89 lines
3.0 KiB
Java
89 lines
3.0 KiB
Java
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import com.mobilerobots.Aria.*;
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import com.mobilerobots.ArNetworking.*;
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public class simple {
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/* This loads all the ArNetworking classes (they will be in the global
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* namespace) when this class is loaded: */
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static {
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try {
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System.loadLibrary("AriaJava");
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System.loadLibrary("ArNetworkingJava");
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} catch (UnsatisfiedLinkError e) {
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System.err.println("Native code libraries (AriaJava and ArNetworkingJava .so or .DLL) failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" + e);
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System.exit(1);
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}
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}
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/* Main program: */
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public static void main(String argv[]) {
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System.out.println("Starting Java ArNetworking Test");
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/* Global Aria class inititalizaton */
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Aria.init(Aria.SigHandleMethod.SIGHANDLE_THREAD, true);
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/* Robot and device objects */
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ArRobot robot = new ArRobot("robot1", true, true, true);
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ArSonarDevice sonar = new ArSonarDevice();
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robot.addRangeDevice(sonar);
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/* Make connector and parse arguments from argv */
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ArSimpleConnector conn = new ArSimpleConnector(argv);
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if(!Aria.parseArgs())
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{
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Aria.logOptions();
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Aria.shutdown();
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System.exit(1);
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}
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/* Connect to the robot */
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System.out.println("Connecting to robot...");
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if (!conn.connectRobot(robot))
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{
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System.err.println("Could not connect to robot, exiting.\n");
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System.exit(1);
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}
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/* Open the sever */
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ArServerBase server = new ArServerBase();
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if(!server.open(7272))
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{
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System.err.println("Could not open server on port 7272, exiting.");
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System.exit(1);
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}
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System.out.println("Opened server on port 7272.");
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/* Informational services: */
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ArServerInfoRobot servInfoRobot = new ArServerInfoRobot(server, robot);
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ArServerInfoSensor servInfoSensor = new ArServerInfoSensor(server, robot);
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ArServerInfoDrawings servInfoDraw = new ArServerInfoDrawings(server);
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servInfoDraw.addRobotsRangeDevices(robot);
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/* Control mode services: */
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ArServerModeStop servModeStop = new ArServerModeStop(server, robot);
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ArServerModeRatioDrive servModeDrive = new ArServerModeRatioDrive(server, robot);
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ArServerModeWander servModeWander = new ArServerModeWander(server, robot);
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servModeStop.addAsDefaultMode();
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servModeStop.activate();
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/* Simple text command service ("custom commands" in MobileEyes): */
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ArServerHandlerCommands commands = new ArServerHandlerCommands(server);
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// Relay microcontroller commands directly:
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ArServerSimpleComUC cmdUC = new ArServerSimpleComUC(commands, robot);
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// Log information:
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ArServerSimpleComMovementLogging cmdLog = new ArServerSimpleComMovementLogging(commands, robot);
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ArServerSimpleComLogRobotConfig cmdConfigLog = new ArServerSimpleComLogRobotConfig(commands, robot);
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/* Run robot and server threads in the backrgound: */
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System.out.println("Running...");
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robot.enableMotors();
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robot.runAsync(true);
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server.runAsync();
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robot.waitForRunExit();
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}
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}
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