void laserRequest_and_odom(ArServerClient *client, ArNetPacket *packet)
{
robot.lock();
ArNetPacket sending;
sending.empty();
ArLaser* laser = robot.findLaser(1);
if(!laser){
printf("Could not connect to Laser... exiting\n");
Aria::exit(1);}
laser->lockDevice();
const std::list<ArSensorReading*> *sensorReadings = laser->getRawReadings(); // see ArRangeDevice interface doc
sending.byte4ToBuf((ArTypes::Byte4)(sensorReadings->size()));
for (std::list<ArSensorReading*>::const_iterator it2= sensorReadings->begin(); it2 != sensorReadings->end(); ++it2){
ArSensorReading* laserRead =*it2;
sending.byte4ToBuf((ArTypes::Byte4)(laserRead->getRange()));
//printf("%i,%i:",laserRead->getRange(),laserRead->getIgnoreThisReading());
}
sending.byte4ToBuf((ArTypes::Byte4)(robot.getX()));
sending.byte4ToBuf((ArTypes::Byte4)(robot.getY()));
sending.byte4ToBuf((ArTypes::Byte4)(robot.getTh()));
sending.byte4ToBuf((ArTypes::Byte4)(robot.getVel()));
sending.byte4ToBuf((ArTypes::Byte4)(robot.getRotVel()));
//printf("%1f,%1f,%1f\n",robot.getX(),robot.getY(),robot.getTh());
laser->unlockDevice();
robot.unlock();
sending.finalizePacket();
//sending.printHex();
client->sendPacketTcp(&sending);
}
int main(int argc, char *argv[])
{
// Initialize location of Aria, Arnl and their args.
Aria::init();
Arnl::init();
// The robot object
ArRobot robot;
// Parse the command line arguments.
ArArgumentParser parser(&argc, argv);
// Read data_index if exists
int data_index;
bool exist_data_index;
parser.checkParameterArgumentInteger("dataIndex",&data_index,&exist_data_index);
// Load default arguments for this computer (from /etc/Aria.args, environment
// variables, and other places)
parser.loadDefaultArguments();
// Object that connects to the robot or simulator using program options
ArRobotConnector robotConnector(&parser, &robot);
// set up a gyro
ArAnalogGyro gyro(&robot);
ArLog::init(ArLog::File,ArLog::Normal,"run.log",false,true,true);
// Parse arguments for the simple connector.
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
ArLog::log(ArLog::Normal, "\nUsage: %s -map mapfilename\n", argv[0]);
Aria::logOptions();
Aria::exit(1);
}
// Collision avoidance actions at higher priority
ArActionAvoidFront avoidAction("avoid",200);
ArActionLimiterForwards limiterAction("speed limiter near", 150, 500, 150);
ArActionLimiterForwards limiterFarAction("speed limiter far", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
//robot.addAction(&tableLimiterAction, 100);
//robot.addAction(&avoidAction,100);
//robot.addAction(&limiterAction, 95);
//robot.addAction(&limiterFarAction, 90);
// Goto action at lower priority
ArActionGoto gotoPoseAction("goto");
//robot.addAction(&gotoPoseAction, 50);
gotoPoseAction.setCloseDist(750);
// Stop action at lower priority, so the robot stops if it has no goal
ArActionStop stopAction("stop");
//robot.addAction(&stopAction, 40);
// Connect the robot
if (!robotConnector.connectRobot())
{
ArLog::log(ArLog::Normal, "Could not connect to robot... exiting");
Aria::exit(3);
}
if(!robot.isConnected())
{
ArLog::log(ArLog::Terse, "Internal error: robot connector succeeded but ArRobot::isConnected() is false!");
}
// Connector for laser rangefinders
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Sonar, must be added to the robot, used by teleoperation and wander to
// detect obstacles, and for localization if SONARNL
ArSonarDevice sonarDev;
// Add the sonar to the robot
robot.addRangeDevice(&sonarDev);
// Start the robot thread.
