ArnlSystem::Error ArnlSystem::setup()
{
// Note, various objects are allocated here which are never deleted (freed),
// if you want to destroy and create new ArnlSystem objects in the future
// these need to be stored and deleted in the constructor. If you use it once
// and keep it for the lifetime of the process, its ok.
robot = new ArRobot();
ArArgumentBuilder *args = new ArArgumentBuilder();
ArArgumentParser *argparser = new ArArgumentParser(args);
argparser->loadDefaultArguments(); // adds any arguments given in /etc/Aria.args. Useful on robots with unusual serial port or baud rate (e.g. pioneer lx)
argparser->addDefaultArgument("-connectLaser");
ArRobotConnector *robotConnector = new ArRobotConnector(argparser, robot);
if(!robotConnector->connectRobot())
{
ArLog::log(ArLog::Normal, "%sError: could not connect to robot.", logprefix);
return RobotConnectError;
}
robot->addPacketHandler(new ArRetFunctor1C<bool, ArnlSystem, ArRobotPacket*>(this, &ArnlSystem::handleDebugMessage));
// callback will be called by ArRobot background processing thread for every SIP data packet received from robot
//robot->addSensorInterpTask("ROSPublishingTask", 100, &myPublishCB);
char fileDir[1024];
ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(),
"examples");
ArLog::addToConfig(Aria::getConfig());
ArAnalogGyro *gyro = new ArAnalogGyro(robot); // for old robots with separate gyro communication
serverBase = new ArServerBase;
ArServerSimpleOpener *simpleOpener = new ArServerSimpleOpener(argparser);
ArLaserConnector *laserConnector = new ArLaserConnector(argparser, robot, robotConnector);
if(!Aria::parseArgs() || !argparser->checkHelpAndWarnUnparsed())
{
return ParseArgumentsError;
}
ArSonarDevice *sonarDev = new ArSonarDevice;
robot->addRangeDevice(sonarDev);
ArRobotConfig *robotConfig = new ArRobotConfig(robot);
robotConfig->addAnalogGyro(gyro);
robot->runAsync(true);
ArLog::log(ArLog::Normal, "%sConnecting to laser(s) configured in parameters...", logprefix);
if (!laserConnector->connectLasers())
{
ArLog::log(ArLog::Terse, "%sError: Could not connect to laser(s). Exiting.", logprefix);
return LaserConnectError;
}
ArLog::log(ArLog::Normal, "%sDone connecting to laser(s).", logprefix);
robot->lock();
ArLaser *firstLaser = robot->findLaser(1);
assert(firstLaser);
if (firstLaser == NULL || !firstLaser->isConnected())
{
ArLog::log(ArLog::Terse, "%sDid not have laser 1 or it is not connected, cannot start localization and/or mapping... exiting", logprefix);
return LaserConnectError;
}
robot->unlock();
map = new ArMap(fileDir);
map->setIgnoreEmptyFileName(true);
map->setIgnoreCase(true);
//map->setIgnoreBadFile(true);
pathTask = new ArPathPlanningTask (robot, sonarDev, map);
locTask = new ArLocalizationTask (robot, firstLaser, map);
std::map<int, ArLaser *>::iterator laserIt;
for (laserIt = robot->getLaserMap()->begin();
laserIt != robot->getLaserMap()->end();
laserIt++)
{
int laserNum = (*laserIt).first;
ArLaser *laser = (*laserIt).second;
if(!laser->isConnected())
continue;
laser->setCumulativeBufferSize(200);
pathTask->addRangeDevice(laser, ArPathPlanningTask::BOTH);
laser->setCumulativeCleanOffset(laserNum * 100);
laser->resetLastCumulativeCleanTime();
std::string laserPacketCountName;
laserPacketCountName = laser->getName();
laserPacketCountName += " Packet Count";
Aria::getInfoGroup()->addStringInt(
laserPacketCountName.c_str(), 10,
new ArRetFunctorC<int, ArLaser>(laser,
&ArLaser::getReadingCount));
}
if (!simpleOpener->open(serverBase, fileDir, 240))
{
ArLog::log(ArLog::Normal, "%sError: Could not open server.", logprefix);
exit(2);
}
