[Playerstage-commit] code/player/examples/libplayerc service_discovery.c, 1.1, 1.2

[Brian G. <ge...@us...>]

Update of /cvsroot/playerstage/code/player/examples/libplayerc
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5549/examples/libplayerc

Modified Files:
	service_discovery.c 
Log Message:
improvements to playersd

Index: service_discovery.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/examples/libplayerc/service_discovery.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** service_discovery.c	1 Oct 2007 18:28:31 -0000	1.1
--- service_discovery.c	3 Oct 2007 22:03:47 -0000	1.2
***************
*** 14,22 ****
    playerc_client_t *client=NULL;
    playerc_position2d_t *position2d;
-   char host[16];
  
    // A service discovery object
    player_sd_t* sd;
!   player_sd_dev_t* sddev;
  
    // Initialize service discovery
--- 14,23 ----
    playerc_client_t *client=NULL;
    playerc_position2d_t *position2d;
  
    // A service discovery object
    player_sd_t* sd;
!   // An array to store matching devices
!   player_sd_dev_t positiondevs[8];
!   int num_positiondevs;
  
    // Initialize service discovery
***************
*** 31,59 ****
  
    // Did we find any position2d devices?
!   for(i=0;i<sd->devs_len;i++)
    {
!     if(sd->devs[i].valid)
!     {
!       printf("device with interf: %d\n", sd->devs[i].addr.interf);
!       if(sd->devs[i].addr.interf == PLAYER_POSITION2D_CODE)
!       {
!         sddev = sd->devs + i;
!         packedaddr_to_dottedip(host,sizeof(host),sddev->addr.host);
! 
!         client = playerc_client_create(NULL, host, sddev->addr.robot);
!         if(0 != playerc_client_connect(client))
!           exit(-1);
  
!         // Create and subscribe to a position2d device.
!         position2d = playerc_position2d_create(client, sddev->addr.index);
!         if(playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
!           exit(-1);
  
!         break;
!       }
!     }
    }
! 
!   if(!client)
    {
      puts("no devices found");
--- 32,52 ----
  
    // Did we find any position2d devices?
!   if((num_positiondevs = player_sd_find_devices(sd, positiondevs, 8,
!                                                 NULL, NULL, -1,
!                                                 PLAYER_POSITION2D_CODE, -1)) > 0)
    {
!     printf("found %d position2d devices\n", num_positiondevs);
  
!     // Subscribe to the first one
!     client = playerc_client_create(NULL, positiondevs[0].hostname, positiondevs[0].robot);
!     if(0 != playerc_client_connect(client))
!       exit(-1);
  
!     // Create and subscribe to a position2d device.
!     position2d = playerc_position2d_create(client, positiondevs[0].index);
!     if(playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
!       exit(-1);
    }
!   else
    {
      puts("no devices found");
***************
*** 61,66 ****
    }
  
!   // Make the robot spin!
!   if (0 != playerc_position2d_set_cmd_vel(position2d, 0, 0, DTOR(40.0), 1))
      return -1;
  
--- 54,59 ----
    }
  
!   // Make the robot move
!   if (0 != playerc_position2d_set_cmd_vel(position2d, 0.35, 0, DTOR(40.0), 1))
      return -1;