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Cellulo.dart
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Fri, Jul 26, 12:20

Cellulo.dart
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import 'dart:async';
import 'dart:ffi'; // For FFI
import 'dart:io'; // For Platform.isX
Cellulo cellulox = new Cellulo(0);
Cellulo celluloy = new Cellulo(1);
class Cellulo {
int robotID = 0;
bool colorset = false;
bool velocityset = false;
static var robots = [];
int robot = -1;
Cellulo(this.robotID);
setup() async {
print(totalRobots());
// print("thisis the current robot" + _robot.toString());
// robot = _robot;
for (var i = 0; i < totalRobots(); i++) {
int _robot = newRobotfromPool();
robots.add(_robot);
}
print(robots);
}
void setColor() async {
print(robots[robotID]);
setVisualEffect(robots[robotID], 120, 0, 0, 0, 0);
}
void resetrobot() async {
reset(robots[robotID]);
}
Future<double> getrobotx() async {
//print(robots[robotID]);
return getX(robots[robotID]);
}
Future<double> getroboty() async {
//print(robots[robotID]);
return getY(robots[robotID]);
}
Future<double> getrobottetha() async {
//print(robots[robotID]);
return getTheta(robots[robotID]);
}
Future<int> getrobotKidnapped() async {
//print(robots[robotID]);
return getKidnapped(robots[robotID]);
}
Future<Null> setVelocity() async {
setGoalVelocity(robots[robotID], 100, 0, 0);
}
Future<Null> setGoalPosition(double x, double y) async {
setGoalPose(robots[robotID], x, y, 0, 150, 150);
}
}
final DynamicLibrary nativeAddLib = Platform.isAndroid
? DynamicLibrary.open("libnative_add.so")
: DynamicLibrary.process();
final DynamicLibrary nativeCellulolib = Platform.isAndroid
? DynamicLibrary.open("libcellulo-library.so")
: DynamicLibrary.process();
final int Function(int x, int y) nativeAdd = nativeAddLib
.lookup<NativeFunction<Int32 Function(Int32, Int32)>>("native_add")
.asFunction();
final int Function(int x, int y) nativeAddCellulo = nativeCellulolib
.lookup<NativeFunction<Int32 Function(Int32, Int32)>>("test_native_add")
.asFunction();
final int Function() initialize = nativeCellulolib
.lookup<NativeFunction<Int32 Function()>>("initialize")
.asFunction();
final void Function(int robot) reset = nativeCellulolib
.lookup<NativeFunction<Void Function(Int64 robot)>>("reset")
.asFunction();
final int Function() newRobotfromPool = nativeCellulolib
.lookup<NativeFunction<Int64 Function()>>("newRobotFromPool")
.asFunction();
final void Function() destroyRobot = nativeCellulolib
.lookup<NativeFunction<Void Function()>>("destroyRobot")
.asFunction();
final void Function(int robot, int effect, int r, int g, int b, int value)
setVisualEffect = nativeCellulolib
.lookup<
NativeFunction<
Void Function(Int64 robot, Int64 effect, Int64 r, Int64 g,
Int64 b, Int64 value)>>("setVisualEffect")
.asFunction();
//setGoalVelocity(int64_t robot, float vx, float vy, float w)
final void Function(int robot, double vx, double vy, double w) setGoalVelocity =
nativeCellulolib
.lookup<
NativeFunction<
Void Function(Int64 robot, Float vx, Float vy,
Float w)>>("setGoalVelocity")
.asFunction();
final void Function(
int robot, double x, double y, double theta, double v, double w)
setGoalPose = nativeCellulolib
.lookup<
NativeFunction<
Void Function(Int64 robot, Float x, Float y, Float theta,
Float v, Float w)>>("setGoalPose")
.asFunction();
final int Function() totalRobots = nativeCellulolib
.lookup<NativeFunction<Int64 Function()>>("totalRobots")
.asFunction();
final double Function(int robot) getX = nativeCellulolib
.lookup<NativeFunction<Float Function(Int64 robot)>>("getX")
.asFunction();
final double Function(int robot) getY = nativeCellulolib
.lookup<NativeFunction<Float Function(Int64 robot)>>("getY")
.asFunction();
final double Function(int robot) getTheta = nativeCellulolib
.lookup<NativeFunction<Float Function(Int64 robot)>>("getTheta")
.asFunction();
final int Function(int robot) getKidnapped = nativeCellulolib
.lookup<NativeFunction<Int64 Function(Int64 robot)>>("getKidnapped")
.asFunction();

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