ArBumpers *bumpers = new ArBumpers;
robot->addRangeDevice(bumpers);
pathTask->addRangeDevice(bumpers, ArPathPlanningTask::CURRENT);
ArForbiddenRangeDevice *forbidden = new ArForbiddenRangeDevice(map);
robot->addRangeDevice(forbidden);
pathTask->addRangeDevice(forbidden, ArPathPlanningTask::CURRENT);
robot->unlock();
ArActionSlowDownWhenNotCertain *actionSlowDown = new ArActionSlowDownWhenNotCertain(locTask);
pathTask->getPathPlanActionGroup()->addAction(actionSlowDown, 140);
ArActionLost *actionLostPath = new ArActionLost(locTask, pathTask);
pathTask->getPathPlanActionGroup()->addAction(actionLostPath, 150);
ArGlobalReplanningRangeDevice *replanDev = new ArGlobalReplanningRangeDevice(pathTask);
ArServerInfoDrawings *drawings = new ArServerInfoDrawings(serverBase);
drawings->addRobotsRangeDevices(robot);
drawings->addRangeDevice(replanDev);
drawings->addDrawing(
new ArDrawingData("polyLine", ArColor(200,200,200), 1, 75),
"Local Plan Area",
new ArFunctor2C<ArPathPlanningTask, ArServerClient*, ArNetPacket*>(pathTask, &ArPathPlanningTask::drawSearchRectangle)
);
drawings->addDrawing(
new ArDrawingData("polySegments", ArColor(166, 166, 166), 1, 60, 100, "DefaultOn"),
"Path Planning Clearances",
new ArFunctor2C<ArPathPlanningTask, ArServerClient*, ArNetPacket*>(pathTask, &ArPathPlanningTask::drawRobotBounds)
);
drawings->addDrawing(
new ArDrawingData("polyDots", ArColor(0, 255, 0), 100, 75),
"Localization Points",
new ArFunctor2C<ArLocalizationTask, ArServerClient*, ArNetPacket*>(locTask, &ArLocalizationTask::drawRangePoints)
);
ArServerHandlerCommands *commands = new ArServerHandlerCommands(serverBase);
new ArServerInfoRobot(serverBase, robot);
new ArServerInfoSensor(serverBase, robot);
ArServerInfoPath *serverInfoPath = new ArServerInfoPath(serverBase, robot, pathTask);
serverInfoPath->addSearchRectangleDrawing(drawings);
serverInfoPath->addControlCommands(commands);
new ArServerInfoLocalization(serverBase, robot, locTask);
ArServerHandlerLocalization *serverLocHandler = new ArServerHandlerLocalization(serverBase, robot, locTask);
new ArServerHandlerMap(serverBase, map);
new ArServerSimpleComUC(commands, robot);
new ArServerSimpleComMovementLogging(commands, robot);
new ArServerSimpleComLogRobotConfig(commands, robot);
new ArServerSimpleServerCommands(commands, serverBase);
new ArServerHandlerCommMonitor(serverBase);
new ArServerHandlerConfig (serverBase, Aria::getConfig(),
Arnl::getTypicalDefaultParamFileName(),
Aria::getDirectory());
ArServerHandlerPopup *popupServer = new ArServerHandlerPopup(serverBase);
new RobotMonitor(robot, popupServer);
modeGoto = new ArServerModeGoto (serverBase, robot, pathTask, map);
modeStop = new ArServerModeStop(serverBase, robot);
new ArSonarAutoDisabler(robot);
ArServerModeRatioDrive *modeRatioDrive = new ArServerModeRatioDrive(serverBase, robot);
ArActionLost *actionLostRatioDrive = new ArActionLost(locTask, pathTask, modeRatioDrive);
modeRatioDrive->getActionGroup()->addAction(actionLostRatioDrive, 110);
modeRatioDrive->addToConfig(Aria::getConfig(), "Teleop settings");
modeRatioDrive->addControlCommands(commands);
//Wander Mode//
modeWander = new ArServerModeWander(serverBase, robot);
ArActionLost *actionLostWander = new ArActionLost(locTask,pathTask,modeWander);
modeWander->getActionGroup()->addAction(actionLostWander, 110);
//Wander Mode//
// Tool to log data periodically to a file
//ArDataLogger dataLogger(&robot, "datalog.txt");
//dataLogger.addToConfig(Aria::getConfig()); // make it configurable through ArConfig
// Automatically add anything from the global info group to the data logger.
