);
fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",
position2d->px, position2d->py, position2d->pa);
// Random walk is continued till finding first marker
if (0 != playerc_position2d_set_cmd_vel(position2d, 3
,0 , 0,1))
return -1;
usleep(1000);
}
while(1)
{if (0 != playerc_position2d_set_cmd_vel(position2d, 0,0 , 0,1))
return -1;
}
playerc_position2d_unsubscribe(position2d);
playerc_position2d_destroy(position2d);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
int main(int argc, const char **argv)
{
int i;
playerc_client_t *client;
nsdnet_t *device;
// Takes a parameter for the index.
int index = 0;
if (argc < 2)
{
printf("Needs one parameter.\n");
return 0;
}
else
{
index = atoi(argv[1]);
printf("Using index %d\n", index);
}
// Create a client and connect it to the server.
client = playerc_client_create(NULL, "localhost", 6665);
if (0 != playerc_client_connect(client))
{
printf("Could not connect\n");
return -1;
}
// Load the plugin interface
if (playerc_add_xdr_ftable (player_plugininterf_gettable (), 0) < 0)
printf("Could not add xdr functions\n");
// Create and subscribe to a device using the interface.
device = nsdnet_create(client, index);
if (nsdnet_subscribe(device, PLAYER_OPEN_MODE) != 0)
{
printf("Could not subscribe\n");
return -1;
}
// Get our clientid
if (nsdnet_property_get(device, "self.id"))
{
printf("Failed to get registered device id...\n");
return -1;
}
// Print out what we get...
printf("Client id: %s\n", device->propval);
// Get the list of clients
if (nsdnet_get_listclients(device))
{
printf("Failed to get list of clients...\n");
return -1;
}
// Print out what we get...
printf("Clients: ");
for (i = 0; i < device->listclients_count; i++)
{
printf("%s ", device->listclients[i]);
}
printf("\n");
// Endless loop...
for (i = 0; i < 1000; i++)
{
if (playerc_client_peek(client, 0) == 1)
{
playerc_client_read(client);
while (device->queue_head != device->queue_tail)
{
nsdmsg_t *msg; int err;
if ((err = nsdnet_receive_message(device, &msg)))
{
if (err < 0)
printf("ERROR\n");
else
printf("%s: %s [%d]\n", msg->clientid, msg->msg, i);
}
}
usleep(0);
}
else
{
printf("Sending Hello World\n");
if (nsdnet_send_message(device, NULL, 12, "Hello World"))
{
printf("Could not broadcast 'Hello World'\n");
return -1;
}
usleep(100000);
}
}
// Shutdown
nsdnet_unsubscribe(device);
nsdnet_destroy(device);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
int
main(int argc, const char **argv)
{
int i;
playerc_client_t *client;
player_pose2d_t position2d_vel;
player_pose2d_t position2d_target;
playerc_position2d_t *position2d;
// Create a client and connect it to the server.
client = playerc_client_create(NULL, "localhost", 6665);
if (0 != playerc_client_connect(client))
return -1;
// Create and subscribe to a position2d device.
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
return -1;
// Make the robot spin!
if (0 != playerc_position2d_set_cmd_vel(position2d, 0.25, 0, DTOR(40.0), 1))
return -1;
for (i = 0; i < 50; i++)
{
playerc_client_read(client);
// Print current robot pose
printf("position2d : %f %f %f\n",
position2d->px, position2d->py, position2d->pa);
}
/* con el comando playerc_position2d_set_cmd_vel() simplemente se establece una
* consigna de velocidad la cual es independiente de la posición en la que se
* encuentra el robot */
position2d_target.px = 2;
position2d_target.py = -3;
position2d_target.pa = 0;
// Move to pose
playerc_position2d_set_cmd_pose(position2d, position2d_target.px , position2d_target.py, position2d_target.pa , 1);
printf("position2d : %f %f %f\n",
position2d->px, position2d->py, position2d->pa);
// Stop when reach the target
while (sqrt(pow(position2d->px - position2d_target.px,2.0) + pow(position2d->py - position2d_target.py,2.0)) > 0.05 )
{
playerc_client_read(client);
// Print current robot pose
printf("position2d : %f %f %f\n",
position2d->px, position2d->py, position2d->pa);
}
/* Con el comando position2d_set_cmd_pose() se establece una pose de destino.
