int main(int argc, char** argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArSonarDevice sonar;
// Connect to the robot, get some initial data from it such as type and name,
// and then load parameter files for this robot.
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "actionExample: 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, "actionExample: Connected to robot.");
// Create instances of the actions defined above, plus ArActionStallRecover,
// a predefined action from Aria.
ActionGo go(500, 350);
ActionTurn turn(400, 10);
ArActionStallRecover recover;
// Add the range device to the robot. You should add all the range
// devices and such before you add actions
robot.addRangeDevice(&sonar);
// Add our actions in order. The second argument is the priority,
// with higher priority actions going first, and possibly pre-empting lower
// priority actions.
robot.addAction(&recover, 100);
robot.addAction(&go, 50);
robot.addAction(&turn, 49);
// Enable the motors, disable amigobot sounds
robot.enableMotors();
// Run the robot processing cycle.
// 'true' means to return if it loses connection,
// after which we exit the program.
robot.run(true);
Aria::exit(0);
}
int main(int argc, char** argv)
{
Aria::init();
ArSimpleConnector conn(&argc, argv);
ArRobot robot;
ArSonarDevice sonar;
// Create instances of the actions defined above, plus ArActionStallRecover,
// a predefined action from Aria.
ActionGo go(500, 350);
ActionTurn turn(400, 10);
ArActionStallRecover recover;
// Parse all command-line arguments
if(!Aria::parseArgs())
{
Aria::logOptions();
return 1;
}
// Connect to the robot
if(!conn.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "actionExample: Could not connect to robot! Exiting.");
return 2;
}
// Add the range device to the robot. You should add all the range
// devices and such before you add actions
robot.addRangeDevice(&sonar);
// Add our actions in order. The second argument is the priority,
// with higher priority actions going first, and possibly pre-empting lower
// priority actions.
robot.addAction(&recover, 100);
robot.addAction(&go, 50);
robot.addAction(&turn, 49);
// Enable the motors, disable amigobot sounds
robot.enableMotors();
// Run the robot processing cycle.
// 'true' means to return if it loses connection,
// after which we exit the program.
robot.run(true);
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
std::string str;
int ret;
ArTcpConnection con;
ArRobot robot;
ActionTest at1(-50, 333);
ActionTest at2(25, 666);
ActionTest at3(25, 0);
ActionTest at4(0, -999);
Aria::init();
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
robot.setDeviceConnection(&con);
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.addAction(&at1, 100);
robot.addAction(&at2, 100);
robot.addAction(&at3, 100);
robot.addAction(&at4, 100);
robot.run(true);
Aria::shutdown();
return 0;
}
int main(void)
{
ArTcpConnection con;
ArRobot robot;
int ret;
std::string str;
JoydriveAction jdAct;
FillerThread ft;
ft.create();
FillerThread ft2;
ft2.create();
Aria::init();
/*
if (!jdAct.joystickInited())
{
printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
Aria::shutdown();
return 1;
}
*/
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
robot.setDeviceConnection(&con);
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
lastLoopTime.setToNow();
loopTime = robot.getCycleTime();
robot.addAction(&jdAct, 100);
robot.runAsync(true);
robot.waitForRunExit();
Aria::shutdown();
return 0;
}
int main(void)
{
ArTcpConnection con;
ArRobot robot;
ArSonarDevice sonar;
int ret;
std::string str;
ArActionStallRecover recover;
ArActionConstantVelocity constantVelocity("Constant Velocity", 400);
Aria::init();
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
robot.addRangeDevice(&sonar);
robot.setDeviceConnection(&con);
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
robot.addAction(&recover, 100);
robot.addAction(&constantVelocity, 25);
robot.run(true);
Aria::shutdown();
return 0;
}
int main()
{
/*
TODO
Check that the Starclass is updating the global pose right - not done
Check that the MapClass is giving the right pose - not done
check khenglee can use the behaviours - not done
check emergency control - not done
*/
Network yarp;
SamgarModule VR("Vrobot","Loco","wheel",SamgarModule::run); // Cant have spaces or underscores
VR.AddPortS("TransitIn");
SetupRobot();
ActionEmergencyControl EmergencyControl;
UpdateMap UpdMap (&VR);
UpOdo OdoUp (&VR);
Transit TransitIn (&VR);
// PlaySounder SoundPlayer (&VR);
// BehaveMove MoveBehave (&VR);
// MoveCAM CAMMove (&VR);
// lowest priority might actully be highest becouse coms direct to robot and not through desiredaction.
robot.addAction(&EmergencyControl,99); // need to check this works
robot.addAction(&UpdMap,99);
robot.addAction(&OdoUp,99);
robot.addAction(&TransitIn,70);
// robot.addAction(&SoundPlayer,100);
// robot.addAction(&MoveBehave,100);
// robot.addAction(&CAMMove,100);
robot.run(true);
robot.disconnect();
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
ArRobot robot;
Aria::init();
ArSimpleConnector connector(&argc, argv);
if (!connector.parseArgs() || argc > 1)
{
connector.logOptions();
return 1;
}
// Instance of the JoydriveAction class defined above
JoydriveAction jdAct;
// if the joydrive action couldn't find the joystick, then exit.
if (!jdAct.joystickInited())
{
printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
Aria::exit(1);
return 1;
}
// Connect to the robot
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
return 2;
}
// disable sonar, enable motors, disable amigobot sound
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// add the action
robot.addAction(&jdAct, 100);
// run the robot, true so it'll exit if we lose connection
robot.run(true);
// now exit program
Aria::exit(0);
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser argParser(&argc, argv);
argParser.loadDefaultArguments();
ArRobot robot;
ArSick laser;
std::ofstream stream; // for loggin
time_t timer;
char buffer[120];
//for loggin
ArRobotConnector robotConnector(&argParser, &robot);
ArLaserConnector laserConnector(&argParser, &robot, &robotConnector);
int32_t count = 0;
readyLog(stream);
if (!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "Could not connect to the robot.");
if (argParser.checkHelpAndWarnUnparsed())
{
// -help not given, just exit.
