137 lines
3.8 KiB
C++
137 lines
3.8 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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/* This tests the response time for IO packet requests sent to the robot. It can
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* also test response for velocity commands if the section is uncommented.
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*
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* This can be used to see what the delay is in the time a command is sent to the
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* time the command takes effect.
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*/
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ArTime requestTime;
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ArTime velTime;
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int n = 0;
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int vel = 0;
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int ABOUT_RIGHT = 5;
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void userTask(ArRobot *robot)
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{
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if (robot->getIOPacketTime().mSecSince() > requestTime.mSecSince())
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return;
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else
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{
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ArLog::log(ArLog::Terse, "last packet time: %ld", requestTime.mSecSince() - robot->getIOPacketTime().mSecSince());
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fflush(stdout);
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robot->comInt(ArCommands::IOREQUEST, 1);
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requestTime.setToNow();
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}
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/* Uncomment the next section to test response in velocity commands. */
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/*
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if (abs((int)(robot->getVel() - vel)) <= ABOUT_RIGHT &&
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velTime.secSince() > 5)
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{
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if (vel == 0)
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vel = 200;
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else if (vel == 200)
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vel = 400;
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else if (vel == 400)
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vel = 0;
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robot->setVel(vel);
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velTime.setToNow();
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}
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ArLog::log(ArLog::Terse, "vel requested: %d\trobot vel: %3.2f\tvel time: %d", vel, robot->getVel(), velTime.mSecSince());
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*/
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ArLog::log(ArLog::Terse, "Aria cycle time: %d", robot->getCycleTime());
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fflush(stdout);
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}
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int main(int argc, char** argv)
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{
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// set up our simpleConnector
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ArSimpleConnector simpleConnector(&argc, argv);
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// robot
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ArRobot robot;
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// a key handler so we can do our key handling
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ArKeyHandler keyHandler;
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ArLog::init(ArLog::StdOut,ArLog::Verbose);
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// if there are more arguments left then it means we didn't
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// understand an option
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if (!simpleConnector.parseArgs() || argc > 1)
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{
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simpleConnector.logOptions();
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keyHandler.restore();
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exit(1);
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}
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// mandatory init
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Aria::init();
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ArLog::init(ArLog::StdOut, ArLog::Terse, NULL, true);
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// let the global aria stuff know about it
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Aria::setKeyHandler(&keyHandler);
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// toss it on the robot
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robot.attachKeyHandler(&keyHandler);
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// set up the robot for connecting
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if (!simpleConnector.connectRobot(&robot))
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{
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printf("Could not connect to robot... exiting\n");
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Aria::shutdown();
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keyHandler.restore();
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return 1;
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}
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// turn on the motors for the velocity response test
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robot.comInt(ArCommands::ENABLE, 1);
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velTime.setToNow();
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// turn off the sonar
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robot.comInt(ArCommands::SONAR, 0);
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ArGlobalFunctor1<ArRobot *> userTaskCB(&userTask, &robot);
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robot.addUserTask("iotest", 100, &userTaskCB);
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robot.comInt(ArCommands::IOREQUEST, 1);
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requestTime.setToNow();
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//start the robot running, true so that if we lose connection the run stops
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robot.run(true);
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// now exit
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Aria::shutdown();
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return 0;
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}
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