/* Adept MobileRobots Robotics Interface for Applications (ARIA) Copyright (C) 2004, 2005 ActivMedia Robotics LLC Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc. Copyright (C) 2011, 2012, 2013 Adept Technology This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA If you wish to redistribute ARIA under different terms, contact Adept MobileRobots for information about a commercial version of ARIA at robots@mobilerobots.com or Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960 */ #ifndef ARBATTERYCONNECTOR_H #define ARBATTERYCONNECTOR_H #include "ariaTypedefs.h" #include "ArSerialConnection.h" #include "ArTcpConnection.h" #include "ArArgumentBuilder.h" #include "ArArgumentParser.h" #include "ariaUtil.h" #include "ArRobotConnector.h" class ArBatteryMTX; class ArRobot; /// Connect to robot and battery based on run-time availablitily and command-line arguments /** ArBatteryConnector makes a battery connection either through a serial port connection, or through a TCP port (for the simulator or for robots with Ethernet-serial bridge devices instead of onboard computers). Normally, it first attempts a TCP connection on @a localhost port 8101, to use a simulator if running. If the simulator is not running, then it normally then connects using the serial port Various connection parameters are configurable through command-line arguments or in the robot parameter file. (Though the internal interface used by ARIA to do this is also available if you need to use it: See addBattery(); otherwise don't use addBattery(), setupBattery(), etc.). When you create your ArBatteryConnector, pass it command line parameters via either the argc and argv variables from main(), or pass it an ArArgumentBuilder or ArArgumentParser object. (ArArgumentBuilder is able to obtain command line parameters from a Windows program that uses WinMain() instead of main()). ArBatteryConnector registers a callback with the global Aria class. Use Aria::parseArgs() to parse all command line parameters to the program, and Aria::logOptions() to print out information about all registered command-line parameters. The following command-line arguments are checked: @verbinclude ArBatteryConnector_options To connect to any batteries that were set up in the robot parameter file or via command line arguments, call connectBatteries(). If successful, connectBatteries() will return true and add an entry for each battery connected in the ArRobot object's list of batteries. These ArBatteryMTX objects can be accessed from your ArRobot object via ArRobot::findBattery() or ArRobot::getBatteryMap(). @since 2.8.0 **/ class ArBatteryConnector { public: /// Constructor that takes argument parser AREXPORT ArBatteryConnector(ArArgumentParser *parser, ArRobot *robot, ArRobotConnector *robotConnector, bool autoParseArgs = true, ArLog::LogLevel infoLogLevel = ArLog::Verbose); /// Destructor AREXPORT ~ArBatteryConnector(void); /// Connects all the batteries the robot has that should be auto connected AREXPORT bool connectBatteries(bool continueOnFailedConnect = false, bool addConnectedBatteriesToRobot = true, bool addAllBatteriesToRobot = false, bool turnOnBatteries = true, bool powerCycleBatteryOnFailedConnect = true); /// Sets up a battery to be connected AREXPORT bool setupBattery(ArBatteryMTX *battery, int batteryNumber = 1); /// Connects the battery synchronously (will take up to a minute) AREXPORT bool connectBattery(ArBatteryMTX *battery, int batteryNumber = 1, bool forceConnection = true); /// Adds a battery so parsing will get it AREXPORT bool addBattery(ArBatteryMTX *battery, int batteryNumber = 1); /// Function to parse the arguments given in the constructor AREXPORT bool parseArgs(void); /// Function to parse the arguments given in an arbitrary parser AREXPORT bool parseArgs(ArArgumentParser *parser); /// Log the options the simple connector has AREXPORT void logOptions(void) const; /// Internal function to get the battery (only useful between parseArgs and connectBatteries) AREXPORT ArBatteryMTX *getBattery(int batteryNumber); /// Internal function to replace the battery (only useful between parseArgs and connectBatteries) but not the battery data AREXPORT bool replaceBattery(ArBatteryMTX *battery, int batteryNumber); protected: /// Class that holds information about the battery data class BatteryData { public: BatteryData (int number, ArBatteryMTX *battery) { myNumber = number; myBattery = battery; myConn = NULL; myConnect = false; myConnectReallySet = false; myPort = NULL; myPortType = NULL; myType = NULL; myRemoteTcpPort = 0; myRemoteTcpPortReallySet = false; myBaud = NULL; myAutoConn = NULL; } virtual ~BatteryData() {} /// The number of this battery int myNumber; /// The actual pointer to this battery ArBatteryMTX *myBattery; // our connection ArDeviceConnection *myConn; // if we want to connect the battery bool myConnect; // if myConnect was really set bool myConnectReallySet; // the port we want to connect the battery on const char *myPort; // the type of port we want to connect to the battery on const char *myPortType; // battery Type const char *myType; // wheather to auto conn const char *myAutoConn; // battery tcp port if we're doing a remote host int myRemoteTcpPort; // if our remote battery tcp port was really set bool myRemoteTcpPortReallySet; /// the baud we want to use const char *myBaud; }; std::map myBatteries; /// Parses the battery arguments AREXPORT bool parseBatteryArgs(ArArgumentParser *parser, BatteryData *batteryData); /// Logs the battery command line option help text. AREXPORT void logBatteryOptions(BatteryData *batterydata, bool header = true, bool metaOpts = true) const; // Sets the battery parameters bool internalConfigureBattery(BatteryData *batteryData); std::string myBatteryTypes; // our parser ArArgumentParser *myParser; bool myOwnParser; // if we should autoparse args or toss errors bool myAutoParseArgs; bool myParsedArgs; ArRobot *myRobot; ArRobotConnector *myRobotConnector; // variables to hold if we're logging or not bool myBatteryLogPacketsReceived; bool myBatteryLogPacketsSent; ArLog::LogLevel myInfoLogLevel; ArRetFunctorC myParseArgsCB; ArConstFunctorC myLogOptionsCB; }; #endif // ARLASERCONNECTOR_H