voice.c

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <time.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <libplayerc/playerc.h>
#include "playerc.h"
// Random numbers generated for random walk movement by robots
int read()
{	int choice=0;
	FILE *in;
	char line[511];
	in = fopen("input.dat", "r");
	while(!feof(in))
	{
		fgets(line, 511 , in);
		if (strcmp("sentence1: <s> DIAL ONE </s>\n", line) == 0)
		{
			
			choice=1;
			break;
		}
	
		if (strcmp("sentence1: <s> DIAL TWO </s>\n", line) == 0)
		{
			choice=2;
			break;
		}
	if (strcmp("sentence1: <s> DIAL THREE </s>\n", line) == 0)
		{
			choice=3;
			break;
		}
	if (strcmp("sentence1: <s> DIAL FOUR </s>\n", line) == 0)
		{
			choice=4;
			break;
		
		}
	if (strcmp("sentence1: <s> DIAL FIVE </s>\n", line) == 0)
		{
			choice=5;
			break;
		}
	if (strcmp("sentence1: <s> DIAL SIX </s>\n", line) == 0)
		{
			choice=6;
			break;
		}
	if (strcmp("sentence1: <s> DIAL SEVEN </s>\n", line) == 0)
		{
			choice=7;
			break;
		}
	
	}
	fclose(in);
	return choice;
}

	
char* getFileCreationTime(char *path) 
{
    struct stat attr;
    stat(path, &attr);
    return ctime(&attr.st_mtime);
}

void timeDelay (int secs)//time delay by s seconds
{
    int retTime = time(0) + secs;     
    while (time(0) < retTime);   
}

int exists(const char *filename)
{
   struct stat   buffer;   
   return (stat (filename, &buffer) == 0);
}

void align(int x,playerc_position2d_t *position2d)
{
int i;
i = 0;

while(i<1)
{
playerc_position2d_set_cmd_vel(position2d, 0, 0, x*(-1*DTOR(6)), 1);
sleep(1);
playerc_position2d_set_cmd_vel(position2d, 0, 0, 0, 1);
sleep(1);
i+=1;
}
}


void move_straight(int x,playerc_client_t *client,playerc_position2d_t *position2d)
{
static int count = 1;
int i = 0;
while(i<1)
{
        // Wait for new data from server
        playerc_client_read(client);
        fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",position2d->px, position2d->py, position2d->pa);
        //Random walk is continued till finding first marker
        playerc_position2d_set_cmd_vel(position2d, x , 0 , 0 , 1 );
        sleep(1);
playerc_position2d_set_cmd_vel(position2d, 0 , 0 , 0 , 0 );
i+=1;
}
//playerc_position2d_set_cmd_vel(position2d, 0 , 0 , 0 , 1 );
sleep(1);
if(count%3 == 0)
{
align(x,position2d);
fprintf(stdout,"aligned");
}
count += 1;
playerc_position2d_set_cmd_vel(position2d, 0 , 0 , 0 , 0 );


}



int turn_left(playerc_client_t *client,playerc_position2d_t *position2d)

{
    playerc_client_read(client);
    fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",position2d->px, position2d->py, position2d->pa);
    playerc_position2d_set_cmd_vel(position2d, 0,0 , DTOR(92),1);
    sleep(1);
    playerc_position2d_set_cmd_vel(position2d, 0, 0, 0, 1);
    sleep(1);
}




int turn_right(playerc_client_t *client,playerc_position2d_t *position2d)

{
    playerc_client_read(client);
    fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",position2d->px, position2d->py, position2d->pa);
    playerc_position2d_set_cmd_vel(position2d, 0,0 , -1*DTOR(92),1);
    sleep(1);
    playerc_position2d_set_cmd_vel(position2d, 0, 0, 0, 1);
    sleep(1);
}
int rotate120(playerc_client_t *client,playerc_position2d_t *position2d)
{
    playerc_client_read(client);
    fprintf(stdout, "X: %3.2f, Y: %3.2f, Yaw: %3.2f \n",position2d->px, position2d->py, position2d->pa);
    playerc_position2d_set_cmd_vel(position2d, 0,0 , -1*DTOR(122),1);
    sleep(1);
    playerc_position2d_set_cmd_vel(position2d, 0, 0, 0, 1);
    sleep(1);
}

int square(playerc_client_t *client,playerc_position2d_t *position2d)
{
	playerc_client_read(client);
	move_straight(1,client,position2d);
	turn_left(client,position2d);
	
	move_straight(1,client,position2d);
	
	turn_left(client,position2d);
	move_straight(1,client,position2d);
	
	turn_left(client,position2d);
	move_straight(1,client,position2d);
	
	turn_left(client,position2d);
	sleep(1);
}	


int triangle(playerc_client_t *client,playerc_position2d_t *position2d)
{
	playerc_client_read(client);
	move_straight(1,client,position2d);
	rotate120(client,position2d);
	move_straight(1,client,position2d);	
	rotate120(client,position2d);
	move_straight(1,client,position2d);
	
	sleep(1);
}

int main(int argc, const char **argv)
{
	while(1)
	{
		char* time = getFileCreationTime("input.dat");
		int i,count=0;
		playerc_client_t *client;
		playerc_position2d_t *position2d;
		int cycle, index=0;
		double dist,angle,fidAngle = 0,lineAngle=0, fidDist=0, prevYaw=0,posAngle=0;
// Create a client and connect it to the server.
		client = playerc_client_create(NULL, "localhost", 6665);
		if (0 != playerc_client_connect(client))
		{
			fprintf(stdout,"Error!!");
			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;
		int choice,ch;

		playerc_client_read(client);
		if(exists("input.dat")
		{
			if(strcmp(time, getFileCreationTime("input.dat"));
			{
			choice=read();
			switch(choice)
			{
				case 1 : {move_straight(1,client,position2d);break;}
				case 2 : {turn_left(client,position2d);break;}
				case 3 : {turn_right(client,position2d);break;}
				case 4 : {move_straight(-1,client,position2d);break;}
				case 5 : {square(client,position2d);break;}
				case 6 : {triangle(client,position2d);break;}
				case 7 : break;
				default : {printf("Wrong Choice!!!!!\n"); break;}
			}
			playerc_client_read(client);
			playerc_position2d_set_cmd_vel(position2d,0,0,0,0);
			sleep(1);

			timeDelay(2);
			}
			else
			{
				timeDelay(5);
			}
		}
		else
		{
			timeDelay(5)
		}
	}
playerc_position2d_unsubscribe(position2d);

playerc_position2d_destroy(position2d);

playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}