RPC Support added to the client

jwawerla · Mar 11, 2012 · c4c632a · c4c632a
1 parent a9da31c
commit c4c632a
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Showing 3 changed files with 38 additions and 0 deletions.
diff --git a/librapirpc/robotrpcclient.cpp b/librapirpc/robotrpcclient.cpp
@@ -109,6 +109,13 @@ bool RobotRpcClient::getWheelDropDev(unsigned int& numSamples)
     numSamples = fromVariant<int>(result["numSamples"]);
     return true;
 }
+//------------------------------------------------------------------------------
+bool RobotRpcClient::getCliffDev(unsigned int& numSamples)
+{
+    object result = call("getCliffDev", object());
+    numSamples = fromVariant<int>(result["numSamples"]);
+    return true;
+}
 
 //------------------------------------------------------------------------------
 void RobotRpcClient::getDrivetrain( bool &isStalled,
@@ -180,5 +187,17 @@ std::vector<bool> RobotRpcClient::getWheelDrops( void )
     return out;
 }
 //------------------------------------------------------------------------------
+std::vector<bool> RobotRpcClient::getCliffs( void )
+{
+    std::vector<bool> out;
+    object result = call("getCliffs", object() );
+    array cliffs = fromVariant<array>(result["cliffs"]);
+    for (unsigned int i = 0; i < cliffs.size(); ++i)
+    {
+        out.push_back(fromVariant<bool> (cliffs[i]));
+    }
+    return out;
+}
+//------------------------------------------------------------------------------
 
 } // namespace
diff --git a/librapirpc/robotrpcclient.h b/librapirpc/robotrpcclient.h
@@ -67,6 +67,13 @@ class RobotRpcClient
      */
     bool getWheelDropDev( unsigned int &numSamples);
 
+    /**
+     * Get the parameters of cliff device if exists
+     * @param numSamples
+     * @return 1 if successful, otherwise 0
+     */
+    bool getCliffDev( unsigned int &numSamples);
+
   //---- device get/set calls --------------------------------------------------
     /** get position and velocity information */
     void getDrivetrain( bool &isStalled,
@@ -99,6 +106,12 @@ class RobotRpcClient
      */
     std::vector<bool> getWheelDrops(void);
 
+    /**
+     * Get cliffs status
+     * @return 
+     */
+    std::vector<bool> getCliffs(void);
+
   private:
     /** helper method for performing RPC calls */
     jsonrpc::object call( std::string methodName, jsonrpc::object args );

diff --git a/librapirpc/simplerpcclient.cpp b/librapirpc/simplerpcclient.cpp
@@ -23,9 +23,11 @@ int main (int argc, char* argv[])
     double maxCapacity;
     unsigned int numBumpers;
     unsigned int numWheels;
+    unsigned int numCliffs;
     std::vector<float> ranges;
     std::vector<bool> bumpers;
     std::vector<bool> wheels;
+    std::vector<bool> cliffs;
     while (true)
     {
         std::cout << "Testing robot " << address << std::endl;
@@ -40,6 +42,10 @@ int main (int argc, char* argv[])
         wheels = robot->getWheelDrops();
         std::cout << "WheelDrop Count: " << numWheels << std::endl;
         std::cout << "WheelDrop Status : " << wheels[0] << " , " << wheels[1] << std::endl;
+        numWheels = robot->getWheelDropDev(numCliffs);
+        cliffs = robot->getCliffs();
+        std::cout << "Cliffs Count: " << numCliffs << std::endl;
+        std::cout << "Cliffs Status : " << cliffs[0] << " , " << cliffs[1] << std::endl;
         usleep(500000); // Please don't overload robot 
     }
     //robot->quit();