rfidaction.cpp

一个简单使用的控制器

#include <iostream>
#include <iomanip>

#include "RFIDAction.h"
#include "msg_types.h"
#include "ipc/ipc.h"
#include "util/timeutil.h"
#include "util/robotId.h"
#include "com/ipc_com.h"

RFIDAction::RFIDAction()
{
   _tagCount=0;
   _lastDeployTime.tv_sec = 0;
   _lastDeployTime.tv_usec = 0;
}


RFIDAction::~RFIDAction()
{
}

int RFIDAction::deployTag()
{
   timeval now;
   gettimeofday(&now,0);
   double diff = TimevalDiff(&now, &_lastDeployTime);
   
   if (diff > MIN_WAIT_TIME_BETWEEN_DEPLOYMENT) {
      rescue_rfid_actuator_message msg;
      msg.triggerTag=1;
      msg.robot.id = getRobotId();
      msg.robot.ts = getCurrentTime();
      ComPublishToRobot(RESCUE_RFID_ACTUATOR_NAME, &msg);
      gettimeofday(&_lastDeployTime,0);
      return _tagCount++;
   }
   return -1;
}

/*********************************************************************
 * (C) Copyright 2006 Albert Ludwigs University Freiburg
 *     Institute of Computer Science
 *
 * All rights reserved. Use of this software is permitted for
 * non-commercial research purposes, and it may be copied only
 * for that use. All copies must include this copyright message.
 * This software is made available AS IS, and neither the authors
 * nor the Albert Ludwigs University Freiburg make any warranty
 * about the software or its performance.
 *********************************************************************/