bool MainWindow::connectRobot (const QString& address) {
if (m_connectedRobots.end() != m_connectedRobots.find(address)) {
/* The requested robot is already connected */
return true;
}
auto newrobot = new mobot_t;
Mobot_init(newrobot);
/* extract the 8-bit byte array from QString, from which we can then extract
* the C-string */
auto baAddress = address.toLocal8Bit();
if (-1 == Mobot_connectWithAddress(newrobot, baAddress.data(), 1)) {
delete newrobot;
qDebug() << "(barobolab) ERROR: Mobot_connectWithTTY failed\n";
return false;
}
Mobot_enableButtonCallback(newrobot, strdup(baAddress.data()), JsInterface::robotButtonCallback);
auto l = new RobotListener(newrobot, address);
QObject::connect(l, SIGNAL(scrollUp(QString)), m_interface, SLOT(scrollUpSlot(QString)));
QObject::connect(l, SIGNAL(scrollDown(QString)), m_interface, SLOT(scrollDownSlot(QString)));
QThread *thread = new QThread(this);
l->moveToThread(thread);
thread->start();
QMetaObject::invokeMethod(l, "startWork", Qt::QueuedConnection);
m_connectedRobots.insert(std::make_pair(address, newrobot));
m_robotListeners.insert(std::make_pair(address, l));
return true;
}
int main()
{
int i = 0;
mobot_t mobot;
Mobot_init(&mobot);
//Mobot_connectWithAddress(&mobot, "LQLX", 1);
Mobot_connectWithAddress(&mobot, "S3S3", 1);
Mobot_enableJointEventCallback(&mobot, NULL, jointcb);
Mobot_enableAccelEventCallback(&mobot, NULL, accelcb);
printf("Press enter to quit.\n");
getchar();
return 0;
}