Aria::logOptions();
Aria::exit(1);
return 1;
}
}
// Trigger argument parsing
if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
return 1;
}
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
puts("This program will make the robot wander around. It uses some avoidance\n"
"actions if obstacles are detected, otherwise it just has a\n"
"constant forward velocity.\n\nPress CTRL-C or Escape to exit.");
//ArSonarDevice sonar;
//robot.addRangeDevice(&sonar);
robot.addRangeDevice(&laser);
robot.runAsync(true);
// try to connect to laser. if fail, warn but continue, using sonar only
if (!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Warning: unable to connect to requested lasers, will wander using robot sonar only.");
}
double sampleAngle, dist;
auto sampleRange = laser.currentReadingPolar(-20, 20, &sampleAngle);
auto degreeStr = laser.getDegreesChoicesString();
std::cout << "auto sampleRange = laser.currentReadingPolar(-20, 20, &sampleAngle);" << sampleRange << std::endl;
std::cout << "auto degreeStr = laser.getDegreesChoicesString(); : " << degreeStr << std::endl;
// turn on the motors, turn off amigobot sounds
robot.enableMotors();
//robot.getLaserMap()
robot.comInt(ArCommands::SOUNDTOG, 0);
// add a set of actions that combine together to effect the wander behavior
ArActionStallRecover recover;
ArActionBumpers bumpers;
ArActionAvoidFront avoidFrontNear("Avoid Front Near", 100, 0);
ArActionAvoidFront avoidFrontFar;
ArActionConstantVelocity constantVelocity("Constant Velocity", 400);
robot.addAction(&recover, 100);
robot.addAction(&bumpers, 75);
robot.addAction(&avoidFrontNear, 50);
robot.addAction(&avoidFrontFar, 49);
robot.addAction(&constantVelocity, 25);
stream << "IMPORTANT !! == robot.getRobotRadius() : " << robot.getRobotRadius << std::endl;
std::string timestamp;
while (1)
{
//
//
time(&timer);
strftime(buffer, 80, " - timestamp : %I:%M:%S", localtime(&timer));
timestamp = buffer;
dist = robot.checkRangeDevicesCurrentPolar(-70, 70, &sampleAngle) - robot.getRobotRadius();
stream << count << timestamp << "checkRangeDevicesCurrentPolar(-70, 70, &angle) : " << dist << std::endl;
Sleep(500);
count++;
}
// wwill add processor here
// wait for robot task loop to end before exiting the program
robot.waitForRunExit();
Aria::exit(0);
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArRobot robot;
ArArgumentParser argParser(&argc, argv);
ArSimpleConnector connector(&argParser);
ArGripper gripper(&robot);
ArSonarDevice sonar;
robot.addRangeDevice(&sonar);
argParser.loadDefaultArguments();
if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::shutdown();
return 1;
}
if (!connector.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "gripperExample: Could not connect to robot... exiting");
Aria::shutdown();
return 2;
}
ArLog::log(ArLog::Normal, "gripperExample: Connected to robot.");
ArLog::log(ArLog::Normal, "gripperExample: GripperType=%d", gripper.getType());
gripper.logState();
if(gripper.getType() == ArGripper::NOGRIPPER)
{
ArLog::log(ArLog::Terse, "gripperExample: Error: Robot does not have a gripper. Exiting.");
Aria::shutdown();
return -1;
}
// Teleoperation actions with obstacle-collision avoidance
ArActionLimiterTableSensor tableLimit;
robot.addAction(&tableLimit, 110);
ArActionLimiterForwards limitNearAction("near", 300, 600, 250);
robot.addAction(&limitNearAction, 100);
ArActionLimiterForwards limitFarAction("far", 300, 1100, 400);
robot.addAction(&limitFarAction, 90);
ArActionLimiterBackwards limitBackAction;
robot.addAction(&limitBackAction, 50);
ArActionJoydrive joydriveAction("joydrive", 400, 15);
robot.addAction(&joydriveAction, 40);
joydriveAction.setStopIfNoButtonPressed(false);
ArActionKeydrive keydriveAction;
robot.addAction(&keydriveAction, 30);
// Handlers to control the gripper and print out info (classes defined above)
PrintGripStatus printStatus(&gripper);
GripperControlHandler gripControl(&gripper);
printStatus.addRobotTask(&robot);
gripControl.addKeyHandlers(&robot);
// enable motors and run (if we lose connection to the robot, exit)
ArLog::log(ArLog::Normal, "You may now operate the robot with arrow keys or joystick. Operate the gripper with the u, d, o, c, and page up/page down keys.");
robot.enableMotors();
robot.run(true);
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
argc = 3;
argv[0] = "";
argv[1] = "-rp";
argv[2] = "/dev/ttyUSB0";
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArAnalogGyro gyro(&robot);
ArSonarDevice sonar;
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
imgdb.setRobot(&robot);
int Rc;
pthread_t slam_thread;
Rc = pthread_create(&slam_thread, NULL, slam_event, NULL);
if (Rc) { printf("Create slam thread failed!\n"); exit(-1); }
ImageList* current = NULL;
while (!current) current = imgdb.getEdge();
// current->person_point
robot.addRangeDevice(&sonar);
robot.runAsync(true);
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
robot.setAbsoluteMaxRotVel(30);
ArActionStallRecover recover;
ArActionBumpers bumpers;
double minDistance=10000;
// ArPose endPoint(point.x, point.z);
// current->collect_x
// current->collect_y
// robot.getX()
// robot.getY()
// current = imgdb.getEdge();
// for (int i = 0; i < current->edge.size(); i++) {
// for (int j = 0; j < current->edge[i].size() - 1; j++) {
// double dis = sqrt(pow(current->edge[i][j].z,2)+(pow(current->edge[i][j].x,2)));
// if(dis<minDistance){
// minDistance=dis;
// }
// }
// }
// 引入避障action,前方安全距离为500mm,侧边安全距离为340mm
Avoid avoidSide("Avoid side", ArPose(0, 0), 800, 100, 1000*minDistance);
robot.addAction(&recover, 100);
robot.addAction(&bumpers, 95);
robot.addAction(&avoidSide, 80);
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 50);
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
const int duration = 500000;
bool first = true;
int goalNum = 0;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
current = imgdb.getEdge();
for (int i = 0; i < current->edge.size(); i++) {
for (int j = 0; j < current->edge[i].size() - 1; j++) {
// printf("i=%d\n",i);
double dis = sqrt(pow(current->edge[i][j].z,2)+(pow(current->edge[i][j].x,2)));
// printf("dis=%f,mindis=%f\n",dis,minDistance);
if(dis<minDistance){
minDistance=dis;
printf("min=%f\n",minDistance);
}
}
}
//引入避障action,前方安全距离为500mm,侧边安全距离为340mm
// Avoid avoidSide("Avoid side", ArPose(0, 0), 800, 200, minDistance);
// robot.addAction(&avoidSide,80);
robot.lock();
if (first || avoidSide.haveAchievedGoal())
{
first = false;
goalNum++;
printf("count goalNum = %d\n", goalNum);
if (goalNum > 2){
goalNum = 1; // start again at goal #1
}
// avoidSide.setGoal(ArPose(10000,0));
if(goalNum==1){
printf("zuobiaox=%f,zuobiaoy=%f\n",-current->person_point.z,current->person_point.x);
avoidSide.setGoal(ArPose(1000*current->person_point.z, -1000*current->person_point.x));
printf("goalNum == 1\n\n");
}
else if(goalNum==2){
printf("zuobiaox=%f,zuobiaoy=%f\n",-current->person_point.z,current->person_point.x);
avoidSide.setGoal(ArPose(1000*current->person_point.z, -1000*current->person_point.x));
printf("goalNum == 2\n\n");
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "%d seconds have elapsed. Cancelling current goal, waiting 3 seconds, and exiting.", duration/1000);
avoidSide.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(100);
}
Aria::exit(0);
return 0;
}
int main(void)
{
ArSerialConnection con;
ArRobot robot;
int ret;
std::string str;
ArActionLimiterForwards limiter("speed limiter near", 225, 600, 250);
ArActionLimiterForwards limiterFar("speed limiter far", 225, 1100, 400);
ArActionTableSensorLimiter tableLimiter;
