Added parallelIce motorsClient for c++

src/libs/parallelIce/CMakeLists.txt

@@ -5,10 +5,10 @@ include_directories(${LIBS_DIR}) # Aquí se alojan las cabeceras de las interfac
 
 include_directories( ${LIBS_DIR}/)
 
-add_library (parallelIce STATIC cameraClient.cpp  cameraClient.h  pointcloudClient.cpp  pointcloudClient.h laserClient.cpp laserClient.h)
+add_library (parallelIce STATIC cameraClient.cpp  cameraClient.h  pointcloudClient.cpp  pointcloudClient.h laserClient.cpp laserClient.h motorsClient.cpp motorsClient.h)
 TARGET_LINK_LIBRARIES(parallelIce colorspacesmm logger ${Boost_LIBRARIES})
 
-add_library (parallelIceshare SHARED cameraClient.cpp  cameraClient.h  pointcloudClient.cpp  pointcloudClient.h laserClient.cpp laserClient.h)
+add_library (parallelIceshare SHARED cameraClient.cpp  cameraClient.h  pointcloudClient.cpp  pointcloudClient.h laserClient.cpp laserClient.h motorsClient.cpp motorsClient.h)
 TARGET_LINK_LIBRARIES(parallelIceshare colorspacesmm logger ${Boost_LIBRARIES} ${ZLIB_LIBRARIES})
 
 

src/libs/parallelIce/motorsClient.cpp

@@ -0,0 +1,118 @@
+/*
+ *  Copyright (C) 1997-2013 JDE Developers TeamkinectViewer.camRGB
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *
+ *  Author : Jose María Cañas <jmplaza@gsyc.es>
+			Francisco Miguel Rivas Montero <franciscomiguel.rivas@urjc.es>
+
+ */
+#include "motorsClient.h"
+
+namespace jderobot {
+
+motorsClient::motorsClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug) {
+	// TODO Auto-generated constructor stub
+	this->prefix=prefix;
+	this->debug= debug;
+	Ice::PropertiesPtr prop;
+	prop = ic->getProperties();
+
+	try{
+
+		std::string maxWstr = prop->getPropertyWithDefault(prefix+".maxW","0.5");
+        this->maxW = atof(maxWstr.c_str());
+
+        std::string maxVstr = prop->getPropertyWithDefault(prefix+".maxV","0.5");
+        this->maxV = atof(maxVstr.c_str());
+
+        if (debug){
+			std::cout << "maxV value:" << this->maxV << std::endl;
+			std::cout << "maxW value:" << this->maxW << std::endl;
+        }
+
+		Ice::ObjectPrx baseMotors = ic->propertyToProxy(prefix+"Proxy");
+		this->prx = jderobot::MotorsPrx::checkedCast(baseMotors);
+		if (0==this->prx) {
+			std::cerr << "Interface " << prefix << " not configured "<< std::endl;;
+		}
+
+	}catch (const Ice::Exception& ex) {
+		std::cerr << ex << std::endl;
+	}
+	catch (const char* msg) {
+		std::cerr << msg << std::endl;
+		jderobot::Logger::getInstance()->error(prefix + " Not motors provided");
+	}
+}
+
+motorsClient::~motorsClient() {
+	// TODO Auto-generated destructor stub
+}
+
+void motorsClient::setV(float v) {
+	this->controlMutex.lock();
+	this->v = v;
+	this->controlMutex.unlock();
+
+}
+
+void motorsClient::setW(float w) {
+	this->controlMutex.lock();
+	this->w = w;
+	this->controlMutex.unlock();
+
+}
+
+float motorsClient::getMaxV() {
+	return this->maxV;
+}
+
+float motorsClient::getMaxW() {
+	return this->maxW;
+}
+
+void motorsClient::sendVelocities() {
+	if (this->hasProxy()){
+		this->controlMutex.lock();
+		float v = this->v;
+		float w = this->w;
+		this->controlMutex.unlock();
+		this->prx->setV(v);
+		this->prx->setW(w);
+	}
+}
+
+void motorsClient::sendV(float v) {
+	if (this->hasProxy()){
+		this->controlMutex.lock();
+		this->prx->setV(v);
+		this->controlMutex.unlock();
+	}
+
+}
+
+void motorsClient::sendW(float w) {
+	if (this->hasProxy()){
+		this->controlMutex.lock();
+		this->prx->setW(w);
+		this->controlMutex.unlock();
+	}
+}
+
+bool motorsClient::hasProxy(){
+	return this->prx;
+}
+
+} /* namespace eldercare */

src/libs/parallelIce/motorsClient.h

@@ -0,0 +1,69 @@
+/*
+ *  Copyright (C) 1997-2013 JDE Developers TeamkinectViewer.camRGB
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *
+ *  Author : Jose María Cañas <jmplaza@gsyc.es>
+			Francisco Miguel Rivas Montero <franciscomiguel.rivas@urjc.es>
+
+ */
+
+#ifndef MOTORSCLIENT_H_
+#define MOTORSCLIENT_H_
+
+#include <IceUtil/IceUtil.h>
+#include <iostream>
+#include <Ice/Ice.h>
+#include <jderobot/motors.h>
+#include <cv.h>
+#include <sstream>
+#include <fstream>
+#include <logger/Logger.h>
+
+namespace jderobot {
+
+
+class motorsClient {
+public:
+	motorsClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug = false);
+	virtual ~motorsClient();
+
+	void setV(float v);
+    void setW(float w);
+    float getMaxW();
+    float getMaxV();
+    void sendVelocities();
+    void sendV(float v);
+    void sendW(float w);
+   	bool hasProxy();
+
+
+private:
+	std::string prefix;
+	float v;
+	float w;
+	float maxV;
+	float maxW;
+
+
+	jderobot::MotorsPrx prx;
+	IceUtil::Mutex controlMutex;
+	bool debug;
+	bool _done;
+
+};
+
+
+} /* namespace jderobot */
+#endif /* LASERCLIENT_H_ */