robot.runAsync(true);
// Connect to the laser(s) if lasers were configured in this robot's parameter
// file or on the command line, and run laser processing thread if applicable
// for that laser class. For the purposes of this demo, add all
// possible lasers to ArRobot's list rather than just the ones that were
// connected by this call so when you enter laser mode, you
// can then interactively choose which laser to use from that list of all
// lasers mentioned in robot parameters and on command line. Normally,
// only connected lasers are put in ArRobot's list.
if (!laserConnector.connectLasers(
false, // continue after connection failures
true, // add only connected lasers to ArRobot
true // add all lasers to ArRobot
))
{
ArLog::log(ArLog::Normal ,"Could not connect to lasers... exiting\n");
Aria::exit(2);
}
// Puntero a laser
ArSick* sick=(ArSick*)robot.findLaser(1);
// Conectamos el laser
sick->asyncConnect();
//Esperamos a que esté encendido
while(!sick->isConnected())
{
ArUtil::sleep(100);
}
ArLog::log(ArLog::Normal ,"Laser conectado\n");
// Set up things so data can be logged (only do it with the laser
// since it can overrun a 9600 serial connection which the sonar is
// more likely to have)
ArDataLogger dataLogger(&robot);
dataLogger.addToConfig(Aria::getConfig());
// add our logging to the config
//ArLog::addToConfig(Aria::getConfig());
// Set up a class that'll put the movement and gyro parameters into ArConfig
ArRobotConfig robotConfig(&robot);
robotConfig.addAnalogGyro(&gyro);
// Add additional range devices to the robot and path planning task.
// IRs if the robot has them.
robot.lock();
ArIRs irs;
robot.addRangeDevice(&irs);
// Bumpers.
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
// cause the sonar to turn off automatically
// when the robot is stopped, and turn it back on when commands to move
// are sent. (Note, this should not be done if you need the sonar
// data to localize, or for other purposes while stopped)
ArSonarAutoDisabler sonarAutoDisabler(&robot);
// 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);
}
//Configuracion del laser
sick->setMinDistBetweenCurrent(0);
robot.enableMotors();
robot.setAbsoluteMaxTransVel(1000);
/* Finally, get ready to run the robot: */
robot.unlock();
Controlador driver(&robot);
if(exist_data_index){
driver.setDataIndex(data_index);
}
driver.runAsync();
ControlHandler handler(&driver,&robot);
// Use manual key handler
//handler.addKeyHandlers(&robot);
robot.addSensorInterpTask("ManualKeyHandler",50,handler.getFunctor());
ArLog::log(ArLog::Normal ,"Añadido manejador teclado\n");
// double x,y,dist,angle;
// ArPose punto;
// ArPose origen=robot.getPose();
// sick->lockDevice();
// for(int i=-90;i<90;i++){
// // Obtengo la medida de distancia y angulo
// dist=sick->currentReadingPolar(i,i+1,&angle);
// // Obtengo coordenadas del punto usando el laser como referencia
// x=dist*ArMath::cos(angle);
// y=dist*ArMath::sin(angle);
// //Roto los puntos
// ArMath::pointRotate(&x,&y,-origen.getTh());
// punto.setX(x);
// punto.setY(y);
// punto=punto + origen;
// printf("Medida: %d\t Angulo:%.2f\t Angulo:%.2f\t Distancia:%0.2f\t X:%0.2f\t Y:%0.2f\n",i,angle,angle+origen.getTh(),dist,punto.getX(),punto.getY());
// }
// printf("Medidas adquiridas\n");
// sick->unlockDevice();
robot.waitForRunExit();
//ArUtil::sleep(10000);
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "lineFinderExample: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
// -help not given
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArLog::log(ArLog::Normal, "lineFinderExample: Connected to robot.");
robot.runAsync(true);
// Connect to laser(s) as defined in parameter files.
// (Some flags are available as arguments to connectLasers() to control error behavior and to control which lasers are put in the list of lasers stored by ArRobot. See docs for details.)
if(!laserConnector.connectLasers())
{
ArLog::log(ArLog::Terse, "Could not connect to configured lasers. Exiting.");
Aria::exit(3);
return 3;
}
ArLog::log(ArLog::Normal, "lineFinderExample: Connected to laser");
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
// Create the ArLineFinder object. Set it to log lots of information about its
// processing.
