text: /*
  Copyright (c) 2002, Andrew Howard
  All rights reserved.
  
  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
  
      * Redistributions of source code must retain the above copyright notice,
        this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright notice,
        this list of conditions and the following disclaimer in the documentation
        and/or other materials provided with the distribution.
      * Neither the name of the Player Project nor the names of its contributors
        may be used to endorse or promote products derived from this software
        without specific prior written permission.
  
  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
  ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
  ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
  
  #include <stdio.h>
  
  #include <libplayerc/playerc.h>
  
  int
  main(int argc, const char **argv)
  {
    int i;
    playerc_client_t *client;
    playerc_position2d_t *position2d;
  
    // Create a client and connect it to the server.
    client = playerc_client_create(NULL, "localhost", 6665);
    if (0 != playerc_client_connect(client))
      return -1;
  
    // Create and subscribe to a position2d device.
    position2d = playerc_position2d_create(client, 0);
    if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
      return -1;
  
    // Make the robot spin!
    if (0 != playerc_position2d_set_cmd_vel(position2d, 0, 0, DTOR(40.0), 1))
      return -1;
  
    for (i = 0; i < 200; i++)
    {
      // Wait for new data from server
      playerc_client_read(client);
  
      // Print current robot pose
      printf("position2d : %f %f %f\n",
             position2d->px, position2d->py, position2d->pa);
    }
  
    // Shutdown
    playerc_position2d_unsubscribe(position2d);
    playerc_position2d_destroy(position2d);
    playerc_client_disconnect(client);
    playerc_client_destroy(client);
  
    return 0;
  }
  