131 lines
4.5 KiB
C++
131 lines
4.5 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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// Pass command-line arguments to this program to really test it
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//#define DO_DELETE 1
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//#define PARSER 1
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//#define BUILDER 1
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#define BUILDER_ARGV 1
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//#define DELETE_BEFORE_PARSE 1 // defining this might make it crash (but only if the OS NULLS out the argument builder or parser's internal pointers, Windows might do this in debug mode for instance)
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int main(int argc, char **argv)
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{
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ArRobot robot;
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Aria::init();
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#if defined(PARSER)
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ArArgumentParser *parser = new ArArgumentParser(&argc, argv);
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puts("Creating ArSimpleConnector using parser.");
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ArSimpleConnector connector(parser);
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#elif defined(BUILDER)
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ArArgumentBuilder *builder = new ArArgumentBuilder();
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builder->addStrings(argc, argv);
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puts("Creating ArSimpleConnector using builder.");
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ArSimpleConnector connector(builder);
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#elif defined(BUILDER_ARGV)
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ArArgumentBuilder *builder = new ArArgumentBuilder();
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builder->addStrings(argc, argv);
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int c = builder->getArgc();
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puts("Creating ArSimpleConnector using (int *argc, char **argv) from builder.");
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printf("Got argv pointer 0x%x from builder.\n", builder->getArgv());
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ArSimpleConnector connector(&c, builder->getArgv());
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#else
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#error Must define one of PARSER, BUILDER, BUILDER_ARGV
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#endif
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#ifndef DELETE_BEFORE_PARSE
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puts("Parsing arguments (before deletion)...");
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if (!Aria::parseArgs())
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{
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Aria::logOptions();
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Aria::shutdown();
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return 1;
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}
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#endif
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#ifdef DO_DELETE
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puts("Deleting argument object(s)...");
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#if defined(PARSER)
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ArArgumentParser *p = parser;
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printf("Deleting ArArgumentParser 0x%x and writing %d NULL-bytes to that address (0x%x)\n", parser, sizeof(ArArgumentParser), p);
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delete parser;
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memset(p, 0, sizeof(ArArgumentParser));
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#elif defined(BUILDER) || defined(BUILDER_ARGV)
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ArArgumentBuilder *b = builder;
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printf("Deleting ArArgumentBuilder 0x%x and writing %d NULL-bytes to that address (0x%x)\n", builder, sizeof(ArArgumentBuilder), b);
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delete builder;
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memset(b, 0, sizeof(ArArgumentBuilder));
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#endif
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#else
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puts("Not deleteing objects.");
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#endif
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#ifdef DELETE_BEFORE_PARSE
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puts("Parsing arguments (after deletion)...");
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if (!Aria::parseArgs())
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{
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Aria::logOptions();
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Aria::shutdown();
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return 1;
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}
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#endif
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if (!connector.connectRobot(&robot))
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{
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ArLog::log(ArLog::Normal, "simpleConnect: Could not connect to robot... exiting");
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return 2;
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}
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ArLog::log(ArLog::Normal, "simpleConnect: Connected.");
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// Start the robot processing cycle running in the background.
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// True parameter means that if the connection is lost, then the
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// run loop ends.
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robot.runAsync(true);
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// Print out some data from the SIP. We must "lock" the ArRobot object
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// before calling its methods, and "unlock" when done, to prevent conflicts
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// with the background thread started by the call to robot.runAsync() above.
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// See the section on threading in the manual for more about this.
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robot.lock();
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ArLog::log(ArLog::Normal, "simpleConnect: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Battery=%.2fV",
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robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
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robot.unlock();
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// Sleep for 3 seconds.
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ArLog::log(ArLog::Normal, "simpleConnect: Sleeping for 3 seconds...");
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ArUtil::sleep(3000);
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ArLog::log(ArLog::Normal, "simpleConnect: Ending robot thread...");
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robot.stopRunning();
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ArLog::log(ArLog::Normal, "simpleConnect: Exiting.");
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return 0;
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}
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