125 lines
4.4 KiB
C++
125 lines
4.4 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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/*
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This is an example of how to use the limiting actions.
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It requires a SICK laser. Use either a joystick or keyboard
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to drive the robot. If the SICK laser detects obstacles, actions
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slow down the robot as it approaches.
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The way it works is that it has a limiting behavior higher priority
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than the joydrive and keydrive actions. So if the limiting behaviors
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detect obstacles that are too close, they set speed limits proportional
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to the distance that slow down the robot and eventually prevent the
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joydrive and keydrive actions from having any effect on the robot.
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*/
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int main(int argc, char **argv)
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{
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Aria::init();
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ArArgumentParser argParser(&argc, argv);
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argParser.loadDefaultArguments();
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argParser.addDefaultArgument("-connectLaser"); // also by default always try to connect to the first laser.
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ArRobot robot;
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ArRobotConnector robotConnector(&argParser, &robot);
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ArLaserConnector laserConnector(&argParser, &robot, &robotConnector);
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ArActionJoydrive jdAct;
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ArActionKeydrive keyAct;
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// limiter for close obstacles
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ArActionLimiterForwards limiter("speed limiter near", 300, 600, 250);
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// limiter for far away obstacles
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ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 400);
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// limiter that uses the IR sensors on a Peoplebot, if equipped
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ArActionLimiterTableSensor tableLimiter;
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// limiter so we don't bump things backwards
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ArActionLimiterBackwards backwardsLimiter;
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if(!robotConnector.connectRobot())
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{
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printf("Could not connect to robot... exiting\n");
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Aria::logOptions();
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Aria::exit(1);
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return 1;
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}
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if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
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{
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printf("Could not connect to robot... exiting\n");
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Aria::logOptions();
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Aria::exit(2);
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return 2;
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}
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ArLog::log(ArLog::Normal, "Connected to robot.");
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robot.runAsync(true);
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// laserConnector uses parameters from the robot parameter file(s) and from
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// command line options to determine what kinds of lasers the robot has and
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// how to connect to them. See the section on robot parameter files in the
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// ARIA API Reference Manual, and the ArLaserConnector class documentation.
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if(!laserConnector.connectLasers())
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{
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ArLog::log(ArLog::Terse, "Error connecting to configured lasers (see robot parameter file(s) and command line options)");
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Aria::exit(3);
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return 3;
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}
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// If laserConnector succeeded in connecting to lasers, ArLaser interface
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// objects for them are stored in a
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// list in the ArRobot object (robot). ArRobot can automatically use them in
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// its utilities for checking range devices for obstacles, and you can query
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// that list. (ArLaser is a subclass of ArRangeDevice.)
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// enable the motors, disable amigobot sounds
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robot.comInt(ArCommands::ENABLE, 1);
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robot.comInt(ArCommands::SOUNDTOG, 0);
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// add the actions, use high priority numbers for the limitier actions.
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robot.addAction(&tableLimiter, 100);
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robot.addAction(&limiter, 95);
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robot.addAction(&limiterFar, 90);
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robot.addAction(&backwardsLimiter, 85);
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robot.addAction(&keyAct, 51);
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robot.addAction(&jdAct, 50);
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// wait for end of robot connection
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robot.waitForRunExit();
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Aria::exit(0);
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return 0;
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}
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