int send_message_to_agent(char* ip, int port, int type, const char* buff, int len){
int ret = create_connect(ip, port);
if( ret == -1 ){
perror("create connect failed");
return -1;
}
printf("connect successfully!\n");
int localip = update_pma_addr(ret);
int pkt_len = sizeof( struct common_header) + len;
void * newbuff = malloc(pkt_len);
struct common_header* header = (struct common_header*)newbuff;
header->pkg_type = type;
header->pkg_version = 0x00;
header->device_type = 0x00;
header->pkg_len = htonl(pkt_len);
memcpy(newbuff+ sizeof(struct common_header), buff, len);
int status = send( ret, newbuff, pkt_len, 0);
if( status == -1 )
{
perror( "send packet failed");
return -1;
}
printf("Send packet success! PKT Type=%d Len=%d\n", type, len);
close(ret);
}
/* This program will move Robot A accordig to its assignment. */
int main()
{
printf("Hello, World!\n");
create_connect();
int rport=1; // identify ports used, might need to change
int threshold=500; // light threshold in the room
int high=100, low=-10; //motor power for arc. Will need to change to perfect drive.
while (b_button()==0) {} // start after pushing B
/* To be replaced with wait_for_light(port#); so that light starts the robot. Right now it is started with B*/
while (a_button()==0){ // stop after pushing A
/* to be relplaced with a button sensor. Such as digital(Port #); so that the claw grabs the transport when the sensor(s) are pushed.*/
while (analog10(rport) > threshold) { // continue until not dark
create_drive_direct(-10,100); // arc left
if (a_button()!=0) break; } // or button pressed
// to be replaced with a sensor
while (analog10(rport) <= threshold){ // continue until dark
create_drive_direct(100,-10); // arc right
if (a_button()!=0) break; } // or button pressed
// to be replaced with a sensor
create_stop();
//all stop because button was pushed.
}
create_disconnect();
return 0;
}
void Start() //Misc. set up functions
{
create_connect();
set_create_total_angle(0);
//wait_for_light(LightPort);
shut_down_in(RunTime); //TEST THIS
}
// if serial communication times out (ie., is lost), attempts to restart it
void create_reconnect()
{
printf("Create communication lost;\nattempting reconnection.\n");
create_disconnect(); // reset environment
create_connect();
}
int main()
{
printf("Line Follow."); // announce the program
sleep(1.0); // wait 1 second
create_connect(); // Open the connection between CBC and Create
int ana0 = 0, ana1 = 0; // variables to store the results of the analog sensors
create_full(); // We don't care about safety
while(get_create_lbump(0) == 0 && get_create_rbump(0) == 0){ //while the bumper is not pressed
ana0 = analog10(0); // left sensor
ana1 = analog10(1); // right sensor
printf("analog 0: %d\n", ana0);// print results
printf("analog 1: %d\n", ana1);
if((ana0 < 200) && (ana1 > 200)) // if the left sensor is off and right is on black line
{
create_spin_CW(128); // spin the create Clock Wise
}else if((ana1 < 200) && (ana0 > 200)) // else if reversed
{
create_spin_CCW(128); // spin Counter Clock Wise
}else if((ana0 < 200) && (ana1 < 200)) // else neither is on the line
{
create_drive_straight(180); // drive straight
}
}
create_stop(); // Stop the Create
create_disconnect(); // Disconnect the Create
}
int main()
{
X=0;
create_connect();
set_create_total_angle(0);
printf("X\tAngle");
while(black_button()==0)
{
if (a_button()==1)
{
turnHalfCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (b_button()==1)
{
turnHalfCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (left_button()==1)
{
TurnCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (right_button() == 1)
{
TurnCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
}
}
int main()
{
printf("Hello, World!\n");
set_a_button_text("Some button a");
set_b_button_text("That other button");
set_c_button_text("Useless button");
create_connect();
printf("The buttons have been renamed.\n Deal with it.\n Press button 'some button' &\n 'That other button' for beeps.\n 'Useless button' stops the beeps.\n");
while (side_button() ==0){
if (a_button() == 1){// can hold for continuous beeps
printf("beep\n");
