inline void send_repeat(struct ir_remote *remote)
{
send_lead(remote);
send_pulse(remote->prepeat);
send_space(remote->srepeat);
send_trail(remote);
}
int main(int argc,char** argv){
int found = 0, arrived_home = 0;
int use_http = 0;
char address[200];
int port = 55555;
strcpy(address, "localhost");
if(argc >= 4){
use_http = atoi(argv[1]);
strncpy(address, argv[2], 200);
port = atoi(argv[3]);
}else{
printf("[INFO] Usage: 'prog 1 address port' to start it with http connection\n");
}
//initalization
init(use_http, address, port);
//install signal handler to exit gently
signal(SIGINT,sigint_handler);
//scheduling
while(!end_game && !arrived_home){
if(robot_rank == 0){
// Leader mode
if(found == 0){
found = leader();
}else{
arrived_home = go_back_home();
send_lead(next);
}
}else{
// Follower mode
while(robot_rank > 0 && !end_game){
follower();
}//######################aggiunger end game e stop anche nel leader e go back home etc
//follower call back called at each action messagge
}
}
if(end_game){
printf("[STATUS] Game ended\n");
}else{
printf("[STATUS] Back home\n");
}
reset_motors();
destroy_sensors();
destroy_motors();
destroy_bluetooth();
free(positions);
}
inline void send_code(struct ir_remote *remote,ir_code code, int repeat)
{
if(!repeat || !(remote->flags&NO_HEAD_REP))
send_header(remote);
send_lead(remote);
send_pre(remote);
send_data(remote,code,remote->bits,remote->pre_data_bits);
send_post(remote);
send_trail(remote);
if(!repeat || !(remote->flags&NO_FOOT_REP))
send_foot(remote);
if(!repeat &&
remote->flags&NO_HEAD_REP &&
remote->flags&CONST_LENGTH)
{
send_buffer.sum-=remote->phead+remote->shead;
}
}