* Cuando se utiliza este método la información obtenida de la odometría sí que
* afecta a la trayectoria seguida y al punto final */
position2d_target.px = 0;
position2d_target.py = -3;
position2d_target.pa = 0;
position2d_vel.px = 0.6;
position2d_vel.py = 0;
position2d_vel.pa = 0;
// Move to pose
playerc_position2d_set_cmd_pose_with_vel(position2d, position2d_target, position2d_vel, 1);
// Stop when reach the target
while (sqrt(pow(position2d->px - position2d_target.px,2.0) + pow(position2d->py - position2d_target.py,2.0)) > 0.05 )
{
playerc_client_read(client);
// Print current robot pose
printf("position2d : %f %f %f\n",
position2d->px, position2d->py, position2d->pa);
}
/* Con el comando playerc_position2d_set_cmd_pose_with_vel se hace lo mismo que
* con playerc_position2d_set_cmd_pose() pero además se puede indicar una
* consigna de velocidad */
// Shutdown
playerc_position2d_unsubscribe(position2d);
playerc_position2d_destroy(position2d);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
// Basic test for truth device.
int test_truth(playerc_client_t *client, int index)
{
int t;
double pos_i[3], rot_i[3];
double pos_f[3], rot_f[3];
void *rdevice;
playerc_truth_t *device;
printf("device [truth] index [%d]\n", index);
device = playerc_truth_create(client, index);
TEST("subscribing (read)");
if (playerc_truth_subscribe(device, PLAYER_READ_MODE) != 0)
{
FAIL();
return -1;
}
PASS();
for (t = 0; t < 3; t++)
{
TEST("getting pose (req/rep)");
if (playerc_truth_get_pose(device,
pos_f + 0, pos_f + 1, pos_f + 2,
rot_f + 1, rot_f + 1, rot_f + 2) != 0)
{
FAIL();
return -1;
}
PASS();
printf("truth: [%6.3f %6.3f %6.3f]\n", pos_f[0], pos_f[1], rot_f[2]);
}
TEST("setting pose");
pos_i[0] = 2;
pos_i[1] = 3;
pos_i[2] = 0;
rot_i[0] = 0;
rot_i[1] = 0;
rot_i[2] = M_PI/2;
if (playerc_truth_set_pose(device,
pos_i[0], pos_i[1], pos_i[2],
rot_i[0], rot_i[1], rot_i[2]) != 0)
{
FAIL();
return -1;
}
PASS();
TEST("getting pose (req/rep)");
if (playerc_truth_get_pose(device,
pos_f + 0, pos_f + 1, pos_f + 2,
rot_f + 1, rot_f + 1, rot_f + 2) != 0)
{
FAIL();
return -1;
}
PASS();
printf("truth: [%6.3f %6.3f %6.3f]\n", pos_f[0], pos_f[1], rot_f[2]);
TEST("checking values for consitency");
if (fabs(pos_f[0] - pos_i[0]) > 0.001 ||
fabs(pos_f[1] - pos_i[1]) > 0.001 ||
fabs(rot_f[2] - rot_i[2]) > 0.001)
FAIL();
else
PASS();
for (t = 0; t < 3; t++)
{
TEST1("reading data (attempt %d)", t);
do
rdevice = playerc_client_read(client);
while (rdevice == client);
if (rdevice == device)
{
PASS();
printf("truth: [%6.3f %6.3f %6.3f]\n",
device->pos[0], device->pos[1], device->rot[2]);
}
else
FAIL();
}
TEST("unsubscribing");
if (playerc_truth_unsubscribe(device) != 0)
FAIL();
else
PASS();
playerc_truth_destroy(device);
return 0;
}
int main(int argc, const char **argv)
{
int r, i, j;
playerc_client_t *client;
playerc_position2d_t *position2d;
//sonar
playerc_sonar_t *sonar;
celda celdas[25];
int actual=0;
int forward=1;
int no_solucion=0;
int flag_celda_final=0;
// Create a client and connect it to the server.
client = playerc_client_create(NULL, "localhost", 6665);
if (playerc_client_connect(client) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
// Create and subscribe to a position2d device.
