160 lines
3.9 KiB
C++
160 lines
3.9 KiB
C++
/*
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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 "ArMTXIO.h"
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/** @example mtxIO.cpp Sets patterns on digital outputs and acts on digital
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* inputs. Attach LEDs to the outputs and buttons to the digital inputs to
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* use. (See the Pioneer LX manual and robots.mobilerobots.com for more
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* details.)
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* The 'mtx' Linux kernel module must be loaded, and the /dev/mtx character
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* device must have been created (see mtxIODriver documentation). You must
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* have read/write access to /dev/mtx.
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*/
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void printBits(unsigned short c) {
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int i;
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for (i=0; i < 16; i++) {
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if (i == 8) {
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ArLog::log(ArLog::Normal, " ");
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}
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if (0x8000 & (c << i)) {
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ArLog::log(ArLog::Normal, "1");
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}
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else {
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ArLog::log(ArLog::Normal, "0");
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}
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}
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ArLog::log(ArLog::Normal, " (0x%04x) ", c);
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}
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int main(int argc, char **argv)
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{
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Aria::init();
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ArArgumentParser parser(&argc, argv);
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parser.loadDefaultArguments();
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ArRobot robot;
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ArRobotConnector robotConnector(&parser, &robot);
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if(!robotConnector.connectRobot())
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{
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ArLog::log(ArLog::Terse, "mtxIO: Could not connect to the robot.");
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if(parser.checkHelpAndWarnUnparsed())
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{
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// -help not given
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Aria::logOptions();
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Aria::exit(1);
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}
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}
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if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
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{
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Aria::logOptions();
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Aria::exit(1);
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}
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ArLog::log(ArLog::Normal, "mtxIO: Connected.");
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robot.comInt(ArCommands::JOYINFO, 0);
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ArMTXIO mtxIO;
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if(!mtxIO.isEnabled())
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{
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ArLog::log(ArLog::Terse, "mtxIO: Error opening MTX IO device interface!");
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Aria::exit(4);
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}
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robot.runAsync(true);
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unsigned char out = 1;
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while(true)
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{
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mtxIO.lock();
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// print state of inputs
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unsigned char inp;
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mtxIO.getDigitalInputMon1(&inp);
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printBits(inp);
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mtxIO.getDigitalInputMon2(&inp);
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printBits(inp);
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/* shouldn't be neccesary
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unsigned char cur;
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// get current state
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if(!mtxIO.getDigitalOutputControl1(&cur))
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{
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ArLog::log(ArLog::Terse, "mtxIO: Error getting current state of output control 1");
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mtxIO.unlock();
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Aria::exit(2);
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}
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*/
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// set new state on both output banks
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if(!mtxIO.setDigitalOutputControl1(&out))
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{
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ArLog::log(ArLog::Terse, "mtxIO: Error setting state of output control 1");
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mtxIO.unlock();
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Aria::exit(3);
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}
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if(!mtxIO.setDigitalOutputControl2(&out))
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{
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ArLog::log(ArLog::Terse, "mtxIO: Error setting state of output control 2");
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mtxIO.unlock();
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Aria::exit(3);
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}
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// wait
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mtxIO.unlock();
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ArUtil::sleep(500);
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// shift
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out = out << 1;
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if(out == 0) out = 1;
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}
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Aria::exit(0);
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// wait
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mtxIO.unlock();
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ArUtil::sleep(500);
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// shift
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out = out << 1;
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if(out == 0) out = 1;
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}
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Aria::exit(0);
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}
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