ArActionLimiterBackwards backwardsLimiter;
ArActionConstantVelocity stop("stop", 0);
ArSonarDevice sonar;
ArACTS_1_2 acts;
ArPTZ *ptz;
ptz = new ArVCC4(&robot, true);
ArGripper gripper(&robot);
Acquire acq(&acts, &gripper);
DriveTo driveTo(&acts, &gripper, ptz);
DropOff dropOff(&acts, &gripper, ptz);
PickUp pickUp(&acts, &gripper, ptz);
TakeBlockToWall takeBlock(&robot, &gripper, ptz, &acq, &driveTo, &pickUp,
&dropOff, &tableLimiter);
if (!acts.openPort(&robot))
{
printf("Could not connect to acts, exiting\n");
exit(0);
}
Aria::init();
robot.addRangeDevice(&sonar);
//con.setBaud(38400);
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
robot.setDeviceConnection(&con);
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
ptz->init();
ArUtil::sleep(8000);
printf("### 2222\n");
ptz->panTilt(0, -40);
printf("### whee\n");
ArUtil::sleep(8000);
robot.setAbsoluteMaxTransVel(400);
robot.setStateReflectionRefreshTime(250);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
ArUtil::sleep(200);
robot.addAction(&tableLimiter, 100);
robot.addAction(&limiter, 99);
robot.addAction(&limiterFar, 98);
robot.addAction(&backwardsLimiter, 97);
robot.addAction(&acq, 77);
robot.addAction(&driveTo, 76);
robot.addAction(&pickUp, 75);
robot.addAction(&dropOff, 74);
robot.addAction(&stop, 30);
robot.run(true);
Aria::shutdown();
return 0;
}
int __cdecl _tmain (int argc, char** argv)
{
//------------ I N I C I O M A I N D E L P R O G R A M A D E L R O B O T-----------//
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
ActionGos go(500, 350);
robot.addAction(&go, 48);
ActionTurns turn(400, 110);
robot.addAction(&turn, 49);
ActionTurns turn2(400, 110);
robot.addAction(&turn2, 49);
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("Presionar ESC para salir\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
// ============================ INICIO CONFIG COM =================================//
CSerial serial;
LONG lLastError = ERROR_SUCCESS;
// Trata de abrir el com seleccionado
lLastError = serial.Open(_T("COM3"),0,0,false);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Imposible abrir el COM"));
// Inicia el puerto serial (9600,8N1)
lLastError = serial.Setup(CSerial::EBaud9600,CSerial::EData8,CSerial::EParNone,CSerial::EStop1);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Imposible setear la config del COM"));
// Register only for the receive event
lLastError = serial.SetMask(CSerial::EEventBreak |
CSerial::EEventCTS |
CSerial::EEventDSR |
CSerial::EEventError |
CSerial::EEventRing |
CSerial::EEventRLSD |
CSerial::EEventRecv);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to set COM-port event mask"));
// Use 'non-blocking' reads, because we don't know how many bytes
// will be received. This is normally the most convenient mode
// (and also the default mode for reading data).
lLastError = serial.SetupReadTimeouts(CSerial::EReadTimeoutNonblocking);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to set COM-port read timeout."));
// ============================ FIN CONFIG COM =================================//
bool first = true;
int goalNum = 0;
int color = 3;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
printf("El contador esta en: --> %d <---\n",goalNum);
if (goalNum > 20)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
{
gotoPoseAction.setGoal(ArPose(1150, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
// Create the sound queue.
ArSoundsQueue soundQueue;
// Run the sound queue in a new thread
soundQueue.runAsync();
std::vector<const char*> filenames;
filenames.push_back("sound-r2a.wav");
soundQueue.play(filenames[0]);
}
else if (goalNum == 2)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn.myActivate = 1;
turn.myDirection = 1;
turn.activate();
ArUtil::sleep(1000);
turn.deactivate();
turn.myActivate = 0;
turn.myDirection = 0;
robot.lock();
}
else if (goalNum == 3)
{
gotoPoseAction.setGoal(ArPose(1150, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 4)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 5)
{
gotoPoseAction.setGoal(ArPose(650, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 6)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 7)
{
gotoPoseAction.setGoal(ArPose(650, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 8)
{
gotoPoseAction.setGoal(ArPose(1800,1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 9)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 10)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 850));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
gotoPoseAction.setGoal(ArPose(3500, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1550));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 11)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 613));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
goalNum = 19;
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1785));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 12)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 13)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3500, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3500, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 14)
{
robot.unlock();
//Valor para el while
bool fContinue = true;
// <<<<<<------------- 1 Parte Secuencia: BAJA BRAZO ------------->>>>>> //
lLastError = serial.Write("b");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
//-------------------------E S C U C H A C O M ----------------------------//
do
{
// Wait for an event
lLastError = serial.WaitEvent();
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to wait for a COM-port event."));
// Save event
const CSerial::EEvent eEvent = serial.GetEventType();
// Handle break event
if (eEvent & CSerial::EEventBreak)
{
printf("\n### BREAK received ###\n");
}
// Handle CTS event
if (eEvent & CSerial::EEventCTS)
{
printf("\n### Clear to send %s ###\n", serial.GetCTS()?"on":"off");
}
// Handle DSR event
if (eEvent & CSerial::EEventDSR)
{
printf("\n### Data set ready %s ###\n", serial.GetDSR()?"on":"off");
}
// Handle error event
if (eEvent & CSerial::EEventError)
{
printf("\n### ERROR: ");
switch (serial.GetError())
{
case CSerial::EErrorBreak: printf("Break condition"); break;
case CSerial::EErrorFrame: printf("Framing error"); break;
case CSerial::EErrorIOE: printf("IO device error"); break;
case CSerial::EErrorMode: printf("Unsupported mode"); break;
case CSerial::EErrorOverrun: printf("Buffer overrun"); break;
case CSerial::EErrorRxOver: printf("Input buffer overflow"); break;
case CSerial::EErrorParity: printf("Input parity error"); break;
case CSerial::EErrorTxFull: printf("Output buffer full"); break;
default: printf("Unknown"); break;
}
printf(" ###\n");
}
// Handle ring event
if (eEvent & CSerial::EEventRing)
{
printf("\n### RING ###\n");
}
// Handle RLSD/CD event
if (eEvent & CSerial::EEventRLSD)
{
printf("\n### RLSD/CD %s ###\n", serial.GetRLSD()?"on":"off");
}
// Handle data receive event
if (eEvent & CSerial::EEventRecv)
{
// Read data, until there is nothing left
DWORD dwBytesRead = 0;
char szBuffer[101];
do
{
// Lee datos del Puerto COM
lLastError = serial.Read(szBuffer,sizeof(szBuffer)-1,&dwBytesRead);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to read from COM-port."));
if (dwBytesRead > 0)
{
//Preseteo color
int color = 0;
// Finaliza el dato, asi que sea una string valida
szBuffer[dwBytesRead] = '\0';
// Display the data
printf("%s", szBuffer);
// <<<<<<----------- 2 Parte Secuencia: CIERRA GRIPPER ----------->>>>>> //
if (strchr(szBuffer,76))
{
