void manualControlHandler(){
if(firstCall){
firstCall=false;
showMenu();
}
if(keyPressedBefore && !driver->estaEjecutando()){
keyPressedBefore=false;
showMenu();
}
if(mrpt::system::os::kbhit() ){
char c = mrpt::system::os::getch();
keyPressedBefore=true;
switch(c){
case '\033':
c=mrpt::system::os::getch(); // skip the [
cout << "Siguiente caracter" << (int)c << endl;
double v;
switch(mrpt::system::os::getch()) { // the real value
case 'A':
// code for arrow up
v=robot->getVel();
robot->setVel(v+50);
break;
case 'B':
// code for arrow down
v=robot->getVel();
robot->setVel(v-50);
break;
case 'C':
// code for arrow right
v=robot->getRotVel();
robot->setRotVel(v-5);
break;
case 'D':
// code for arrow left
v=robot->getRotVel();
robot->setRotVel(v+5);
break;
}
break;
case ' ':
robot->stop();
break;
case 'x':
//Aria::shutdown();
driver->stopRunning();
robot->stopRunning();
break;
case 'c':
guardarContinuo();
break;
case 'p':
start();
break;
case 'g':
guardar();
break;
case 'w':
guardarTrayectoria();
break;
case 't':
testParado();
break;
case 's':
stop();
break;
}
}
}
int main(int argc, char **argv)
{
Aria::init();
ArRobot robot;
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArLog::log(ArLog::Terse, "WARNING: this program does no sensing or avoiding of obstacles, the robot WILL collide with any objects in the way! Make sure the robot has approximately 3 meters of free space on all sides.");
// ArRobotConnector connects to the robot, get some initial data from it such as type and name,
// and then loads parameter files for this robot.
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "simpleMotionCommands: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
return 1;
}
}
if (!Aria::parseArgs())
{
Aria::logOptions();
Aria::exit(1);
return 1;
}
ArLog::log(ArLog::Normal, "simpleMotionCommands: Connected.");
// Start the robot processing cycle running in the background.
// True parameter means that if the connection is lost, then the
// run loop ends.
robot.runAsync(true);
// Print out some data from the SIP.
// We must "lock" the ArRobot object
// before calling its methods, and "unlock" when done, to prevent conflicts
// with the background thread started by the call to robot.runAsync() above.
// See the section on threading in the manual for more about this.
// Make sure you unlock before any sleep() call or any other code that will
// take some time; if the robot remains locked during that time, then
// ArRobot's background thread will be blocked and unable to communicate with
// the robot, call tasks, etc.
robot.lock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getRotVel(), robot.getBatteryVoltage());
robot.unlock();
// Sleep for 3 seconds.
ArLog::log(ArLog::Normal, "simpleMotionCommands: Will start driving in 3 seconds...");
ArUtil::sleep(3000);
// Set forward velocity to 50 mm/s
ArLog::log(ArLog::Normal, "simpleMotionCommands: Driving forward at 250 mm/s for 5 sec...");
robot.lock();
robot.enableMotors();
robot.setVel(250);
robot.unlock();
ArUtil::sleep(5000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
robot.lock();
robot.stop();
robot.unlock();
ArUtil::sleep(1000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Rotating at 10 deg/s for 5 sec...");
robot.lock();
robot.setRotVel(10);
robot.unlock();
ArUtil::sleep(5000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Rotating at -10 deg/s for 10 sec...");
robot.lock();
robot.setRotVel(-10);
robot.unlock();
ArUtil::sleep(10000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Driving forward at 150 mm/s for 5 sec...");
robot.lock();
robot.setRotVel(0);
robot.setVel(150);
robot.unlock();
ArUtil::sleep(5000);
ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
robot.lock();
robot.stop();
robot.unlock();
ArUtil::sleep(1000);
// Other motion command functions include move(), setHeading(),
// setDeltaHeading(). You can also adjust acceleration and deceleration
// values used by the robot with setAccel(), setDecel(), setRotAccel(),
// setRotDecel(). See the ArRobot class documentation for more.
