233 lines
6.5 KiB
C++
233 lines
6.5 KiB
C++
/*
|
|
Adept MobileRobots Robotics Interface for Applications (ARIA)
|
|
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
|
|
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
|
|
Copyright (C) 2011, 2012, 2013 Adept Technology
|
|
|
|
This program is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program; if not, write to the Free Software
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
|
If you wish to redistribute ARIA under different terms, contact
|
|
Adept MobileRobots for information about a commercial version of ARIA at
|
|
robots@mobilerobots.com or
|
|
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
|
|
*/
|
|
#include "Aria.h"
|
|
|
|
ArRobot *robot;
|
|
|
|
/**
|
|
This program will repeatedly test the ArActionTriangleDriveTo
|
|
by backing away a random amount and direction, then using the
|
|
action to move forwards. It'll pause to allow time to mark the
|
|
location relative to the world (using a laser pointer, for example)
|
|
|
|
**/
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
// parse our args and make sure they were all accounted for
|
|
ArSimpleConnector connector(&argc, argv);
|
|
|
|
// the robot
|
|
robot = new ArRobot;
|
|
// the laser
|
|
ArSick sick;
|
|
|
|
Aria::init();
|
|
|
|
if (!connector.parseArgs() || argc > 1)
|
|
{
|
|
connector.logOptions();
|
|
exit(1);
|
|
}
|
|
|
|
// a key handler so we can do our key handling
|
|
ArKeyHandler keyHandler;
|
|
// let the global aria stuff know about it
|
|
Aria::setKeyHandler(&keyHandler);
|
|
// toss it on the robot
|
|
robot->attachKeyHandler(&keyHandler);
|
|
|
|
// add the laser to the robot
|
|
robot->addRangeDevice(&sick);
|
|
|
|
ArSonarDevice sonar;
|
|
robot->addRangeDevice(&sonar);
|
|
|
|
//ArLineFinder lineFinder(&sick);
|
|
ArActionTriangleDriveTo triangleDriveTo;
|
|
ArFunctorC<ArActionTriangleDriveTo> lineGoCB(&triangleDriveTo,
|
|
&ArActionTriangleDriveTo::activate);
|
|
//keyHandler.addKeyHandler('g', &lineGoCB);
|
|
//keyHandler.addKeyHandler('G', &lineGoCB);
|
|
ArFunctorC<ArActionTriangleDriveTo> lineStopCB(&triangleDriveTo,
|
|
&ArActionTriangleDriveTo::deactivate);
|
|
//keyHandler.addKeyHandler('s', &lineStopCB);
|
|
//keyHandler.addKeyHandler('S', &lineStopCB);
|
|
ArLineFinder lineFinder(&sick);
|
|
ArFunctorC<ArLineFinder> findLineCB(&lineFinder,
|
|
&ArLineFinder::getLinesAndSaveThem);
|
|
keyHandler.addKeyHandler('f', &findLineCB);
|
|
keyHandler.addKeyHandler('F', &findLineCB);
|
|
//lineFinder.setVerbose(true);
|
|
|
|
ArActionLimiterForwards limiter("limiter", 150, 0, 0, 1.3);
|
|
robot->addAction(&limiter, 70);
|
|
ArActionLimiterBackwards limiterBackwards;
|
|
robot->addAction(&limiterBackwards, 69);
|
|
|
|
robot->addAction(&triangleDriveTo, 60);
|
|
|
|
ArActionKeydrive keydrive;
|
|
robot->addAction(&keydrive, 55);
|
|
|
|
|
|
ArActionStop stopAction;
|
|
robot->addAction(&stopAction, 50);
|
|
|
|
// try to connect, if we fail exit
|
|
if (!connector.connectRobot(robot))
|
|
{
|
|
printf("Could not connect to robot->.. exiting\n");
|
|
Aria::shutdown();
|
|
return 1;
|
|
}
|
|
|
|
robot->comInt(ArCommands::SONAR, 1);
