{

ArServerModeGoto *myServerMode;

int myCurrentGoal;

int myNumGoals;

int myApproachDist;

public:

ArnlASyncTaskExample(ArPathPlanningTask *pp, ArRobot *robot, ArServerModeGoto *servermode, ArArgumentParser *argParser) :

ArnlAsyncTask(pp, robot, "Example ARNL Goal Task", argParser),

myServerMode(servermode), myCurrentGoal(1), myNumGoals(4), myApproachDist(250)

{

// Add some parameters to ArConfig so they can be changed in MobileEyes.

addConfigParam(ArConfigArg("ApproachDist", &myApproachDist, "distance to approach drop point"));

addConfigParam(ArConfigArg("NumGoals", &myNumGoals, "number of goals in chain"));

ArLog::log(ArLog::Normal, "ArArnlASyncTaskExample created: will perform tasks at each goal, and then send ARNL to another. ");

}

/* This is called at each goal point. It moves the robot forward a bit, waits 3 seconds

* then backs the mobile robot up. Then it tells the ARNL path planner to

* navigate to the next goal point in the chain (named Goal 0, Goal 1, Goal 2, etc.)

* The last goal point is special, no action and the chain of ARNL goals

* stops. The robot will wait at this goal point until sent to the first

* goal manually from MobileEyes.

*/

void runTask()

{

// Make copies of variables shared between threads

lock();

int currentGoal = myCurrentGoal;

int numGoals = myNumGoals;

int moveDist = myApproachDist;

unlock();

// if at end of chain, stop chain

if(currentGoal == numGoals)

{

ArLog::log(ArLog::Normal, "Waiting to be loaded, end of chain.");

if(myServerMode) myServerMode->setStatus("End of goal chain.");

lock();

myCurrentGoal = 1;

unlock();

return; // end of thread

}

/* In this example, we will move the robot forward a bit, wait, then move it

back.

In your application, you could do somethng here like trigger devices, cameras,

sensors, output, speech, etc. You can access the current goal name and

use that to control the activity, or use that goal name to obtain the

goal object from the map ArMap object which has additional properties of

the goal.

*/

// move forward a bit

ArLog::log(ArLog::Normal, "Moving forward a bit");

if(myServerMode) myServerMode->setStatus("Moving forward");

getRobot()->clearDirectMotion();

getRobot()->move(moveDist);

waitForMoveDone();

getRobot()->clearDirectMotion();

ArUtil::sleep(500);

// Wait a bit.

ArLog::log(ArLog::Normal, "Would do goal-specific task at goal %d.", currentGoal);

ArLog::log(ArLog::Normal, "Waiting 3 sec.");

if(myServerMode) myServerMode->setStatus("Waiting 3 sec");

ArUtil::sleep(3000);

// back up a bit

ArLog::log(ArLog::Normal, "Backing up a bit");

if(myServerMode) myServerMode->setStatus("Backing up a bit");

getRobot()->clearDirectMotion();

getRobot()->move(-moveDist);

waitForMoveDone();

getRobot()->clearDirectMotion();

ArUtil::sleep(500);

/* Go to the next goal in the chain. The name is assumed to be "Goal X"

where X is the goal index number. You could use another scheme for

naming goals, or you could store a list of strings in this class

*/

++currentGoal;

if(currentGoal > numGoals) currentGoal = 0;

char name[128];

snprintf(name, 127, "Goal %d", currentGoal);

ArLog::log(ArLog::Normal, "Going to next goal %s", name);

if(myServerMode) myServerMode->setStatus("ASyncTask example done. Going to next goal.");

nextGoal(name);

// Save the new goal index

lock();

myCurrentGoal = currentGoal;

unlock();

// This is the end of the thread.

return;

}

{

ArLog::log(ArLog::Normal, "Usage: %s [options]\n", progname);

ArLog::log(ArLog::Normal, "[options] are any program options listed below, or any ARNL configuration");

ArLog::log(ArLog::Normal, "parameters as -name <value>, see params/arnl.p for list.");

ArLog::log(ArLog::Normal, "For example, -map <map file>.");

Aria::logOptions();

{

// Initialize Aria and Arnl global information

Aria::init();

Arnl::init();

// The robot object

ArRobot robot;

// Parse the command line arguments.