//Aria::getInfoGroup()->addAddStringCallback(dataLogger.getAddStringFunctor());
ArServerInfoStrings *stringInfo = new ArServerInfoStrings(serverBase);
Aria::getInfoGroup()->addAddStringCallback(stringInfo->getAddStringFunctor());
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(robot,
&ArRobot::getMotorPacCount));
Aria::getInfoGroup()->addStringDouble(
"Laser Localization Score", 8,
new ArRetFunctorC<double, ArLocalizationTask>(
locTask, &ArLocalizationTask::getLocalizationScore),
"%.03f");
Aria::getInfoGroup()->addStringInt(
"Laser Loc Num Samples", 8,
new ArRetFunctorC<int, ArLocalizationTask>(
locTask, &ArLocalizationTask::getCurrentNumSamples),
"%4d");
ArSystemStatus::startPeriodicUpdate(1000); // update every 1 second
Aria::getInfoGroup()->addStringDouble("CPU Use", 10, ArSystemStatus::getCPUPercentFunctor(), "% 4.0f%%");
Aria::getInfoGroup()->addStringInt("Wireless Link Quality", 9, ArSystemStatus::getWirelessLinkQualityFunctor(), "%d");
Aria::getInfoGroup()->addStringInt("Wireless Link Noise", 9, ArSystemStatus::getWirelessLinkNoiseFunctor(), "%d");
Aria::getInfoGroup()->addStringInt("Wireless Signal", 9, ArSystemStatus::getWirelessLinkSignalFunctor(), "%d");
modeDock = NULL;
modeDock = ArServerModeDock::createDock(serverBase, robot, locTask, pathTask);
if (modeDock != NULL)
{
modeDock->checkDock();
modeDock->addAsDefaultMode();
modeDock->addToConfig(Aria::getConfig());
modeDock->addControlCommands(commands);
}
modeStop->addAsDefaultMode();
ArServerHandlerMapping *handlerMapping = new ArServerHandlerMapping(serverBase, robot, firstLaser,
fileDir, "", true);
// make laser localization stop while mapping
handlerMapping->addMappingStartCallback(
new ArFunctor1C<ArLocalizationTask, bool>
(locTask, &ArLocalizationTask::setIdleFlag, true));
// and then make it start again when we're doine
handlerMapping->addMappingEndCallback(
new ArFunctor1C<ArLocalizationTask, bool>
(locTask, &ArLocalizationTask::setIdleFlag, false));
// Make it so our "lost" actions don't stop us while mapping
handlerMapping->addMappingStartCallback(actionLostPath->getDisableCB());
handlerMapping->addMappingStartCallback(actionLostRatioDrive->getDisableCB());
// And then let them make us stop as usual when done mapping
handlerMapping->addMappingEndCallback(actionLostPath->getEnableCB());
handlerMapping->addMappingEndCallback(actionLostRatioDrive->getEnableCB());
// don't let forbidden lines show up as obstacles while mapping
// (they'll just interfere with driving while mapping, and localization is off anyway)
handlerMapping->addMappingStartCallback(forbidden->getDisableCB());
// let forbidden lines show up as obstacles again as usual after mapping
handlerMapping->addMappingEndCallback(forbidden->getEnableCB());
// create a pose storage class, this will let the program keep track
// of where the robot is between runs... after we try and restore
// from this file it will start saving the robot's pose into the
// file
ArPoseStorage *poseStorage = new ArPoseStorage(robot);
/// if we could restore the pose from then set the sim there (this
/// won't do anything to the real robot)... if we couldn't restore
/// the pose then just reset the position of the robot (which again
/// won't do anything to the real robot)
if (poseStorage->restorePose("robotPose"))
serverLocHandler->setSimPose(robot->getPose());
//else
// robot->com(ArCommands::SIM_RESET);
/* File transfer services: */
#ifdef WIN32
// Not implemented for Windows yet.
ArLog::log(ArLog::Terse, "%sfile upload/download services are not implemented for Windows; not enabling them.", logprefix);
#else
new ArServerFileLister (serverBase, fileDir);
new ArServerFileToClient (serverBase, fileDir);
new ArServerFileFromClient (serverBase, fileDir, "/tmp");
new ArServerDeleteFileOnServer (serverBase, fileDir);
#endif
// When parsing the configuration file, also look at the program's command line options
// from the command-line argument parser as well as the configuration file.
// (So you can use any argument on the command line, namely -map.)
Aria::getConfig()->useArgumentParser(argparser);
// Read in parameter files.