robot.lock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getRotVel(), robot.getBatteryVoltage());
robot.unlock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Ending robot thread...");
robot.stopRunning();
// wait for the thread to stop
robot.waitForRunExit();
// exit
ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
Aria::exit(0);
return 0;
}
int main ( int argc, char *argv[] ){
//cout << "running....\n";
try{
// Create the socket
ServerSocket server ( 30000 );
Aria::init();
Arnl::init();
ArRobot robot;
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSonarDevice sonar;
ArSimpleConnector simpleConnector(&parser);
// Our server for mobile eyes
ArServerBase moServer;
// Set up our simpleOpener
ArServerSimpleOpener simpleOpener(&parser);
parser.loadDefaultArguments();
if (!Aria::parseArgs () || !parser.checkHelpAndWarnUnparsed()){
Aria::logOptions ();
Aria::exit (1);
}
//Add the sonar to the robot
robot.addRangeDevice(&sonar);
// Look for map in the current directory
ArMap arMap;
// set it up to ignore empty file names (otherwise the parseFile
// on the config will fail)
arMap.setIgnoreEmptyFileName (true);
// First open the server
if (!simpleOpener.open(&moServer)){
if (simpleOpener.wasUserFileBad())
ArLog::log(ArLog::Normal, "Bad user file");
else
ArLog::log(ArLog::Normal, "Could not open server port");
exit(2);
}
// Connect to the robot
if (!simpleConnector.connectRobot (&robot)){
ArLog::log (ArLog::Normal, "Could not connect to robot... exiting");
Aria::exit (3);
}
// Create the localization task (it will start its own thread here)
ArSonarLocalizationTask locTask(&robot, &sonar, &arMap);
ArLocalizationManager locManager(&robot, &arMap);
ArLog::log(ArLog::Normal, "Creating sonar localization task");
locManager.addLocalizationTask(&locTask);
// Set the initial pose to the robot's "Home" position from the map, or
// (0,0,0) if none, then let the localization thread take over.
locTask.localizeRobotAtHomeNonBlocking();
//Create the path planning task
ArPathPlanningTask pathTask(&robot,&sonar,&arMap);
ArLog::log(ArLog::Normal, "Robot Server: Connected.");
robot.enableMotors();
robot.clearDirectMotion();
// Start the robot processing cycle running in the background.
// True parameter means that if the connection is lost, then the
// run loop ends.
robot.runAsync(true);
// Read in parameter files.
Aria::getConfig ()->useArgumentParser (&parser);
if (!Aria::getConfig ()->parseFile (Arnl::getTypicalParamFileName ())){
ArLog::log (ArLog::Normal, "Trouble loading configuration file, exiting");
Aria::exit (5);
}
//Create the three states
robot.lock();
Follow follow = Follow(&robot,&sonar);
GoTo goTo(&robot,&pathTask,&arMap);
Search s(&robot,&sonar);
// Bumpers.
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
pathTask.addRangeDevice(&bumpers, ArPathPlanningTask::CURRENT);
// Forbidden regions from the map
ArForbiddenRangeDevice forbidden(&arMap);
robot.addRangeDevice(&forbidden);
pathTask.addRangeDevice(&forbidden, ArPathPlanningTask::CURRENT);
// Mode To stop and remain stopped:
ArServerModeStop modeStop(&moServer, &robot);
// Action to slow down robot when localization score drops but not lost.