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
// Fixing initial position
playerc_position2d_set_odom(position2d, 0.0, 0.0, 0.0);
// Create and subscribe to a sonar device
sonar = playerc_sonar_create(client, 0);
if (playerc_sonar_subscribe(sonar, PLAYER_OPEN_MODE) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
/* Obtener la geometría de los sensores de ultrasonidos sobre el pioneer 2 */
if (playerc_sonar_get_geom(sonar) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
// Enable motors
playerc_position2d_enable(position2d, 1);
playerc_client_read(client);
inspeccionar_celda(sonar,&celdas[actual]);
//Rutina para asegurarse de que ni nos dejamos un camino atrás,
//ni estamos ya en la salida:"Ponemos el culo contra la pared"
if(celda_final(&celdas[actual])) {//Si no veo ninguna pared
girar_dch(client,position2d); // giro para comprobar la espalda
inspeccionar_celda(sonar,&celdas[actual]);
if(celdas[actual].pared[D_DCH]) { // había pared detrás
girar_izq(client,position2d);
//establecer orientación de referencia aquí
theta = D_ARRIBA;
inspeccionar_celda(sonar,&celdas[actual]);
} else {
printf("Ya estamos en la salida\n");
flag_celda_final=1;
}
} else {
// me pongo de espaldas a la pared
if(celdas[actual].pared[D_DCH]) { //si tengo pared a la dcha
girar_izq(client,position2d);
} else if(celdas[actual].pared[D_IZQ]) { //si tengo pared a la izda
girar_dch(client,position2d);
} else if(celdas[actual].pared[D_ARRIBA]) { //si la tengo en fente
girar_180(client,position2d);
}
//establecer orientación de referencia aquí
theta = D_ARRIBA;
inspeccionar_celda(sonar,&celdas[actual]);
}
while(!(flag_celda_final || no_solucion)) {
printf("celda: %d [%d,%d]\n",actual, x, y);
r = mejor_ruta(celdas, actual, &forward);
if (forward) {
ir_direccion(client, position2d, r);
actual++;
inspeccionar_celda(sonar,&celdas[actual]);
} else if (actual > 0) {
ir_direccion(client, position2d, r);
actual--;
} else {
no_solucion=1;
printf("no hay solucion\n");
}
if ((flag_celda_final = celda_final(&celdas[actual])) != 0) {
printf("Fuera del laberinto!!\n\n");
printf("Camino:\n");
printf("-------\n");
for (i=0; i <= actual; i++) {
for (j = 0; (j < 3) && (celdas[i].pared[j] != RUTA); j++) ;
printf("(%d,%d) - %s\n", celdas[i].pos[0], celdas[i].pos[1], dirs[j]);
}
}
}
// Unsuscribe and Destroy
// position2d
playerc_position2d_unsubscribe(position2d);
playerc_position2d_destroy(position2d);
// sonar
playerc_sonar_unsubscribe(sonar);
playerc_sonar_destroy(sonar);
// client
playerc_client_disconnect(client);
playerc_client_destroy(client);
// End
return 0;
}
// Basic WSN test
int test_wsn(playerc_client_t *client, int index)
{
int t;//, i, j;
void *rdevice;
playerc_wsn_t *device;
printf("device [wsn] index [%d]\n", index);
device = playerc_wsn_create(client, index);
TEST("subscribing (read)");
if (playerc_wsn_subscribe(device, PLAYER_OPEN_MODE) == 0)
PASS();
else
FAIL();
for (t = 0; t < 10; t++)
{
TEST1("reading data (attempt %d)", t);
do
rdevice = playerc_client_read(client);
while (rdevice == client);
if (rdevice == device)
{
PASS();
printf("Node type: %d, with ID %d and parent %d holds:\n"
"accel_{X,Y,Z} : [%f,%f,%f]\n"
"magn_{X,Y,Z} : [%f,%f,%f]\n"
"temperature : [%f]\n"
"light : [%f]\n"
"microphone : [%f]\n"
"battery voltage: [%f]\n",
device->node_type, device->node_id, device->node_parent_id,
device->data_packet.accel_x, device->data_packet.accel_y,