ArLog::log(ArLog::Normal, "%sLoading config file %s%s into ArConfig...", logprefix, Aria::getDirectory(), Arnl::getTypicalParamFileName());
if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
{
ArLog::log(ArLog::Normal, "%sCould not load ARNL configuration file. Set ARNL environment variable to use non-default installation directory.", logprefix);
return ConfigError;
}
if (!simpleOpener->checkAndLog() || !argparser->checkHelpAndWarnUnparsed())
{
return ParseArgumentsError;
}
// Warn if there is no map
if (map->getFileName() == NULL || strlen(map->getFileName()) <= 0)
{
ArLog::log(ArLog::Terse, "%s### No map file is set up, you can make a map with the following procedure", logprefix);
ArLog::log(ArLog::Terse, "%s 0) You can find this information in README.txt or docs/Mapping.txt", logprefix);
ArLog::log(ArLog::Terse, "%s 1) Connect to this server with MobileEyes", logprefix);
ArLog::log(ArLog::Terse, "%s 2) Go to Tools->Map Creation->Start Scan", logprefix);
ArLog::log(ArLog::Terse, "%s 3) Give the map a name and hit okay", logprefix);
ArLog::log(ArLog::Terse, "%s 4) Drive the robot around your space (see docs/Mapping.txt", logprefix);
ArLog::log(ArLog::Terse, "%s 5) Go to Tools->Map Creation->Stop Scan", logprefix);
ArLog::log(ArLog::Terse, "%s 6) Start up Mapper3", logprefix);
ArLog::log(ArLog::Terse, "%s 7) Go to File->Open on Robot", logprefix);
ArLog::log(ArLog::Terse, "%s 8) Select the .2d you created", logprefix);
ArLog::log(ArLog::Terse, "%s 9) Create a .map", logprefix);
ArLog::log(ArLog::Terse, "%s 10) Go to File->Save on Robot", logprefix);
ArLog::log(ArLog::Terse, "%s 11) In MobileEyes, go to Tools->Robot Config", logprefix);
ArLog::log(ArLog::Terse, "%s 12) Choose the Files section", logprefix);
ArLog::log(ArLog::Terse, "%s 13) Enter the path and name of your new .map file for the value of the Map parameter.", logprefix);
ArLog::log(ArLog::Terse, "%s 14) Press OK and your new map should become the map used", logprefix);
}
// Print a log message notifying user of the directory for map files
ArLog::log(ArLog::Normal, "%sDirectory for maps and file serving: %s", logprefix, fileDir);
ArLog::log(ArLog::Normal, "%sSee the ARNL README.txt for more information", logprefix);
// Do an initial localization of the robot-> ARNL and SONARNL try all the home points
// in the map, as well as the robot's current odometric position, as possible
// places the robot is likely to be at startup. If successful, it will
// also save the position it found to be the best localized position as the
// "Home" position, which can be obtained from the localization task (and is
// used by the "Go to home" network request).
// MOGS instead just initializes at the current GPS position.
// (You will stil have to drive the robot so it can determine the robot's
// heading, however. See GPS Mapping instructions.)
locTask->localizeRobotAtHomeBlocking();
// Start the networking server's thread
serverBase->runAsync();
ArLog::log(ArLog::Normal, "%sARNL server is now running. You may connect with MobileEyes and Mapper3.", logprefix);
robot->lock();
robot->enableMotors();
robot->disableSonar();
robot->unlock();
return OK;
}
int main(int argc, char **argv)
{
// Initialize Aria and Arnl global information
Aria::init();
Arnl::init();
// The robot object
ArRobot robot;
// Parse the command line arguments.
ArArgumentParser parser(&argc, argv);
// Set up our simpleConnector, to connect to the robot and laser
//ArSimpleConnector simpleConnector(&parser);
ArRobotConnector robotConnector(&parser, &robot);
// Connect to the robot
if (!robotConnector.connectRobot())
{
ArLog::log(ArLog::Normal, "Error: Could not connect to robot... exiting");
Aria::exit(3);
}
// Set up where we'll look for files. Arnl::init() set Aria's default
// directory to Arnl's default directory; addDirectories() appends this
// "examples" directory.
char fileDir[1024];
ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(),
"examples");
// To direct log messages to a file, or to change the log level, use these calls:
//ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);
//ArLog::init(ArLog::File, ArLog::Verbose);
// Add a section to the configuration to change ArLog parameters
ArLog::addToConfig(Aria::getConfig());
// set up a gyro (if the robot is older and its firmware does not
// automatically incorporate gyro corrections, then this object will do it)
ArAnalogGyro gyro(&robot);
// Our networking server
ArServerBase server;
// Set up our simpleOpener, used to set up the networking server
ArServerSimpleOpener simpleOpener(&parser);
// the laser connector
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Tell the laser connector to always connect the first laser since
// this program always requires a laser.
parser.addDefaultArgument("-connectLaser");
// Load default arguments for this computer (from /etc/Aria.args, environment
// variables, and other places)
parser.loadDefaultArguments();
// Parse arguments
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
logOptions(argv[0]);
Aria::exit(1);
}
// This causes Aria::exit(9) to be called if the robot unexpectedly
// disconnects
ArGlobalFunctor1<int> shutdownFunctor(&Aria::exit, 9);
robot.addDisconnectOnErrorCB(&shutdownFunctor);
// Create an ArSonarDevice object (ArRangeDevice subclass) and
// connect it to the robot.
ArSonarDevice sonarDev;
robot.addRangeDevice(&sonarDev);
// This object will allow robot's movement parameters to be changed through
// a Robot Configuration section in the ArConfig global configuration facility.
