101 lines
2.6 KiB
C++
101 lines
2.6 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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class ActionTest : public ArAction
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{
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public:
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ActionTest(double turnAmount, double speed);
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virtual ~ActionTest(void) {}
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virtual ArActionDesired *fire(ArActionDesired currentDesired);
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protected:
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ArActionDesired myActionDesired;
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double myTurnAmount;
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double mySpeed;
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};
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ActionTest::ActionTest(double turnAmount, double speed) :
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ArAction("ActionTest")
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{
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myTurnAmount = turnAmount;
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mySpeed = speed;
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}
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ArActionDesired *ActionTest::fire(ArActionDesired currentDesired)
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{
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myActionDesired.reset();
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if (fabs(mySpeed) > 1)
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myActionDesired.setVel(mySpeed);
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if (fabs(myTurnAmount) > 1)
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myActionDesired.setDeltaHeading(myTurnAmount);
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return &myActionDesired;
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}
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int main(int argc, char **argv)
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{
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std::string str;
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int ret;
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ArTcpConnection con;
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ArRobot robot;
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ActionTest at1(-50, 333);
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ActionTest at2(25, 666);
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ActionTest at3(25, 0);
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ActionTest at4(0, -999);
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Aria::init();
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if ((ret = con.open()) != 0)
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{
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str = con.getOpenMessage(ret);
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printf("Open failed: %s\n", str.c_str());
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Aria::shutdown();
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return 1;
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}
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robot.setDeviceConnection(&con);
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if (!robot.blockingConnect())
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{
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printf("Could not connect to robot... exiting\n");
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Aria::shutdown();
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return 1;
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}
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robot.addAction(&at1, 100);
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robot.addAction(&at2, 100);
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robot.addAction(&at3, 100);
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robot.addAction(&at4, 100);
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robot.run(true);
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Aria::shutdown();
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return 0;
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}
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