ArActionSlowDownWhenNotCertain actionSlowDown(&locTask);
pathTask.getPathPlanActionGroup()->addAction(&actionSlowDown, 140);
// Action to stop the robot when localization is "lost" (score too low)
ArActionLost actionLostPath(&locTask, &pathTask);
pathTask.getPathPlanActionGroup()->addAction(&actionLostPath, 150);
// These provide various kinds of information to the client:
ArServerInfoRobot serverInfoRobot(&moServer, &robot);
ArServerInfoSensor serverInfoSensor(&moServer, &robot);
ArServerInfoPath serverInfoPath(&moServer, &robot, &pathTask);
// Provide the map to the client (and related controls):
// This uses both lines and points now, since everything except
// sonar localization uses both (path planning with sonar still uses both)
ArServerHandlerMap serverMap(&moServer, &arMap);
// Provides localization info and allows the client (MobileEyes) to relocalize at a given
// pose:
ArServerInfoLocalization serverInfoLocalization(&moServer, &robot, &locTask);
ArServerHandlerLocalization serverLocHandler(&moServer, &robot, &locTask);
robot.unlock();
moServer.runAsync();
//Main loop
while (true){
//The socket to accept connection
ServerSocket new_sock;
server.accept ( new_sock );
int state = 1; //1 = Follow, 2 = Search, 3 = GoTo
int lastPos[2]; //Storing last position of BB to search the target
int data[2]; //matrix with X,Y of BB
try{
while ( true ){
//receive data from tld
new_sock >> data;
//cout << data[0] << "," << data[1] << endl;
if(data[0] != -1)
lastPos[0] = data[0];
//cout << state <<endl; //for debugging
//Main logic
switch(state){
case 1:
cout << "Following target\n";
state = follow.run(data);
break;
case 2:
cout << "Searching for target\n";
state = s.seek(lastPos, data);
break;
case 3:
cout << "Going to ...\n";
state = goTo.run(data);
break;
default:
cout << "Not a case for state\n";
break;
}
std::cout << "Loc score: " << locTask.getLocalizationScore() << std::endl;
}
}
catch ( SocketException& ) {
cout << "Lost Connection" << endl;
robot.lock();
robot.stop();
robot.unlock();
}
}
}
catch ( SocketException& e ){
std::cout << "Exception was caught:" << e.description() << "\nExiting.\n";
}
ArLog::log(ArLog::Normal, "RobotServer: Exiting.");
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser argParser(&argc, argv);
ArSimpleConnector con(&argParser);
ArRobot robot;
// the connection handler from above
ConnHandler ch(&robot);
if(!Aria::parseArgs())
{
Aria::logOptions();
Aria::shutdown();
return 1;
}
if(!con.connectRobot(&robot))
{
ArLog::log(ArLog::Normal, "directMotionExample: Could not connect to the robot. Exiting.");
return 1;
}
ArLog::log(ArLog::Normal, "directMotionExample: Connected.");
// Run the robot processing cycle in its own thread. Note that after starting this
// thread, we must lock and unlock the ArRobot object before and after
// accessing it.
robot.runAsync(false);
// Send the robot a series of motion commands directly, sleeping for a
// few seconds afterwards to give the robot time to execute them.
printf("directMotionExample: Setting rot velocity to 100 deg/sec then sleeping 3 seconds\n");
robot.lock();
robot.setRotVel(100);
robot.unlock();
ArUtil::sleep(3*1000);
printf("Stopping\n");
robot.lock();
robot.setRotVel(0);
robot.unlock();
ArUtil::sleep(200);
printf("directMotionExample: Telling the robot to go 300 mm on left wheel and 100 mm on right wheel for 5 seconds\n");
robot.lock();
robot.setVel2(300, 100);
robot.unlock();
ArTime start;
start.setToNow();
while (1)
{
robot.lock();
if (start.mSecSince() > 5000)
{
robot.unlock();
break;
}
robot.unlock();
ArUtil::sleep(50);
}
printf("directMotionExample: Telling the robot to move forwards one meter, then sleeping 5 seconds\n");
