int main(int argc, char **argv)
{
// just some stuff for returns
std::string str;
// robots connection
ArSerialConnection con;
// the robot, this turns state reflection off
ArRobot robot(NULL, false);
// the joydrive as defined above, this also adds itself as a user task
KeyPTU ptu(&robot);
// mandatory init
Aria::init();
ArLog::init(ArLog::StdOut, ArLog::Terse, NULL, true);
con.setPort(ArUtil::COM1);
// set the connection on the robot
robot.setDeviceConnection(&con);
// connect, if we fail, exit
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// turn off the sonar, enable the motors, turn off amigobot sounds
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
printf("Press '?' for available commands\r\n");
// run, if we lose connection to the robot, exit
robot.run(true);
// shutdown and go away
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
// command-line arguments and robots connection
ArArgumentParser argParser(&argc, argv);
argParser.loadDefaultArguments();
ArSimpleConnector con(&argParser);
// the robot, but turn state reflection off (so we have no mobility control in
// this program)
ArRobot robot(NULL, false);
// an object for keyboard control, class defined above, this also adds itself as a user task
KeyPTU ptu(&robot);
// parse command-line arguments (i.e. connection options for simple connector)
if(!Aria::parseArgs())
{
Aria::logOptions();
return 1;
}
// connect to the robot
if (!con.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "Error connecting to robot!");
Aria::shutdown();
return 1;
}
// turn off the sonar
robot.comInt(ArCommands::SONAR, 0);
printf("Press '?' for available commands\r\n");
// run, if we lose connection to the robot, exit
robot.run(true);
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "dpptuExample: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArLog::log(ArLog::Normal, "dpptuExample: Connected to robot.");
robot.runAsync(true);
// an object for keyboard control, class defined above, this also adds itself as a user task
KeyPTU ptu(&robot);
// turn off the sonar
robot.comInt(ArCommands::SONAR, 0);
printf("Press '?' for available commands\r\n");
// run, if we lose connection to the robot, exit
robot.waitForRunExit();
Aria::exit(0);
}
