100 lines
3.4 KiB
C++
100 lines
3.4 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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/** @example simpleConnect.cpp example showing how to connect to the robot with ArRobotConnector
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*
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* One of the simplest ARIA programs possible:
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* Connects with ArRobotConnector, waits 3 seconds doing
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* nothing, then exits.
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*
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* This program will work either with the MobileSim simulator or on a real
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* robot's onboard computer. (Or use -remoteHost to connect to a wireless
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* ethernet-serial bridge.)
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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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ArArgumentParser parser(&argc, argv);
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parser.loadDefaultArguments();
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ArRobot robot;
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// Connect to the robot, get some initial data from it such as type and name,
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// and then load parameter files for this robot.
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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, "simpleConnect: 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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if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
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{
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Aria::logOptions();
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Aria::exit(1);
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}
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ArLog::log(ArLog::Normal, "simpleConnect: Connected.");
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robot.comInt(ArCommands::JOYINFO, 0);
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// Start the robot processing cycle running in the background.
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// True parameter means that if the connection is lost, then the
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// run loop ends.
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robot.runAsync(true);
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// Print out some data from the SIP. We must "lock" the ArRobot object
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// before calling its methods, and "unlock" when done, to prevent conflicts
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// with the background thread started by the call to robot.runAsync() above.
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// See the section on threading in the manual for more about this.
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robot.lock();
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ArLog::log(ArLog::Normal, "simpleConnect: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Battery=%.2fV",
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robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
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robot.unlock();
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// Sleep for 3 seconds.
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ArLog::log(ArLog::Normal, "simpleConnect: Sleeping for 3 seconds...");
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ArUtil::sleep(3000);
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ArLog::log(ArLog::Normal, "simpleConnect: Ending robot thread...");
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robot.stopRunning();
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// wait for the thread to stop
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robot.waitForRunExit();
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// exit
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ArLog::log(ArLog::Normal, "simpleConnect: Exiting.");
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Aria::exit(0);
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return 0;
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}
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