[Playerstage-commit] SF.net SVN: playerstage:[7933] code/player/trunk/client_libs/libplayerc/ bindings/ruby/examples

[<ro...@us...>]

Revision: 7933
          http://playerstage.svn.sourceforge.net/playerstage/?rev=7933&view=rev
Author:   robotos
Date:     2009-07-01 09:04:05 +0000 (Wed, 01 Jul 2009)

Log Message:
-----------
added fiducial interface test/example

Modified Paths:
--------------
    code/player/trunk/client_libs/libplayerc/bindings/ruby/examples/test.rb

Added Paths:
-----------
    code/player/trunk/client_libs/libplayerc/bindings/ruby/examples/fiducial.rb

Added: code/player/trunk/client_libs/libplayerc/bindings/ruby/examples/fiducial.rb
===================================================================
--- code/player/trunk/client_libs/libplayerc/bindings/ruby/examples/fiducial.rb	                        (rev 0)
+++ code/player/trunk/client_libs/libplayerc/bindings/ruby/examples/fiducial.rb	2009-07-01 09:04:05 UTC (rev 7933)
@@ -0,0 +1,34 @@
+#testing a fiducial interface
+
+require 'playerc'
+
+class PlayercExamples 
+
+  def fiducial
+    if @connection.nil? 
+      raise 'our connection is not valid!'
+    end
+    fiducial = Playerc::Playerc_fiducial.new(@connection, 0)
+    if fiducial.subscribe(Playerc::PLAYER_OPEN_MODE) != 0
+      raise  Playerc::playerc_error_str()
+    end
+
+    if @connection.read.nil?
+      raise Playerc::playerc_error_str()
+    end
+ 
+    puts "fiducial device with #{fiducial.fiducials_count} readings"
+
+    if fiducial.fiducials_count == 0 
+      raise "fiducial not reading anything"
+    end
+ 
+    for i in 0..fiducial.fiducials_count do
+      f = fiducial.fiducials[i]
+      puts "id, x, y, range, bearing, orientation: ", f.id, f.pos[0], f.pos[1], f.range, f.bearing * 180 / PI, f.orient
+    end 
+ 
+    fiducial.unsubscribe()
+
+  end
+end

Modified: code/player/trunk/client_libs/libplayerc/bindings/ruby/examples/test.rb
===================================================================
--- code/player/trunk/client_libs/libplayerc/bindings/ruby/examples/test.rb	2009-06-30 22:26:15 UTC (rev 7932)
+++ code/player/trunk/client_libs/libplayerc/bindings/ruby/examples/test.rb	2009-07-01 09:04:05 UTC (rev 7933)
@@ -2,6 +2,7 @@
 
 require 'playerc'
 require 'laser'
+require 'fiducial'
 #require 'wifi'
 
 class PlayercExamples


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