beep();
msleep(500);
}
else if (b_button_clicked() == 1){// must release button
printf("beep-beep\n");
beep();
msleep(300);
beep();
}
else {
printf("No button pressed.\n");
}
}
printf("I quit");
create_disconnect();
return 0;
}
int main()
{
wait_for_light(4);
printf("Hello, World!\n");
create_connect();
create_drive_direct(200 , 200);
msleep(2000);
create_spin_CCW ( 100 );
msleep(2000);
create_stop();
create_drive_direct(200 , 200 );
msleep(4000);
create_stop();
create_drive_direct (200 , 200);
msleep(5000);
create_stop();
create_spin_CCW ( 100 );
msleep(2000);
create_drive_direct (200 , 200);
msleep(3000);
create_spin_CCW ( 100 );
msleep(2000);
create_cover();
create_stop();
create_disconnect();
return 0;
}
connect_client* connect_pool::peek()
{
lock_.lock();
if (alive_ == false)
{
time_t now = time(NULL);
if (retry_inter_ <= 0 || now - last_dead_ < retry_inter_)
{
lock_.unlock();
return NULL;
}
alive_ = true;
// 重置服务端连接状态，以便重试
logger("reset server: %s", get_addr());
}
connect_client* conn;
std::list<connect_client*>::iterator it = pool_.begin();
if (it != pool_.end())
{
conn = *it;
pool_.erase(it);
total_used_++;
current_used_++;
lock_.unlock();
return conn;
}
else if (count_ >= max_)
{
logger_error("too many connections, max: %d, curr: %d,"
" server: %s", (int) max_, (int) count_, addr_);
lock_.unlock();
return NULL;
}
// 调用虚函数的子类实现方法，创建新连接对象，并打开连接
conn = create_connect();
if (conn->open() == false)
{
delete conn;
alive_ = false;
(void) time(&last_dead_);
lock_.unlock();
return NULL;
}
count_++;
total_used_++;
current_used_++;
lock_.unlock();
conn->set_pool(this);
return conn;
}
void Start (void)
{
wait_for_light(LightPort);
shut_down_in (117); //TEST THIS
create_connect();
set_create_total_angle(0);
}
int main()
{
create_connect();
drive_distance(20, 35, FORWARDS);
spin_degrees(90, 50, LEFT);
drive_distance(14, 35, FORWARDS);
create_disconnect();
}
int main()
{
create_connect();
init_servo();
//light_it_up(LIGHT_PORT);
lightstart(LIGHT_PORT,120.0);
create_full();
create_drive_segment(HIGH_SPEED, -150);
start_process(set_top);
create_drive_arc(HIGH_SPEED, -200, 155);
create_drive_segment(HIGH_SPEED, -365);
create_drive_arc(HIGH_SPEED, 90, -64);
create_drive_segment(HIGH_SPEED, -85);
create_cease();
set_top();
align_twall();
grab_top_de();
create_spin_angle(400,-165);
create_drive_segment(HIGH_SPEED, -320);
//align_wall();
create_stop();
create_sync();
dump_kelp_de();
create_drive_segment(HIGH_SPEED,30);//go away from starting box
create_spin_angle(HIGH_SPEED, -78);//turn to gate part 1
create_drive_segment(HIGH_SPEED, 938);//go to gate
create_drive_arc(HIGH_SPEED,185,84);//arc to gate
//create_drive_time(HIGH_SPEED,1800);//go through the gate
/*
create_drive_segment(HIGH_SPEED,1470);
create_drive_segment(HIGH_SPEED,-100);
create_spin_angle(HIGH_SPEED,78);
*/
create_cease();
create_drive_straight(HIGH_SPEED);//go onto oppponent's side of board
msleep(1400);
create_stop();
create_arc(350,550);//arc to the opponent's mpa
msleep(2500L);
create_stop();//pause to keep the creat
create_drive_straight(HIGH_SPEED);//go onto oppponent's side of board
msleep(750);
create_stop();
create_drive_straight(-HIGH_SPEED);//go onto oppponent's side of board
msleep(5000);
create_stop();
/*
create_drive_segment(500,-500);//go past the IC
create_drive_arc(320,-250,25);//arc to
create_drive_arc(320,250,-8);
*/
//create_drive_segment(HIGH_SPEED,-750);
//create_drive_arc(HIGH_SPEED,100,84);
//create_drive_segment(HIGH_SPEED,1300);
}
/*
* Class: cbccore_low_Create
* Method: create_connect
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_cbccore_low_Create_create_1connect(JNIEnv *env, jobject obj)
{
#ifdef CBC
return create_connect();
#else
printf("Java_cbccore_low_Create_create_1connect stub\n");
return -1;
#endif
}
int main() {
set_each_analog_state(0,1,0,0,0,0,0,0);
create_connect();
enable_servos();
armPosSB();
clawSB();
//seedReturn();
seed();
}
int main()
{
create_connect();
create_full();
while(digital(15) == 0);
create_drive_direct(-1500, -1500);
while(!(a_button_clicked()));
return 0;
}
int main()
{
get_mode();
create_connect();