lLastError = serial.Write("c");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<------------- 3 Parte Secuencia: SUBE BRAZO ------------->>>>>> //
if (strchr(szBuffer,117))
{
lLastError = serial.Write("s");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<------------- 4 Parte Secuencia: COLOR ------------->>>>>> //
if (strchr(szBuffer,72))
{
lLastError = serial.Write("C");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<---------- 5.1 Parte Secuencia: COLOR ROJO---------->>>>>> //
if (strchr(szBuffer,82))
{
color = 1;
//salir del bucle
fContinue = false;
}
// <<<<<<---------- 5.2 Parte Secuencia: COLOR AZUL ---------->>>>>> //
if (strchr(szBuffer,66))
{
color = 2;
//salir del bucle
fContinue = false;
}
// <<<<<<---------- 5.3 Parte Secuencia: COLOR VERDE ---------->>>>>> //
if (strchr(szBuffer,71))
{
color = 3;
//salir del bucle
fContinue = false;
}
}
}
while (dwBytesRead == sizeof(szBuffer)-1);
}
}
while (fContinue);
// Close the port again
serial.Close();
robot.lock();
}
else if (goalNum == 15)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 16)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 17)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 603));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1795));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 18)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 860));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1540));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 19)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 20)
{
gotoPoseAction.setGoal(ArPose(1800, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "No puede llegar al punto, y la aplicacion saldra en %d", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(10);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
//------------ F I N M A I N D E L P R O G R A M A D E L R O B O T-----------//
return 0;
}
int main(void)
{
// The connection we'll use to talk to the robot
ArTcpConnection con;
// the robot
ArRobot robot;
// the sonar device
ArSonarDevice sonar;
// some stuff for return values
int ret;
std::string str;
// the behaviors from above, and a stallRecover behavior that uses defaults
ActionGo go(500, 350);
ActionTurn turn(400, 30);
ArActionStallRecover recover;
// this needs to be done
Aria::init();
// open the connection, just using the defaults, if it fails, exit
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
// add the range device to the robot, you should add all the range
// devices and such before you add actions
robot.addRangeDevice(&sonar);
// set the robot to use the given connection
robot.setDeviceConnection(&con);
// do a blocking connect, if it fails exit
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// enable the motors, disable amigobot sounds
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// add our actions in a good order, the integer here is the priority,
// with higher priority actions going first
robot.addAction(&recover, 100);
robot.addAction(&go, 50);
robot.addAction(&turn, 49);
// run the robot, the true here is to exit if it loses connection
robot.run(true);
// now just shutdown and go away
Aria::shutdown();
return 0;
}
int main(int argc, char** argv)
{
Aria::init();
ArLog::init(ArLog::StdErr, ArLog::Normal);
ArArgumentParser argParser(&argc, argv);
ArSimpleConnector connector(&argParser);
ArGPSConnector gpsConnector(&argParser);
ArRobot robot;
ArActionLimiterForwards nearLimitAction("limit near", 300, 600, 250);
ArActionLimiterForwards farLimitAction("limit far", 300, 1100, 400);
ArActionLimiterBackwards limitBackwardsAction;
ArActionJoydrive joydriveAction;
ArActionKeydrive keydriveAction;
ArSonarDevice sonar;
ArSick laser;
argParser.loadDefaultArguments();
if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
return -1;
}
robot.addRangeDevice(&sonar);
robot.addRangeDevice(&laser);
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connecting to robot...");
if(!connector.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "gpsRobotTaskExample: Could not connect to the robot. Exiting.");
return -2;
}
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connected to the robot.");
// Connect to GPS
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Connecting to GPS, it may take a few seconds...");
ArGPS *gps = gpsConnector.createGPS();
if(!gps || !gps->connect());
{
ArLog::log(ArLog::Terse, "gpsRobotTaskExample: Error connecting to GPS device. Try -gpsType, -gpsPort, and/or -gpsBaud command-line arguments. Use -help for help. Exiting.");
return -3;
}
// Create an GPSLogTask which will register a task with the robot.
GPSLogTask gpsTask(&robot, gps, joydriveAction.getJoyHandler()->haveJoystick() ? joydriveAction.getJoyHandler() : NULL);
// Add actions
robot.addAction(&nearLimitAction, 100);
robot.addAction(&farLimitAction, 90);
robot.addAction(&limitBackwardsAction, 80);
robot.addAction(&joydriveAction, 50);
robot.addAction(&keydriveAction, 40);
// allow keydrive action to drive robot even if joystick button isn't pressed
joydriveAction.setStopIfNoButtonPressed(false);
// Start the robot running
robot.runAsync(true);
// Connect to the laser
connector.setupLaser(&laser);
laser.runAsync();
if(!laser.blockingConnect())
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Warning, could not connect to SICK laser, will not use it.");
robot.lock();
robot.enableMotors();
robot.comInt(47, 1); // enable joystick driving on some robots
// Add exit callback to reset/unwrap steering wheels on seekur (critical if the robot doesn't have sliprings); does nothing for other robots
Aria::addExitCallback(new ArRetFunctor1C<bool, ArRobot, unsigned char>(&robot, &ArRobot::com, (unsigned char)120));
Aria::addExitCallback(new ArRetFunctor1C<bool, ArRobot, unsigned char>(&robot, &ArRobot::com, (unsigned char)120));
robot.unlock();
ArLog::log(ArLog::Normal, "gpsRobotTaskExample: Running... (drive robot with joystick or arrow keys)");
robot.waitForRunExit();
return 0;
}
int APIENTRY _tWinMain(HINSTANCE hInstance,
HINSTANCE hPrevInstance,
LPTSTR lpCmdLine,
int nCmdShow)
{
UNREFERENCED_PARAMETER(hPrevInstance);
UNREFERENCED_PARAMETER(lpCmdLine);
//-------------- M A I N D E L P R O G R A M A D E L R O B O T------------//
//----------------------------------------------------------------------------------------------------------
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("speed limiter near", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("speed limiter far", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
bool first = true;
int horiz = 1800;
int vert = 380;
int goalNum = 0;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
if (goalNum > 7)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
gotoPoseAction.setGoal(ArPose(horiz, vert*0));
else if (goalNum == 2)
gotoPoseAction.setGoal(ArPose(0, vert*1));
else if (goalNum == 3)
gotoPoseAction.setGoa l(ArPose(horiz, vert*2)+5);
else if (goalNum == 4)
gotoPoseAction.setGoal(ArPose(0, vert*3));
else if (goalNum == 5)
gotoPoseAction.setGoal(ArPose(horiz, vert*4+5));
else if (goalNum == 6)
gotoPoseAction.setGoal(ArPose(0, vert*5));
else if (goalNum == 7)
gotoPoseAction.setGoal(ArPose(0, vert*0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "%d seconds have elapsed. Cancelling current goal, waiting 3 seconds, and exiting.", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(100);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
return 0;
//----------------------------------------------------------------------------------------------------------
// TODO: Place code here.