device->data_packet.accel_z, device->data_packet.magn_x,
device->data_packet.magn_y, device->data_packet.magn_z,
device->data_packet.temperature, device->data_packet.light,
device->data_packet.mic, device->data_packet.battery);
}
else
{
FAIL();
break;
}
}
TEST("setting the data frequency rate");
if(playerc_wsn_datafreq(device, -1, -1, 1) < 0)
FAIL();
else
{
sleep(3);
PASS();
}
TEST("enabling all LEDs");
if(playerc_wsn_set_devstate(device, -1, -1, 3, 7) < 0)
FAIL();
else
{
sleep(3);
PASS();
}
/* TEST("going to sleep");
if(playerc_wsn_power(device, 2, -1, 0) < 0)
FAIL();
else
{
sleep(3);
PASS();
}
TEST("waking up");
if(playerc_wsn_power(device, 1, -1, 1) < 0)
FAIL();
else
{
sleep(3);
PASS();
}
*/
TEST("unsubscribing");
if (playerc_wsn_unsubscribe(device) == 0)
PASS();
else
FAIL();
playerc_wsn_destroy(device);
return 0;
}
//Prints position data of the robot, used for debugging and tracking
void printPos(playerc_client_t * client, playerc_position2d_t * pos2D, playerc_bumper_t * bumper) {
playerc_client_read(client);
printf("\n\nStopped in position : %f %f %f bumpers: %d %d\n\n", pos2D->px, pos2D->py, pos2D->pa, bumper->bumpers[0], bumper->bumpers[1]);
}
int main(int argc, const char **argv)
{
//Variables
int degrees,PosRelX,PosRelY;
float radians,Dlaser,ODM_ang, ang;
int width = 500, height = 500; //Create the size of the map here (in pixel)
int centroX = (width / 2);
int centroY = (height / 2);
playerc_client_t *client;
playerc_laser_t *laser;
playerc_position2d_t *position2d;
CvPoint pt,pt1,pt2;
CvScalar cinzaE,preto,cinzaC;
char window_name[] = "Map";
IplImage* image = cvCreateImage( cvSize(width,height), 8, 3 );
cvNamedWindow(window_name, 1 );
preto = CV_RGB(0, 0, 0); //for indicating obstacles
cinzaE = CV_RGB(92, 92, 92); //To indicate the stranger
cinzaC = CV_RGB(150, 150, 150); //To indicate free spaces
client = playerc_client_create(NULL, "localhost", 6665);
if (playerc_client_connect(client) != 0)
return -1;
laser = playerc_laser_create(client, 0);
if (playerc_laser_subscribe(laser, PLAYERC_OPEN_MODE))
return -1;
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYERC_OPEN_MODE) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
if (playerc_client_datamode (client, PLAYERC_DATAMODE_PULL) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
if (playerc_client_set_replace_rule (client, -1, -1, PLAYER_MSGTYPE_DATA, -1, 1) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
playerc_position2d_enable(position2d, 1); // initialise motors
playerc_position2d_set_odom(position2d, 0, 0, 0); // Set odometer to zero
cvSet(image, cinzaE,0); //set the image colour to dark
pt.x = centroX; // Zero coordinate for x
pt.y = centroY; // Zero coordinate for y
while(1) {
playerc_client_read(client);
cvSaveImage("mapa.jpg",image);
playerc_client_read(client);
for (degrees = 2; degrees <= 360; degrees+=2) {
Dlaser = laser->scan[degrees][0];
if (Dlaser < 8) {
radians = graus2rad (degrees/2); //Convert the angle of the laser to radians
ODM_ang = position2d->pa; //Obtain the angle relative to the robot
ang = ((1.5*PI)+radians+ODM_ang); //Converte the angle relative to the world
PosRelX = arredonda(position2d->px); //Position x relative to robot
PosRelY = arredonda(position2d->py); //Position y relative to robot
pt1.y = (centroY-PosRelY); //Co-ordinated global y of the robot
pt1.x = (centroX+PosRelX); //Co-ordinated global x of the robot
