bool MainWindow::connectRobot (const QString& address) {
if (m_connectedRobots.end() != m_connectedRobots.find(address)) {
/* The requested robot is already connected */
return true;
}
auto newrobot = new mobot_t;
Mobot_init(newrobot);
/* extract the 8-bit byte array from QString, from which we can then extract
* the C-string */
auto baAddress = address.toLocal8Bit();
if (-1 == Mobot_connectWithAddress(newrobot, baAddress.data(), 1)) {
delete newrobot;
qDebug() << "(barobolab) ERROR: Mobot_connectWithTTY failed\n";
return false;
}
Mobot_enableButtonCallback(newrobot, strdup(baAddress.data()), JsInterface::robotButtonCallback);
auto l = new RobotListener(newrobot, address);
QObject::connect(l, SIGNAL(scrollUp(QString)), m_interface, SLOT(scrollUpSlot(QString)));
QObject::connect(l, SIGNAL(scrollDown(QString)), m_interface, SLOT(scrollDownSlot(QString)));
QThread *thread = new QThread(this);
l->moveToThread(thread);
thread->start();
QMetaObject::invokeMethod(l, "startWork", Qt::QueuedConnection);
m_connectedRobots.insert(std::make_pair(address, newrobot));
m_robotListeners.insert(std::make_pair(address, l));
return true;
}
void MainWindow::baroboInit () {
Mobot_init(m_dongle.get());
char tty[64];
if (-1 == Mobot_dongleGetTTY(tty, sizeof(tty))) {
qWarning("(barobolab) WARNING: Mobot_dongleGetTTY failed\n");
}
if (-1 == Mobot_connectWithTTY(m_dongle.get(), tty)) {
qWarning("(barobolab) WARNING: Mobot_connectWithTTY failed\n");
}
Mobot_setDongleMobot(m_dongle.get());
}
int main()
{
int i = 0;
mobot_t mobot;
Mobot_init(&mobot);
//Mobot_connectWithAddress(&mobot, "LQLX", 1);
Mobot_connectWithAddress(&mobot, "S3S3", 1);
Mobot_enableJointEventCallback(&mobot, NULL, jointcb);
Mobot_enableAccelEventCallback(&mobot, NULL, accelcb);
printf("Press enter to quit.\n");
getchar();
return 0;
}
void* findDongleWorkerThread(void* arg)
{
/* The argument is a pointer to an int */
int num = *(int*)arg;
char buf[80];
mobot_t* mobot;
int rc;
#if defined (_WIN32) or defined (_MSYS)
sprintf(buf, "\\\\.\\COM%d", num);
#else
sprintf(buf, "/dev/ttyACM%d", num);
#endif
/* Try to connect to it */
mobot = (mobot_t*)malloc(sizeof(mobot_t));
Mobot_init(mobot);
rc = Mobot_connectWithTTY(mobot, buf);
if(rc != 0) {
rc = Mobot_connectWithTTY_500kbaud(mobot, buf);
}
if(rc == 0) {
/* We found the Mobot */
MUTEX_LOCK(&g_giant_lock);
/* Only update g_mobot pointer if no one else has updated it already */
if(g_mobot == NULL) {
g_mobot = mobot;
g_dongleSearchStatus = DONGLE_FOUND;
strcpy(g_comport, buf);
COND_SIGNAL(&g_giant_cond);
MUTEX_UNLOCK(&g_giant_lock);
} else {
MUTEX_UNLOCK(&g_giant_lock);
Mobot_disconnect(mobot);
free(mobot);
}
Mobot_getStatus(mobot);
} else {
free(mobot);
}
MUTEX_LOCK(&g_giant_lock);
g_numThreads--;
COND_SIGNAL(&g_giant_cond);
MUTEX_UNLOCK(&g_giant_lock);
return NULL;
}
int main(int argc, char *argv[])
{
int rc;
mobot_t mobot;
if(argc != 3) {
printf("Expected usage: %s <tty device> <mobot id>\n", argv[0]);
return 0;
}
Mobot_init(&mobot);
if(rc = Mobot_connectWithTTY(&mobot, argv[1])) {
fprintf(stderr, "Connection failed with error code %d.\n", rc);
exit(rc);
}
if(rc = Mobot_setID(&mobot, argv[2])) {
fprintf(stderr, "Error setting the Mobot's ID. %d\n", rc);
exit(rc);
}
return 0;
}
