98 lines
3.7 KiB
C
98 lines
3.7 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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#ifndef ARSIMPLECONNECTOR_H
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#define ARSIMPLECONNECTOR_H
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#include "ariaTypedefs.h"
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#include "ArSerialConnection.h"
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#include "ArTcpConnection.h"
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#include "ArArgumentBuilder.h"
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#include "ArArgumentParser.h"
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#include "ariaUtil.h"
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#include "ArRobotConnector.h"
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#include "ArLaserConnector.h"
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class ArSick;
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class ArRobot;
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/// Legacy connector for robot and laser
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/**
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This is deprecated but is left in for compatibility with old code,
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Instead use ArRobotConnector to set up ArRobot's connection to the robot, and
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ArLaserConnector to set up connections with laser rangefinder devices.
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@deprecated Use ArRobotConnector and ArLaserConnector instead
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**/
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class ArSimpleConnector
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{
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public:
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/// Constructor that takes args from the main
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AREXPORT ArSimpleConnector(int *argc, char **argv);
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/// Constructor that takes argument builder
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AREXPORT ArSimpleConnector(ArArgumentBuilder *arguments);
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/// Constructor that takes argument parser
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AREXPORT ArSimpleConnector(ArArgumentParser *parser);
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/// Destructor
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AREXPORT ~ArSimpleConnector(void);
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/// Sets up the robot to be connected
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AREXPORT bool setupRobot(ArRobot *robot);
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/// Sets up the robot then connects it
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AREXPORT bool connectRobot(ArRobot *robot);
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/// Sets up the laser to be connected
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AREXPORT bool setupLaser(ArSick *laser);
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/// Sets up a second laser to be connected
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AREXPORT bool setupSecondLaser(ArSick *laser);
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/// Sets up a laser t obe connected (make sure you setMaxNumLasers)
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AREXPORT bool setupLaserArbitrary(ArSick *laser,
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int laserNumber);
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/// Connects the laser synchronously (will take up to a minute)
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AREXPORT bool connectLaser(ArSick *laser);
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/// Connects the laser synchronously (will take up to a minute)
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AREXPORT bool connectSecondLaser(ArSick *laser);
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/// Connects the laser synchronously (make sure you setMaxNumLasers)
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AREXPORT bool connectLaserArbitrary(ArSick *laser, int laserNumber);
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/// Function to parse the arguments given in the constructor
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AREXPORT bool parseArgs(void);
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/// Function to parse the arguments given in an arbitrary parser
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AREXPORT bool parseArgs(ArArgumentParser *parser);
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/// Log the options the simple connector has
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AREXPORT void logOptions(void) const;
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/// Sets the number of possible lasers
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AREXPORT void setMaxNumLasers(int maxNumLasers = 1);
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protected:
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/// Finishes the stuff the constructor needs to do
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void finishConstructor(void);
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ArArgumentParser *myParser;
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bool myOwnParser;
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ArRobotConnector *myRobotConnector;
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ArLaserConnector *myLaserConnector;
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};
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#endif // ARSIMPLECONNECTOR_H
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