ArLaser *laser = robot.findLaser(1);
if(!laser)
{
ArLog::log(ArLog::Terse, "lineFinderExample: No laser device connected, exiting.");
Aria::exit(4);
return 4;
}
ArLineFinder lineFinder(laser);
lineFinder.setVerbose(true);
// Add key callbacks that simply call the ArLineFinder::getLinesAndSaveThem()
// function, which searches for lines in the current set of laser sensor
// readings, and saves them in files with the names 'points' and 'lines'.
ArFunctorC<ArLineFinder> findLineCB(&lineFinder,
&ArLineFinder::getLinesAndSaveThem);
keyHandler.addKeyHandler('f', &findLineCB);
keyHandler.addKeyHandler('F', &findLineCB);
printf("If you press the 'f' key the points and lines found will be saved\n");
printf("Into the 'points' and 'lines' file in the current working directory\n");
robot.waitForRunExit();
Aria::exit(0);
return 0;
}
int main(int argc, char **argv)
{
// 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);
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
ArAnalogGyro analogGyro(&robot);
// Always connect to the laser, and add half-degree increment and 180 degrees as default arguments for
// laser
parser.addDefaultArgument("-connectLaser -laserDegrees 180 -laserIncrement half");
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "sickLagger: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
}
if(!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
#ifdef WIN32
printf("Pausing 5 seconds so you can disconnect VNC if you are using it.\n");
ArUtil::sleep(5000);
#endif
std::string filename = "1scans.2d";
if (argc > 1)
filename = argv[1];
printf("Logging to file %s\n", filename.c_str());
ArActionGroupRatioDriveUnsafe group(&robot);
group.activateExclusive();
robot.runAsync(true);
if(!laserConnector.connectLasers(false, false, true))
{
ArLog::log(ArLog::Terse, "sickLogger: Error: Could not connect to laser(s). Use -help to list options.");
Aria::exit(3);
}
// Allow some time for first set of laser reading to arrive
ArUtil::sleep(500);
// enable the motors, disable amigobot sounds
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUND, 32);
robot.comInt(ArCommands::SOUNDTOG, 0);
// enable the joystick driving from the one connected to the microcontroller
robot.comInt(ArCommands::JOYDRIVE, 1);
// Create the logging object
// This must be created after the robot and laser are connected so it can get
// correct parameters from them.
// The third argmument is how far the robot must travel before a new laser
// scan is logged.
// The fourth argument is how many degrees the robot must rotate before a new
// laser scan is logged. The sixth boolean argument is whether to place a goal
// when the g or G key is pressed (by adding a handler to the global
// ArKeyHandler) or when the robots joystick button is
// pressed.
ArLaser *laser = robot.findLaser(1);
if(!laser)
{
ArLog::log(ArLog::Terse, "sickLogger: Error, not connected to any lasers.");
Aria::exit(2);
}
ArLaserLogger logger(&robot, laser, 300, 25, filename.c_str(), true);
// just hang out and wait for the end
robot.waitForRunExit();
Aria::exit(0);
}
int main(int argc, char **argv)
{
// Initialize Aria and Arnl global information
Aria::init();
Arnl::init();
// You can change default ArLog options in this call, but the settings in the parameter file
// (arnl.p) which is loaded below (Aria::getConfig()->parseFile()) will override the options.
//ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);
// Used to parse the command line arguments.
ArArgumentParser parser(&argc, argv);
// Load default arguments for this computer (from /etc/Aria.args, environment
// variables, and other places)
parser.loadDefaultArguments();
#ifdef ARNL_LASER
// Tell the laser connector to always connect the first laser since
// this program always requires a laser.
parser.addDefaultArgument("-connectLaser");
#endif
// The robot object
ArRobot robot;
// handle messages from robot controller firmware and log the contents
robot.addPacketHandler(new ArGlobalRetFunctor1<bool, ArRobotPacket*>(&handleDebugMessage));
// This object is used to connect to the robot, which can be configured via
// command line arguments.
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;
#ifdef ARNL_GPSLOC
// GPS connector.