ArArgumentParser parser(&argc, argv);

// Set up our simpleConnector, to connect to the robot and laser

//ArSimpleConnector simpleConnector(&parser);

ArRobotConnector robotConnector(&parser, &robot);

// Connect to the robot

if (!robotConnector.connectRobot())

{

ArLog::log(ArLog::Normal, "Error: Could not connect to robot... exiting");

Aria::exit(3);

}

// Set up where we'll look for files. Arnl::init() set Aria's default

// directory to Arnl's default directory; addDirectories() appends this

// "examples" directory.

char fileDir[1024];

ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(),

"examples");

// To direct log messages to a file, or to change the log level, use these calls:

//ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);

//ArLog::init(ArLog::File, ArLog::Verbose);

// Add a section to the configuration to change ArLog parameters

ArLog::addToConfig(Aria::getConfig());

// set up a gyro (if the robot is older and its firmware does not

// automatically incorporate gyro corrections, then this object will do it)

ArAnalogGyro gyro(&robot);

// Our networking server

ArServerBase server;

// Set up our simpleOpener, used to set up the networking server

ArServerSimpleOpener simpleOpener(&parser);

// the laser connector

ArLaserConnector laserConnector(&parser, &robot, &robotConnector);

// Tell the laser connector to always connect the first laser since

// this program always requires a laser.

parser.addDefaultArgument("-connectLaser");

// Load default arguments for this computer (from /etc/Aria.args, environment

// variables, and other places)

parser.loadDefaultArguments();

// Parse arguments

if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())

{

logOptions(argv[0]);

Aria::exit(1);

}

// This causes Aria::exit(9) to be called if the robot unexpectedly

// disconnects

ArGlobalFunctor1<int> shutdownFunctor(&Aria::exit, 9);

robot.addDisconnectOnErrorCB(&shutdownFunctor);

// Create an ArSonarDevice object (ArRangeDevice subclass) and

// connect it to the robot.

ArSonarDevice sonarDev;

robot.addRangeDevice(&sonarDev);

// This object will allow robot's movement parameters to be changed through

// a Robot Configuration section in the ArConfig global configuration facility.

ArRobotConfig robotConfig(&robot);

// Include gyro configuration options in the robot configuration section.

robotConfig.addAnalogGyro(&gyro);

// Start the robot thread.

robot.runAsync(true);

// connect the laser(s) if it was requested, this adds them to the

// robot too, and starts them running in their own threads

if (!laserConnector.connectLasers())

{

ArLog::log(ArLog::Normal, "Could not connect to all lasers... exiting\n");

Aria::exit(2);

}

// find the laser we should use for localization and/or mapping,

// which will be the first laser

robot.lock();

ArLaser *firstLaser = robot.findLaser(1);

if (firstLaser == NULL || !firstLaser->isConnected())

{

ArLog::log(ArLog::Normal, "Did not have laser 1 or it is not connected, cannot start localization and/or mapping... exiting");

Aria::exit(2);

}

robot.unlock();

/* Create and set up map object */

// Set up the map object, this will look for files in the examples

// directory (unless the file name starts with a /, \, or .

// You can take out the 'fileDir' argument to look in the program's current directory

// instead.

// When a configuration file is loaded into ArConfig later, if it specifies a

// map file, then that file will be loaded as the map.

