anyKode Marilou
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Light sources management.
class DeviceLightSource : public Device;
ModaCpp.h
The DeviceLightSource class cannot be created directly by user : it must be obtained by QueryDeviceLightSource of the class RobotPHX.
The various parameters given to the functions can be interpreted and modified if necessary by the device in order to respect the constraints imposed in modeling.
//MODA C++ for VC2005 sample code //Light source blink sample #include "Modacpp.h" #define MODASERVER "localhost" #define MYROBOTNAME "/" int main(int argc, char* argv[]) { ModaCPP::Connection *connection=new ModaCPP::Connection(true); //Try connect to MODA server if(connection->Connect(MODASERVER)) { _cprintf("Connection ok to moda server\r\n"); //Find the robot ModaCPP::RobotPHX *robot=connection->QueryRobotPHX(MYROBOTNAME); if(robot) { //query light sources ModaCPP::DeviceLightSource *pLight1=robot->QueryDeviceLightSource("light0/l"); ModaCPP::DeviceLightSource *pLight2=robot->QueryDeviceLightSource("light1/l"); if(pLight1 && pLight2) { //power on lights pLight1->On(); pLight2->On(); //blink ! while(!_kbhit()) { //off pLight1->SetIntensity(0); pLight2->SetIntensity(0); connection->Sleep(100); //on pLight1->SetIntensity(1.0f); pLight2->SetIntensity(0.5f); connection->Sleep(100); } //delete objects delete pLight1; delete pLight2; } else { _cprintf("missing light source(s)\r\n"); } } else { _cprintf("robot not found\r\n"); } } else { _cprintf("Unable to connect to moda server\r\n"); } //Disconnect & delete connection->Disconnect(); delete connection; _getch(); return 0; }
Documentation v4.7 (18/01/2015), Copyright (c) 2015 anyKode. All rights reserved.
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