511 lines
14 KiB
C
511 lines
14 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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#ifndef ARMODES_H
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#define ARMODES_H
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#include "ariaTypedefs.h"
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#include "ArMode.h"
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#include "ArActionGroups.h"
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#include "ArGripper.h"
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#include "ArTcpConnection.h"
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#include "ArSerialConnection.h"
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#include "ArPTZ.h"
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#include "ArTCMCompassRobot.h"
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#include "ArRobotConfigPacketReader.h"
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class ArTCMCompassRobot;
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class ArACTS_1_2;
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class ArRobotPacket;
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class ArSick;
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class ArAnalogGyro;
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/// Mode for teleoping the robot with joystick + keyboard
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class ArModeTeleop : public ArMode
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{
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public:
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/// Constructor
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AREXPORT ArModeTeleop(ArRobot *robot, const char *name, char key, char key2);
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/// Destructor
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AREXPORT virtual ~ArModeTeleop();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void help(void);
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AREXPORT virtual void userTask(void);
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protected:
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//ArActionGroupTeleop myGroup;
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// use our new ratio drive instead
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ArActionGroupRatioDrive myGroup;
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ArFunctorC<ArRobot> myEnableMotorsCB;
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};
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/// Mode for teleoping the robot with joystick + keyboard
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class ArModeUnguardedTeleop : public ArMode
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{
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public:
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/// Constructor
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AREXPORT ArModeUnguardedTeleop(ArRobot *robot, const char *name, char key, char key2);
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/// Destructor
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AREXPORT virtual ~ArModeUnguardedTeleop();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void help(void);
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AREXPORT virtual void userTask(void);
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protected:
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//ArActionGroupUnguardedTeleop myGroup;
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// use our new ratio drive instead
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ArActionGroupRatioDriveUnsafe myGroup;
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ArFunctorC<ArRobot> myEnableMotorsCB;
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};
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/// Mode for wandering around
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class ArModeWander : public ArMode
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{
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public:
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/// Constructor
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AREXPORT ArModeWander(ArRobot *robot, const char *name, char key, char key2);
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/// Destructor
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AREXPORT virtual ~ArModeWander();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void help(void);
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AREXPORT virtual void userTask(void);
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protected:
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ArActionGroupWander myGroup;
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};
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/// Mode for controlling the gripper
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class ArModeGripper : public ArMode
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{
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public:
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/// Constructor
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AREXPORT ArModeGripper(ArRobot *robot, const char *name, char key,
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char key2);
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/// Destructor
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AREXPORT virtual ~ArModeGripper();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void userTask(void);
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AREXPORT virtual void help(void);
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AREXPORT void open(void);
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AREXPORT void close(void);
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AREXPORT void up(void);
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AREXPORT void down(void);
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AREXPORT void stop(void);
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AREXPORT void exercise(void);
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protected:
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enum ExerState {
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UP_OPEN,
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UP_CLOSE,
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DOWN_CLOSE,
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DOWN_OPEN
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};
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ArGripper myGripper;
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bool myExercising;
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ExerState myExerState;
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ArTime myLastExer;
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ArFunctorC<ArModeGripper> myOpenCB;
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ArFunctorC<ArModeGripper> myCloseCB;
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ArFunctorC<ArModeGripper> myUpCB;
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ArFunctorC<ArModeGripper> myDownCB;
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ArFunctorC<ArModeGripper> myStopCB;