ArGPSConnector gpsConnector(&parser);
#endif
// Set up our simpleOpener, used to set up the networking server
ArServerSimpleOpener simpleOpener(&parser);
#ifdef ARNL_LASER
// the laser connector
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
#endif
// used to connect to camera PTZ control
ArPTZConnector ptzConnector(&parser, &robot);
#ifdef ARNL_MULTIROBOT
// Used to connect to a "central server" which can be used as a proxy
// for multiple robot servers, and as a way for them to also communicate with
// each other. (objects implementing some of these inter-robot communication
// features are created below).
// NOTE: If the central server is running on the same host as robot server(s),
// then you must use the -serverPort argument to instruct these robot-control
// server(s) to use different ports than the default 7272, since the central
// server will use that port.
ArClientSwitchManager clientSwitch(&server, &parser);
#endif
// 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);
#ifdef ARNL_GPSLOC
// On the Seekur, power to the GPS receiver is switched on by this command.
// (A third argument of 0 would turn it off). On other robots this command is
// ignored. If this fails, you may need to reset the port with ARIA demo or
// seekurPower program (turn port off then on again). If the port is already
// on, it will have no effect on the GPS (it will remain powered.)
// Do this now before connecting to lasers to give it plenty of time to power
// on, initialize, and find a good position before GPS localization begins.
ArLog::log(ArLog::Normal, "Turning on GPS power... (Seekur/Seekur Jr. power port 6)");
robot.com2Bytes(116, 6, 1);
#endif
#ifdef ARNL_LASER
// connect the laser(s) if it was requested, this adds them to the
// robot too, and starts them running in their own threads
ArLog::log(ArLog::Normal, "Connecting to laser(s) configured in parameters...");
if (!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Error: Could not connect to laser(s). Exiting.");
Aria::exit(2);
}
ArLog::log(ArLog::Normal, "Done connecting to laser(s).");
#endif
#if defined(ARNL_LASERLOC) || defined(ARNL_MAPPING)
// 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();
#endif
/* 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 threads */
#ifdef ARNL_MULTILOC
ArLocalizationManager locManager(&robot, &map);
#define LOCTASK locManager
#endif
#ifdef ARNL_LASERLOC
ArLog::log(ArLog::Normal, "Creating laser localization task");
// Laser Monte-Carlo Localization
ArLocalizationTask locTask(&robot, firstLaser, &map);
#ifdef ARNL_MULTILOC
locManager.addLocalizationTask(&locTask);
#else
#define LOCTASK locTask
#endif
#endif
#ifdef ARNL_SONARLOC
ArLog::log(ArLog::Normal, "Creating sonar localization task");
ArSonarLocalizationTask locTask(&robot, &sonarDev, &map);
#ifdef ARNL_MULTILOC
locManager.addLocalizationTask(&locTask);
#else
#define LOCTASK locTask
#endif
#endif
#ifndef ARNL_GPSLOC
// A callback function, which is called if localization fails
ArGlobalFunctor1<int> locFailedCB(&locFailed);
locTask.setFailedCallBack(&locFailedCB); //, &locTask);
#endif
#ifdef ARNL_GPSLOC
ArLog::log(ArLog::Normal, "Connecting to GPS...");
// Connect to GPS
ArGPS *gps = gpsConnector.createGPS(&robot);
if(!gps || !gps->connect())
{
ArLog::log(ArLog::Terse, "Error connecting to GPS device."
"Try -gpsType, -gpsPort, and/or -gpsBaud command-line arguments."
