Add love.c source code

Signed-off-by: Alejandro Colomar <alx.manpages@gmail.com>

1 files changed, 108 insertions, 0 deletions

diff --git a/love.c b/love.c
new file mode 100644
index 0000000..305e6b4
--- /dev/null
+++ b/love.c
@@ -0,0 +1,108 @@
+/******************************************************************************
+ * Copyright (C) 2020		Alejandro Colomar <alx.manpages@gmail.com>    *
+ * SPDX-License-Identifier:	BSD-2-Clause				      *
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* headers **************************************************************
+ ******************************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <sys/param.h>
+
+#define ALX_NO_PREFIX
+#include <libalx/alx/robot/ur/ur.h>
+#include <libalx/base/errno.h>
+#include <libalx/base/stdlib.h>
+
+
+/******************************************************************************
+ ******* macros ***************************************************************
+ ******************************************************************************/
+#define ROBOT_IP	"192.168.0.1"
+#define ROBOT_PORT	"30002"
+#define MIN_DELAY	(100 * 1000)
+#define DELAY		(MAX(3 * 1000 * 1000, MIN_DELAY))
+#define TIMEOUT		(3 * 1000 * 1000)
+
+
+/******************************************************************************
+ ******* enum / struct / union ************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* static prototypes ****************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* main *****************************************************************
+ ******************************************************************************/
+int	main	(void)
+{
+	struct Alx_UR		*ur;
+	struct Alx_UR_Pose	far;
+	struct Alx_UR_Pose	out, down, left, upleft, center, upright, right;
+	int			status;
+
+	far	= UR_POSE_INIT_JOINTS(-0.106, -1.476, 1.346, -2.664, -2.224, -0.264);
+	out	= UR_POSE_INIT_XYZ(-0.357, 0.127, 0.473, -1.538, 0.710, 0.485);
+	down	= UR_POSE_INIT_XYZ(-0.351, 0.196, 0.482, -1.605, 0.730, 0.549);
+	left	= UR_POSE_INIT_XYZ(-0.386, 0.196, 0.533, -1.375, 0.814, 0.923);
+	upleft	= UR_POSE_INIT_XYZ(-0.364, 0.196, 0.565, -1.236, 0.881, 1.024);
+	center	= UR_POSE_INIT_XYZ(-0.360, 0.200, 0.548, -1.295, 0.926, 0.785);
+	upright	= UR_POSE_INIT_XYZ(-0.338, 0.202, 0.567, -1.181, 0.991, 0.854);
+	right	= UR_POSE_INIT_XYZ(-0.320, 0.201, 0.542, -1.408, 0.883, 0.579);
+
+	status	= EXIT_FAILURE;
+
+	if (ur_init(&ur, ROBOT_IP))
+		goto enotcon;
+
+	if (ur_movej(ur, &far, TIMEOUT))
+		goto out;
+	if (ur_movej(ur, &out, TIMEOUT))
+		goto out;
+
+	if (ur_movel(ur, &down, TIMEOUT))
+		goto out;
+	if (ur_movel(ur, &left, TIMEOUT))
+		goto out;
+	if (ur_movec(ur, &upleft, &center, TIMEOUT))
+		goto out;
+	if (ur_movec(ur, &upright, &right, TIMEOUT))
+		goto out;
+	if (ur_movel(ur, &down, TIMEOUT))
+		goto out;
+
+	if (ur_movel(ur, &out, TIMEOUT))
+		goto out;
+	if (ur_movej(ur, &far, TIMEOUT))
+		goto out;
+
+	if (ur_puts(ur, "Hola bb"))
+		goto out;
+	if (ur_halt(ur, TIMEOUT))
+		goto out;
+
+	status	= EXIT_SUCCESS;
+out:
+	status	|= ur_deinit(ur);
+enotcon:
+	perrorx("out");
+	return	status;
+}
+
+
+/******************************************************************************
+ ******* static function definitions ******************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
+