116 lines
3.4 KiB
C++
116 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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/* This program monitors the time it takes to receive a new value
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* for Sonar #3.
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*
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* (Or, you can uncomment code in main() to experiment with different
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* sonar polling sequences).
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*/
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class SonarMonitor
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{
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private:
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ArRobot* myRobot;
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int mySonarNum;
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ArTime myTimer;
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ArFunctorC<SonarMonitor> myCB;
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public:
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SonarMonitor(ArRobot* r, int s) :
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myRobot(r), mySonarNum(s), myCB(this, &SonarMonitor::cycleCallback)
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{
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ArLog::log(ArLog::Normal, "Sonar Monitor: Monitoring sonar transducer #%d", s);
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myTimer.setToNow();
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myRobot->addSensorInterpTask("SonarMonitor", 1, &myCB);
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}
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void cycleCallback()
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{
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if(myRobot->isSonarNew(mySonarNum))
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{
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ArLog::log(ArLog::Normal, "Sonar Monitor: It took %d ms for sonar #%d to be refreshed (range value=%d)",
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myTimer.mSecSince(), mySonarNum, myRobot->getSonarRange(mySonarNum));
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myTimer.setToNow();
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}
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}
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};
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int main(int argc, char **argv)
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{
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ArRobot robot;
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Aria::init();
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ArSimpleConnector connector(&argc, argv);
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if (!connector.parseArgs() || argc > 1)
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{
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connector.logOptions();
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return 1;
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}
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if (!connector.connectRobot(&robot))
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{
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ArLog::log(ArLog::Terse, "Sonar Monitor: Error: Could not connect to robot... exiting\n");
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return 2;
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}
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ArLog::log(ArLog::Normal, "Sonar Monitor: Connected.\n");
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// Check the state of sonar index 1 (the second sonar) every cycle
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SonarMonitor sonarMon(&robot, 1);
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// Check the state of sonar index 4 (the fifth sonar) every cycle
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SonarMonitor sonarMon2(&robot, 4);
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// You can experiment with different polling sequences by commenting
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// out one of the following commands:
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/*
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* Change the polling sequence to only enable one sonar (#0 if you are
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* counting from 0 like ARIA, but 1 counting from 1 like ARCOS):
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*/
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//char sequence[1] = {2};
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//robot.comStrN(ArCommands::POLLING, sequence, 2);
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/*
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* This would work too:
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*/
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//char sequence[8] = {2, 2, 2, 2, 2, 2, 2, 2};
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//robot.comStrN(ArCommands::POLLING, sequence, 8);
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/*
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* Only enable the left-front side of a pioneer, or the front of an amigo:
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*/
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//char sequence[4] = {2, 3, 4, 5};
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//robot.comStrN(ArCommands::POLLING, sequence, 4);
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// Run robot loop until killed.
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robot.run(true);
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return 0;
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}
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