ArMap map(fileDir);

// set it up to ignore empty file names (otherwise if a configuration omits

// the map file, the whole configuration change will fail)

map.setIgnoreEmptyFileName(true);

// ignore the case, so that if someone is using MobileEyes or

// MobilePlanner from Windows and changes the case on a map name,

// it will still work.

map.setIgnoreCase(true);

/* Create localization and path planning threads */

ArPathPlanningTask pathTask(&robot, &sonarDev, &map);

ArLog::log(ArLog::Normal, "Creating laser localization task");

// Laser Monte-Carlo Localization

ArLocalizationTask locTask(&robot, firstLaser, &map);

// Set some options on each laser that the laser connector

// connected to.

std::map<int, ArLaser *>::iterator laserIt;

for (laserIt = robot.getLaserMap()->begin();

laserIt != robot.getLaserMap()->end();

laserIt++)

{

int laserNum = (*laserIt).first;

ArLaser *laser = (*laserIt).second;

// Skip lasers that aren't connected

if(!laser->isConnected())

continue;

// add the disconnectOnError CB to shut things down if the laser

// connection is lost

laser->addDisconnectOnErrorCB(&shutdownFunctor);

// set the number of cumulative readings the laser will take

laser->setCumulativeBufferSize(200);

// add the lasers to the path planning task

pathTask.addRangeDevice(laser, ArPathPlanningTask::BOTH);

// set the cumulative clean offset (so that they don't all fire at once)

laser->setCumulativeCleanOffset(laserNum * 100);

// reset the cumulative clean time (to make the new offset take effect)

laser->resetLastCumulativeCleanTime();

// Add the packet count to the Aria info strings (It will be included in

// MobileEyes custom details so you can monitor whether the laser data is

// being received correctly)

std::string laserPacketCountName;

laserPacketCountName = laser->getName();

laserPacketCountName += " Packet Count";

Aria::getInfoGroup()->addStringInt(

laserPacketCountName.c_str(), 10,

new ArRetFunctorC<int, ArLaser>(laser,

&ArLaser::getReadingCount));

}

// Used for optional multirobot features (see below) (TODO move to multirobot

// example?)

ArClientSwitchManager clientSwitch(&server, &parser);

/* Start the server */

// Open the networking server

if (!simpleOpener.open(&server, fileDir, 240))

{

ArLog::log(ArLog::Normal, "Error: Could not open server.");

exit(2);

}

/* Create various services that provide network access to clients (such as

* MobileEyes), as well as add various additional features to ARNL */

// ARNL can optionally get information about the positions of other robots from a

// "central server" (see central server example program), if command

// line options specifying the address of the central server was given.

// If there is no central server, then the address of each other robot

// can instead be given in the configuration, and the multirobot systems

// will connect to each robot (or "peer") individually.

// TODO move this to multirobot example?

bool usingCentralServer = false;

if(clientSwitch.getCentralServerHostName() != NULL)

usingCentralServer = true;

// if we're using the central server then we want to create the

// multiRobot central classes

if (usingCentralServer)

{

// Make the handler for multi robot information (this sends the

// information to the central server)

//ArServerHandlerMultiRobot *handlerMultiRobot =

new ArServerHandlerMultiRobot(&server, &robot,

&pathTask,

&locTask, &map);

// Normally each robot, and the central server, must all have

// the same map name for the central server to share robot

// information. (i.e. they are operating in the same space).

// This changes the map name that ArServerHandlerMutliRobot

// reports to the central server, in case you want this individual

// robot to load a different map file name, but still report

// the common map file to the central server.

//handlerMultiRobot->overrideMapName("central.map");

// the range device that gets the multi robot information from

// the central server and presents it as virtual range readings

// to ARNL

ArMultiRobotRangeDevice *multiRobotRangeDevice = new ArMultiRobotRangeDevice(&server);

robot.addRangeDevice(multiRobotRangeDevice);

pathTask.addRangeDevice(multiRobotRangeDevice,

ArPathPlanningTask::BOTH);

// Set up options for drawing multirobot information in MobileEyes.

multiRobotRangeDevice->setCurrentDrawingData(

new ArDrawingData("polyDots", ArColor(125, 125, 0),

100, 73, 1000), true);

multiRobotRangeDevice->setCumulativeDrawingData(

new ArDrawingData("polyDots", ArColor(125, 0, 125),

100, 72, 1000), true);

