71 lines
2.1 KiB
C++
71 lines
2.1 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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/* Test ArTcpConnection */
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const char* host = "127.0.0.1";
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int main(int argc, char **argv)
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{
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ArRobot robot;
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Aria::init();
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ArTcpConnection tcpCon;
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printf("Opening TCP connection to %s...\n", host);
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int status = tcpCon.open(host);
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if(status != 0)
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{
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printf("Failed to connect via TCP to %s: %s.\n", host, tcpCon.getOpenMessage(status));
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exit(1);
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}
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printf("Connecting to robot...\n");
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robot.setDeviceConnection(&tcpCon);
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if(!robot.blockingConnect())
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{
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printf("Failed to connect to robot.\n");
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exit(2);
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}
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printf("Connected to robot.\n");
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// Start the robot running in the background.
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// True parameter means that if the connection is lost, then the
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// run loop ends.
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robot.runAsync(true);
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// Sleep for 3 seconds.
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printf("Sleeping for 3 seconds...\n");
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ArUtil::sleep(3000);
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printf("Ending robot thread...\n");
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robot.stopRunning();
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printf("Exiting.\n");
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return 0;
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}
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