"Use -help for help. Exiting.");
Aria::exit(5);
}
// set up GPS localization task
ArLog::log(ArLog::Normal, "Creating GPS localization task");
ArGPSLocalizationTask gpsLocTask(&robot, gps, &map);
#ifdef ARNL_MULTILOC
locManager.addLocalizationTask(&gpsLocTask);
#else
#define LOCTASK gpsLocTask
#endif
#endif
#ifdef ARNL_LASER
// Set some options and callbacks 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);
// 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));
}
#endif
/* 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 */
robot.unlock();
// Service to provide drawings of data in the map display :
ArServerInfoDrawings drawings(&server);
drawings.addRobotsRangeDevices(&robot);
#ifdef ARNL_LASERLOC
/* 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);
#endif
#ifdef ARNL_GPSLOC
/* Show the positions calculated by GPS localization */
ArDrawingData drawingDataG("polyDots", ArColor(100,100,255), 130, 61);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG(&gpsLocTask, &ArGPSLocalizationTask::drawGPSPoints);
drawings.addDrawing(&drawingDataG, "GPS Points", &drawingFunctorG);
ArDrawingData drawingDataG2("polyDots", ArColor(255,100,100), 100, 62);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG2(&gpsLocTask, &ArGPSLocalizationTask::drawKalmanPoints);
drawings.addDrawing(&drawingDataG2, "Kalman Points", &drawingFunctorG2);
ArDrawingData drawingDataG3("polyDots", ArColor(100,255,100), 70, 63);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG3(&gpsLocTask, &ArGPSLocalizationTask::drawOdoPoints);
drawings.addDrawing(&drawingDataG3, "Odom. Points", &drawingFunctorG3);
ArDrawingData drawingDataG4("polyDots", ArColor(255,50,50), 100, 75);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG4(&gpsLocTask, &ArGPSLocalizationTask::drawKalmanRangePoints);
drawings.addDrawing(&drawingDataG4, "KalRange Points", &drawingFunctorG4);
ArDrawingData drawingDataG5("polySegments", ArColor(100,0,255), 1, 78);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG5(&gpsLocTask, &ArGPSLocalizationTask::drawKalmanVariance);
drawings.addDrawing(&drawingDataG5, "VarGPS", &drawingFunctorG5);
#endif
// "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);
// 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());
// This service causes the client to show simple dialog boxes
ArServerHandlerPopup popupServer(&server);
/* Set up the possible modes for remote control from a client such as
* MobileEyes:
*/
// Mode To stop and remain stopped:
ArServerModeStop modeStop(&server, &robot);
#ifndef ARNL_SONARLOC
// 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);
#endif
// Teleoperation modes To drive by keyboard, joystick, etc:
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
// 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, NULL, &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, NULL, &modeWander);
modeWander.getActionGroup()->addAction(&actionLostWander, 110);
// Tool to log data periodically to a file
ArDataLogger dataLogger(&robot, "datalog.txt");
dataLogger.addToConfig(Aria::getConfig()); // make it configurable through ArConfig
// Automatically add anything from the global info group to the data logger.
Aria::getInfoGroup()->addAddStringCallback(dataLogger.getAddStringFunctor());
// 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());
// The following statements add fields to a set of informational data called
// the InfoGroup. These are served to MobileEyes for displayi (turn on by enabling Details
// and Custom Details in the View menu of MobileEyes.)
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(&robot,
&ArRobot::getMotorPacCount));
#ifdef ARNL_LASERLOC
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");
#elif defined(ARNL_SONARLOC)
Aria::getInfoGroup()->addStringDouble(
"Sonar Localization Score", 8,
new ArRetFunctorC<double, ArSonarLocalizationTask>(
&locTask,
&ArSonarLocalizationTask::getLocalizationScore),
"%.03f");
Aria::getInfoGroup()->addStringInt(
"Sonar Loc Num Samples", 8,
new ArRetFunctorC<int, ArSonarLocalizationTask>(
&locTask, &ArSonarLocalizationTask::getCurrentNumSamples),
"%4d");
#endif
#ifdef ARNL_GPSLOC
const char *dopfmt = "%2.4f";
const char *posfmt = "%2.8f";
const char *altfmt = "%3.6f m";
Aria::getInfoGroup()->addStringString(
"GPS Fix Mode", 25,
new ArConstRetFunctorC<const char*, ArGPS>(gps, &ArGPS::getFixTypeName)
);
Aria::getInfoGroup()->addStringInt(
"GPS Num. Satellites", 4,
new ArConstRetFunctorC<int, ArGPS>(gps, &ArGPS::getNumSatellitesTracked)
);
Aria::getInfoGroup()->addStringDouble(
"GPS HDOP", 12,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getHDOP),
dopfmt
);
Aria::getInfoGroup()->addStringDouble(
"GPS VDOP", 5,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getVDOP),
dopfmt
);
Aria::getInfoGroup()->addStringDouble(
"GPS PDOP", 5,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getPDOP),
dopfmt
);
Aria::getInfoGroup()->addStringDouble(
"Latitude", 15,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getLatitude),
posfmt
);
Aria::getInfoGroup()->addStringDouble(
"Longitude", 15,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getLongitude),
posfmt
);
Aria::getInfoGroup()->addStringDouble(
"Altitude", 8,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getAltitude),
altfmt
);
// only some GPS receivers provide these, but you can uncomment them
// here to enable them if yours does.
