Exemple #1
0
int
main(int argc, const char **argv)
{
  int i;

  // A service discovery object
  player_sd_t* sd;

  // Initialize multiclient
  mclient = playerc_mclient_create();

  // Initialize service discovery
  sd = player_sd_init();

  // Look for Player devices
  if(player_sd_browse(sd, 0.0, 1, browse_cb) != 0)
  {
    puts("player_sd_browse error");
    exit(-1);
  }

  for(;;)
  {
    // Update name service
    player_sd_update(sd,0.0);

    // Wait for new data from server
    playerc_mclient_read(mclient,10);
  }

  // Shutdown
  for(i=0;i<num_laserdevs;i++)
  {
    playerc_laser_unsubscribe(lasers[i]);
    playerc_laser_destroy(lasers[i]);
    playerc_client_disconnect(clients[i]);
    playerc_client_destroy(clients[i]);
  }

  playerc_mclient_destroy(mclient);

  return(0);
}
Exemple #2
0
void
fini_player(playerc_mclient_t* mclient,
            playerc_client_t** clients,
            playerc_map_t** maps,
            playerc_localize_t** localizes,
            playerc_planner_t** planners,
            int num_bots)
{
  int i;

  for(i=0;i<num_bots;i++)
  {
    if(maps[i])
      playerc_map_destroy(maps[i]);
    if(localizes[i])
      playerc_localize_destroy(localizes[i]);
    if(planners[i])
      playerc_planner_destroy(planners[i]);
    playerc_client_destroy(clients[i]);
  }
  playerc_mclient_destroy(mclient);
}