145 lines
4.4 KiB
C++
145 lines
4.4 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"
|
|
|
|
/** @example robotConnectionCallbacks.cpp Demonstrates how callbacks can be registered with ArRobot to be
|
|
* called when a connection succeeds or fails.
|
|
*/
|
|
|
|
/*
|
|
This class contains the methods called by the connection callback functors.
|
|
*/
|
|
class ConnHandler
|
|
{
|
|
public:
|
|
// Constructor
|
|
ConnHandler(ArRobot *robot);
|
|
|
|
// Destructor, its just empty
|
|
~ConnHandler(void) {}
|
|
|
|
// called if the connection was sucessfully made
|
|
void connected(void);
|
|
|
|
// called if the connection failed. stop the robot processing thread.
|
|
void connectionFailed(void);
|
|
|
|
// called when the connection is closed
|
|
void disconnected(void);
|
|
|
|
// called if the connection is lost due to an error
|
|
void connectionLost(void);
|
|
|
|
protected:
|
|
// keep a robot pointer
|
|
ArRobot *myRobot;
|
|
|
|
// the functor callbacks
|
|
ArFunctorC<ConnHandler> myConnectedCB;
|
|
ArFunctorC<ConnHandler> myConnFailCB;
|
|
ArFunctorC<ConnHandler> myDisconnectedCB;
|
|
ArFunctorC<ConnHandler> myConnLostCB;
|
|
};
|
|
|
|
/* ConnHandler constructor. Initialize functor objects, then
|
|
* add them as connection handler callbacks with the robot object.
|
|
*/
|
|
ConnHandler::ConnHandler(ArRobot *robot) :
|
|
myConnectedCB(this, &ConnHandler::connected),
|
|
myConnFailCB(this, &ConnHandler::connectionFailed),
|
|
myDisconnectedCB(this, &ConnHandler::disconnected),
|
|
myConnLostCB(this, &ConnHandler::connectionLost)
|
|
|
|
{
|
|
// keep a robot pointer for use by the handler callback methods
|
|
myRobot = robot;
|
|
|
|
// add the callbacks to the robot
|
|
myRobot->addConnectCB(&myConnectedCB, ArListPos::FIRST);
|
|
myRobot->addFailedConnectCB(&myConnFailCB, ArListPos::FIRST);
|
|
myRobot->addDisconnectNormallyCB(&myDisconnectedCB, ArListPos::FIRST);
|
|
myRobot->addDisconnectOnErrorCB(&myDisconnectedCB, ArListPos::FIRST);
|
|
}
|
|
|
|
// just exit if the connection failed
|
|
void ConnHandler::connectionFailed(void)
|
|
{
|
|
ArLog::log(ArLog::Normal, "ConnHandler: Connection failed. Exiting the program.");
|
|
Aria::exit(1);
|
|
}
|
|
|
|
void ConnHandler::connected(void)
|
|
{
|
|
ArLog::log(ArLog::Normal, "ConnHandler: Connected. Turning off sonar,");
|
|
// turn off sonar, turn off amigobot sounds
|
|
myRobot->comInt(ArCommands::SONAR, 0);
|
|
myRobot->comInt(ArCommands::SOUNDTOG, 0);
|
|
}
|
|
|
|
// disconnected
|
|
void ConnHandler::disconnected(void)
|
|
{
|
|
ArLog::log(ArLog::Normal, "ConnHandler: Connection closed. Exiting the program.");
|
|
Aria::exit(0);
|
|
}
|
|
|
|
// lost connection due to errror, exit
|
|
void ConnHandler::connectionLost(void)
|
|
{
|
|
ArLog::log(ArLog::Normal, "ConnHandler: Lost connection due to an error! Exiting the program!");
|
|
Aria::exit(1);
|
|
}
|
|
|
|
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
Aria::init();
|
|
ArRobot robot;
|
|
ArArgumentParser argParser(&argc, argv);
|
|
ArSimpleConnector con(&argParser);
|
|
if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
|
|
{
|
|
Aria::logOptions();
|
|
return 1;
|
|
}
|
|
|
|
// Create a connection handler object, defined above, then try to connect to the
|
|
// robot.
|
|
ConnHandler ch(&robot);
|
|
con.connectRobot(&robot);
|
|
robot.runAsync(true);
|
|
|
|
// Sleep for 10 seconds, then request that ArRobot stop its thread.
|
|
ArLog::log(ArLog::Normal, "Sleeping for 10 seconds...");
|
|
ArUtil::sleep(10000);
|
|
ArLog::log(ArLog::Normal, "...requesting that the robot thread exit, then shutting down ARIA and exiting.");
|
|
robot.stopRunning();
|
|
Aria::exit(0);
|
|
return 0;
|
|
}
|
|
|