161 lines
4.2 KiB
C++
161 lines
4.2 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 <time.h>
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class ActionTurnToHeading : public ArAction
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{
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public:
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ActionTurnToHeading(double heading = 0);
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virtual ~ActionTurnToHeading(void) {}
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virtual ArActionDesired *fire(ArActionDesired currentDesired);
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void setHeading(double heading);
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protected:
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ArActionDesired myDesired;
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double myHeading;
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};
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ActionTurnToHeading::ActionTurnToHeading(double heading) :
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ArAction("TurnToHeading", "Turns to a heading")
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{
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setNextArgument(ArArg("desired heading", &myHeading, "Heading to turn to."));
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myHeading = heading;
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}
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void ActionTurnToHeading::setHeading(double heading)
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{
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myHeading = heading;
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}
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ArActionDesired *ActionTurnToHeading::fire(ArActionDesired currentDesired)
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{
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myDesired.reset();
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myDesired.setHeading(myHeading);
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return &myDesired;
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}
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class ConnHandler
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{
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public:
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ConnHandler(ArRobot *robot);
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~ConnHandler(void) {}
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void connFail(void);
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void connected(void);
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protected:
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ArRobot *myRobot;
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ArFunctorC<ConnHandler> *myConnFailCB;
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ArFunctorC<ConnHandler> *myConnectedCB;
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};
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ConnHandler::ConnHandler(ArRobot *robot)
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{
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myRobot = robot;
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myConnectedCB = new ArFunctorC<ConnHandler>(this, &ConnHandler::connected);
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myRobot->addConnectCB(myConnectedCB, ArListPos::FIRST);
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myConnFailCB = new ArFunctorC<ConnHandler>(this, &ConnHandler::connFail);
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myRobot->addFailedConnectCB(myConnFailCB, ArListPos::FIRST);
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}
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void ConnHandler::connFail(void)
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{
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printf("Failed to connect.\n");
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myRobot->stopRunning();
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Aria::shutdown();
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return;
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}
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void ConnHandler::connected(void)
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{
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printf("Connected\n");
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myRobot->comInt(ArCommands::SONAR, 0);
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myRobot->comInt(ArCommands::ENABLE, 1);
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myRobot->comInt(ArCommands::SOUNDTOG, 0);
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}
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int main(int argc, char **argv)
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{
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std::string str;
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int ret;
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ArSerialConnection con;
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ArRobot robot;
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ConnHandler ch(&robot);
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ActionTurnToHeading headingAction;
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Aria::init(Aria::SIGHANDLE_THREAD);
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if ((ret = con.open()) != 0)
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{
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str = con.getOpenMessage(ret);
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printf("Open failed: %s\n", str.c_str());
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Aria::shutdown();
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return 1;
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}
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robot.setDeviceConnection(&con);
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if (!robot.blockingConnect())
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{
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printf(
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"asyncConnect failed because robot is not running in its own thread.\n");
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Aria::shutdown();
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return 1;
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}
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robot.addAction(&headingAction, 100);
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robot.runAsync(true);
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robot.enableMotors();
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printf("Turning the robot to 180, then sleeping 4 seconds.\n");
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headingAction.setHeading(180);
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ArUtil::sleep(4000);
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printf("Robot got to %.1f\n", robot.getTh());
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printf("Turning the robot to 30, then sleeping 4 seconds.\n");
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headingAction.setHeading(30);
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ArUtil::sleep(4000);
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printf("Robot got to %.1f\n", robot.getTh());
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printf("Turning the robot to -170, then sleeping 4 seconds.\n");
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headingAction.setHeading(-170);
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ArUtil::sleep(4000);
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printf("Robot got to %.1f\n", robot.getTh());
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printf("Turning the robot to -130, then sleeping 4 seconds.\n");
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headingAction.setHeading(-130);
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ArUtil::sleep(4000);
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printf("Robot got to %.1f\n", robot.getTh());
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printf("Now exiting\n");
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Aria::exit();
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return 0;
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}
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