lugu/qiloop

// Package main demonstrates how to move the robot through ALMotion
package main

import (
    "context"
    "flag"
    "time"

    "github.com/lugu/qiloop/app"
    "github.com/lugu/qiloop/examples/motion/proxy"
)

func main() {
    flag.Parse()
    // session represents a connection to the service directory.
    session, err := app.SessionFromFlag()
    if err != nil {
        panic(err)
    }
    defer session.Terminate()

    // Obtain a proxy to the service
    motion, err := proxy.ALMotion(session)
    if err != nil {
        panic(err)
    }

    // Remote procedure call: call the method "walk init" of the service.
    err = motion.MoveInit()
    if err != nil {
        panic(err)
    }

    motion.WaitUntilMoveIsFinished()
    println("init move is finished")

    // Remote procedure call: call the method "move to" of the service.
    err = motion.MoveTo(0.2, 0, 0)
    if err != nil {
        panic(err)
    }

    // Demonstrate cancellation: create a context which expires in
    // two seconds.
    ctx, cancel := context.WithTimeout(context.TODO(), time.Second)
    defer cancel()

    // Move will be cancelled in two seconds.
    err = motion.WithContext(ctx).MoveTo(-0.4, 0, 0)
    if err != nil {
        panic(err)
    }
}