rosaria/Legacy/Aria/tests/p2osSlamTest.cpp

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"

ArRobot *robot;
ArGripper *grip;
ArSonyPTZ *cam;

void runCommands(void)
{
  static int state = 0;
  static ArTime last;
  /* MODIFY THIS TO SEND MORE PACKETS */
  int numToSend = 4;
  int i;

  if (last.getSec() != 0 && last.getMSec() != 0 && last.mSecSince() < 8000)
    return;
  
  last.setToNow();

  for (i = 0; i < numToSend; i++)
    robot->comInt(97, state);
  
  switch (state % 4) {
  case 0:
    printf("Down Open, Down Left\n");
    cam->panTilt(-90, -45);
    grip->liftDown();
    grip->gripOpen();
    break;
  case 1:
    printf("Up Open, Up Left\n");
    cam->panTilt(-90, 45);
    grip->liftUp();
    grip->gripOpen();
    break;
  case 2:
    printf("Up Closed, Up Right\n");
    cam->panTilt(90, 45);
    grip->liftUp();
    grip->gripClose();
    break;
  case 3:
    printf("Down Closed, Down Right\n");
    cam->panTilt(90, -45);
    grip->liftDown();
    grip->gripClose();
    break;
  }
  
  for (i = 0; i < numToSend; i++)
    robot->comInt(97, state);
  
  state++;

  if (numToSend > 0)
    printf("Should be at %d times\n", state * numToSend * 2);
}

/*
  This program will just have the robot wander around, it uses some avoidance 
  routines, then just has a constant velocity.
*/

int main(void)
{
  
  ArGlobalFunctor func(&runCommands);
  // sonar, must be added to the robot
  ArSonarDevice sonar;

  // the connection
  ArSerialConnection con;
  ArActionStallRecover recover;
  ArActionBumpers bumpers;
  ArActionAvoidFront avoidFront;
  ArActionConstantVelocity constantVelocity("Constant Velocity", 400);

  // robot
  robot = new ArRobot;
  cam = new ArSonyPTZ(robot);
  grip = new ArGripper(robot);


  // mandatory init
  Aria::init();

  // set the port for the connection
  con.setPort();
  con.setBaud(38400);

  // set the device connection on the robot
  robot->setDeviceConnection(&con);
  robot->addUserTask("slam p2os", 50, &func);

  // add the sonar to the robot
  robot->addRangeDevice(&sonar);
  
  // try to connect, if we fail exit
  if (!robot->blockingConnect())
  {
    printf("Could not connect to robot->.. exiting\n");
    Aria::shutdown();
    return 1;
  }

  ArUtil::sleep(100);
  robot->addAction(&recover, 100);
  robot->addAction(&bumpers, 75);
  robot->addAction(&avoidFront, 50);
  robot->addAction(&constantVelocity, 25);

  // start the robot running, true so that if we lose connection the run stops
  robot->run(true);

  // now exit
  Aria::shutdown();
  return 0;
}