int main ( int argc, char *argv[] ){
//cout << "running....\n";
try{
// Create the socket
ServerSocket server ( 30000 );
Aria::init();
Arnl::init();
ArRobot robot;
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSonarDevice sonar;
ArSimpleConnector simpleConnector(&parser);
// Our server for mobile eyes
ArServerBase moServer;
// Set up our simpleOpener
ArServerSimpleOpener simpleOpener(&parser);
parser.loadDefaultArguments();
if (!Aria::parseArgs () || !parser.checkHelpAndWarnUnparsed()){
Aria::logOptions ();
Aria::exit (1);
}
//Add the sonar to the robot
robot.addRangeDevice(&sonar);
// Look for map in the current directory
ArMap arMap;
// set it up to ignore empty file names (otherwise the parseFile
// on the config will fail)
arMap.setIgnoreEmptyFileName (true);
// First open the server
if (!simpleOpener.open(&moServer)){
if (simpleOpener.wasUserFileBad())
ArLog::log(ArLog::Normal, "Bad user file");
else
ArLog::log(ArLog::Normal, "Could not open server port");
exit(2);
}
// Connect to the robot
if (!simpleConnector.connectRobot (&robot)){
ArLog::log (ArLog::Normal, "Could not connect to robot... exiting");
Aria::exit (3);
}
// Create the localization task (it will start its own thread here)
ArSonarLocalizationTask locTask(&robot, &sonar, &arMap);
ArLocalizationManager locManager(&robot, &arMap);
ArLog::log(ArLog::Normal, "Creating sonar localization task");
locManager.addLocalizationTask(&locTask);
// Set the initial pose to the robot's "Home" position from the map, or
// (0,0,0) if none, then let the localization thread take over.
locTask.localizeRobotAtHomeNonBlocking();
//Create the path planning task
ArPathPlanningTask pathTask(&robot,&sonar,&arMap);
ArLog::log(ArLog::Normal, "Robot Server: Connected.");
robot.enableMotors();
robot.clearDirectMotion();
// Start the robot processing cycle running in the background.
// True parameter means that if the connection is lost, then the
// run loop ends.
robot.runAsync(true);
// Read in parameter files.
Aria::getConfig ()->useArgumentParser (&parser);
if (!Aria::getConfig ()->parseFile (Arnl::getTypicalParamFileName ())){
ArLog::log (ArLog::Normal, "Trouble loading configuration file, exiting");
Aria::exit (5);
}
//Create the three states
robot.lock();
Follow follow = Follow(&robot,&sonar);
GoTo goTo(&robot,&pathTask,&arMap);
Search s(&robot,&sonar);
// Bumpers.
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
pathTask.addRangeDevice(&bumpers, ArPathPlanningTask::CURRENT);
// Forbidden regions from the map
ArForbiddenRangeDevice forbidden(&arMap);
robot.addRangeDevice(&forbidden);
pathTask.addRangeDevice(&forbidden, ArPathPlanningTask::CURRENT);
// Mode To stop and remain stopped:
ArServerModeStop modeStop(&moServer, &robot);
// 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);
// These provide various kinds of information to the client:
ArServerInfoRobot serverInfoRobot(&moServer, &robot);
ArServerInfoSensor serverInfoSensor(&moServer, &robot);
ArServerInfoPath serverInfoPath(&moServer, &robot, &pathTask);
// Provide the map to the client (and related controls):
// This uses both lines and points now, since everything except
// sonar localization uses both (path planning with sonar still uses both)
ArServerHandlerMap serverMap(&moServer, &arMap);
// Provides localization info and allows the client (MobileEyes) to relocalize at a given
// pose:
ArServerInfoLocalization serverInfoLocalization(&moServer, &robot, &locTask);
ArServerHandlerLocalization serverLocHandler(&moServer, &robot, &locTask);
robot.unlock();
moServer.runAsync();
//Main loop
while (true){
//The socket to accept connection
ServerSocket new_sock;
server.accept ( new_sock );
int state = 1; //1 = Follow, 2 = Search, 3 = GoTo
int lastPos[2]; //Storing last position of BB to search the target
int data[2]; //matrix with X,Y of BB
try{
while ( true ){
//receive data from tld
new_sock >> data;
//cout << data[0] << "," << data[1] << endl;
if(data[0] != -1)
lastPos[0] = data[0];
//cout << state <<endl; //for debugging
//Main logic
switch(state){
case 1:
cout << "Following target\n";
state = follow.run(data);
break;
case 2:
cout << "Searching for target\n";
state = s.seek(lastPos, data);
break;
case 3:
cout << "Going to ...\n";
state = goTo.run(data);
break;
default:
cout << "Not a case for state\n";
break;
}
std::cout << "Loc score: " << locTask.getLocalizationScore() << std::endl;
}
}
catch ( SocketException& ) {
cout << "Lost Connection" << endl;
robot.lock();
robot.stop();
robot.unlock();
}
}
}
catch ( SocketException& e ){
std::cout << "Exception was caught:" << e.description() << "\nExiting.\n";
}
ArLog::log(ArLog::Normal, "RobotServer: Exiting.");
return 0;
}
