Re: Octave/C++

[Stefan van der Walt]

Hi Mike

The function to access the robot could look something like (from the
top of my head)

DEFUN_DLD(robot_cmd, args, argv,
"Send a cmd to the robot\n\
\n\
usage: robot_cmd(robot, cmd)")
{
  octave_value_list retval;

  if (args.length() != 2) {
    print_usage("robot");
    return retval;
  }

  if (args(0).type_id() != Bot::static_type_id()) {
    print_usage("robot");
    return retval;
  }

  robot_command rbc;
  rbc.opcode = args(1).int_value(); 

  if (error_state) {
    error("robot_cmd: expected integer command");
    return retval;
  }

  Bot *b = (Bot*)args(0).internal_rep();
  b->get_link() << rbc;

  return retval;
}

You'll have to add the get_link() method to the Bot class.  Also, I
didn't make provision for parameters above.

Regards
Stéfan

On Mon, Jul 25, 2005 at 10:50:45AM +0100, Mike Morley wrote:
> I tried the code you provided this morning linking to the header files, and 
> it appears to work.
> 
> The problem I now have is how do I run commands to the robot?
> 
> I've looked at make_int.cc but I don't really understand the syntax I need 
> to use to make things work.
> 
> Ideally, what I need is some way of issuing a command in octave like:
> 
> robotcommand (robot, motor1go, speed) that would run the C++ command 
> robot.command (MOTOR_1_GO, speed)
> 
> So what I guess I need is some switch statement to convert the string into 
> the appropriate robot command statement, and then pick up the other 
> variable to pass to the robot. However, I'm not sure how to implement this.
> 
> Mike



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