API2

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Revision as of 13:55, 6 May 2019 by Verbeek (talk | contribs) (Find the correct version)

Introduction

Robotino api2 icon 64.png A C/C++ library to access Robotino's sensors and actors from your own program.

Download and install

Check Robotino OS to find the link to the API2 library.

Windows

On Windows (Visual Studio) you need to install the binary package that fits your compiler. Currently we support two compilers. Please open a command prompt and use set to see your Visual Studio or Visual Studio Tools version.

API2 for msvc-12 is available for 32bit and 64bit while the msvc-141 library is 64bit only.

Quick links

C++ example

#include <iostream>
#include "rec/robotino/api2/all.h"

rec::robotino::api2::Com com;
rec::robotino::api2::Bumper bumper;

int main( int argc, char **argv )
{
  std::string hostname = "172.26.1.1";
  if( argc > 1 )
  {
    hostname = argv[1];
  }

  com.setAddress( hostname.c_str() );
  com.connectToServer( true );
  
  while(com.isConnected() && false == bumper.value())
  {
    std::cout << "Bumper is " << (bumper.value()?"":"not") << " pressed" << std::endl;
    com.processEvents();
    rec::robotino::api2::msleep( 100 );
  }

  com.disconnectFromServer();

  rec::robotino::api2::shutdown();

  return 0;
}

C example

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#ifdef WIN32
#include <windows.h>
#else
#include <unistd.h> //usleep
#endif

#include "rec/robotino/api2/c/Com.h"

void msleep( unsigned int ms )
{
#ifdef WIN32
  SleepEx( ms, FALSE );
#else
  usleep( ms * 1000 );
#endif
}

ComId com;
BumperId bumper;

int main( int argc, char **argv )
{
  com = Com_construct();

  if( argc > 1 )
  {
    Com_setAddress( com, argv[1] );
  }
  else
  {
    Com_setAddress( com, "172.26.1.1" );
  }

  if( FALSE == Com_connect( com ) )
  {
    printf( "Error on connect" );
    exit(1);
  }
  else
  {
    char addressBuffer[256];
    Com_address( com, addressBuffer, 256 );
    printf( "Connected to %s\n", addressBuffer );
  }

  while( Com_isConnected( com ) && FALSE == Bumper_value( bumper ) )
  {
    printf("Value of bumper is %d\n",Bumper_value( bumper ) )
    msleep( 50 );
  }

  Bumper_destroy( bumper );
  Com_destroy( com );

  return 0;
}