/* program to illustrate blocking and non-blocking options 
   for picture display with MyroC
 */

#include <stdio.h>
#include "MyroC.h"

/* pre-condition:   be sure robot is turned on with fresh batteries

   post-condition:  robot displays pictures and beeps,
                    illustrating when blocking does and does not occur
 */

int main ()
{
  /* setting up robot and picture */
  rConnect ("/dev/rfcomm0");

  Picture pic = rTakePicture ();
  
  /* blocking test */
  printf ("starting blocking test, displaying picture for 10 seconds\n");
  rDisplayPicture (pic, 10, "first picture");
  rBeep (1.0,  880);
  rBeep (1.0, 1109);
  rBeep (1.0, 1319);
  rBeep (1.0, 1760);

  /* blocking test */
  printf ("starting NON blocking test, displaying picture for 10 seconds\n");
  rDisplayPicture (pic, -10, "second picture");
  rBeep (1.0, 1760);
  rBeep (1.0, 1319);
  rBeep (1.0, 1109);
  rBeep (1.0,  880);

  return 0;
}