97 lines
3.0 KiB
C++
97 lines
3.0 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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class CBTest
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{
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public:
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CBTest(void) {};
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~CBTest(void) {};
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void connected(void) { printf("Connected\n"); }
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void disconnected(void) { printf("Disconnected\n"); }
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void disconnectedError(void) { printf("Disconnected Error\n"); }
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void failedConnect(void) { printf("Failed Connect\n"); }
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};
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int main(void)
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{
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int ret;
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std::string str;
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CBTest cbTest;
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ArFunctorC<CBTest> connectCB(&cbTest, &CBTest::connected);
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ArFunctorC<CBTest> failedConnectCB(&cbTest, &CBTest::failedConnect);
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ArFunctorC<CBTest> disconnectCB(&cbTest, &CBTest::disconnected);
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ArFunctorC<CBTest> disconnectErrorCB(&cbTest, &CBTest::disconnectedError);
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ArSerialConnection con;
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ArRobot robot;
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printf("If a robot is attached to your port you should see:\n");
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printf("Failed connect, Connected, Disconnected Error, Connected, Disconnected\n");
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printf("If no robot is attached you should see:\n");
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printf("Failed connect, Failed connect, Failed connect\n");
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printf("-------------------------------------------------------\n");
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ArLog::init(ArLog::None, ArLog::Terse);
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srand(time(NULL));
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robot.setDeviceConnection(&con);
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robot.addConnectCB(&connectCB, ArListPos::FIRST);
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robot.addFailedConnectCB(&failedConnectCB, ArListPos::FIRST);
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robot.addDisconnectNormallyCB(&disconnectCB, ArListPos::FIRST);
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robot.addDisconnectOnErrorCB(&disconnectErrorCB, ArListPos::FIRST);
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// this should fail since there isn't an open port yet
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robot.blockingConnect();
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if ((ret = con.open()) != 0)
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{
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str = con.getOpenMessage(ret);
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printf("Open failed: %s\n", str.c_str());
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exit(0);
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}
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robot.blockingConnect();
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con.close();
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robot.loopOnce();
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if ((ret = con.open()) != 0)
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{
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str = con.getOpenMessage(ret);
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printf("Open failed: %s\n", str.c_str());
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exit(0);
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}
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robot.blockingConnect();
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robot.disconnect();
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exit(0);
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}
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