84 lines
2.4 KiB
C++
84 lines
2.4 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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#include <time.h>
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ArRobot *robot;
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bool encoderPrinter(ArRobotPacket *packet)
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{
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long int left;
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long int right;
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printf("encoderTest received packet 0x%X %s\n", packet->getID(),
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(packet->getID() == 0x90 ? "[ENCODERpac]" :
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( (packet->getID() == 0x32 || packet->getID() == 0x33) ? "[SIP]" : "" )
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)
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);
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if (packet->getID() != 0x90)
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return false;
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left = packet->bufToByte4();
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right = packet->bufToByte4();
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printf("### %ld %ld\n", left, right);
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return true;
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}
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int main(int argc, char **argv)
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{
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Aria::init();
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std::string str;
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int ret;
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ArGlobalRetFunctor1<bool, ArRobotPacket *> encoderPrinterCB(&encoderPrinter);
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ArArgumentParser parser(&argc, argv);
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parser.loadDefaultArguments();
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robot = new ArRobot;
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ArRobotConnector robotConnector(&parser, robot);
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if(!robotConnector.connectRobot())
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{
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ArLog::log(ArLog::Terse, "encoderTest: Could not connect to the robot.");
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if(parser.checkHelpAndWarnUnparsed())
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{
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// -help not given
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Aria::logOptions();
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Aria::exit(1);
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}
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}
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robot->addPacketHandler(&encoderPrinterCB, ArListPos::FIRST);
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robot->requestEncoderPackets();
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robot->run(true);
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Aria::shutdown();
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}
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