/*
const char *errfmt = "%2.4f m";
Aria::getInfoGroup()->addStringDouble(
"GPS Lat. Err.", 6,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getLatitudeError),
errfmt
);
Aria::getInfoGroup()->addStringDouble(
"GPS Lon. Err.", 6,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getLongitudeError),
errfmt
);
Aria::getInfoGroup()->addStringDouble(
"GPS Alt. Err.", 6,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getAltitudeError),
errfmt
);
*/
Aria::getInfoGroup()->addStringDouble(
"MOGS Localization Score", 8,
new ArRetFunctorC<double, ArGPSLocalizationTask>(
&gpsLocTask, &ArGPSLocalizationTask::getLocalizationScore),
"%.03f"
);
#endif
// 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)
);
}
// Display system CPU and wireless network status
ArSystemStatus::startPeriodicUpdate(1000); // update every 1 second
Aria::getInfoGroup()->addStringDouble("CPU Use", 10, ArSystemStatus::getCPUPercentFunctor(), "% 4.0f%%");
Aria::getInfoGroup()->addStringInt("Wireless Link Quality", 9, ArSystemStatus::getWirelessLinkQualityFunctor(), "%d");
Aria::getInfoGroup()->addStringInt("Wireless Link Noise", 9, ArSystemStatus::getWirelessLinkNoiseFunctor(), "%d");
Aria::getInfoGroup()->addStringInt("Wireless Signal", 9, ArSystemStatus::getWirelessLinkSignalFunctor(), "%d");
// stats on how far its driven since software started
Aria::getInfoGroup()->addStringDouble("Distance Travelled (m)", 20, new ArRetFunctorC<double, ArRobot>(&robot, &ArRobot::getOdometerDistanceMeters), "%.2f");
Aria::getInfoGroup()->addStringDouble("Run time (min)", 20, new
ArRetFunctorC<double, ArRobot>(&robot, &ArRobot::getOdometerTimeMinutes),
"%.2f");
#ifdef ARNL_GPSLOC
// Add some "custom commands" for setting up initial GPS offset and heading.
gpsLocTask.addLocalizationInitCommands(&commands);
// Add some commands for manually creating map objects based on GPS positions:
// ArGPSMapTools gpsMapTools(gps, &robot, &commands, &map);
// Add command to set simulated GPS position manually
if(gpsConnector.getGPSType() == ArGPSConnector::Simulator)
{
ArSimulatedGPS *simGPS = dynamic_cast<ArSimulatedGPS*>(gps);
// simGPS->setDummyPosition(42.80709, -71.579047, 100);
commands.addStringCommand("GPS:setDummyPosition",
"Manually set a new dummy position for simulated GPS. Provide latitude (required), longitude (required) and altitude (optional)",
new ArFunctor1C<ArSimulatedGPS, ArArgumentBuilder*>(simGPS, &ArSimulatedGPS::setDummyPositionFromArgs)
);
}
#endif
// 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?
