124 lines
3.0 KiB
C++
124 lines
3.0 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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ArRobot *robot;
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ArSonarDevice sonar;
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void sonarPrinter(void)
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{
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ArSonarDevice *sd;
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std::list<ArPoseWithTime *>::iterator it;
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std::list<ArPoseWithTime *> *readings;
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ArPose *pose;
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sd = (ArSonarDevice *)robot->findRangeDevice("sonar");
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if (sd != NULL)
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{
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sd->lockDevice();
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readings = sd->getCurrentBuffer();
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if (readings != NULL)
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{
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for (it = readings->begin(); it != readings->end(); ++it)
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{
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pose = (*it);
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//pose->log();
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}
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}
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sd->unlockDevice();
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}
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double d;
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double th;
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int i;
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printf("Closest readings within polar sections:\n");
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d = sonar.currentReadingPolar(-45, 45, &th);
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printf(" front quadrant: %5.0f ", d);
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if (d != 5000)
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printf("%3.0f ", th);
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printf("\n");
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d = sonar.currentReadingPolar(-135, -45, &th);
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printf(" right quadrant: %5.0f ", d);
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if (d != 5000)
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printf("%3.0f ", th);
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printf("\n");
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d = sonar.currentReadingPolar(45, 135, &th);
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printf(" left quadrant: %5.0f ", d);
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if (d != 5000)
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printf("%3.0f ", th);
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printf("\n");
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d = sonar.currentReadingPolar(-135, 135, &th);
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printf(" back quadrant: %5.0f ", d);
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if (d != 5000)
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printf("%3.0f ", th);
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printf("\n");
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fflush(stdout);
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}
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int main(void)
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{
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std::string str;
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int ret;
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ArGlobalFunctor sonarPrinterCB(&sonarPrinter);
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ArTcpConnection con;
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Aria::init();
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robot = new ArRobot;
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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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robot->addRangeDevice(&sonar);
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robot->addUserTask("Sonar printer", 50, &sonarPrinterCB);
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robot->comInt(ArCommands::SONAR, 1);
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robot->comInt(ArCommands::SOUNDTOG, 0);
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robot->run(true);
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Aria::shutdown();
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}
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