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ArFunctorC<ArModeGripper> myExerciseCB;
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};
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/// Mode for controlling the camera
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class ArModeCamera : public ArMode
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{
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public:
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/// Constructor
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AREXPORT ArModeCamera(ArRobot *robot, const char *name, char key,
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char key2);
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/// Destructor
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AREXPORT virtual ~ArModeCamera();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void userTask(void);
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AREXPORT virtual void help(void);
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AREXPORT void up(void);
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AREXPORT void down(void);
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AREXPORT void left(void);
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AREXPORT void right(void);
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AREXPORT void center(void);
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AREXPORT void zoomIn(void);
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AREXPORT void zoomOut(void);
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AREXPORT void exercise(void);
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AREXPORT void sony(void);
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AREXPORT void canon(void);
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AREXPORT void dpptu(void);
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AREXPORT void amptu(void);
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AREXPORT void canonInverted(void);
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AREXPORT void sonySerial(void);
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AREXPORT void canonSerial(void);
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AREXPORT void dpptuSerial(void);
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AREXPORT void amptuSerial(void);
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AREXPORT void canonInvertedSerial(void);
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AREXPORT void rvisionSerial(void);
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AREXPORT void com1(void);
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AREXPORT void com2(void);
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AREXPORT void com3(void);
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AREXPORT void com4(void);
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AREXPORT void aux1(void);
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AREXPORT void aux2(void);
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protected:
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void takeCameraKeys(void);
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void giveUpCameraKeys(void);
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void helpCameraKeys(void);
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void takePortKeys(void);
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void giveUpPortKeys(void);
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void helpPortKeys(void);
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void takeAuxKeys(void);
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void giveUpAuxKeys(void);
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void helpAuxKeys(void);
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void takeMovementKeys(void);
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void giveUpMovementKeys(void);
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void helpMovementKeys(void);
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enum State {
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STATE_CAMERA,
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STATE_PORT,
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STATE_MOVEMENT
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};
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void cameraToMovement(void);
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void cameraToPort(void);
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void cameraToAux(void);
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void portToMovement(void);
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void auxToMovement(void);
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enum ExerState {
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CENTER,
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UP_LEFT,
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UP_RIGHT,
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DOWN_RIGHT,
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DOWN_LEFT
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};
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bool myExercising;
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State myState;
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ExerState myExerState;
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ArTime myLastExer;
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bool myExerZoomedIn;
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ArTime myLastExerZoomed;
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ArSerialConnection myConn;
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ArPTZ *myCam;
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ArFunctorC<ArModeCamera> myUpCB;
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ArFunctorC<ArModeCamera> myDownCB;
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ArFunctorC<ArModeCamera> myLeftCB;
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ArFunctorC<ArModeCamera> myRightCB;
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ArFunctorC<ArModeCamera> myCenterCB;
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ArFunctorC<ArModeCamera> myZoomInCB;
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ArFunctorC<ArModeCamera> myZoomOutCB;
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ArFunctorC<ArModeCamera> myExerciseCB;
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ArFunctorC<ArModeCamera> mySonyCB;
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ArFunctorC<ArModeCamera> myCanonCB;
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ArFunctorC<ArModeCamera> myDpptuCB;
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ArFunctorC<ArModeCamera> myAmptuCB;
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ArFunctorC<ArModeCamera> myCanonInvertedCB;
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ArFunctorC<ArModeCamera> mySonySerialCB;
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ArFunctorC<ArModeCamera> myCanonSerialCB;
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ArFunctorC<ArModeCamera> myDpptuSerialCB;
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ArFunctorC<ArModeCamera> myAmptuSerialCB;