// This sets up the localization to use the known poses of other robots

// for its localization in cases where numerous robots crowd out the map.

locTask.setMultiRobotCallback(multiRobotRangeDevice->getOtherRobotsCB());

}

// if we're not using a central server then create the multirobot peer classes

else

{

// set the path planning so it uses the explicit collision range for how far its planning

pathTask.setUseCollisionRangeForPlanningFlag(true);

// make our thing that gathers information from the other servers

ArServerHandlerMultiRobotPeer *multiRobotPeer = NULL;

ArMultiRobotPeerRangeDevice *multiRobotPeerRangeDevice = NULL;

multiRobotPeerRangeDevice = new ArMultiRobotPeerRangeDevice(&map);

// make our thing that sends information to the other servers

multiRobotPeer = new ArServerHandlerMultiRobotPeer(&server, &robot,

&pathTask, &locTask);

// hook the two together so they both know what priority this robot is

multiRobotPeer->setNewPrecedenceCallback(

multiRobotPeerRangeDevice->getSetPrecedenceCallback());

// hook the two together so they both know what priority this

// robot's fingerprint is

multiRobotPeer->setNewFingerprintCallback(

multiRobotPeerRangeDevice->getSetFingerprintCallback());

// hook the two together so that the range device can call on the

// server handler to change its fingerprint

multiRobotPeerRangeDevice->setChangeFingerprintCB(

multiRobotPeer->getChangeFingerprintCB());

// then add the robot to the places it needs to be

robot.addRangeDevice(multiRobotPeerRangeDevice);

pathTask.addRangeDevice(multiRobotPeerRangeDevice,

ArPathPlanningTask::BOTH);

// Set the range device so that we can see the information its using

// to avoid, you can comment these out in order to not see them

multiRobotPeerRangeDevice->setCurrentDrawingData(

new ArDrawingData("polyDots", ArColor(125, 125, 0),

100, 72, 1000), true);

multiRobotPeerRangeDevice->setCumulativeDrawingData(

new ArDrawingData("polyDots", ArColor(125, 0, 125),

100, 72, 1000), true);

// This sets up the localization to use the known poses of other robots

// for its localization in cases where numerous robots crowd out the map.

locTask.setMultiRobotCallback(

multiRobotPeerRangeDevice->getOtherRobotsCB());

}

/* Add additional range devices to the robot and path planning task (so it

avoids obstacles detected by these devices) */

// Add IR range device to robot and path planning task (so it avoids obstacles

// detected by this device)

robot.lock();

ArIRs irs;

robot.addRangeDevice(&irs);

pathTask.addRangeDevice(&irs, ArPathPlanningTask::CURRENT);

// Add bumpers range device to robot and path planning task (so it avoids obstacles

// detected by this device)

ArBumpers bumpers;

robot.addRangeDevice(&bumpers);

pathTask.addRangeDevice(&bumpers, ArPathPlanningTask::CURRENT);

// Add range device which uses forbidden regions given in the map to give virtual

// range device readings to ARNL. (so it avoids obstacles

// detected by this device)

ArForbiddenRangeDevice forbidden(&map);

robot.addRangeDevice(&forbidden);

pathTask.addRangeDevice(&forbidden, ArPathPlanningTask::CURRENT);

robot.unlock();

// Action to slow down robot when localization score drops but not lost.

ArActionSlowDownWhenNotCertain actionSlowDown(&locTask);

pathTask.getPathPlanActionGroup()->addAction(&actionSlowDown, 140);

// Action to stop the robot when localization is "lost" (score too low)

ArActionLost actionLostPath(&locTask, &pathTask);

pathTask.getPathPlanActionGroup()->addAction(&actionLostPath, 150);

// Arnl uses this object when it must replan its path because its

// path is completely blocked. It will use an older history of sensor

// readings to replan this new path. This should not be used with SONARNL

// since sonar readings are not accurate enough and may prevent the robot

// from planning through space that is actually clear.