MSG msg;
HACCEL hAccelTable;
// Initialize global strings
LoadString(hInstance, IDS_APP_TITLE, szTitle, MAX_LOADSTRING);
LoadString(hInstance, IDC_VENTANAROBOT, szWindowClass, MAX_LOADSTRING);
MyRegisterClass(hInstance);
// Perform application initialization:
if (!InitInstance (hInstance, nCmdShow))
{
return FALSE;
}
hAccelTable = LoadAccelerators(hInstance, MAKEINTRESOURCE(IDC_VENTANAROBOT));
// Main message loop:
while (GetMessage(&msg, NULL, 0, 0))
{
if (!TranslateAccelerator(msg.hwnd, hAccelTable, &msg))
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
return (int) msg.wParam;
}
int main(int argc, char **argv)
{
// robot
ArRobot robot;
// the laser
ArSick sick;
// sonar, must be added to the robot
//ArSonarDevice sonar;
// the actions we'll use to wander
// recover from stalls
//ArActionStallRecover recover;
// react to bumpers
//ArActionBumpers bumpers;
// limiter for close obstacles
ArActionLimiterForwards limiter("speed limiter near", 1600, 0, 0, 1.3);
// limiter for far away obstacles
//ArActionLimiterForwards limiterFar("speed limiter near", 300, 1000, 450, 1.1);
//ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 600, 1.1);
// limiter for the table sensors
//ArActionLimiterTableSensor tableLimiter;
// actually move the robot
ArActionConstantVelocity constantVelocity("Constant Velocity", 1500);
// turn the orbot if its slowed down
ArActionTurn turn;
// mandatory init
Aria::init();
// Parse all our args
ArSimpleConnector connector(&argc, argv);
if (!connector.parseArgs() || argc > 1)
{
connector.logOptions();
exit(1);
}
// add the sonar to the robot
//robot.addRangeDevice(&sonar);
// add the laser to the robot
robot.addRangeDevice(&sick);
// try to connect, if we fail exit
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.comInt(ArCommands::SONAR, 0);
// turn on the motors, turn off amigobot sounds
//robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::SOUNDTOG, 0);
// add the actions
//robot.addAction(&recover, 100);
//robot.addAction(&bumpers, 75);
robot.addAction(&limiter, 49);
//robot.addAction(&limiter, 48);
//robot.addAction(&tableLimiter, 50);
robot.addAction(&turn, 30);
robot.addAction(&constantVelocity, 20);
robot.setStateReflectionRefreshTime(50);
limiter.activate();
turn.activate();
constantVelocity.activate();
robot.clearDirectMotion();
//robot.setStateReflectionRefreshTime(50);
robot.setRotVelMax(50);
robot.setTransAccel(1500);
robot.setTransDecel(100);
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
connector.setupLaser(&sick);
// now that we're connected to the robot, connect to the laser
sick.runAsync();
if (!sick.blockingConnect())
{
printf("Could not connect to SICK laser... exiting\n");
Aria::shutdown();
return 1;
}
sick.lockDevice();
sick.setMinRange(250);
sick.unlockDevice();
robot.lock();
ArGlobalFunctor1<ArRobot *> userTaskCB(&userTask, &robot);
robot.addUserTask("iotest", 100, &userTaskCB);
requestTime.setToNow();
robot.comInt(ArCommands::IOREQUEST, 1);
robot.comInt(ArCommands::ENABLE, 1);
robot.unlock();
robot.waitForRunExit();
// now exit
Aria::shutdown();
return 0;
}
void PeoplebotTest::userTask(void)
{
switch (myState)
{
case IDLE:
// start wandering
printf("Starting to wander for the first time\n");
myStateTime.setToNow();
myState = WANDERING;
myRobot->addAction(myConstantVelocity, 25);
printf("Opening up ACTS\n");
myCmd = "DISPLAY=";
myCmd += myHostname.c_str();
myCmd += ":0; /usr/local/acts/bin/acts -G bttv -n 0 &> /dev/null &";
system(myCmd.c_str());
break;
case WANDERING:
if (timeout(myWanderingTimeout))
{
myRobot->comInt(ArCommands::SONAR,0);
myRobot->remAction(myConstantVelocity);
myRobot->setVel(0);
myRobot->setRotVel(0);
myState = RESTING;
mySonar = 0;
printf("Going to rest now\n");
printf("Killing ACTS\n");
system("killall -9 acts &> /dev/null");
myStateTime.setToNow();
myTotalWanderTime += myWanderingTimeout;
}
else if (myRobot->getVel() > 0 && mySonar != 1)
{
// ping front sonar
//printf("Enabling front sonar\n");
mySonar = 1;
myRobot->comInt(ArCommands::SONAR, 0);
myRobot->comInt(ArCommands::SONAR, 1);
myRobot->comInt(ArCommands::SONAR, 4);
}
else if (myRobot->getVel() < 0 && mySonar != -1)
{
// ping rear sonar
//printf("Enabling rear sonar\n");
mySonar = -1;
myRobot->comInt(ArCommands::SONAR, 0);
myRobot->comInt(ArCommands::SONAR, 5);
}
break;
case RESTING:
if (timeout(myRestingTimeout))
{
printf("Going to wander now\n");
myState = WANDERING;
myStateTime.setToNow();
myTotalRestTime += myRestingTimeout;
myRobot->clearDirectMotion();
myRobot->addAction(myConstantVelocity, 25);
printf("Opening up ACTS\n");
myCmd = "DISPLAY=";
myCmd += myHostname.c_str();
myCmd += ":0; /usr/local/acts/bin/acts -G bttv -n 0 &> /dev/null &";
system(myCmd.c_str());
}
break;
case OTHER:
default:
break;
};
}
int _tmain(int argc, char** argv)
{
//-------------- M A I N D E L P R O G R A M A D E L R O B O T------------//
//----------------------------------------------------------------------------------//
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
ActionTurns turn(400, 55);
robot.addAction(&turn, 49);
ActionTurns turn2(400, 55);
robot.addAction(&turn2, 49);
turn.deactivate();
turn2.deactivate();
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("Presionar ESC para salir\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
bool first = true;
int goalNum = 0;
int color = 3;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
printf("El contador esta en: --> %d <---\n",goalNum);
if (goalNum > 20)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
{
gotoPoseAction.setGoal(ArPose(1150, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 2)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn.myActivate = 1;
turn.myDirection = 1;
turn.activate();
ArUtil::sleep(1000);
turn.deactivate();
turn.myActivate = 0;
turn.myDirection = 0;
robot.lock();
}
else if (goalNum == 3)
{
gotoPoseAction.setGoal(ArPose(1150, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 4)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 5)
{
gotoPoseAction.setGoal(ArPose(650, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 6)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 7)
{
gotoPoseAction.setGoal(ArPose(650, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 8)
{
gotoPoseAction.setGoal(ArPose(1800,1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 9)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 10)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 850));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
gotoPoseAction.setGoal(ArPose(3500, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1550));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 11)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 613));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
