int main (int argc, char *argv[])
{
ClientProxy* deviceProxy;
bool boolValue;
int32_t argsIndex = 0, intValue;
double dblValue;
char *strValue;
if ((argsIndex = GetOptions (argc, argv)) < 0)
exit (1);
PlayerClient client (host, port, PLAYERC_TRANSPORT_TCP);
int code = client.LookupCode(device);
switch (code)
{
case PLAYER_ACTARRAY_CODE:
deviceProxy = (ClientProxy*) new ActArrayProxy (&client, devIndex);
break;
case PLAYER_AUDIO_CODE:
deviceProxy = (ClientProxy*) new AudioProxy (&client, devIndex);
break;
case PLAYER_AIO_CODE:
deviceProxy = (ClientProxy*) new AioProxy (&client, devIndex);
break;
case PLAYER_BLOBFINDER_CODE:
deviceProxy = (ClientProxy*) new BlobfinderProxy (&client, devIndex);
break;
case PLAYER_BUMPER_CODE:
deviceProxy = (ClientProxy*) new BumperProxy (&client, devIndex);
break;
case PLAYER_CAMERA_CODE:
deviceProxy = (ClientProxy*) new CameraProxy (&client, devIndex);
break;
case PLAYER_DIO_CODE:
deviceProxy = (ClientProxy*) new DioProxy (&client, devIndex);
break;
case PLAYER_FIDUCIAL_CODE:
deviceProxy = (ClientProxy*) new FiducialProxy (&client, devIndex);
break;
case PLAYER_GRAPHICS2D_CODE:
deviceProxy = (ClientProxy*) new Graphics2dProxy (&client, devIndex);
break;
case PLAYER_GRAPHICS3D_CODE:
deviceProxy = (ClientProxy*) new Graphics3dProxy (&client, devIndex);
break;
case PLAYER_GRIPPER_CODE:
deviceProxy = (ClientProxy*) new GripperProxy (&client, devIndex);
break;
case PLAYER_IMU_CODE:
deviceProxy = (ClientProxy*) new ImuProxy (&client, devIndex);
break;
case PLAYER_IR_CODE:
deviceProxy = (ClientProxy*) new IrProxy (&client, devIndex);
break;
case PLAYER_LASER_CODE:
deviceProxy = (ClientProxy*) new LaserProxy (&client, devIndex);
break;
case PLAYER_LIMB_CODE:
deviceProxy = (ClientProxy*) new LimbProxy (&client, devIndex);
break;
case PLAYER_LOCALIZE_CODE:
deviceProxy = (ClientProxy*) new LocalizeProxy (&client, devIndex);
break;
case PLAYER_LOG_CODE:
deviceProxy = (ClientProxy*) new LogProxy (&client, devIndex);
break;
case PLAYER_MAP_CODE:
deviceProxy = (ClientProxy*) new MapProxy (&client, devIndex);
break;
case PLAYER_OPAQUE_CODE:
deviceProxy = (OpaqueProxy*) new OpaqueProxy (&client, devIndex);
break;
case PLAYER_PLANNER_CODE:
deviceProxy = (ClientProxy*) new PlannerProxy (&client, devIndex);
break;
case PLAYER_POSITION1D_CODE:
deviceProxy = (ClientProxy*) new Position1dProxy (&client, devIndex);
break;
case PLAYER_POSITION2D_CODE:
deviceProxy = (ClientProxy*) new Position2dProxy (&client, devIndex);
break;
case PLAYER_POSITION3D_CODE:
deviceProxy = (ClientProxy*) new Position3dProxy (&client, devIndex);
break;
case PLAYER_POWER_CODE:
deviceProxy = (ClientProxy*) new PowerProxy (&client, devIndex);
break;
case PLAYER_PTZ_CODE:
deviceProxy = (ClientProxy*) new PtzProxy (&client, devIndex);
break;
case PLAYER_SIMULATION_CODE:
deviceProxy = (ClientProxy*) new SimulationProxy (&client, devIndex);
break;
case PLAYER_SONAR_CODE:
deviceProxy = (ClientProxy*) new SonarProxy (&client, devIndex);
break;
case PLAYER_SPEECH_CODE:
deviceProxy = (ClientProxy*) new SpeechProxy (&client, devIndex);
break;
case PLAYER_VECTORMAP_CODE:
deviceProxy = (ClientProxy*) new VectorMapProxy (&client, devIndex);
break;
default:
cout << "Unknown interface " << device << endl;
exit (-1);
}
if (strncmp (argv[argsIndex], "getbool", 7) == 0)
{
if (deviceProxy->GetBoolProp (argv[argsIndex + 1], &boolValue) >= 0)
cout << "Property " << argv[argsIndex + 1] << " = " << boolValue << endl;
}
else if (strncmp (argv[argsIndex], "getint", 6) == 0)
{
if (deviceProxy->GetIntProp (argv[argsIndex + 1], &intValue) >= 0)
cout << "Property " << argv[argsIndex + 1] << " = " << intValue << endl;
}
else if (strncmp (argv[argsIndex], "getdbl", 6) == 0)
{
if (deviceProxy->GetDblProp (argv[argsIndex + 1], &dblValue) >= 0)
cout << "Property " << argv[argsIndex + 1] << " = " << dblValue << endl;
}
else if (strncmp (argv[argsIndex], "getstr", 6) == 0)
{
if (deviceProxy->GetStrProp (argv[argsIndex + 1], &strValue) >= 0)
{
cout << "Property " << argv[argsIndex + 1] << " = " << strValue << endl;
free (strValue);
}
}
else if (strncmp (argv[argsIndex], "setbool", 7) == 0)
{
if (strncmp (argv[argsIndex + 2], "true", 4) == 0)
deviceProxy->SetBoolProp (argv[argsIndex + 1], true);
else
deviceProxy->SetBoolProp (argv[argsIndex + 1], false);
}
else if (strncmp (argv[argsIndex], "setint", 6) == 0)
{
deviceProxy->SetIntProp (argv[argsIndex + 1], atoi (argv[argsIndex + 2]));
}
else if (strncmp (argv[argsIndex], "setdbl", 6) == 0)
{
deviceProxy->SetDblProp (argv[argsIndex + 1], atof (argv[argsIndex + 2]));
}
else if (strncmp (argv[argsIndex], "setstr", 6) == 0)
{
deviceProxy->SetStrProp (argv[argsIndex + 1], argv[argsIndex + 2]);
}
return 0;
}
