Robots suiveurs 3 - Code Communication Initial (C++)

Code pour la communication du robot esclave

// File:receiver_controller.cpp
// Description: partie récepteur de communication
// Author:Clément Luton


// You may need to add webots include files such as
// <webots/DistanceSensor.hpp>, <webots/Motor.hpp>, etc.
// and/or to add some other includes
#include <webots/Robot.hpp>
#include <webots/Robot.hpp>
#include <webots/Emitter.hpp>
#include <webots/Receiver.hpp>
#include <stdio.h>
#include <string.h>
#define COMMUNICATION_CHANNEL 1

// All the webots classes are defined in the "webots" namespace
using namespace webots;


int main(int argc, char **argv) {
  // create the Robot instance.
  Robot *robot = new Robot();

  Receiver *receiver = robot->getReceiver("receiver");
  int message_printed = 0;
  
  // get the time step of the current world.
  int timeStep = (int)robot->getBasicTimeStep();
  
  //if wrong channel
  const int channel = receiver->getChannel();
    if (channel != COMMUNICATION_CHANNEL) 
    {
      receiver->setChannel(COMMUNICATION_CHANNEL);
    }
  receiver->enable(timeStep);
  // You should insert a getDevice-like function in order to get the
  // instance of a device of the robot. Something like:
  //  Motor *motor = robot->getMotor("motorname");
  //  DistanceSensor *ds = robot->getDistanceSensor("dsname");
  //  ds->enable(timeStep);

  // Main loop:
  // - perform simulation steps until Webots is stopping the controller
  while (robot->step(timeStep) != -1) 
  {
    if (receiver->getQueueLength() > 0) 
    {
        /* read current packet's data */
        const char *buffer = (const char*)receiver->getData();
        const double *position= receiver->getEmitterDirection();

          /* print null-terminated message */
          printf("Communicating: received \"%s\"\n", buffer);
          // test pour voir comment son organiser les données de position
          printf("Position received:x=\"%lf\"y=\"%lf\"z=\"%lf\"\n", position[0],position[1],position[2]);
          message_printed = 1;
        /* fetch next packet */
        receiver->nextPacket();
     } 
     else 
     {
        if (message_printed != 2) 
        {
          printf("Communication broken!\n");
          message_printed = 2;
        }
     }
  };

  // Enter here exit cleanup code.

  delete robot;
  return 0;
}
 

Code pour la communication du robot maître

// File:emitter_controller.cpp
// Description: Partie émetteur
// Author: Clément Luton

// You may need to add webots include files such as
// <webots/DistanceSensor.hpp>, <webots/Motor.hpp>, etc.
// and/or to add some other includes
#include <webots/Robot.hpp>
#include <webots/Emitter.hpp>
#include <webots/Receiver.hpp>
#include <stdio.h>
#include <string.h>

// All the webots classes are defined in the "webots" namespace
using namespace webots;
#define COMMUNICATION_CHANNEL 1

int main(int argc, char **argv) {
  // create the Robot instance.
  Robot *robot = new Robot();
  // get the time step of the current world.
  int timeStep = (int)robot->getBasicTimeStep();
  
  Emitter *emitter = robot->getEmitter("emitter");
  
  //if wrong channel
  const int channel = emitter->getChannel();
    if (channel != COMMUNICATION_CHANNEL) 
    {
      emitter->setChannel(COMMUNICATION_CHANNEL);
    }
    emitter->setRange(0.4);
  

  // Main loop:
  // - perform simulation steps until Webots is stopping the controller
  while (robot->step(timeStep) != -1) 
  {
     /* send null-terminated message */
      const char *message = "Hello!";
      emitter->send(message, strlen(message) + 1);
      
  };

  // Enter here exit cleanup code.

  delete robot;
  return 0;
}