sigslots.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/
 
#include <ecl/time.hpp>
#include <ecl/sigslots.hpp>
#include <iostream>
#include <kobuki_driver/kobuki.hpp>
 
/*****************************************************************************
** Classes
*****************************************************************************/
 
class KobukiManager {
public:
  KobukiManager() :
      slot_stream_data(&KobukiManager::processStreamData, *this) // establish the callback
  {
    kobuki::Parameters parameters;
    parameters.sigslots_namespace = "/mobile_base"; // configure the first part of the sigslot namespace
    parameters.device_port = "/dev/kobuki";         // the serial port to connect to (windows COM1..)
    // configure other parameters here
    kobuki.init(parameters);
    slot_stream_data.connect("/mobile_base/stream_data");
  }
 
  void spin() {
    ecl::Sleep sleep(1);
    while ( true ) {
      sleep();
    }
  }
 
  /*
   * Called whenever the kobuki receives a data packet. Up to you from here to process it.
   *
   * Note that special processing is done for the various events which discretely change
   * state (bumpers, cliffs etc) and updates for these are informed via the xxxEvent
   * signals provided by the kobuki driver.
   */
  void processStreamData() {
    kobuki::CoreSensors::Data data = kobuki.getCoreSensorData();
    std::cout << "Encoders [" <<  data.left_encoder << "," << data.right_encoder << "]" << std::endl;
  }
 
private:
  kobuki::Kobuki kobuki;
  ecl::Slot<> slot_stream_data;
};
 
/*****************************************************************************
** Main
*****************************************************************************/
 
int main() {
  KobukiManager kobuki_manager;
  kobuki_manager.spin();
  return 0;
}