|
|
robot->comInt(ArCommands::ENABLE, 1);
|
|
|
|
// start the robot running, true so that if we lose connection the run stops
|
|
robot->runAsync(true);
|
|
|
|
// now set up the laser
|
|
connector.setupLaser(&sick);
|
|
|
|
sick.runAsync();
|
|
|
|
if (!sick.blockingConnect())
|
|
{
|
|
printf("Could not connect to SICK laser... exiting\n");
|
|
Aria::shutdown();
|
|
return 1;
|
|
}
|
|
|
|
//printf("If you press the 'g' key it'll go find a triangle, if you press 's' it'll stop.\nPress 'f' to save lines\n");
|
|
printf("\nPress 'f' to save lines\n");
|
|
bool lastSucceeded = false;
|
|
int numGood = 0;
|
|
int numBad = 0;
|
|
// how many times to run, if this is negative it'll go forever (well
|
|
// until it wraps at 2 billion)
|
|
int timesToRun = -1;
|
|
for (int i=0; (i != timesToRun) && (robot->isRunning()); i++) {
|
|
bool done = false;
|
|
printf("\nStarting run: %d",i);
|
|
// move back
|
|
|
|
if (lastSucceeded)
|
|
{
|
|
robot->lock();
|
|
robot->move(-300);
|
|
robot->unlock();
|
|
}
|
|
do {
|
|
ArUtil::sleep(100);
|
|
robot->lock();
|
|
done = robot->isMoveDone();
|
|
robot->unlock();
|
|
} while (!done);
|
|
// figure out how much to rotate
|
|
int rotation = ArMath::random()%60;
|
|
// make it positive or negative
|
|
rotation = rotation - 30;
|
|
printf("...rotating");
|
|
robot->lock();
|
|
robot->setDeltaHeading(rotation);
|
|
robot->unlock();
|
|
do {
|
|
ArUtil::sleep(100);
|
|
robot->lock();
|
|
done = robot->isHeadingDone(5);
|
|
robot->unlock();
|
|
} while (!done);
|
|
// figure out how much to move back
|
|
int distance_back = ArMath::random()%1500;
|
|
// make it at least half a meter
|
|
if (lastSucceeded)
|
|
{
|
|
distance_back = -1*(distance_back + 1200);
|
|
printf("...moving");
|
|
robot->lock();
|
|
robot->move(distance_back);
|
|
robot->unlock();
|
|
do {
|
|
ArUtil::sleep(100);
|
|
robot->lock();
|
|
done = robot->isMoveDone(100);
|
|
robot->unlock();
|
|
} while (!done);
|
|
}
|
|
// activate the action
|
|
printf("...activating\n");
|
|
robot->lock();
|
|
robot->clearDirectMotion();
|
|
triangleDriveTo.activate();
|
|
robot->unlock();
|
|
// insert cool way to see if we're done with the driveTo
|
|
// for now, just sleep for a while
|
|
do {
|
|
ArUtil::sleep(100);
|
|
robot->lock();
|
|
if (triangleDriveTo.getState() ==
|
|
ArActionTriangleDriveTo::STATE_SUCCEEDED)
|
|
{
|
|
numGood++;
|
|
printf("succeeded (made %d of %d)...", numGood, numGood + numBad);
|
|
done = true;
|
|
lastSucceeded = true;
|
|
}
|
|
else if (triangleDriveTo.getState() ==
|
|
ArActionTriangleDriveTo::STATE_FAILED)
|
|
{
|
|
numBad++;
|
|
printf("failed (made %d of %d)...", numGood, numGood + numBad);
|
|
done = true;
|
|
lastSucceeded = false;
|
|
}
|
|
else
|
|
done = false;
|
|
robot->unlock();
|
|
} while (!done);
|
|
printf("\a");
|
|
printf("...sleeping");
|
|
ArUtil::sleep(3000);
|
|
// deactivate the action
|
|
printf("...deactivating");
|
|
robot->lock();
|
|
triangleDriveTo.deactivate();
|
|
robot->unlock();
|
|
}
|
|
printf("\n\n");
|
|
robot->lock();
|
|
robot->disconnect();
|
|
robot->unlock();
|
|
Aria::shutdown();
|
|
printf("\n");
|
|
return 0;
|
|
}
|
|
|
|
|
|
|