moverobo.c

一个由c转成java的3D robot 仿真平台

#include "/usr/local/java/include/StubPreamble.h"
#include "../RealRobot_SerialOut.h"
#include <stdio.h>


void RealRobot_SerialOut_moverobo(struct HRealRobot_SerialOut *this, 
				  long arm, long pos, long task)
{
    static FILE *datei;
    static int fileIsOpen = 0; /* 0 means false */
 
    if (task == 0)
      {
	/* Open File */
	
	datei = fopen("/dev/ttya","w"); 
	fileIsOpen = 1; /* 1 means true */
	return;
      }

    if (task == 1)
      {
	/* Execute a movement */

        if ((arm >= 0) && (arm < 5) && (pos > 0) && (pos < 255))
          {
	    if (datei != NULL)
	      {
		fputc(255,datei);
		fputc((int)arm,datei);
		fputc((int)pos,datei);
		fflush(datei);
	      }	
	    else
	      {
		printf("File is NULL.\n");
	      }	
	  }
	return;
      }

    if (task == 2)
      {
	/* Close File */

	if (fileIsOpen)
	  fclose(datei);
	return;
      }
}