ArRobotConfig robotConfig(&robot);
// Include gyro configuration options in the robot configuration section.
robotConfig.addAnalogGyro(&gyro);
// Start the robot thread.
robot.runAsync(true);
// connect the laser(s) if it was requested, this adds them to the
// robot too, and starts them running in their own threads
if (!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Could not connect to all lasers... exiting\n");
Aria::exit(2);
}
// find the laser we should use for localization and/or mapping,
// which will be the first laser
robot.lock();
ArLaser *firstLaser = robot.findLaser(1);
if (firstLaser == NULL || !firstLaser->isConnected())
{
ArLog::log(ArLog::Normal, "Did not have laser 1 or it is not connected, cannot start localization and/or mapping... exiting");
Aria::exit(2);
}
robot.unlock();
/* Create and set up map object */
// Set up the map object, this will look for files in the examples
// directory (unless the file name starts with a /, \, or .
// You can take out the 'fileDir' argument to look in the program's current directory
// instead.
// When a configuration file is loaded into ArConfig later, if it specifies a
// map file, then that file will be loaded as the map.
ArMap map(fileDir);
// set it up to ignore empty file names (otherwise if a configuration omits
// the map file, the whole configuration change will fail)
map.setIgnoreEmptyFileName(true);
// ignore the case, so that if someone is using MobileEyes or
// MobilePlanner from Windows and changes the case on a map name,
// it will still work.
map.setIgnoreCase(true);
/* Create localization and path planning threads */
ArPathPlanningTask pathTask(&robot, &sonarDev, &map);
ArLog::log(ArLog::Normal, "Creating laser localization task");
// Laser Monte-Carlo Localization
ArLocalizationTask locTask(&robot, firstLaser, &map);
// Set some options on each laser that the laser connector
// connected to.
std::map<int, ArLaser *>::iterator laserIt;
for (laserIt = robot.getLaserMap()->begin();
laserIt != robot.getLaserMap()->end();
laserIt++)
{
int laserNum = (*laserIt).first;
ArLaser *laser = (*laserIt).second;
// Skip lasers that aren't connected
if(!laser->isConnected())
continue;
// add the disconnectOnError CB to shut things down if the laser
// connection is lost
laser->addDisconnectOnErrorCB(&shutdownFunctor);
// set the number of cumulative readings the laser will take
laser->setCumulativeBufferSize(200);
// add the lasers to the path planning task
pathTask.addRangeDevice(laser, ArPathPlanningTask::BOTH);
// set the cumulative clean offset (so that they don't all fire at once)
laser->setCumulativeCleanOffset(laserNum * 100);
// reset the cumulative clean time (to make the new offset take effect)
laser->resetLastCumulativeCleanTime();
// Add the packet count to the Aria info strings (It will be included in
// MobileEyes custom details so you can monitor whether the laser data is
// being received correctly)
std::string laserPacketCountName;
laserPacketCountName = laser->getName();
laserPacketCountName += " Packet Count";
Aria::getInfoGroup()->addStringInt(
laserPacketCountName.c_str(), 10,
new ArRetFunctorC<int, ArLaser>(laser,
&ArLaser::getReadingCount));
}
// Used for optional multirobot features (see below) (TODO move to multirobot
// example?)
ArClientSwitchManager clientSwitch(&server, &parser);
/* Start the server */
// Open the networking server
if (!simpleOpener.open(&server, fileDir, 240))
{
ArLog::log(ArLog::Normal, "Error: Could not open server.");
exit(2);
}
/* Create various services that provide network access to clients (such as
* MobileEyes), as well as add various additional features to ARNL */
// ARNL can optionally get information about the positions of other robots from a
// "central server" (see central server example program), if command
// line options specifying the address of the central server was given.
// If there is no central server, then the address of each other robot
// can instead be given in the configuration, and the multirobot systems
// will connect to each robot (or "peer") individually.
// TODO move this to multirobot example?
bool usingCentralServer = false;
if(clientSwitch.getCentralServerHostName() != NULL)
usingCentralServer = true;
// if we're using the central server then we want to create the
// multiRobot central classes
if (usingCentralServer)
{
// Make the handler for multi robot information (this sends the
// information to the central server)
//ArServerHandlerMultiRobot *handlerMultiRobot =
new ArServerHandlerMultiRobot(&server, &robot,
&pathTask,
&locTask, &map);
// Normally each robot, and the central server, must all have
// the same map name for the central server to share robot
// information. (i.e. they are operating in the same space).
// This changes the map name that ArServerHandlerMutliRobot
// reports to the central server, in case you want this individual
// robot to load a different map file name, but still report
// the common map file to the central server.
