/home/fwph/code/wurde/modules/examples/FooClient.cpp

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#include <CommsManager.H>
#include <Foo.H>
#include <Logger.H>
#include <Trigger.H>
#include <RangeFinder.H>

using namespace WURDE;
using namespace std;

int main (int argc, char *argv[]){

  CommsManager myManager("FooClient");
  //Foo myFoo("Bar");
  RangeFinder myRf("Any");
  Foo myFoo(STRAT_ASSIGNED,"BarClient");
  Logger myLogger("FooClient");
  Trigger myTrigger;

  myManager.parseOptions(argc,argv);

  myManager.registerSupplier(&myLogger);
  myManager.registerConsumer(&myFoo);
  myManager.registerConsumer(&myRf);
  //  myManager.setSleep(0.9);
  //myTrigger.add(&myFoo);
  //  myManager.setTriggerMode(true);
  // myManager.addTrigger(myTrigger);
  myFoo.setAutoPing(true);
  myFoo.doPing();
  //  myFoo.setQueueMode(true);

  //  myManager.setNoHeartbeat();

  while(myManager.runUpdate()==STATE_RUN){
         myFoo.doPing();
         while(myFoo.newInfo()){
                myFoo.getNextInfo();
                cout << "Info: MaxRange " << myFoo.info.maxRange.getValue() << 
                       " angleMin " << myFoo.info.angleMin.getValue() << 
                       " angleMax " << myFoo.info.angleMax.getValue() << endl;
         }
         
         while(myFoo.newData()){
                myFoo.getNextData();
                //      std::cout<< "I do, in fact, have new data.\n";
                if(myFoo.data.ranges.size()>0){
                       cout << "New data... Timestamp: " << myFoo.data.timestamp.getSeconds() <<
                              " Val " << 0 << ": " << (double) myFoo.data.ranges[0] << endl;
                }else{
                       cout << "size is only " << myFoo.data.ranges.size() << endl;
                }

         }    

         while(myRf.newInfo()){
                myRf.getNextInfo();
                cout << "RfInfo: MaxRange " << myRf.info.max_range.getValue() << 
                       " angleMin " << myRf.info.angle_min.getValue()<< endl;
         }
         
         while(myRf.newData()){
                myRf.getNextData();
           if(myRf.data.ranges.size()>0){
                  cout << "New data... Timestamp: " << myRf.data.timestamp.getSeconds() <<
                         " Val " << 0 << ": " << (double) myRf.data.ranges[0] << endl;
           }
         }    


  }

  myManager.cleanUp();

  return 0;

}

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