128 lines
4.5 KiB
C++
128 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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bool gotConfigPacket = false;
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ArCondition gotConfigPacketCondition;
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bool handleConfigPacket(ArRobotPacket* pkt)
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{
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if(pkt->getID() != 0x20) return false;
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if(gotConfigPacket) return true;
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printf("----------- CONFIG pkt received: ------------\n");
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char buf[256];
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pkt->bufToStr(buf, sizeof(buf));
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printf("Type=%s\n", buf);
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pkt->bufToStr(buf, sizeof(buf));
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printf("Subtype=%s\n", buf);
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pkt->bufToStr(buf, sizeof(buf));
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printf("SerialNumber=%s\n", buf);
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printf("unknown=%d\n", pkt->bufToUByte());
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printf("RotVelTop=%d\n", pkt->bufToUByte2());
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printf("TransVelTop=%d\n", pkt->bufToUByte2());
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printf("RotAccelTop=%d\n", pkt->bufToUByte2());
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printf("TransAccelTop=%d\n", pkt->bufToUByte2());
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printf("PWMMax=%d\n", pkt->bufToUByte2());
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pkt->bufToStr(buf, sizeof(buf));
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printf("Name=%s\n", buf);
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printf("SipCycleTime=%d\n", pkt->bufToUByte());
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printf("HostBaud=%d\n", pkt->bufToUByte());
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printf("Aux1Baud=%d\n", pkt->bufToUByte());
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printf("HasGripper=%d\n", pkt->bufToUByte2());
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printf("HasFrontSonar=%d\n", pkt->bufToUByte2());
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printf("HasRearSonar=%d\n", pkt->bufToUByte());
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printf("LowBattery=%d\n", pkt->bufToUByte2());
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printf("RevCount=%d\n", pkt->bufToUByte2());
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printf("Watchdog=%d\n", pkt->bufToUByte2());
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printf("NormalMPacs=%d\n", pkt->bufToUByte());
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printf("StallVal=0x%X\n", pkt->bufToUByte2());
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printf("StallCount=%d\n", pkt->bufToUByte2());
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printf("JoyVel=%d\n", pkt->bufToUByte2());
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printf("JoyRotVel=%d\n", pkt->bufToUByte2());
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printf("RotVelMax=%d\n", pkt->bufToUByte2());
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printf("TransVelMax=%d\n", pkt->bufToUByte2());
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printf("RotAccel=%d\n", pkt->bufToUByte2());
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printf("RotDecel=%d\n", pkt->bufToUByte2());
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printf("RotKP=%d\n", pkt->bufToUByte2());
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printf("RotKV=%d\n", pkt->bufToUByte2());
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printf("RotKI=%d\n", pkt->bufToUByte2());
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printf("TransAccel=%d\n", pkt->bufToUByte2());
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printf("TransDecel=%d\n", pkt->bufToUByte2());
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printf("TransKP=%d\n", pkt->bufToUByte2());
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printf("TransKV=%d\n", pkt->bufToUByte2());
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printf("TransKI=%d\n", pkt->bufToUByte2());
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printf("FrontBumps=%d\n", pkt->bufToUByte());
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printf("RearBumps=%d\n", pkt->bufToUByte());
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printf("HasCharger=%d\n", pkt->bufToUByte());
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printf("SonarCycle=%d\n", pkt->bufToUByte());
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printf("ResetBaud=%d\n", pkt->bufToUByte());
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printf("HasGyro=%d\n", pkt->bufToUByte());
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printf("DriftFactor=%d\n", pkt->bufToUByte2());
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printf("Aux2Baud=%d\n", pkt->bufToUByte());
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printf("Aux3Baud=%d\n", pkt->bufToUByte());
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printf("TicksPerMM=%d\n", pkt->bufToUByte2());
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printf("ShutdownVoltage=%d\n", pkt->bufToUByte2());
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pkt->bufToStr(buf, sizeof(buf));
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printf("FirmwareVersion=%s\n", buf);
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printf("ChargeThreshold=%d\n", pkt->bufToUByte2());
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gotConfigPacket = true;
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gotConfigPacketCondition.signal();
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return true;
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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 parser(&argc, argv);
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ArSimpleConnector connector(&parser);
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ArRobot robot;
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if (!connector.parseArgs())
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{
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connector.logOptions();
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return 1;
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}
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if (!connector.connectRobot(&robot))
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{
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printf("Could not connect to robot... exiting\n");
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return 2;
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}
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printf("Connected to robot.\n");
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robot.runAsync(true);
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ArGlobalRetFunctor1<bool, ArRobotPacket*> myConfigPacketHandler(&handleConfigPacket);
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robot.addPacketHandler(&myConfigPacketHandler);
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puts("-> CONFIG...");
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robot.com(18);
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gotConfigPacketCondition.wait();
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Aria::exit(0);
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}
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