ArGlobalReplanningRangeDevice replanDev(&pathTask);

// Service to provide drawings of data in the map display :

ArServerInfoDrawings drawings(&server);

drawings.addRobotsRangeDevices(&robot);

drawings.addRangeDevice(&replanDev);

/* Draw a box around the local path planning area use this

(You can enable this particular drawing from custom commands

which is set up down below in ArServerInfoPath) */

ArDrawingData drawingDataP("polyLine", ArColor(200,200,200), 1, 75);

ArFunctor2C<ArPathPlanningTask, ArServerClient *, ArNetPacket *>

drawingFunctorP(&pathTask, &ArPathPlanningTask::drawSearchRectangle);

drawings.addDrawing(&drawingDataP, "Local Plan Area", &drawingFunctorP);

/* Show the sample points used by MCL */

ArDrawingData drawingDataL("polyDots", ArColor(0,255,0), 100, 75);

ArFunctor2C<ArLocalizationTask, ArServerClient *, ArNetPacket *>

drawingFunctorL(&locTask, &ArLocalizationTask::drawRangePoints);

drawings.addDrawing(&drawingDataL, "Localization Points", &drawingFunctorL);

// "Custom" commands. You can add your own custom commands here, they will

// be available in MobileEyes' custom commands (enable in the toolbar or

// access through Robot Tools)

ArServerHandlerCommands commands(&server);

// These provide various kinds of information to the client:

ArServerInfoRobot serverInfoRobot(&server, &robot);

ArServerInfoSensor serverInfoSensor(&server, &robot);

ArServerInfoPath serverInfoPath(&server, &robot, &pathTask);

serverInfoPath.addSearchRectangleDrawing(&drawings);

serverInfoPath.addControlCommands(&commands);

// Provides localization info and allows the client (MobileEyes) to relocalize at a given

// pose:

ArServerInfoLocalization serverInfoLocalization(&server, &robot, &locTask);

ArServerHandlerLocalization serverLocHandler(&server, &robot, &locTask);

// If you're using MobileSim, ArServerHandlerLocalization sends it a command

// to move the robot's true pose if you manually do a localization through

// MobileEyes. To disable that behavior, use this constructor call instead:

// ArServerHandlerLocalization serverLocHandler(&server, &robot, true, false);

// The fifth argument determines whether to send the command to MobileSim.

// Provide the map to the client (and related controls):

ArServerHandlerMap serverMap(&server, &map);

// These objects add some simple (custom) commands to 'commands' for testing and debugging:

ArServerSimpleComUC uCCommands(&commands, &robot); // Send any command to the microcontroller

ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // configure logging

ArServerSimpleComLogRobotConfig configCommands(&commands, &robot); // trigger logging of the robot config parameters

// ArServerSimpleServerCommands serverCommands(&commands, &server); // monitor networking behavior (track packets sent etc.)

// service that allows the client to monitor the communication link status

// between the robot and the client.

//

ArServerHandlerCommMonitor handlerCommMonitor(&server);

// service that allows client to change configuration parameters in ArConfig

ArServerHandlerConfig handlerConfig(&server, Aria::getConfig(),

Arnl::getTypicalDefaultParamFileName(),

Aria::getDirectory());

/* Set up the possible modes for remote control from a client such as

* MobileEyes:

*/

// Mode To go to a goal or other specific point:

ArServerModeGoto modeGoto(&server, &robot, &pathTask, &map,

locTask.getRobotHome(),

locTask.getRobotHomeCallback());

// Mode To stop and remain stopped:

ArServerModeStop modeStop(&server, &robot);

// Cause the sonar to turn off automatically

// when the robot is stopped, and turn it back on when commands to move

// are sent. (Note, if using SONARNL to localize, then don't do this

// since localization may get lost)

ArSonarAutoDisabler sonarAutoDisabler(&robot);

// Teleoperation modes To drive by keyboard, joystick, etc:

ArServerModeRatioDrive modeRatioDrive(&server, &robot);

// ArServerModeDrive modeDrive(&server, &robot); // Older mode for compatability

// Prevent normal teleoperation driving if localization is lost using

// a high-priority action, which enables itself when the particular mode is

// active.

