66 lines
2.0 KiB
C++
66 lines
2.0 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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/* Connects to the robot or sim and logs all packets recieved.
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* Adds a packet handler (as the first one) which logs the packet
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* data but allows subsequent packet handlers to have the packet as well.
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*/
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bool testcb(ArRobotPacket* pkt)
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{
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pkt->log();
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return false;
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}
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int main(int argc, char **argv)
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{
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ArRobot robot;
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Aria::init();
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ArSimpleConnector connector(&argc, argv);
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if (!Aria::parseArgs())
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{
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Aria::logOptions();
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Aria::shutdown();
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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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ArLog::log(ArLog::Normal, "robotPacketHandlerTest: Could not connect to robot... exiting");
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return 2;
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}
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ArLog::log(ArLog::Normal, "robotPacketHandlerTest: Connected.");
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robot.addPacketHandler(new ArGlobalRetFunctor1<bool, ArRobotPacket*>(&testcb), ArListPos::FIRST);
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robot.run(true);
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return 0;
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}
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