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ArFunctorC<ArModeCamera> myCanonInvertedSerialCB;
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ArFunctorC<ArModeCamera> myRVisionSerialCB;
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ArFunctorC<ArModeCamera> myCom1CB;
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ArFunctorC<ArModeCamera> myCom2CB;
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ArFunctorC<ArModeCamera> myCom3CB;
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ArFunctorC<ArModeCamera> myCom4CB;
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ArFunctorC<ArModeCamera> myAux1CB;
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ArFunctorC<ArModeCamera> myAux2CB;
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const int myPanAmount;
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const int myTiltAmount;
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};
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/// Mode for displaying the sonar
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class ArModeSonar : public ArMode
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{
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public:
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/// Constructor
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AREXPORT ArModeSonar(ArRobot *robot, const char *name, char key, char key2);
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/// Destructor
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AREXPORT virtual ~ArModeSonar();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void userTask(void);
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AREXPORT virtual void help(void);
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AREXPORT void allSonar(void);
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AREXPORT void firstSonar(void);
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AREXPORT void secondSonar(void);
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AREXPORT void thirdSonar(void);
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AREXPORT void fourthSonar(void);
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protected:
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enum State
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{
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STATE_ALL,
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STATE_FIRST,
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STATE_SECOND,
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STATE_THIRD,
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STATE_FOURTH
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};
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State myState;
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ArFunctorC<ArModeSonar> myAllSonarCB;
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ArFunctorC<ArModeSonar> myFirstSonarCB;
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ArFunctorC<ArModeSonar> mySecondSonarCB;
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ArFunctorC<ArModeSonar> myThirdSonarCB;
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ArFunctorC<ArModeSonar> myFourthSonarCB;
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};
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class ArModeBumps : public ArMode
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{
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public:
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AREXPORT ArModeBumps(ArRobot *robot, const char *name, char key, char key2);
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AREXPORT ~ArModeBumps();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void userTask(void);
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AREXPORT virtual void help(void);
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};
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class ArModePosition : public ArMode
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{
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public:
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AREXPORT ArModePosition(ArRobot *robot, const char *name, char key,
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char key2, ArAnalogGyro *gyro = NULL);
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AREXPORT ~ArModePosition();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void userTask(void);
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AREXPORT virtual void help(void);
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AREXPORT void up(void);
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AREXPORT void down(void);
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AREXPORT void left(void);
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AREXPORT void right(void);
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AREXPORT void stop(void);
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AREXPORT void reset(void);
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AREXPORT void mode(void);
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AREXPORT void gyro(void);
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AREXPORT void incDistance(void);
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AREXPORT void decDistance(void);
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protected:
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enum Mode { MODE_BOTH, MODE_EITHER };
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ArAnalogGyro *myGyro;
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double myGyroZero;
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double myRobotZero;
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Mode myMode;
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std::string myModeString;
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bool myInHeadingMode;
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double myHeading;
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double myDistance;
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ArFunctorC<ArModePosition> myUpCB;
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ArFunctorC<ArModePosition> myDownCB;
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ArFunctorC<ArModePosition> myLeftCB;
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ArFunctorC<ArModePosition> myRightCB;
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ArFunctorC<ArModePosition> myStopCB;
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ArFunctorC<ArModePosition> myResetCB;
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ArFunctorC<ArModePosition> myModeCB;
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ArFunctorC<ArModePosition> myGyroCB;
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ArFunctorC<ArModePosition> myIncDistCB;
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ArFunctorC<ArModePosition> myDecDistCB;
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};
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class ArModeIO : public ArMode
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{
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public:
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AREXPORT ArModeIO(ArRobot *robot, const char *name, char key,
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char key2);