// (You have to enter unsafe drive mode to drive when lost.)

ArActionLost actionLostRatioDrive(&locTask, &pathTask, &modeRatioDrive);

modeRatioDrive.getActionGroup()->addAction(&actionLostRatioDrive, 110);

// Add drive mode section to the configuration, and also some custom (simple) commands:

modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings");

modeRatioDrive.addControlCommands(&commands);

// Wander mode (also prevent wandering if lost):

ArServerModeWander modeWander(&server, &robot);

ArActionLost actionLostWander(&locTask, &pathTask, &modeWander);

modeWander.getActionGroup()->addAction(&actionLostWander, 110);

// This provides a small table of interesting information for the client

// to display to the operator. You can add your own callbacks to show any

// data you want.

ArServerInfoStrings stringInfo(&server);

Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());

// Provide a set of informational data (turn on in MobileEyes with

// View->Custom Details)

Aria::getInfoGroup()->addStringInt(

"Motor Packet Count", 10,

new ArConstRetFunctorC<int, ArRobot>(&robot,

&ArRobot::getMotorPacCount));

Aria::getInfoGroup()->addStringDouble(

"Laser Localization Score", 8,

new ArRetFunctorC<double, ArLocalizationTask>(

&locTask, &ArLocalizationTask::getLocalizationScore),

"%.03f");

Aria::getInfoGroup()->addStringInt(

"Laser Loc Num Samples", 8,

new ArRetFunctorC<int, ArLocalizationTask>(

&locTask, &ArLocalizationTask::getCurrentNumSamples),

"%4d");

// Display gyro status if gyro is enabled and is being handled by the firmware (gyro types 2, 3, or 4).

// (If the firmware detects an error communicating with the gyro or IMU it

// returns a flag, and stops using it.)

// (This gyro type parameter, and fault flag, are only in ARCOS, not Seekur firmware)

if(robot.getOrigRobotConfig() && robot.getOrigRobotConfig()->getGyroType() > 1)

{

Aria::getInfoGroup()->addStringString(

"Gyro/IMU Status", 10,

new ArGlobalRetFunctor1<const char*, ArRobot*>(&getGyroStatusString, &robot)

);

}

// Setup the dock if there is a docking system on board.

ArServerModeDock *modeDock = NULL;

modeDock = ArServerModeDock::createDock(&server, &robot, &locTask,

&pathTask);

if (modeDock != NULL)

{

modeDock->checkDock();

modeDock->addAsDefaultMode();

modeDock->addToConfig(Aria::getConfig());

modeDock->addControlCommands(&commands);

}

// Make Stop mode the default (If current mode deactivates without entering

// a new mode, then Stop Mode will be selected)

modeStop.addAsDefaultMode();

// TODO move up near where stop mode is created?

/* Services that allow the client to initiate scanning with the laser to

create maps in Mapper3 (So not possible with SONARNL): */

ArServerHandlerMapping handlerMapping(&server, &robot, firstLaser,

fileDir, "", true);

// make laser localization stop while mapping

handlerMapping.addMappingStartCallback(

new ArFunctor1C<ArLocalizationTask, bool>

(&locTask, &ArLocalizationTask::setIdleFlag, true));

// and then make it start again when we're doine

handlerMapping.addMappingEndCallback(

new ArFunctor1C<ArLocalizationTask, bool>

(&locTask, &ArLocalizationTask::setIdleFlag, false));

// Make it so our "lost" actions don't stop us while mapping

handlerMapping.addMappingStartCallback(actionLostPath.getDisableCB());

handlerMapping.addMappingStartCallback(actionLostRatioDrive.getDisableCB());

handlerMapping.addMappingStartCallback(actionLostWander.getDisableCB());

// And then let them make us stop as usual when done mapping

handlerMapping.addMappingEndCallback(actionLostPath.getEnableCB());

handlerMapping.addMappingEndCallback(actionLostRatioDrive.getEnableCB());

handlerMapping.addMappingEndCallback(actionLostWander.getEnableCB());

// don't let forbidden lines show up as obstacles while mapping

// (they'll just interfere with driving while mapping, and localization is off anyway)

handlerMapping.addMappingStartCallback(forbidden.getDisableCB());

// let forbidden lines show up as obstacles again as usual after mapping

handlerMapping.addMappingEndCallback(forbidden.getEnableCB());

/*

// If we are on a simulator, move the robot back to its starting position,

// and reset its odometry.