goalNum = 19;
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1785));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 12)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 13)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3500, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3500, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 14)
{
//secuencia de drop de la figura
}
else if (goalNum == 15)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 16)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 17)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 603));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1795));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 18)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 860));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1540));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 19)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 20)
{
gotoPoseAction.setGoal(ArPose(1800, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "No puede llegar al punto, y la aplicacion saldra en %d", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(10);
}
// Robot desconectado al terminal el sleep
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, "teleopActionsExample: 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, "teleopActionsExample: Connected.");
// limiter for close obstacles
ArActionLimiterForwards limiter("speed limiter near", 300, 600, 250);
// limiter for far away obstacles
ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 400);
// limiter that checks IR sensors (like Peoplebot has)
ArActionLimiterTableSensor tableLimiter;
// limiter so we don't bump things backwards
ArActionLimiterBackwards backwardsLimiter;
// the joydrive action
ArActionJoydrive joydriveAct;
// the keydrive action
ArActionKeydrive keydriveAct;
// sonar device, used by the limiter actions.
ArSonarDevice sonar;
printf("This program will allow you to use a joystick or keyboard to control the robot.\nYou can use the arrow keys to drive, and the spacebar to stop.\nFor joystick control press the trigger button and then drive.\nPress escape to exit.\n");
// if we don't have a joystick, let 'em know
if (!joydriveAct.joystickInited())
printf("Do not have a joystick, only the arrow keys on the keyboard will work.\n");
// add the sonar to the robot
robot.addRangeDevice(&sonar);
// set the robots maximum velocity (sonar don't work at all well if you're
// going faster)
robot.setAbsoluteMaxTransVel(400);
// enable the motor
robot.enableMotors();
// Add the actions, with the limiters as highest priority, then the teleop.
// actions. This will keep the teleop. actions from being able to drive too
// fast and hit something
robot.addAction(&tableLimiter, 100);
robot.addAction(&limiter, 95);
robot.addAction(&limiterFar, 90);
robot.addAction(&backwardsLimiter, 85);
robot.addAction(&joydriveAct, 50);
robot.addAction(&keydriveAct, 45);
// Configure the joydrive action so it will let the lower priority actions
// (i.e. keydriveAct) request motion if the joystick button is
// not pressed.
joydriveAct.setStopIfNoButtonPressed(false);
// run the robot, true means that the run will exit if connection lost
robot.run(true);
Aria::exit(0);
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser argParser(&argc, argv);
argParser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&argParser, &robot);
ArLaserConnector laserConnector(&argParser, &robot, &robotConnector);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "Could not connect to the robot.");
if(argParser.checkHelpAndWarnUnparsed())
{
// -help not given, just exit.
Aria::logOptions();
Aria::exit(1);
return 1;
}
}
// Trigger argument parsing
if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
return 1;
}
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
puts("This program will make the robot wander around. It uses some avoidance\n"
"actions if obstacles are detected, otherwise it just has a\n"
"constant forward velocity.\n\nPress CTRL-C or Escape to exit.");
ArSonarDevice sonar;
robot.addRangeDevice(&sonar);
robot.runAsync(true);
// try to connect to laser. if fail, warn but continue, using sonar only
if(!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Warning: unable to connect to requested lasers, will wander using robot sonar only.");
}
// turn on the motors, turn off amigobot sounds
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// add a set of actions that combine together to effect the wander behavior //działa
//general structure: robot.addAction (new Name_of_action (parameters), priority);
//to find out more about Actions go to ~/catkin_ws/src/rosaria/local/Aria/docs/index.html
// if we're stalled we want to back up and recover
robot.addAction(new ArActionStallRecover("stall recover", 100,50,100,30), 100); //basic values 225, 50, 150, 45
//when_stop, cycles_to_move, speed, turn'
//slow down when near obstacle
robot.addAction(new ArActionLimiterForwards("speed limiter near",
200, 200, 200), 95); // basic values 300,600,250
//stop_distance, slow_distance, slow_speed
// react to bumpers
robot.addAction(new ArActionLimiterBackwards, 75);
// turn avoid very close
robot.addAction(new ArActionAvoidFront("speed limiter far", 150,450,20), 47); //basic values 450, 200,15
//when_turn, speed, turn'
// turn avoid things near
robot.addAction(new ArActionAvoidFront("speed limiter far", 300,450,10), 46); //basic values 450, 200,15
//when_turn, speed, turn'
// turn avoid things further away
robot.addAction(new ArActionAvoidFront("speed limiter far", 800,450,5), 45); //basic values 450, 200,15
//when_turn, speed, turn'
//move forward
robot.addAction(new ArActionConstantVelocity("Constant Velocity", 500), 25);
// wait for robot task loop to end before exiting the program
robot.waitForRunExit();
Aria::exit(0);
return 0;
}
int main(int argc, char **argv)
{
int ret;
std::string str;
// the serial connection (robot)
ArSerialConnection serConn;
// tcp connection (sim)
ArTcpConnection tcpConn;
// the robot
ArRobot robot;
// the laser
ArSick sick;
// the laser connection
ArSerialConnection laserCon;
bool useSimForLaser = false;
std::string hostname = "prod.local.net";
// timeouts in minutes
int wanderTime = 0;
int restTime = 0;
// check arguments
if (argc == 3 || argc == 4)
{
wanderTime = atoi(argv[1]);
restTime = atoi(argv[2]);
if (argc == 4)
hostname = argv[3];
}
else
{
printf("\nUsage:\n\tpeoplebotTest <wanderTime> <restTime> <hostname>\n\n");
printf("Times are in minutes. Hostname is the machine to pipe the ACTS display to\n\n");
wanderTime = 15;