//t converts polar coordinates for rectangular (global)
pt.y = (int)(pt1.y-(sin(ang)*Dlaser*10));
pt.x = (int)(pt1.x+(cos(ang)*Dlaser*10));
//The free area draws cvline
cvLine(image, pt1,pt,cinzaC, 1,4,0);
//marks the object in the map
cvLine(image, pt,pt,preto, 1,4,0);
//Shows the result of the map to the screen
cvShowImage(window_name, image );
cvWaitKey(10);
}
}
}
//Disconnect player
playerc_laser_unsubscribe(laser);
playerc_laser_destroy(laser);
playerc_client_disconnect(client);
playerc_client_destroy(client);
//Destroy the OpenCV window cvReleaseImage
cvReleaseImage(&image);
cvDestroyWindow(window_name);
return 0;
}
// Basic ptz test
int test_ptz(playerc_client_t *client, int index)
{
int t;
void *rdevice;
playerc_ptz_t *device;
double period;
printf("device [ptz] index [%d]\n", index);
device = playerc_ptz_create(client, index);
TEST("subscribing (read)");
if (0 == playerc_ptz_subscribe(device, PLAYER_OPEN_MODE))
PASS();
else
FAIL();
period = 10 / M_PI * 2;
for (t = 0; t < 20; t++)
{
TEST1("reading data (attempt %d)", t);
do
rdevice = playerc_client_read(client);
while (rdevice == client);
if (rdevice == device)
{
PASS();
printf("ptz: [%d %d %d]\n",
(int) (device->pan * 180 / M_PI),
(int) (device->tilt * 180 / M_PI),
(int) (device->zoom * 180 / M_PI));
}
else
{
FAIL();
break;
}
TEST1("writing data (attempt %d)", t);
if (playerc_ptz_set(device,
sin(t / period) * M_PI / 2,
sin(t / period) * M_PI / 3,
(1 - t / 20.0) * M_PI) != 0)
{
FAIL();
break;
}
PASS();
}
TEST1("writing data (attempt %d)", t);
if (playerc_ptz_set(device, 0, 0, M_PI) != 0)
FAIL();
else
PASS();
TEST("unsubscribing");
if (playerc_ptz_unsubscribe(device) == 0)
PASS();
else
FAIL();
playerc_ptz_destroy(device);
return 0;
}
// Basic test for log device.
int test_log(playerc_client_t *client, int index)
{
int t;
// int isplayback=0;
playerc_log_t *device;
printf("device [log] index [%d]\n", index);
device = playerc_log_create(client, index);
TEST("subscribing (read)");
if (playerc_log_subscribe(device, PLAYER_OPEN_MODE) != 0)
{
FAIL();
return -1;
}
PASS();
TEST("getting log state");
if(playerc_log_get_state(device) != 0)
{
FAIL();
return -1;
}
PASS();
if(device->type == PLAYER_LOG_TYPE_WRITE)
{
TEST("starting logging");
if(playerc_log_set_write_state(device,1) != 0)
{
FAIL();
return -1;
}
PASS();
}
else
{
TEST("rewinding logfile");
if(playerc_log_set_read_rewind(device) != 0)
{
FAIL();
return -1;
}
PASS();
TEST("starting playback");
if(playerc_log_set_read_state(device,1) != 0)
{
FAIL();
return -1;
}
PASS();
}
TEST("getting log state");
if(playerc_log_get_state(device) != 0)
{
FAIL();
return -1;
}
if(device->state != 1)
{
FAIL();
return -1;
}
PASS();
// let it log/playback
TEST("logging/playback proceeding");
for(t=0;t<50;t++)
{
if(!playerc_client_read(client))
{
FAIL();
return -1;
}
}
PASS();
if(device->type == PLAYER_LOG_TYPE_WRITE)
{
TEST("stopping logging");
if(playerc_log_set_write_state(device,0) != 0)
{
FAIL();
return -1;
}
PASS();
}
else
{
TEST("stopping playback");
if(playerc_log_set_read_state(device,0) != 0)
{
FAIL();
return -1;
}
PASS();
}
TEST("getting log state");
if(playerc_log_get_state(device) != 0)
{
FAIL();
return -1;
}
if(device->state != 0)
{
FAIL();
return -1;
}
PASS();
TEST("unsubscribing");
if (playerc_log_unsubscribe(device) != 0)
{
FAIL();
return -1;
}
PASS();
playerc_log_destroy(device);
return 0;
}
