92 lines
3.4 KiB
C++
92 lines
3.4 KiB
C++
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#include "Aria.h"
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/** @example netServerExample.cpp Shows how to use ArNetServer, a simple text
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* command receiver
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*/
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// To use the net server, start this program, then use the 'telnet' program to connect to localhost
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// on TCP port 7171 by running this command:
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// telnet localhost 7171
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// When connected and prompted for a password, type in:
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// password
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// and press enter. Then you can enter a command. Use the 'help' command to print available commands.
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// For this program, try "test" and "test2" with and without additional arguments.
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// ArNetServer is a simple way to provide a quick remote control interface for a robot control
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// program running on the robot's onboard computer over wireless networking, if you don't want to
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// use the ArNetworking library and MobileEyes. (You can provide both options in a program however,
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// ArNetworking and ArNetServer use different TCP ports and will both run fine in the same program.)
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// This function just prints out what the client entered and then sends some
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// data back. You could modify it to, for example, control the robot with
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// different commands.
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void test(char **argv, int argc, ArSocket *socket)
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{
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int i;
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printf("Client said: ");
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for (i = 0; i < argc; ++i)
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printf("\t%s\n", argv[i]);
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printf("\n");
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socket->writeString("Thank you, command received.");
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}
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int main(int argc, char **argv)
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{
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// Initialize Aria
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Aria::init();
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// we need a server
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ArNetServer server;
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// a callback for our test function
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ArGlobalFunctor3<char **, int, ArSocket *> testCB(&test);
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// start the server up without a robot on port 7171 with a password
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// of password and allow multiple clients
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if (!server.open(NULL, 7171, "password", true))
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{
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printf("Could not open server.\n");
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Aria::exit(1);
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return 1;
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}
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// add our test command
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server.addCommand("test", &testCB, "this simply prints out the command given on the server");
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server.addCommand("test2", &testCB, "this simply prints out the command given on the server");
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//server.setLoggingDataSent(true);
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//server.setLoggingDataReceived(true);
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// run while the server is running
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while (server.isOpen() && Aria::getRunning())
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{
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server.runOnce();
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ArUtil::sleep(1);
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}
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server.close();
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Aria::exit(0);
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return 0;
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}
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