//handlerMultiRobot->overrideMapName("central.map");
// the range device that gets the multi robot information from
// the central server and presents it as virtual range readings
// to ARNL
ArMultiRobotRangeDevice *multiRobotRangeDevice = new ArMultiRobotRangeDevice(&server);
robot.addRangeDevice(multiRobotRangeDevice);
pathTask.addRangeDevice(multiRobotRangeDevice,
ArPathPlanningTask::BOTH);
// Set up options for drawing multirobot information in MobileEyes.
multiRobotRangeDevice->setCurrentDrawingData(
new ArDrawingData("polyDots", ArColor(125, 125, 0),
100, 73, 1000), true);
multiRobotRangeDevice->setCumulativeDrawingData(
new ArDrawingData("polyDots", ArColor(125, 0, 125),
100, 72, 1000), true);
// This sets up the localization to use the known poses of other robots
// for its localization in cases where numerous robots crowd out the map.
locTask.setMultiRobotCallback(multiRobotRangeDevice->getOtherRobotsCB());
}
// if we're not using a central server then create the multirobot peer classes
else
{
// set the path planning so it uses the explicit collision range for how far its planning
pathTask.setUseCollisionRangeForPlanningFlag(true);
// make our thing that gathers information from the other servers
ArServerHandlerMultiRobotPeer *multiRobotPeer = NULL;
ArMultiRobotPeerRangeDevice *multiRobotPeerRangeDevice = NULL;
multiRobotPeerRangeDevice = new ArMultiRobotPeerRangeDevice(&map);
// make our thing that sends information to the other servers
multiRobotPeer = new ArServerHandlerMultiRobotPeer(&server, &robot,
&pathTask, &locTask);
// hook the two together so they both know what priority this robot is
multiRobotPeer->setNewPrecedenceCallback(
multiRobotPeerRangeDevice->getSetPrecedenceCallback());
// hook the two together so they both know what priority this
// robot's fingerprint is
multiRobotPeer->setNewFingerprintCallback(
multiRobotPeerRangeDevice->getSetFingerprintCallback());
// hook the two together so that the range device can call on the
// server handler to change its fingerprint
multiRobotPeerRangeDevice->setChangeFingerprintCB(
multiRobotPeer->getChangeFingerprintCB());
// then add the robot to the places it needs to be
robot.addRangeDevice(multiRobotPeerRangeDevice);
pathTask.addRangeDevice(multiRobotPeerRangeDevice,
ArPathPlanningTask::BOTH);
// Set the range device so that we can see the information its using
// to avoid, you can comment these out in order to not see them
multiRobotPeerRangeDevice->setCurrentDrawingData(
new ArDrawingData("polyDots", ArColor(125, 125, 0),
100, 72, 1000), true);
multiRobotPeerRangeDevice->setCumulativeDrawingData(
new ArDrawingData("polyDots", ArColor(125, 0, 125),
100, 72, 1000), true);
// This sets up the localization to use the known poses of other robots
// for its localization in cases where numerous robots crowd out the map.
locTask.setMultiRobotCallback(
multiRobotPeerRangeDevice->getOtherRobotsCB());
}
/* Add additional range devices to the robot and path planning task (so it
avoids obstacles detected by these devices) */
// Add IR range device to robot and path planning task (so it avoids obstacles
// detected by this device)
robot.lock();
ArIRs irs;
robot.addRangeDevice(&irs);
pathTask.addRangeDevice(&irs, ArPathPlanningTask::CURRENT);
// Add bumpers range device to robot and path planning task (so it avoids obstacles
// detected by this device)
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
pathTask.addRangeDevice(&bumpers, ArPathPlanningTask::CURRENT);
// Add range device which uses forbidden regions given in the map to give virtual
// range device readings to ARNL. (so it avoids obstacles
// detected by this device)
ArForbiddenRangeDevice forbidden(&map);
robot.addRangeDevice(&forbidden);
pathTask.addRangeDevice(&forbidden, ArPathPlanningTask::CURRENT);
robot.unlock();
// Action to slow down robot when localization score drops but not lost.
ArActionSlowDownWhenNotCertain actionSlowDown(&locTask);
pathTask.getPathPlanActionGroup()->addAction(&actionSlowDown, 140);
// Action to stop the robot when localization is "lost" (score too low)
ArActionLost actionLostPath(&locTask, &pathTask);
pathTask.getPathPlanActionGroup()->addAction(&actionLostPath, 150);
// Arnl uses this object when it must replan its path because its
// path is completely blocked. It will use an older history of sensor
// readings to replan this new path. This should not be used with SONARNL
// since sonar readings are not accurate enough and may prevent the robot
// from planning through space that is actually clear.