#ifdef ARNL_MAPPING
/* 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);
#ifdef ARNL_LASERLOC
// 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));
#endif
#ifdef ARNL_GPSLOC
// Save GPS positions in the .2d scan log when making a map
handlerMapping.addLocationData("robotGPS",
gpsLocTask.getPoseInterpPositionCallback());
// add the starting latitude and longitude info to the .2d scan log
handlerMapping.addMappingStartCallback(
new ArFunctor1C<ArGPSLocalizationTask, ArServerHandlerMapping *>
(&gpsLocTask, &ArGPSLocalizationTask::addScanInfo,
&handlerMapping));
#endif
// Make it so our "lost" actions don't stop us while mapping
handlerMapping.addMappingStartCallback(actionLostRatioDrive.getDisableCB());
handlerMapping.addMappingStartCallback(actionLostWander.getDisableCB());
// And then let them make us stop as usual when done mapping
handlerMapping.addMappingEndCallback(actionLostRatioDrive.getEnableCB());
handlerMapping.addMappingEndCallback(actionLostWander.getEnableCB());
#endif // ARNL_MAPPING
/*
// 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: */
#pragma GPP off
#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
#pragma GPP on
/* Video image streaming, and camera controls (Requires SAVserver or ACTS) */
// Forward one video stream if either ACTS, ArVideo videoSubServer,
// or SAV server are running.
// ArHybridForwarderVideo allows this program to be separate from the ArVideo
// library. You could replace videoForwarder and the PTZ connection code below
// with a call to ArVideo::createVideoServers(), and link the program to the
// ArVideo library if you want to include video capture in the same program
// as robot control.
ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);
// connect to first configured camera PTZ controls (in robot parameter file and
// command line options)
ptzConnector.connect();
ArCameraCollection cameraCollection;
ArPTZ *ptz = ptzConnector.getPTZ(0);
if(ptz)
{
ArLog::log(ArLog::Normal, "Connected to PTZ Camera");
cameraCollection.addCamera("Camera1", ptz->getTypeName(), "Camera", ptz->getTypeName());
videoForwarder.setCameraName("Camera1");
videoForwarder.addToCameraCollection(cameraCollection);
new ArServerHandlerCamera("Camera1",
&server,
&robot,
ptz,
&cameraCollection);
}
// Allows client to find any camera servers created above
ArServerHandlerCameraCollection cameraCollectionServer(&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);
// Read in parameter files.
ArLog::log(ArLog::Normal, "Loading config file %s%s into ArConfig...", Aria::getDirectory(), Arnl::getTypicalParamFileName());
if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
{
ArLog::log(ArLog::Normal, "Could not load ARNL configuration file. Set ARNL environment variable to use non-default installation director.y");
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");
#ifdef ARNL
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, "");
#elif defined(SONARNL)
ArLog::log(ArLog::Normal, " 0) You can find this information in README.txt or docs/SonarMapping.txt");
ArLog::log(ArLog::Normal, " 1) Start up Mapper3Basic");
ArLog::log(ArLog::Normal, " 2) Go to File->New");
ArLog::log(ArLog::Normal, " 3) Draw a line map of your area (make sure it is to scale)");
ArLog::log(ArLog::Normal, " 4) Go to File->Save on Robot");
ArLog::log(ArLog::Normal, " 5) In MobileEyes, go to Tools->Robot Config");
ArLog::log(ArLog::Normal, " 6) Choose the Files section");
ArLog::log(ArLog::Normal, " 7) Enter the path and name of your new .map file for the value of the Map parameter.");
ArLog::log(ArLog::Normal, " 8) Press OK and your new map should become the map used");
ArLog::log(ArLog::Normal, "");
#endif
#ifdef ARNL_GPSLOC
ArLog::log(ArLog::Normal, "\n See docs/GPSMapping.txt for instructions on creating a map for GPS localization");
#endif
}
// 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. ARNL and SONARNL try 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).
// MOGS instead just initializes at the current GPS position.
// (You will stil have to drive the robot so it can determine the robot's
// heading, however. See GPS Mapping instructions.)
LOCTASK.localizeRobotAtHomeBlocking();
#ifdef ARNL_MULTIROBOT
// Let the client switch manager (for multirobot) spin off into its own thread
// TODO move to multirobot example?
clientSwitch.runAsync();
#endif
// Start the networking server's thread
server.runAsync();
ArLog::log(ArLog::Normal, "Server running. To exit, press CTRL-C.");
// Enable the motors and wait until the robot exits (disconnection, etc.) or this program is
// canceled.
robot.enableMotors();
robot.waitForRunExit();
Aria::exit(0);
}