int main(void)
{
std::string str;
int ret;
ArGlobalFunctor sonarPrinterCB(&sonarPrinter);
ArTcpConnection con;
Aria::init();
robot = new ArRobot;
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
exit(0);
}
robot->setDeviceConnection(&con);
if (!robot->blockingConnect())
{
printf("Could not connect to robot->.. exiting\n");
exit(0);
}
robot->addRangeDevice(&sonar);
robot->addUserTask("Sonar printer", 50, &sonarPrinterCB);
robot->comInt(ArCommands::SONAR, 1);
robot->comInt(ArCommands::SOUNDTOG, 0);
robot->run(true);
Aria::shutdown();
}
int main(int argc, char** argv)
{
ArGlobalFunctor sonarPrinterCB(&sonarPrinter);
Aria::init();
ArSimpleConnector connector(&argc, argv);
if(!connector.parseArgs())
{
connector.logOptions();
return 1;
}
robot = new ArRobot;
robot->addRangeDevice(&sonar);
if(!connector.connectRobot(robot))
{
printf("Could not connect to robot.\n");
return 2;
}
robot->comInt(ArCommands::SONAR, 1);
robot->comInt(ArCommands::SOUNDTOG, 0);
printf("Closest readings within quadrants:\n");
robot->addUserTask("Sonar printer", 50, &sonarPrinterCB);
robot->run(true);
Aria::shutdown();
}
/*!
\example sonarPioneerReader.cpp example showing how to connect and read
sonar data from a Pioneer mobile robot->
*/
int main(int argc, char **argv)
{
try {
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
robot = new vpRobotPioneer;
// ArRobotConnector connects to the robot, get some initial data from it such as type and name,
// and then loads parameter files for this robot.
ArRobotConnector robotConnector(&parser, robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "Could not connect to the robot");
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs())
{
Aria::logOptions();
Aria::shutdown();
return false;
}
std::cout << "Robot connected" << std::endl;
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
// Create a display to show sensor data
if (isInitialized == false)
{
I.resize((unsigned int)half_size*2, (unsigned int)half_size*2);
I = 255;
#if defined(VISP_HAVE_X11)
d = new vpDisplayX;
#elif defined (VISP_HAVE_GDI)
d = new vpDisplayGDI;
#endif
d->init(I, -1, -1, "Sonar range data");
isInitialized = true;
}
#endif
// Activates the sonar
ArGlobalFunctor sonarPrinterCB(&sonarPrinter);
robot->addRangeDevice(&sonar);
robot->addUserTask("Sonar printer", 50, &sonarPrinterCB);
robot->useSonar(true); // activates the sonar device usage
// Robot velocities
vpColVector v_mes(2);
for (int i=0; i < 1000; i++)
{
double t = vpTime::measureTimeMs();
v_mes = robot->getVelocity(vpRobot::REFERENCE_FRAME);
std::cout << "Trans. vel= " << v_mes[0] << " m/s, Rot. vel=" << vpMath::deg(v_mes[1]) << " deg/s" << std::endl;
v_mes = robot->getVelocity(vpRobot::ARTICULAR_FRAME);
std::cout << "Left wheel vel= " << v_mes[0] << " m/s, Right wheel vel=" << v_mes[1] << " m/s" << std::endl;
std::cout << "Battery=" << robot->getBatteryVoltage() << std::endl;
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
if (isInitialized) {
// A mouse click to exit
// Before exiting save the last sonar image
if (vpDisplay::getClick(I, false) == true) {
{
// Set the default output path
std::string opath;
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
opath = "/tmp";
#elif defined(_WIN32)
opath = "C:\\temp";
#endif
std::string username = vpIoTools::getUserName();
// Append to the output path string, the login name of the user
opath = vpIoTools::createFilePath(opath, username);
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(opath) == false) {
try {
// Create the dirname
vpIoTools::makeDirectory(opath);
}
catch (...) {
std::cerr << std::endl
<< "ERROR:" << std::endl;
std::cerr << " Cannot create " << opath << std::endl;
exit(-1);
}
}
std::string filename = opath + "/sonar.png";
vpImage<vpRGBa> C;
vpDisplay::getImage(I, C);
vpImageIo::write(C, filename);
}
break;
}
}
#endif
vpTime::wait(t, 40);
}
ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
robot->lock();
robot->stop();
robot->unlock();
ArUtil::sleep(1000);
robot->lock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
robot->getX(), robot->getY(), robot->getTh(), robot->getVel(), robot->getRotVel(), robot->getBatteryVoltage());
robot->unlock();
std::cout << "Ending robot thread..." << std::endl;
robot->stopRunning();
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
if (isInitialized) {
if (d != NULL)
delete d;
}
#endif
// wait for the thread to stop
robot->waitForRunExit();
delete robot;
// exit
ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
return 0;
}
catch(vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