restTime = 45;
}
printf("Wander time - %d minutes\nRest time - %d minutes\n", wanderTime, restTime);
printf("Sending display to %s.\n\n", hostname.c_str());
// sonar, must be added to the robot
ArSonarDevice sonar;
// the actions we'll use to wander
ArActionStallRecover recover;
ArActionBumpers bumpers;
ArActionAvoidFront avoidFrontNear("Avoid Front Near", 225, 0);
ArActionAvoidFront avoidFrontFar;
// Make a key handler, so that escape will shut down the program
// cleanly
ArKeyHandler keyHandler;
// mandatory init
Aria::init();
// Add the key handler to Aria so other things can find it
Aria::setKeyHandler(&keyHandler);
// Attach the key handler to a robot now, so that it actually gets
// some processing time so it can work, this will also make escape
// exit
robot.attachKeyHandler(&keyHandler);
// First we see if we can open the tcp connection, if we can we'll
// assume we're connecting to the sim, and just go on... if we
// can't open the tcp it means the sim isn't there, so just try the
// robot
// modify this next line if you're not using default tcp connection
tcpConn.setPort();
// see if we can get to the simulator (true is success)
if (tcpConn.openSimple())
{
// we could get to the sim, so set the robots device connection to the sim
printf("Connecting to simulator through tcp.\n");
robot.setDeviceConnection(&tcpConn);
}
else
{
// we couldn't get to the sim, so set the port on the serial
// connection and then set the serial connection as the robots
// device
// modify the next line if you're not using the first serial port
// to talk to your robot
serConn.setPort();
printf(
"Could not connect to simulator, connecting to robot through serial.\n");
robot.setDeviceConnection(&serConn);
}
// add the sonar to the robot
robot.addRangeDevice(&sonar);
// add the laser
robot.addRangeDevice(&sick);
// try to connect, if we fail exit
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// turn on the motors, turn off amigobot sounds
//robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// turn off the sonar to start with
robot.comInt(ArCommands::SONAR, 0);
// add the actions
robot.addAction(&recover, 100);
robot.addAction(&bumpers, 75);
robot.addAction(&avoidFrontNear, 50);
robot.addAction(&avoidFrontFar, 49);
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
if (!useSimForLaser)
{
sick.setDeviceConnection(&laserCon);
if ((ret = laserCon.open("/dev/ttyS2")) != 0)
{
str = tcpConn.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
sick.configureShort(false);
}
else
{
sick.configureShort(true);
}
sick.runAsync();
if (!sick.blockingConnect())
{
printf("Could not connect to SICK laser... exiting\n");
Aria::shutdown();
return 1;
}
robot.lock();
robot.comInt(ArCommands::ENABLE, 1);
robot.unlock();
// add the peoplebot test
PeoplebotTest pbTest(&robot, wanderTime, restTime, hostname);
robot.waitForRunExit();
// now exit
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArAnalogGyro gyro(&robot);
ArSonarDevice sonar;
ArRobotConnector robotConnector(&parser, &robot);
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Connect to the robot, get some initial data from it such as type and name,
// and then load parameter files for this robot.
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "gotoActionExample: 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, "gotoActionExample: Connected to robot.");
robot.addRangeDevice(&sonar);
robot.runAsync(true);
// Make a key handler, so that escape will shut down the program
// cleanly
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
// Collision avoidance actions at higher priority
ArActionLimiterForwards limiterAction("speed limiter near", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("speed limiter far", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Goto action at lower priority
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Stop action at lower priority, so the robot stops if it has no goal
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// turn on the motors, turn off amigobot sounds
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
const int duration = 30000; //msec
ArLog::log(ArLog::Normal, "Going to four goals in turn for %d seconds, then cancelling goal and exiting.", duration/1000);
bool first = true;
int goalNum = 0;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// Choose a new goal if this is the first loop iteration, or if we
// achieved the previous goal.
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++;
if (goalNum > 4)
goalNum = 1; // start again at goal #1
// set our positions for the different goals
if (goalNum == 1)
gotoPoseAction.setGoal(ArPose(2500, 0));
else if (goalNum == 2)
gotoPoseAction.setGoal(ArPose(2500, 2500));
else if (goalNum == 3)
gotoPoseAction.setGoal(ArPose(0, 2500));
else if (goalNum == 4)
gotoPoseAction.setGoal(ArPose(0, 0));
ArLog::log(ArLog::Normal, "Going to next goal at %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "%d seconds have elapsed. Cancelling current goal, waiting 3 seconds, and exiting.", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(100);
}
// Robot disconnected or time elapsed, shut down
Aria::exit(0);
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
// parse our args and make sure they were all accounted for
ArSimpleConnector connector(&argc, argv);
ArRobot robot;
// the laser. ArActionTriangleDriveTo will use this laser object since it is
// named "laser" when added to the ArRobot.
ArSick sick;
if (!connector.parseArgs() || argc > 1)
{
connector.logOptions();
exit(1);
}
// a key handler so we can do our key handling
ArKeyHandler keyHandler;
// let the global aria stuff know about it
Aria::setKeyHandler(&keyHandler);
// toss it on the robot
robot.attachKeyHandler(&keyHandler);
// add the laser to the robot
robot.addRangeDevice(&sick);
ArSonarDevice sonar;
robot.addRangeDevice(&sonar);
ArActionTriangleDriveTo triangleDriveTo;
ArFunctorC<ArActionTriangleDriveTo> lineGoCB(&triangleDriveTo,
&ArActionTriangleDriveTo::activate);
keyHandler.addKeyHandler('g', &lineGoCB);
keyHandler.addKeyHandler('G', &lineGoCB);
ArFunctorC<ArActionTriangleDriveTo> lineStopCB(&triangleDriveTo,
&ArActionTriangleDriveTo::deactivate);
keyHandler.addKeyHandler('s', &lineStopCB);
keyHandler.addKeyHandler('S', &lineStopCB);
ArActionLimiterForwards limiter("limiter", 150, 0, 0, 1.3);
robot.addAction(&limiter, 70);
ArActionLimiterBackwards limiterBackwards;
robot.addAction(&limiterBackwards, 69);
robot.addAction(&triangleDriveTo, 60);
ArActionKeydrive keydrive;
robot.addAction(&keydrive, 55);
ArActionStop stopAction;
robot.addAction(&stopAction, 50);
// try to connect, if we fail exit
