78 lines
2.1 KiB
Python
78 lines
2.1 KiB
Python
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from AriaPy import *
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from ArNetworkingPy import *
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import sys
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# This example demonstrates how to use ArNetworking in Python.
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# Global library initialization, just like the C++ API:
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Aria_init()
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# Create a robot object:
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robot = ArRobot()
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# make a gyro
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gyro = ArAnalogGyro(robot)
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#sonar, must be added to the robot
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sonarDev = ArSonarDevice()
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#add the sonar to the robot
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robot.addRangeDevice(sonarDev)
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# make the core server object:
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server = ArServerBase()
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# Create a "simple connector" object and connect to either the simulator
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# or the robot. Unlike the C++ API which takes int and char* pointers,
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# the Python constructor just takes argv as a list.
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print "Connecting..."
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con = ArSimpleConnector(sys.argv)
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if (not con.connectRobot(robot)):
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print "Could not connect to robot, exiting"
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Aria_exit(1)
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# Open the server on port 7272:
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if (not server.open(7272)):
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print "Could not open server, exiting"
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Aria_exit(1)
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# Create various services and attach them to the core server
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serverInfoRobot = ArServerInfoRobot(server, robot)
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serverInfoSensor = ArServerInfoSensor(server, robot)
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drawings = ArServerInfoDrawings(server)
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drawings.addRobotsRangeDevices(robot)
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# ways of moving the robot
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modeStop = ArServerModeStop(server, robot)
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modeRatioDrive = ArServerModeRatioDrive(server, robot)
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modeWander = ArServerModeWander(server, robot)
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modeStop.addAsDefaultMode()
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modeStop.activate()
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# set up the simple commands ("custom commands" in MobileEyes)
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commands = ArServerHandlerCommands(server)
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# add the simple commands for the microcontroller
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uCCommands = ArServerSimpleComUC(commands, robot)
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# add the simple commands for logging
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loggingCommands = ArServerSimpleComMovementLogging(commands, robot)
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# add the simple commands for the gyro
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gyroCommands = ArServerSimpleComGyro(commands, robot, gyro)
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# Add the simple command for logging the robot config and orig robot config
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configCommands = ArServerSimpleComLogRobotConfig(commands, robot)
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# Run the robot and server threads in the background:
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print "Running..."
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robot.runAsync(1)
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server.runAsync()
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robot.enableMotors()
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robot.waitForRunExit()
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Aria_exit(0)
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