robot.lock();
robot.move(1000);
robot.unlock();
start.setToNow();
while (1)
{
robot.lock();
if (robot.isMoveDone())
{
printf("directMotionExample: Finished distance\n");
robot.unlock();
break;
}
if (start.mSecSince() > 5000)
{
printf("directMotionExample: Distance timed out\n");
robot.unlock();
break;
}
robot.unlock();
ArUtil::sleep(50);
}
printf("directMotionExample: Telling the robot to move backwards one meter, then sleeping 5 seconds\n");
robot.lock();
robot.move(-1000);
robot.unlock();
start.setToNow();
while (1)
{
robot.lock();
if (robot.isMoveDone())
{
printf("directMotionExample: Finished distance\n");
robot.unlock();
break;
}
if (start.mSecSince() > 10000)
{
printf("directMotionExample: Distance timed out\n");
robot.unlock();
break;
}
robot.unlock();
ArUtil::sleep(50);
}
printf("directMotionExample: Telling the robot to turn to 180, then sleeping 4 seconds\n");
robot.lock();
robot.setHeading(180);
robot.unlock();
start.setToNow();
while (1)
{
robot.lock();
if (robot.isHeadingDone(5))
{
printf("directMotionExample: Finished turn\n");
robot.unlock();
break;
}
if (start.mSecSince() > 5000)
{
printf("directMotionExample: Turn timed out\n");
robot.unlock();
break;
}
robot.unlock();
ArUtil::sleep(100);
}
printf("directMotionExample: Telling the robot to turn to 90, then sleeping 2 seconds\n");
robot.lock();
robot.setHeading(90);
robot.unlock();
start.setToNow();
while (1)
{
robot.lock();
if (robot.isHeadingDone(5))
{
printf("directMotionExample: Finished turn\n");
robot.unlock();
break;
}
if (start.mSecSince() > 5000)
{
printf("directMotionExample: turn timed out\n");
robot.unlock();
break;
}
robot.unlock();
ArUtil::sleep(100);
}
printf("directMotionExample: Setting vel2 to 200 mm/sec on both wheels, then sleeping 3 seconds\n");
robot.lock();
robot.setVel2(200, 200);
robot.unlock();
ArUtil::sleep(3000);
printf("directMotionExample: Stopping the robot, then sleeping for 2 seconds\n");
robot.lock();
robot.stop();
robot.unlock();
ArUtil::sleep(2000);
printf("directMotionExample: Setting velocity to 200 mm/sec then sleeping 3 seconds\n");
robot.lock();
robot.setVel(200);
robot.unlock();
ArUtil::sleep(3000);
printf("directMotionExample: Stopping the robot, then sleeping for 2 seconds\n");
robot.lock();
robot.stop();
robot.unlock();
ArUtil::sleep(2000);
printf("directMotionExample: Setting vel2 with 0 on left wheel, 200 mm/sec on right, then sleeping 5 seconds\n");
robot.lock();
robot.setVel2(0, 200);
robot.unlock();
ArUtil::sleep(5000);
printf("directMotionExample: Telling the robot to rotate at 50 deg/sec then sleeping 5 seconds\n");
robot.lock();
robot.setRotVel(50);
robot.unlock();
ArUtil::sleep(5000);
printf("directMotionExample: Telling the robot to rotate at -50 deg/sec then sleeping 5 seconds\n");
robot.lock();
robot.setRotVel(-50);
robot.unlock();
ArUtil::sleep(5000);
printf("directMotionExample: Setting vel2 with 0 on both wheels, then sleeping 3 seconds\n");
robot.lock();
robot.setVel2(0, 0);
robot.unlock();
ArUtil::sleep(3000);
printf("directMotionExample: Now having the robot change heading by -125 degrees, then sleeping for 6 seconds\n");
robot.lock();
robot.setDeltaHeading(-125);
robot.unlock();
ArUtil::sleep(6000);
printf("directMotionExample: Now having the robot change heading by 45 degrees, then sleeping for 6 seconds\n");
robot.lock();
robot.setDeltaHeading(45);
robot.unlock();
ArUtil::sleep(6000);
printf("directMotionExample: Setting vel2 with 200 on left wheel, 0 on right wheel, then sleeping 5 seconds\n");
robot.lock();
robot.setVel2(200, 0);
robot.unlock();
ArUtil::sleep(5000);
printf("directMotionExample: Done, shutting down Aria and exiting.\n");
Aria::shutdown();
return 0;
}
