VoiceControlRobot

Raghav/voice.c

@@ -0,0 +1,262 @@
+#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;
+}
+
+
+
+
+