108 lines
2.9 KiB
C++
108 lines
2.9 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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// number of minutes to wait between logs
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int numMins = 1;
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double shutdownVoltage = 11.0;
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ArRobot *robot;
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ArTime startTime;
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ArTime lastOut;
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FILE *outFile;
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bool first = true;
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void batteryLogger(void)
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{
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if (outFile == NULL)
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{
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outFile = ArUtil::fopen("batteryVoltage.txt", "w+");
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startTime.setToNow();
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if (outFile == NULL)
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{
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printf("Could not open file. Exiting.\n");
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robot->disconnect();
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robot->stopRunning();
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Aria::shutdown();
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exit(0);
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}
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printf("File opened\n");
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}
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if (outFile != NULL)
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{
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if (lastOut.secSince() > 60 * numMins || first)
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{
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if (fprintf(outFile, "%ld %.2f\n", startTime.secSince()/60, robot->getBatteryVoltage()) <= 0)
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printf("PROBLEM writing to file\n");
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printf("%ld %.2f\n", startTime.secSince()/60, robot->getBatteryVoltage());
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fflush(outFile);
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lastOut.setToNow();
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first = false;
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}
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}
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#ifndef WIN32
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if (startTime.secSince() > 30 &&
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robot->getBatteryVoltage() < shutdownVoltage)
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system("halt\n");
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#endif
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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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ArGlobalFunctor batteryLoggerCB(&batteryLogger);
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ArSerialConnection con;
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Aria::init();
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robot = new ArRobot;
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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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exit(0);
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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("Could not connect to robot... exiting\n");
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exit(0);
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}
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robot->addUserTask("Battery Logger", 50, &batteryLoggerCB);
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robot->comInt(ArCommands::SONAR, 0);
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robot->comInt(ArCommands::SOUNDTOG, 0);
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robot->run(true);
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Aria::shutdown();
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}
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