105 lines
2.7 KiB
C++
105 lines
2.7 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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#include "Aria.h"
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int main(void)
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{
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int ret;
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char bufWrite[1024];
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char bufRead[1024];
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int i, n;
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for (i = 0; i < 1024; i++)
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bufWrite[i] = 0x66;
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srand(time(NULL));
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int bytes1 = 0;
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int bytes2 = 0;
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//int numToWrite = 1;
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ArTime lastPrint;
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ArSerialConnection ser1;
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ArSerialConnection ser2;
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ser1.setPort(ArUtil::COM1);
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// ser1.setBaud(38400);
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ser2.setPort(ArUtil::COM2);
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// ser2.setBaud(38400);
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if (!ser1.openSimple())
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{
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printf("Exiting since open failed\n");
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exit(0);
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}
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if (!ser2.openSimple())
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{
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printf("Exiting since open failed\n");
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exit(0);
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}
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printf("Ports opened");
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lastPrint.setToNow();
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while (1)
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{
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if (ser1.write(bufWrite, rand() % 1024) < 0)
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printf("Failed write\n");
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n = rand() % 1024;
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if ((ret = ser2.read(bufRead, n)) < 0)
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printf("Failed read\n");
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else if (ret > 0)
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{
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for (i = 0; i < ret; i++)
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if (bufRead[i] != 0x66)
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{
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printf("Failed\n");
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break;
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}
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bytes2 += ret;
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}
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if (ser2.write(bufWrite, rand() % 1024) < 0)
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printf("Failed2 write\n");
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n = rand() % 1024;
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if ((ret = ser1.read(bufRead, n)) < 0)
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printf("Failed2 read\n");
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else if (ret > 0)
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{
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for (i = 0; i < ret; i++)
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if (bufRead[i] != 0x66)
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{
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printf("Failed2 0x%x %d/%d\n", bufRead[i], i, n);
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break;
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}
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bytes1 += ret;
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}
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if (lastPrint.mSecSince() > 1000)
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{
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printf("%d %d\n", bytes1, bytes2);
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lastPrint.setToNow();
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}
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}
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}
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