The aim of this example is to show how to control NAO’s LEDs using a proxy to ALLeds module. This example will make a colored animation on all of NAO’s LEDs.
The whole example is available here: leds.zip
/**
* Copyright (c) 2011 Aldebaran Robotics. All Rights Reserved
*
* \file ledsexample.cpp
* \brief Play with NAO's leds.
*
* A simple example showing how to use NAO's leds using ALLedsProxy.
* This example launches a colorful animation on NAO's leds.
* We use here a specialized proxy to the ALLeds module.
*/
#include <iostream>
#include <alerror/alerror.h>
#include <alproxies/alledsproxy.h>
int main(int argc, char* argv[]) {
if(argc != 2)
{
std::cerr << "Wrong number of arguments!" << std::endl;
std::cerr << "Usage: movehead NAO_IP" << std::endl;
exit(2);
}
try {
/** Create a ALLedsProxy to call the methods to deal with NAO's leds.
* Arguments for the constructor are:
* - IP adress of the robot
* - port on which NAOqi is listening, by default 9559
*/
AL::ALLedsProxy leds(argv[1], 9559);
/** Set the duration of the animation. */
float duration = 3.0f;
/** Play a green / yellow / red animation on all of NAO's leds. */
leds.rasta(duration);
}
catch (const AL::ALError& e) {
std::cerr << "Caught exception: " << e.what() << std::endl;
exit(1);
}
exit(0);
}
The corresponding CMakeLists.txt file is the following:
##
# Copyright (c) 2011 Aldebaran Robotics. All Rights Reserved.
cmake_minimum_required(VERSION 2.6.4 FATAL_ERROR)
# Give a name to the project.
project(ledsexample)
# This include enable you to use qibuild CMake framework
find_package(qibuild)
# Create an executable named ledsexample,
# with the source file : ledsexample.cpp
qi_create_bin(ledsexample ledsexample.cpp)
# Tell CMake that movehead depends on ALCOMMON.
# This will set the libraries to link movehead with,
# the include paths, and so on
qi_use_lib(ledsexample ALCOMMON)