int main(void)
{
InitializeScreen();
/* Redirect all of std::cout to a curses complaint window */
toolbox::ncurses_stream redirector_cout(std::cout);
#ifdef RT_PRIORITY
SetProcessPriority(RT_PRIORITY);
#endif
/* Please check RoboticArtm_Config.h for number of joints*/
RoboArm = new RoboticArm();
/* Register a signal handler to exit gracefully */
signal(SIGINT, _cleanup);
RoboArm->Init();
logger << "I: Press the arrow keys to control the robotic arm!" << std::endl << std::endl;
for(;;) {
/* Used for single line message */
char buffer[80];
/* First obtain the actual coordinates of the robot, to move it at will */
RoboArm->GetPosition(coordinates);
/* Arrows will increase position by 1% increments in a x,y plane, uses curses library */
WaitKeyPress(coordinates);
/* Command the robot to a new position once that coordinates was updated */
RoboArm->SetPosition(coordinates);
sprintf(buffer, " x= %+3.4f | y= %+3.4f | z= %+3.4f", coordinates.x, coordinates.y, coordinates.z);
logger << "I: Computed - " << buffer << std::endl;
/* Updated coordinates and print it out */
RoboArm->GetPosition(coordinates);
sprintf(buffer, " x= %+3.4f | y= %+3.4f | z= %+3.4f", coordinates.x, coordinates.y, coordinates.z);
logger << "I: Measured - " << buffer << std::endl;
}
return EXIT_SUCCESS;
}
int main()
{
//WaitKeyPress(3);
RM_ThirdReader<RM_TR_ProcessingStagingThread> xReader(
g_iProcessIndex,
READER_MAX_RANDOM_SEGMENTS,
READER_NUM_POOLTHREADS,
READER_NUM_BUFFERED_SEGMENTS);
xReader.Initialise();
xReader.ReadData();
xReader.Shutdown();
printf("WriterTransform done. Waiting key press... \n");
WaitKeyPress(3);
return S_OK;
}
