rosaria/Legacy/Aria/examples/gpsRobotTaskExample.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"
#include "ArGPS.h"
#include "ArGPSConnector.h"

#include <assert.h>


/** @example gpsRobotTaskExample.cpp Connects to both robot and GPS, allows
 * teleoperation, and prints robot position and GPS data.
 */


/*  
 *  This class encapsulates an ArRobot sensor interpretation task that prints the
 *  last set of GPS data along with a local timestamp and current robot pose to 
 *  standard output.
 *
 *  This class also contains a mutex, which it locks during the task (while
 *  accessing the ArGPS object).  If another thread is also accessing the GPS,
 *  you can lock this mutex.
 */
class GPSLogTask {

public:
  GPSLogTask(ArRobot *robot, ArGPS *gps, ArJoyHandler *joy = NULL) :
      myRobot(robot), 
      myGPS(gps),
      myTaskFunctor(this, &GPSLogTask::doTask),
      myJoyHandler(joy),
      myButtonDown(false)
  {
    myRobot->addSensorInterpTask("GPS", ArListPos::LAST, &myTaskFunctor);   
    puts("RobotX\tRobotY\tRobotTh\tRobotVel\tRobotRotVel\tRobotLatVel\tLatitude\tLongitude\tAltitude\tSpeed\tGPSTimeSec\tGPSTimeMSec\tFixType\tNumSats\tPDOP\tHDOP\tVDOP\tGPSDataReceived");
  }

  void lock() { myMutex.lock(); }
  void unlock() { myMutex.unlock(); }

protected:

  void doTask()
  {
    // print a mark if a joystick button is pressed (other than 1, which is
    // needed to drive)
    if(myJoyHandler)
    {
      for(unsigned int b = 2; b <= myJoyHandler->getNumButtons(); ++b)
        if(myJoyHandler->getButton(b)) {
          if(!myButtonDown)
            printf("--------------- Joystick button %d pressed.\n", b);
          myButtonDown = true;
        }
        else
          myButtonDown = false;
    }

    lock();
    int f = myGPS->read(50);
    printf("%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f"
           "\t%2.8f\t%2.8f\t%4.4f\t%4.4f"
           "\t%lu\t%lu\t%s"
           "\t%u\t%2.4f\t%2.4f\t%2.4f"
           "\t%s\n",
      myRobot->getX(), myRobot->getY(), myRobot->getTh(), myRobot->getVel(), myRobot->getRotVel(), (myRobot->hasLatVel())?(myRobot->getLatVel()):0,
      myGPS->getLatitude(), myGPS->getLongitude(), myGPS->getAltitude(), myGPS->getSpeed(),
      myGPS->getGPSPositionTimestamp().getSec(), myGPS->getGPSPositionTimestamp().getMSec(), myGPS->getFixTypeName(),
      myGPS->getNumSatellitesTracked(), myGPS->getPDOP(), myGPS->getHDOP(), myGPS->getVDOP(),
      ((f&ArGPS::ReadUpdated)?"yes":"no")
    );
    unlock();
  }

private:
  ArRobot *myRobot;
  ArGPS *myGPS;
  ArFunctorC<GPSLogTask> myTaskFunctor;
  ArMutex myMutex;
  ArJoyHandler *myJoyHandler;
  bool myButtonDown;
};



int main(int argc, char** argv)
{
  Aria::init();
  ArLog::init(ArLog::StdErr, ArLog::Normal);

  ArArgumentParser argParser(&argc, argv);
  ArSimpleConnector connector(&argParser);
  ArGPSConnector gpsConnector(&argParser);
  ArRobot robot;

  ArActionLimiterForwards nearLimitAction("limit near", 300, 600, 250);
  ArActionLimiterForwards farLimitAction("limit far", 300, 1100, 400);
  ArActionLimiterBackwards limitBackwardsAction;
  ArActionJoydrive joydriveAction;
  ArActionKeydrive keydriveAction;

  ArSonarDevice sonar;
  ArSick laser;

  argParser.loadDefaultArguments();
  if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    return -1;
  }

  robot.addRangeDevice(&sonar);
  robot.addRangeDevice(&laser);

  ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connecting to robot...");
  if(!connector.connectRobot(&robot))
  {
    ArLog::log(ArLog::Terse, "gpsRobotTaskExample: Could not connect to the robot. Exiting.");
    return -2;
  }
  ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connected to the robot.");


  // Connect to GPS
  ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connecting to GPS, it may take a few seconds...");
  ArGPS *gps = gpsConnector.createGPS(&robot);
  assert(gps);
  if(!gps || !(gps->connect()))
  {
    ArLog::log(ArLog::Terse, "gpsRobotTaskExample: Error connecting to GPS device.  Try -gpsType, -gpsPort, and/or -gpsBaud command-line arguments. Use -help for help. Exiting.");
    return -3;
  }


  // Create an GPSLogTask which will register a task with the robot.
  GPSLogTask gpsTask(&robot, gps, joydriveAction.getJoyHandler()->haveJoystick() ? joydriveAction.getJoyHandler() : NULL);


  // Add actions
  robot.addAction(&nearLimitAction, 100);
  robot.addAction(&farLimitAction, 90);
  robot.addAction(&limitBackwardsAction, 80);
  robot.addAction(&joydriveAction, 50);
  robot.addAction(&keydriveAction, 40);

  // allow keydrive action to drive robot even if joystick button isn't pressed
  joydriveAction.setStopIfNoButtonPressed(false);

  // Start the robot  running
  robot.runAsync(true);

  // Connect to the laser
  connector.setupLaser(&laser);
  laser.runAsync();
  if(!laser.blockingConnect())
    ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Warning, could not connect to SICK laser, will not use it.");

  robot.lock();

  robot.enableMotors();
  robot.comInt(47, 1);  // enable joystick driving on some robots

  // Add exit callback to reset/unwrap steering wheels on seekur (critical if the robot doesn't have sliprings); does nothing for other robots 
  Aria::addExitCallback(new ArRetFunctor1C<bool, ArRobot, unsigned char>(&robot, &ArRobot::com, (unsigned char)120));
  Aria::addExitCallback(new ArRetFunctor1C<bool, ArRobot, unsigned char>(&robot, &ArRobot::com, (unsigned char)120));

  robot.unlock();

  ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Running... (drive robot with joystick or arrow keys)");
  robot.waitForRunExit();


  return 0;
}