drop_three_hangers();
pick_up_first_doubler();
create_disconnect();
return 0;
}
uint32_t create_connect(
uint32_t aiconfigtype,
const char* aiconfigpath,
boost::function<bool(const char*, uint32_t)> aisendfailure
)
{
m_mser = new tools::mgt_serializecpp(aiconfigtype, aiconfigpath);
return create_connect(aisendfailure);
}
int main()
{
create_connect();
create_drive_direct(-500 , -500);
msleep(2000);
create_drive_direct(300 , -300);
msleep(500);
create_disconnect();
}
connect_client* connect_pool::peek()
{
lock_.lock();
if (alive_ == false)
{
time_t now = time(NULL);
if (now - last_dead_ < retry_inter_)
{
lock_.unlock();
return NULL;
}
alive_ = true;
}
connect_client* conn;
std::list<connect_client*>::iterator it = pool_.begin();
if (it != pool_.end())
{
conn = *it;
pool_.erase(it);
total_used_++;
current_used_++;
lock_.unlock();
return conn;
}
else if (count_ >= max_)
{
logger_error("too many connections, max: %d, curr: %d,"
" server: %s", count_, max_, addr_);
lock_.unlock();
return NULL;
}
conn = create_connect();
if (conn->open() == false)
{
delete conn;
alive_ = false;
time(&last_dead_);
(void) time(&last_dead_);
lock_.unlock();
return NULL;
}
count_++;
total_used_++;
current_used_++;
lock_.unlock();
conn->set_pool(this);
return conn;
}
int main()
{
create_connect();
create_drive_direct(100,100);
wait_for_milliseconds(2000);
create_drive_direct(-200, 200);
wait_for_milliseconds(5000);
create_stop();
create_disconnect();
return 0;
}
int main()
{
create_connect();
enable_servos();
set_create_total_angle(0);
set_create_distance(0);
WhichSide();
CenterCamera();
Lift();
}
int main()
{
create_connect();
create_full();
while(!(a_button_clicked())){
display_clear();
printf("cw:%d\nlw:%d\nrw:%d\n", get_create_cwdrop(), get_create_lwdrop(), get_create_rwdrop());
msleep(20);
}
return 0;
}
int main()
{
create_connect();
while (side_button() == 0)
{
line_follow();
msleep(10);
}
create_disconnect();
return 0;
}
int main()
{
ROBOT = CREATE_ROBOT;
create_connect();
set_speeds();
create_full();
// test_modest_forward_backward();
test_modest_left_right();
return SUCCESS;
}
int main()
{
printf("Tryying to connect to the Create\nBattery: %d...\n", get_create_battery_capacity());
create_connect();
printf("Connected...");
while (get_create_lbump() == 0 && get_create_rbump() == 0)
{
create_drive_direct(150,150);
}
create_disconnect();
printf("All done");
return 0;
}
connect_client* connect_pool::peek()
{
lock_->lock();
if (alive_ == false)
{
time_t now = time(NULL);
if (now - last_dead_ < retry_inter_)
{
lock_->unlock();
return NULL;
}
alive_ = true;
}
connect_client* conn;
std::list<connect_client*>::iterator it = pool_.begin();
if (it != pool_.end())
{
conn = *it;
pool_.erase(it);
total_used_++;
current_used_++;
lock_->unlock();
return conn;
}
else if (count_ >= max_)
{
lock_->unlock();
return NULL;
}
conn = create_connect();
if (conn->open() == false)
{
delete conn;
alive_ = false;
time(&last_dead_);
(void) time(&last_dead_);
lock_->unlock();
return NULL;
}
count_++;
total_used_++;
current_used_++;
lock_->unlock();
return conn;
}
int main()
{
create_connect();
create_full();
float sec = seconds();
set_create_distance(0);
create_drive_distance(50, get_pot_reading(1, 1, 50), FORWARDS);
printf("distance traveled = %i, time = %f\n", get_create_distance(), seconds() - sec);
//sleep(2);
//create_spin_degrees(90, 300, LEFT);
//printf("%d\n", i);
create_disconnect();
return 0;
}
void main()
{
create_connect();
enable_servos();
set_each_analog_state(1,1,0,0,0,0,0,0);
initialize();
armPosBlockStack2();
clawStack2();
clawOpen();
create_drive_straight(300);
run_for(3, clawGrab);
create_stop();
clawGrab();
}
int main()
{
create_connect();
while(1)
{
create_drive_direct(200, 300);
if(get_create_rbump(0.01) ==1)
{
create_drive_direct(300, 200);
msleep(800);
}
}
create_stop();
create_disconnect();
}
int main()
{
create_connect();
create_drive_straight(500);
sleep(2);
create_drive_direct(500, -500);
msleep(440);
create_drive_straight(500);
msleep(4200);
create_drive_direct(-500, 500);
msleep(375);
create_drive_straight(500);
msleep(1500);
create_stop();
create_disconnect();
}