ArGlobalReplanningRangeDevice replanDev(&pathTask);
// Service to provide drawings of data in the map display :
ArServerInfoDrawings drawings(&server);
drawings.addRobotsRangeDevices(&robot);
drawings.addRangeDevice(&replanDev);
/* Draw a box around the local path planning area use this
(You can enable this particular drawing from custom commands
which is set up down below in ArServerInfoPath) */
ArDrawingData drawingDataP("polyLine", ArColor(200,200,200), 1, 75);
ArFunctor2C<ArPathPlanningTask, ArServerClient *, ArNetPacket *>
drawingFunctorP(&pathTask, &ArPathPlanningTask::drawSearchRectangle);
drawings.addDrawing(&drawingDataP, "Local Plan Area", &drawingFunctorP);
/* Show the sample points used by MCL */
ArDrawingData drawingDataL("polyDots", ArColor(0,255,0), 100, 75);
ArFunctor2C<ArLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorL(&locTask, &ArLocalizationTask::drawRangePoints);
drawings.addDrawing(&drawingDataL, "Localization Points", &drawingFunctorL);
// "Custom" commands. You can add your own custom commands here, they will
// be available in MobileEyes' custom commands (enable in the toolbar or
// access through Robot Tools)
ArServerHandlerCommands commands(&server);
// These provide various kinds of information to the client:
ArServerInfoRobot serverInfoRobot(&server, &robot);
ArServerInfoSensor serverInfoSensor(&server, &robot);
ArServerInfoPath serverInfoPath(&server, &robot, &pathTask);
serverInfoPath.addSearchRectangleDrawing(&drawings);
serverInfoPath.addControlCommands(&commands);
// Provides localization info and allows the client (MobileEyes) to relocalize at a given
// pose:
ArServerInfoLocalization serverInfoLocalization(&server, &robot, &locTask);
ArServerHandlerLocalization serverLocHandler(&server, &robot, &locTask);
// If you're using MobileSim, ArServerHandlerLocalization sends it a command
// to move the robot's true pose if you manually do a localization through
// MobileEyes. To disable that behavior, use this constructor call instead:
// ArServerHandlerLocalization serverLocHandler(&server, &robot, true, false);
// The fifth argument determines whether to send the command to MobileSim.
// Provide the map to the client (and related controls):
ArServerHandlerMap serverMap(&server, &map);
// These objects add some simple (custom) commands to 'commands' for testing and debugging:
ArServerSimpleComUC uCCommands(&commands, &robot); // Send any command to the microcontroller
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // configure logging
ArServerSimpleComLogRobotConfig configCommands(&commands, &robot); // trigger logging of the robot config parameters
// ArServerSimpleServerCommands serverCommands(&commands, &server); // monitor networking behavior (track packets sent etc.)
// service that allows the client to monitor the communication link status
// between the robot and the client.
//
ArServerHandlerCommMonitor handlerCommMonitor(&server);
// service that allows client to change configuration parameters in ArConfig
ArServerHandlerConfig handlerConfig(&server, Aria::getConfig(),
Arnl::getTypicalDefaultParamFileName(),
Aria::getDirectory());
/* Set up the possible modes for remote control from a client such as
* MobileEyes:
*/
// Mode To go to a goal or other specific point:
ArServerModeGoto modeGoto(&server, &robot, &pathTask, &map,
locTask.getRobotHome(),
locTask.getRobotHomeCallback());
// Mode To stop and remain stopped:
ArServerModeStop modeStop(&server, &robot);
// Cause the sonar to turn off automatically
// when the robot is stopped, and turn it back on when commands to move
// are sent. (Note, if using SONARNL to localize, then don't do this
// since localization may get lost)
ArSonarAutoDisabler sonarAutoDisabler(&robot);
// Teleoperation modes To drive by keyboard, joystick, etc:
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
// ArServerModeDrive modeDrive(&server, &robot); // Older mode for compatability
// Prevent normal teleoperation driving if localization is lost using
// a high-priority action, which enables itself when the particular mode is
// active.
// (You have to enter unsafe drive mode to drive when lost.)
ArActionLost actionLostRatioDrive(&locTask, &pathTask, &modeRatioDrive);
modeRatioDrive.getActionGroup()->addAction(&actionLostRatioDrive, 110);
// Add drive mode section to the configuration, and also some custom (simple) commands:
modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings");
modeRatioDrive.addControlCommands(&commands);
// Wander mode (also prevent wandering if lost):
ArServerModeWander modeWander(&server, &robot);
ArActionLost actionLostWander(&locTask, &pathTask, &modeWander);
modeWander.getActionGroup()->addAction(&actionLostWander, 110);
// This provides a small table of interesting information for the client
// to display to the operator. You can add your own callbacks to show any
// data you want.
