int main(int argc, char *argv[]) {
playerc_client_t *robot;
playerc_position2d_t *pp;
playerc_simulation_t *sp;
/* Create a client and connect it to the server. */
robot = playerc_client_create(NULL, "localhost", 6665);
if (0 != playerc_client_connect(robot)) return -1;
/* Create and subscribe to a simulation proxy. */
sp = playerc_simulation_create(robot, 0);
if (playerc_simulation_subscribe(sp, PLAYER_OPEN_MODE)) return -1;
pp = playerc_position2d_create(robot, 0);
if (playerc_position2d_subscribe(pp, PLAYER_OPEN_MODE)) return -1;
/* read from the proxies */
playerc_client_read(robot);
// get and re-set the color
float green[]= {0.67, 0.88, 0.43, 1};
float puckcolor[4];
playerc_client_read(robot);
playerc_simulation_get_property(sp,(char *)"puck1",(char*)"color",puckcolor,4*sizeof(float));
printf("Puck1 is color = (%.2f,%.2f,%.2f,%.2f)\n",
puckcolor[0], puckcolor[1], puckcolor[2], puckcolor[3]);
playerc_simulation_get_property(sp,(char *)"puck2",(char*)"color",puckcolor,4*sizeof(float));
printf("Puck2 is color = (%.2f,%.2f,%.2f,%.2f)\n",
puckcolor[0], puckcolor[1], puckcolor[2], puckcolor[3]);
playerc_simulation_get_property(sp,(char *)"puck3",(char*)"color",puckcolor,4*sizeof(float));
printf("Puck3 is color = (%.2f,%.2f,%.2f,%.2f)\n",
puckcolor[0], puckcolor[1], puckcolor[2], puckcolor[3]);
printf("setting puck1 to green\n");
playerc_simulation_set_property(sp,(char *)"puck1",(char*)"color",green,4*sizeof(float));
playerc_simulation_get_property(sp,(char *)"puck1",(char*)"color",puckcolor,4*sizeof(float));
printf("Puck3 is color = (%.2f,%.2f,%.2f,%.2f)\n",
puckcolor[0], puckcolor[1], puckcolor[2], puckcolor[3]);
/* Shutdown */
playerc_simulation_unsubscribe(sp);
playerc_position2d_unsubscribe(pp);
playerc_simulation_destroy(sp);
playerc_position2d_destroy(pp);
playerc_client_disconnect(robot);
playerc_client_destroy(robot);
return 0;
}
void simulation_subscribe_stub(value sim_val, value access_val)
{
CAMLparam2(sim_val, access_val);
playerc_simulation_t *sim = Simulation_val(sim_val);
int access = get_access_mode(Int_val(access_val));
DPRINTF("subscribing to simulation %p\n", sim);
if (playerc_simulation_subscribe(sim, access))
exception_playerc_error();
DPRINTF("simulation %p subscribed\n", sim);
CAMLreturn0;
}