// This will allow localizeRobotAtHomeBlocking() below will (probably) work (it

// tries current odometry (which will be 0,0,0) and all the map

// home points.

// (Ignored by a real robot)

//robot.com(ArCommands::SIM_RESET);

*/

// create a pose storage class, this will let the program keep track

// of where the robot is between runs... after we try and restore

// from this file it will start saving the robot's pose into the

// file

ArPoseStorage poseStorage(&robot);

/// if we could restore the pose from then set the sim there (this

/// won't do anything to the real robot)... if we couldn't restore

/// the pose then just reset the position of the robot (which again

/// won't do anything to the real robot)

if (poseStorage.restorePose("robotPose"))

serverLocHandler.setSimPose(robot.getPose());

else

robot.com(ArCommands::SIM_RESET);

/* File transfer services: */

#ifdef WIN32

// Not implemented for Windows yet.

ArLog::log(ArLog::Normal, "Note, file upload/download services are not implemented for Windows; not enabling them.");

#else

// This block will allow you to set up where you get and put files

// to/from, just comment them out if you don't want this to happen

// /*

ArServerFileLister fileLister(&server, fileDir);

ArServerFileToClient fileToClient(&server, fileDir);

ArServerFileFromClient fileFromClient(&server, fileDir, "/tmp");

ArServerDeleteFileOnServer deleteFileOnServer(&server, fileDir);

// */

#endif

/* Video image streaming, and camera controls (Requires SAVserver or ACTS) */

// Forward any video if either ACTS or SAV server are running.

// You can find out more about SAV and ACTS on our website

// http://robots.activmedia.com. ACTS is for color tracking and is

// a seperate product. SAV just does software A/V transmitting and is

// free to all our customers. Just run ACTS or SAV server before you

// start this program and this class here will forward video from the

// server to the client.

ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);

// make a camera to use in case we have video. the camera collection collects

// multiple ptz cameras

ArPTZ *camera = NULL;

ArServerHandlerCamera *handlerCamera = NULL;

ArCameraCollection *cameraCollection = NULL;

// if we have video then set up a camera

if (videoForwarder.isForwardingVideo())

{

cameraCollection = new ArCameraCollection();

cameraCollection->addCamera("Cam1", "PTZ", "Camera", "PTZ");

videoForwarder.setCameraName("Cam1");

videoForwarder.addToCameraCollection(*cameraCollection);

camera = new ArVCC4(&robot); //, invertedCamera, ArVCC4::COMM_UNKNOWN, true, true);

// To use an RVision SEE camera instead:

// camera = new ArRVisionPTZ(&robot);

camera->init();

handlerCamera = new ArServerHandlerCamera("Cam1",

&server,

&robot,

camera,

cameraCollection);

pathTask.addGoalFinishedCB(

new ArFunctorC<ArServerHandlerCamera>(

handlerCamera,

&ArServerHandlerCamera::cameraModeLookAtGoalClearGoal));

}

// After all of the cameras / videos have been created and added to the collection,

// then start the collection server.

//

if (cameraCollection != NULL) {

new ArServerHandlerCameraCollection(&server, cameraCollection);

}

/* Load configuration values, map, and begin! */

// When parsing the configuration file, also look at the program's command line options

// from the command-line argument parser as well as the configuration file.

// (So you can use any argument on the command line, namely -map.)

