163 lines
4.1 KiB
C++
163 lines
4.1 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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int main(int argc, char **argv)
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{
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bool done;
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double distToTravel = 2300;
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// whether to use the sim for the laser or not, if you use the sim
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// for hte laser, you have to use the sim for the robot too
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bool useSim = false;
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// the laser
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ArSick sick;
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// connection
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ArDeviceConnection *con;
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// Laser connection
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ArSerialConnection laserCon;
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// robot
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ArRobot robot;
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// set a default filename
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//std::string filename = "c:\\log\\1scans.2d";
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std::string filename = "1scans.2d";
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// see if we want to use a different filename
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//if (argc > 1)
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//Lfilename = argv[1];
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printf("Logging to file %s\n", filename.c_str());
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// start the logger with good values
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sick.configureShort(useSim, ArSick::BAUD38400,
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ArSick::DEGREES180, ArSick::INCREMENT_HALF);
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ArSickLogger logger(&robot, &sick, 300, 25, filename.c_str());
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// mandatory init
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Aria::init();
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// add it to the robot
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robot.addRangeDevice(&sick);
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//ArAnalogGyro gyro(&robot);
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// if we're not using the sim, make a serial connection and set it up
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if (!useSim)
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{
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ArSerialConnection *serCon;
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serCon = new ArSerialConnection;
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serCon->setPort();
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//serCon->setBaud(38400);
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con = serCon;
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}
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// if we are using the sim, set up a tcp connection
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else
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{
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ArTcpConnection *tcpCon;
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tcpCon = new ArTcpConnection;
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tcpCon->setPort();
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con = tcpCon;
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}
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// set the connection on the robot
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robot.setDeviceConnection(con);
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// try to connect, if we fail exit
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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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Aria::shutdown();
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return 1;
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}
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// set up a key handler so escape exits and attach to the robot
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ArKeyHandler keyHandler;
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robot.attachKeyHandler(&keyHandler);
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// run the robot, true here so that the run will exit if connection lost
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robot.runAsync(true);
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// if we're not using the sim, set up the port for the laser
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if (!useSim)
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{
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laserCon.setPort(ArUtil::COM3);
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sick.setDeviceConnection(&laserCon);
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}
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// now that we're connected to the robot, connect to the laser
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sick.runAsync();
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if (!sick.blockingConnect())
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{
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printf("Could not connect to SICK laser... exiting\n");
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robot.disconnect();
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Aria::shutdown();
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return 1;
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}
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#ifdef WIN32
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// wait until someone pushes the motor button to go
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while (1)
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{
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robot.lock();
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if (!robot.isRunning())
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exit(0);
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if (robot.areMotorsEnabled())
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{
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robot.unlock();
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break;
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}
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robot.unlock();
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ArUtil::sleep(100);
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}
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#endif
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// basically from here on down the robot just cruises around a bit
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robot.lock();
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// enable the motors, disable amigobot sounds
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robot.comInt(ArCommands::ENABLE, 1);
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// move a couple meters
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robot.setRotVel(3000);
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robot.unlock();
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ArUtil::sleep(15 * 1000);
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robot.lock();
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robot.disconnect();
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robot.unlock();
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keyHandler.restore();
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exit(1);
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// now exit
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return 0;
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}
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