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AREXPORT ~ArModeIO();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void userTask(void);
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AREXPORT virtual void help(void);
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protected:
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bool myExplanationReady;
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bool myExplained;
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ArTime myLastPacketTime;
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char myExplanation[1024];
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char myOutput[1024];
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ArFunctorC<ArModeIO> myProcessIOCB;
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};
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class ArModeLaser : public ArMode
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{
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public:
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AREXPORT ArModeLaser(ArRobot *robot, const char *name, char key,
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char key2, ArSick *obsolete = NULL);
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AREXPORT ~ArModeLaser();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void userTask(void);
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AREXPORT virtual void help(void);
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AREXPORT virtual void switchToLaser(int laserNumber);
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protected:
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void togMiddle(void);
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void togConnect(void);
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enum State {
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STATE_UNINITED,
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STATE_CONNECTING,
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STATE_CONNECTED
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};
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State myState;
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ArLaser *myLaser;
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|
int myLaserNumber;
|
||
|
|
|
||
|
|
bool myPrintMiddle;
|
||
|
|
|
||
|
|
ArFunctorC<ArModeLaser> myTogMiddleCB;
|
||
|
|
|
||
|
|
std::map<int, ArLaser *> myLasers;
|
||
|
|
std::map<int, ArFunctor1C<ArModeLaser, int> *> myLaserCallbacks;
|
||
|
|
};
|
||
|
|
|
||
|
|
/// Mode for following a color blob using ACTS
|
||
|
|
class ArModeActs : public ArMode
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArModeActs(ArRobot *robot, const char *name, char key, char key2,
|
||
|
|
ArACTS_1_2 *acts = NULL);
|
||
|
|
/// Destructor
|
||
|
|
AREXPORT virtual ~ArModeActs();
|
||
|
|
AREXPORT virtual void activate(void);
|
||
|
|
AREXPORT virtual void deactivate(void);
|
||
|
|
AREXPORT virtual void help(void);
|
||
|
|
AREXPORT virtual void userTask(void);
|
||
|
|
AREXPORT virtual void channel1(void);
|
||
|
|
AREXPORT virtual void channel2(void);
|
||
|
|
AREXPORT virtual void channel3(void);
|
||
|
|
AREXPORT virtual void channel4(void);
|
||
|
|
AREXPORT virtual void channel5(void);
|
||
|
|
AREXPORT virtual void channel6(void);
|
||
|
|
AREXPORT virtual void channel7(void);
|
||
|
|
AREXPORT virtual void channel8(void);
|
||
|
|
AREXPORT virtual void stop(void);
|
||
|
|
AREXPORT virtual void start(void);
|
||
|
|
AREXPORT virtual void toggleAcquire(void);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
ArActionGroupColorFollow *myGroup;
|
||
|
|
ArPTZ *camera;
|
||
|
|
ArACTS_1_2 *myActs;
|
||
|
|
ArRobot *myRobot;
|
||
|
|
|
||
|
|
ArFunctorC<ArModeActs> myChannel1CB;
|
||
|
|
ArFunctorC<ArModeActs> myChannel2CB;
|
||
|
|
ArFunctorC<ArModeActs> myChannel3CB;
|
||
|
|
ArFunctorC<ArModeActs> myChannel4CB;
|
||
|
|
ArFunctorC<ArModeActs> myChannel5CB;
|
||
|
|
ArFunctorC<ArModeActs> myChannel6CB;
|
||
|
|
ArFunctorC<ArModeActs> myChannel7CB;
|
||
|
|
ArFunctorC<ArModeActs> myChannel8CB;
|
||
|
|
ArFunctorC<ArModeActs> myStopCB;
|
||
|
|
ArFunctorC<ArModeActs> myStartCB;
|
||
|
|
ArFunctorC<ArModeActs> myToggleAcquireCB;
|
||
|
|
};
|
||
|
|
|
||
|
|
class ArModeCommand : public ArMode
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
AREXPORT ArModeCommand(ArRobot *robot, const char *name, char key,
|
||
|
|
char key2);
|
||
|
|
AREXPORT ~ArModeCommand();
|
||
|
|
AREXPORT virtual void activate(void);
|
||
|
|
AREXPORT virtual void deactivate(void);
|
||
|
|
AREXPORT virtual void help(void);
|
||
|
|
protected:
|
||
|
|
void takeKeys(void);
|
||
|
|
void giveUpKeys(void);
|
||
|
|
void addChar(int ch);
|
||
|
|
void finishParsing(void);
|
||
|
|
void reset(bool print = true);
|
||
|
|
char myCommandString[70];
|
||
|
|
ArFunctor1C<ArModeCommand, int> my0CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my1CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my2CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my3CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my4CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my5CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my6CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my7CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my8CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> my9CB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> myMinusCB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> myBackspaceCB;
|
||
|
|
ArFunctor1C<ArModeCommand, int> mySpaceCB;
|
||
|
|
ArFunctorC<ArModeCommand> myEnterCB;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
/// Mode for following a color blob using ACTS
|
||
|
|
class ArModeTCM2 : public ArMode
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArModeTCM2(ArRobot *robot, const char *name, char key, char key2, ArTCM2 *tcm2 = NULL);
|
||
|
|
/// Destructor
|
||
|
|
AREXPORT virtual ~ArModeTCM2();
|
||
|
|
AREXPORT virtual void activate(void);
|
||
|
|
AREXPORT virtual void deactivate(void);
|
||
|
|
AREXPORT virtual void help(void);
|
||
|
|
AREXPORT virtual void userTask(void);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
void init();
|
||
|
|
ArTCM2 *myTCM2;
|
||
|
|
ArCompassConnector *connector;
|
||
|
|
ArRobot *myRobot;
|
||
|
|
ArFunctorC<ArTCM2> *myOffCB;
|
||
|
|
ArFunctorC<ArTCM2> *myCompassCB;
|
||
|
|
ArFunctorC<ArTCM2> *myOnePacketCB;
|
||
|
|
ArFunctorC<ArTCM2> *myContinuousPacketsCB;
|
||
|
|
ArFunctorC<ArTCM2> *myUserCalibrationCB;
|
||
|
|
ArFunctorC<ArTCM2> *myAutoCalibrationCB;
|
||
|
|
ArFunctorC<ArTCM2> *myStopCalibrationCB;
|
||
|
|
ArFunctorC<ArTCM2> *myResetCB;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
/// Mode for requesting config packet
|
||
|
|
class ArModeConfig : public ArMode
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArModeConfig(ArRobot *robot, const char *name, char key, char key2);
|
||
|
|
AREXPORT virtual void activate(void);
|
||
|
|
AREXPORT virtual void deactivate(void);
|
||
|
|
AREXPORT virtual void help(void);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
ArRobot *myRobot;
|
||
|
|
ArRobotConfigPacketReader myConfigPacketReader;
|
||
|
|
ArFunctorC<ArModeConfig> myGotConfigPacketCB;
|
||
|
|
|
||
|
|
void gotConfigPacket();
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
#endif // ARMODES_H
|