// Basic localize test
int test_localize(playerc_client_t *client, int index)
{
int t, i;
void *rdevice;
playerc_localize_t *device;
//double min, max;
//int resolution, intensity;
printf("device [localize] index [%d]\n", index);
device = playerc_localize_create(client, index);
TEST("subscribing (read)");
if (playerc_localize_subscribe(device, PLAYER_READ_MODE) == 0)
PASS();
else
{
FAIL();
return(-1);
}
// deprecated: get map from map interface now
#if 0
TEST("get map");
if (playerc_localize_get_map(device) == 0)
PASS();
else
FAIL();
#endif
/* FIX
TEST("set configuration");
min = -M_PI/2;
max = +M_PI/2;
resolution = 100;
intensity = 1;
if (playerc_localize_set_config(device, min, max, resolution, intensity) == 0)
PASS();
else
FAIL();
TEST("get configuration");
if (playerc_localize_get_config(device, &min, &max, &resolution, &intensity) == 0)
PASS();
else
FAIL();
TEST("check configuration sanity");
if (abs(min + M_PI/2) > 0.01 || abs(max - M_PI/2) > 0.01)
FAIL();
else if (resolution != 100 || intensity != 1)
FAIL();
else
PASS();
*/
for (t = 0; t < 10; t++)
{
TEST1("reading data (attempt %d)", t);
do
rdevice = playerc_client_read(client);
while (rdevice == client);
if (rdevice == device)
{
PASS();
printf("localize: [%d %14.3f] [%d] ",
device->pending_count, device->pending_time, device->hypoth_count);
for (i = 0; i < device->hypoth_count; i++)
printf("[%6.3f, %6.3f %6.3f] ",
device->hypoths[i].mean[0], device->hypoths[i].mean[1], device->hypoths[i].mean[2]);
printf("\n");
}
else
{
FAIL();
break;
}
}
TEST("unsubscribing");
if (playerc_localize_unsubscribe(device) == 0)
PASS();
else
FAIL();
playerc_localize_destroy(device);
return 0;
}
// Basic test for position3d device.
int test_position3d(playerc_client_t *client, int index)
{
int t;
void *rdevice;
playerc_position3d_t *device;
printf("device [position3d] index [%d]\n", index);
device = playerc_position3d_create(client, index);
TEST("subscribing (read/write)");
if (playerc_position3d_subscribe(device, PLAYER_OPEN_MODE) < 0)
{
FAIL();
return -1;
}
PASS();
#if 0 // TODO
TEST("getting geometry");
if (playerc_position3d_get_geom(device) == 0)
PASS();
else
FAIL();
printf("position3d geom: [%6.3f %6.3f %6.3f] [%6.3f %6.3f]\n",
device->pose[0], device->pose[1], device->pose[2], device->size[0], device->size[1]);
TEST("enabling motors");
if (playerc_position3d_enable(device, 1) == 0)
PASS();
else
FAIL();
#endif
for (t = 0; t < 300; t++)
{
TEST1("reading data (attempt %d)", t);
do
rdevice = playerc_client_read(client);
while (rdevice == client);
if (rdevice == device)
{
PASS();
printf("position3d: [%14.3f] [%+7.3f %+7.3f %+7.3f] [%+7.3f %+7.3f %+7.3f]\n",
device->info.datatime,
device->pos_x, device->pos_y, device->pos_z,
device->pos_roll * 180/M_PI,
device->pos_pitch * 180/M_PI,
device->pos_yaw * 180/M_PI);
}
else
{
FAIL();
break;
}
#if 0 // TODO
TEST1("writing data (attempt %d)", t);
if (playerc_position3d_set_velocity(device, 0.10, 0, 0, 0, 0, 0.2, 1) != 0)
{
FAIL();
break;
}
PASS();
#endif
}
#if 0 // TODO
TEST1("writing data (attempt %d)", t);
if (playerc_position3d_set_velocity(device, 0, 0, 0, 0, 0, 0, 1) != 0)
FAIL();
else
PASS();
TEST("disabling motors");
if (playerc_position3d_enable(device, 0) == 0)
PASS();
else
FAIL();
TEST("unsubscribing");
if (playerc_position3d_unsubscribe(device) != 0)
FAIL();
else
PASS();
#endif
playerc_position3d_destroy(device);
return 0;
}