102 lines
3.1 KiB
C++
102 lines
3.1 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 tcm2Printer(ArRobotPacket *packet)
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{
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double myCompass;
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double myPitch;
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double myRoll;
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double myXMag;
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double myYMag;
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double myZMag;
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double myTemperature;
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int myError;
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char myCalibrationH;
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char myCalibrationV;
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double myCalibrationM;
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//printf("%d\n", packet->getID());
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if (packet->getID() != 0xC0)
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return false;
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myCompass = packet->bufToByte2() / 10.0;
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myPitch = packet->bufToByte2() / 10.0;
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myRoll = packet->bufToByte2() / 10.0;
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myXMag = packet->bufToByte2() / 100.0;
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myYMag = packet->bufToByte2() / 100.0;
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myZMag = packet->bufToByte2() / 100.0;
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myTemperature = packet->bufToByte2() / 10.0;
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myError = packet->bufToByte2();
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myCalibrationH = packet->bufToByte();
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myCalibrationV = packet->bufToByte();
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myCalibrationM = packet->bufToByte2() / 100.0;
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printf("\r%6.1f %6.1f %6.1f %6.2f %6.2f %6.2f %6.1f 0x%08x %4d %4d %6.2f", myCompass, myPitch, myRoll, myXMag, myYMag, myZMag, myTemperature, myError, myCalibrationH, myCalibrationV, myCalibrationM);
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fflush(stdout);
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//, myError, myCalibrationH, myCalibrationV, myCalibration
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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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std::string str;
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int ret;
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ArGlobalRetFunctor1<bool, ArRobotPacket *> tcm2PrinterCB(&tcm2Printer);
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ArSerialConnection con;
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Aria::init();
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robot = new ArRobot;
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robot->addPacketHandler(&tcm2PrinterCB, ArListPos::FIRST);
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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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exit(0);
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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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exit(0);
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}
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printf("%6s %6s %6s %6s %6s %6s %6s %10s %4s %4s %6s\n",
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"comp", "pitch", "roll", "magX", "magY", "magZ", "temp", "error",
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"calH", "calV", "calM");
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robot->comInt(ArCommands::TCM2, 3);
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robot->run(true);
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Aria::shutdown();
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}
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