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.comInt(ArCommands::SONAR, 1);
robot.comInt(ArCommands::ENABLE, 1);
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
// now set up the laser
connector.setupLaser(&sick);
sick.runAsync();
if (!sick.blockingConnect())
{
printf("Could not connect to SICK laser... exiting\n");
Aria::shutdown();
return 1;
}
printf("If you press the 'g' key it'll go find a triangle, if you press 's' it'll stop.\n");
robot.waitForRunExit();
return 0;
}
int main (int argc, char** argv) {
Aria::init();
ArRobot robot;
ArSonarDevice sonar;
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
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);
return 1;
}
}
ArSonarDevice sonarDev;
ArPose* poseList = readPostitions("positions.txt");
robot.runAsync(true);
robot.enableMotors();
robot.moveTo(ArPose(0,0,0));
robot.comInt(ArCommands::ENABLE, 1);
robot.addRangeDevice(&sonarDev);
ArActionGoto gotoPoseAction("goto", ArPose(0, 0, 0), 200);
ArActionAvoidFront avoidFront("avoid front");
ArActionStallRecover stallRecover("stall recover");
robot.addAction(&gotoPoseAction, 50);
robot.addAction(&avoidFront, 60);
robot.moveTo(ArPose(0,0,0));
int length = ARRAY_SIZE(poseList);
cout<<"do dai"<<length;
ArServerBase server;
ArServerSimpleOpener simpleOpener(&parser);
char fileDir[1024];
ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(),
"ArNetworking/examples");
// first open the server up
if (!simpleOpener.open(&server, fileDir, 240))
{
if (simpleOpener.wasUserFileBad())
printf("Bad user/password/permissions file\n");
else
printf("Could not open server port\n");
exit(1);
}
ArServerInfoRobot serverInfo(&server, &robot);
GotoGoal gotoGoal(&robot, &sonar, &server, &serverInfo);
gotoGoal.init(argc, argv);
float angle = 0;
VideoCapture cap;
cap.open(0);
Rect trackWindow;
//var check find ball
bool checkObject = false;
int hsize = 16;
namedWindow( "threshold", 0 );
namedWindow( "trackbar", 0 );
namedWindow( "Histogram", 0 );
namedWindow( "main", 0 );
createTrackbar( "Vmin", "trackbar", &vmin, 256, 0 );
createTrackbar( "Vmax", "trackbar", &vmax, 256, 0 );
createTrackbar( "Smin", "trackbar", &smin, 256, 0 );
CascadeClassifier c;
c.load("cascade.xml");
Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
float vel = 0;
int i = 0;
while(1)
{
cap >> frame;
if( frame.empty() ){
cout<<"error camera"<<endl;
break;
}
frame.copyTo(image);
cvtColor(image, hsv, COLOR_BGR2HSV);
int _vmin = vmin, _vmax = vmax;
inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)), Scalar(180, 256, MAX(_vmin, _vmax)), mask);
gotoPoseAction.setGoal(poseList[i]);
while (!gotoPoseAction.haveAchievedGoal())
{
ArLog::log(ArLog::Normal, "goal(%.2f, %0.2f) x = %.2f, y = %.2f", poseList[i].getX(), poseList[i].getY(), robot.getX(), robot.getY());
// if (!checkObject)
checkObject = detect(frame, c);
if (checkObject)
cout <<"Phat hien doi tuong"<<endl;
else
cout <<"Khong phat hien doi tuong"<<endl;
if (checkObject) {
if(trackObject(hsv, mask)) {
float d = distance();
if (d < 250) {
gotoGoal.move(-200);
} else if ( d >= 250 && d <= 300) {
gotoGoal.stop();
}
else {
vel = d * 0.7;
vel = (int) (vel/50) * 50;
if(vel > 200) {
vel = 200;
gotoGoal.setVel(vel);
}
angle = determindRotate();
cout <<"khoang cach: "<<d<<"\tGoc quay: "<<angle<<"\t van toc = "<<vel<<endl;
if (angle != 0) {
gotoGoal.stop();
gotoGoal.rotate(angle);
}
}
}
}
imshow("main", image);
imshow( "threshold", mask );
imshow( "Histogram", histimg );
}
i++;
}
ArUtil::sleep(2000);
Aria::shutdown();
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser argParser(&argc, argv);
argParser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&argParser, &robot);
ArLaserConnector laserConnector(&argParser, &robot, &robotConnector);
// Always try to connect to the first laser:
argParser.addDefaultArgument("-connectLaser");
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "Could not connect to the robot.");
if(argParser.checkHelpAndWarnUnparsed())
{
// -help not given, just exit.
Aria::logOptions();
Aria::exit(1);
}
}
// Trigger argument parsing
if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
puts("This program will make the robot wander around. It uses some avoidance\n"
"actions if obstacles are detected, otherwise it just has a\n"
"constant forward velocity.\n\nPress CTRL-C or Escape to exit.");
ArSonarDevice sonar;
robot.addRangeDevice(&sonar);
robot.runAsync(true);
// try to connect to laser. if fail, warn but continue, using sonar only
if(!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Warning: unable to connect to requested lasers, will wander using robot sonar only.");
}
// turn on the motors, turn off amigobot sounds
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// add a set of actions that combine together to effect the wander behavior
ArActionStallRecover recover;
ArActionBumpers bumpers;
ArActionAvoidFront avoidFrontNear("Avoid Front Near", 225, 0);
ArActionAvoidFront avoidFrontFar;
ArActionConstantVelocity constantVelocity("Constant Velocity", 400);
robot.addAction(&recover, 100);
robot.addAction(&bumpers, 75);
robot.addAction(&avoidFrontNear, 50);
robot.addAction(&avoidFrontFar, 49);
robot.addAction(&constantVelocity, 25);
// wait for robot task loop to end before exiting the program
robot.waitForRunExit();
Aria::exit(0);
}
int main(void)
{
ArSerialConnection con;
ArRobot robot;
int ret;
std::string str;
ArActionLimiterForwards limiter("speed limiter near", 300, 600, 250);
ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 400);
ArActionLimiterBackwards backwardsLimiter;
ArActionConstantVelocity stop("stop", 0);
ArActionConstantVelocity backup("backup", -200);
ArSonarDevice sonar;
ArACTS_1_2 acts;
ArSonyPTZ sony(&robot);
ArGripper gripper(&robot, ArGripper::GENIO);
Acquire acq(&acts, &gripper);
DriveTo driveTo(&acts, &gripper, &sony);
PickUp pickUp(&acts, &gripper, &sony);
TakeBlockToWall takeBlock(&robot, &gripper, &sony, &acq, &driveTo, &pickUp,
&backup);
Aria::init();
if (!acts.openPort(&robot))
{
printf("Could not connect to acts\n");
exit(1);
}
robot.addRangeDevice(&sonar);
//con.setBaud(38400);
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
robot.setDeviceConnection(&con);
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
sony.init();
ArUtil::sleep(1000);
//robot.setAbsoluteMaxTransVel(400);
robot.setStateReflectionRefreshTime(250);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
ArUtil::sleep(200);
robot.addAction(&limiter, 100);
robot.addAction(&limiterFar, 99);
robot.addAction(&backwardsLimiter, 98);
robot.addAction(&acq, 77);
robot.addAction(&driveTo, 76);
robot.addAction(&pickUp, 75);
robot.addAction(&backup, 50);
robot.addAction(&stop, 30);
robot.run(true);
Aria::shutdown();
return 0;
}
