lugu/qiloop

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

import (
    "flag"
    "math/rand"

    "github.com/lugu/qiloop/app"
    "github.com/lugu/qiloop/examples/posture/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
    alPosture, err := proxy.ALRobotPosture(session)
    if err != nil {
        panic(err)
    }

    postures, err := alPosture.GetPostureList()
    if err != nil {
        panic(err)
    }

    // pick a random posture
    if len(postures) == 0 {
        panic("no posture available")
    }

    p := postures[rand.Intn(len(postures))]
    println("Trying posture", p)

    // Go to posture
    ok, err := alPosture.GoToPosture(p, 1.0)
    if err != nil {
        panic(err)
    }

    println("Posture success: ", ok)
}