Aria::getConfig()->useArgumentParser(&parser);

puts("xxx");puts("aaa"); fflush(stdout);

// Read in parameter files.

ArLog::log(ArLog::Normal, "Loading config file %s into ArConfig (base directory %s)...", Arnl::getTypicalParamFileName(), Aria::getConfig()->getBaseDirectory());

if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))

{

ArLog::log(ArLog::Normal, "Trouble loading configuration file, exiting");

Aria::exit(5);

}

// Warn about unknown params.

if (!simpleOpener.checkAndLog() || !parser.checkHelpAndWarnUnparsed())

{

logOptions(argv[0]);

Aria::exit(6);

}

// Warn if there is no map

if (map.getFileName() == NULL || strlen(map.getFileName()) <= 0)

{

ArLog::log(ArLog::Normal, "");

ArLog::log(ArLog::Normal, "### No map file is set up, you can make a map with the following procedure");

ArLog::log(ArLog::Normal, " 0) You can find this information in README.txt or docs/Mapping.txt");

ArLog::log(ArLog::Normal, " 1) Connect to this server with MobileEyes");

ArLog::log(ArLog::Normal, " 2) Go to Tools->Map Creation->Start Scan");

ArLog::log(ArLog::Normal, " 3) Give the map a name and hit okay");

ArLog::log(ArLog::Normal, " 4) Drive the robot around your space (see docs/Mapping.txt");

ArLog::log(ArLog::Normal, " 5) Go to Tools->Map Creation->Stop Scan");

ArLog::log(ArLog::Normal, " 6) Start up Mapper3");

ArLog::log(ArLog::Normal, " 7) Go to File->Open on Robot");

ArLog::log(ArLog::Normal, " 8) Select the .2d you created");

ArLog::log(ArLog::Normal, " 9) Create a .map");

ArLog::log(ArLog::Normal, " 10) Go to File->Save on Robot");

ArLog::log(ArLog::Normal, " 11) In MobileEyes, go to Tools->Robot Config");

ArLog::log(ArLog::Normal, " 12) Choose the Files section");

ArLog::log(ArLog::Normal, " 13) Enter the path and name of your new .map file for the value of the Map parameter.");

ArLog::log(ArLog::Normal, " 14) Press OK and your new map should become the map used");

ArLog::log(ArLog::Normal, "");

}

// Print a log message notifying user of the directory for map files

ArLog::log(ArLog::Normal, "");

ArLog::log(ArLog::Normal,

"Directory for maps and file serving: %s", fileDir);

ArLog::log(ArLog::Normal, "See the ARNL README.txt for more information");

ArLog::log(ArLog::Normal, "");

// Do an initial localization of the robot. It tries all the home points

// in the map, as well as the robot's current odometric position, as possible

// places the robot is likely to be at startup. If successful, it will

// also save the position it found to be the best localized position as the

// "Home" position, which can be obtained from the localization task (and is

// used by the "Go to home" network request).

locTask.localizeRobotAtHomeBlocking();

// Let the client switch manager (for multirobot) spin off into its own thread

// TODO move to multirobot example?

clientSwitch.runAsync();

// Start the networking server's thread

server.runAsync();

// Add a key handler so that you can exit by pressing

// escape. Note that this key handler, however, prevents this program from

// running in the background (e.g. as a system daemon or run from

// the shell with "&") -- it will lock up trying to read the keys;

// remove this if you wish to be able to run this program in the background.

ArKeyHandler *keyHandler;

if ((keyHandler = Aria::getKeyHandler()) == NULL)

{

keyHandler = new ArKeyHandler;

Aria::setKeyHandler(keyHandler);

robot.lock();

robot.attachKeyHandler(keyHandler);

robot.unlock();

puts("Server running. To exit, press escape.");

}

ArnlASyncTaskExample asyncTaskExample(&pathTask, &robot, &modeGoto, &parser);

// Enable the motors and wait until the robot exits (disconnection, etc.) or this program is

// canceled.

robot.enableMotors();

robot.waitForRunExit();

Aria::exit(0);