ArServerInfoStrings stringInfo(&server);
Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());
// Provide a set of informational data (turn on in MobileEyes with
// View->Custom Details)
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(&robot,
&ArRobot::getMotorPacCount));
Aria::getInfoGroup()->addStringDouble(
"Laser Localization Score", 8,
new ArRetFunctorC<double, ArLocalizationTask>(
&locTask, &ArLocalizationTask::getLocalizationScore),
"%.03f");
Aria::getInfoGroup()->addStringInt(
"Laser Loc Num Samples", 8,
new ArRetFunctorC<int, ArLocalizationTask>(
&locTask, &ArLocalizationTask::getCurrentNumSamples),
"%4d");
// Display gyro status if gyro is enabled and is being handled by the firmware (gyro types 2, 3, or 4).
// (If the firmware detects an error communicating with the gyro or IMU it
// returns a flag, and stops using it.)
// (This gyro type parameter, and fault flag, are only in ARCOS, not Seekur firmware)
if(robot.getOrigRobotConfig() && robot.getOrigRobotConfig()->getGyroType() > 1)
{
Aria::getInfoGroup()->addStringString(
"Gyro/IMU Status", 10,
new ArGlobalRetFunctor1<const char*, ArRobot*>(&getGyroStatusString, &robot)
);
}
// Setup the dock if there is a docking system on board.
ArServerModeDock *modeDock = NULL;
modeDock = ArServerModeDock::createDock(&server, &robot, &locTask,
&pathTask);
if (modeDock != NULL)
{
modeDock->checkDock();
modeDock->addAsDefaultMode();
modeDock->addToConfig(Aria::getConfig());
modeDock->addControlCommands(&commands);
}
// Make Stop mode the default (If current mode deactivates without entering
// a new mode, then Stop Mode will be selected)
modeStop.addAsDefaultMode();
// TODO move up near where stop mode is created?
/* Services that allow the client to initiate scanning with the laser to
create maps in Mapper3 (So not possible with SONARNL): */
ArServerHandlerMapping handlerMapping(&server, &robot, firstLaser,
fileDir, "", true);
// make laser localization stop while mapping
handlerMapping.addMappingStartCallback(
new ArFunctor1C<ArLocalizationTask, bool>
(&locTask, &ArLocalizationTask::setIdleFlag, true));
// and then make it start again when we're doine
handlerMapping.addMappingEndCallback(
new ArFunctor1C<ArLocalizationTask, bool>
(&locTask, &ArLocalizationTask::setIdleFlag, false));
// Make it so our "lost" actions don't stop us while mapping
handlerMapping.addMappingStartCallback(actionLostPath.getDisableCB());
handlerMapping.addMappingStartCallback(actionLostRatioDrive.getDisableCB());
handlerMapping.addMappingStartCallback(actionLostWander.getDisableCB());
// And then let them make us stop as usual when done mapping
handlerMapping.addMappingEndCallback(actionLostPath.getEnableCB());
handlerMapping.addMappingEndCallback(actionLostRatioDrive.getEnableCB());
handlerMapping.addMappingEndCallback(actionLostWander.getEnableCB());
// don't let forbidden lines show up as obstacles while mapping
// (they'll just interfere with driving while mapping, and localization is off anyway)
handlerMapping.addMappingStartCallback(forbidden.getDisableCB());
// let forbidden lines show up as obstacles again as usual after mapping
handlerMapping.addMappingEndCallback(forbidden.getEnableCB());
/*
// If we are on a simulator, move the robot back to its starting position,
// and reset its odometry.
// This will allow localizeRobotAtHomeBlocking() below will (probably) work (it
// tries current odometry (which will be 0,0,0) and all the map
// home points.
// (Ignored by a real robot)
//robot.com(ArCommands::SIM_RESET);
*/
// create a pose storage class, this will let the program keep track
// of where the robot is between runs... after we try and restore
// from this file it will start saving the robot's pose into the
// file
ArPoseStorage poseStorage(&robot);
/// if we could restore the pose from then set the sim there (this
/// won't do anything to the real robot)... if we couldn't restore
/// the pose then just reset the position of the robot (which again
/// won't do anything to the real robot)
if (poseStorage.restorePose("robotPose"))
serverLocHandler.setSimPose(robot.getPose());
else
robot.com(ArCommands::SIM_RESET);
/* File transfer services: */
#ifdef WIN32
// Not implemented for Windows yet.
ArLog::log(ArLog::Normal, "Note, file upload/download services are not implemented for Windows; not enabling them.");
#else
// This block will allow you to set up where you get and put files
// to/from, just comment them out if you don't want this to happen
// /*
ArServerFileLister fileLister(&server, fileDir);
ArServerFileToClient fileToClient(&server, fileDir);
ArServerFileFromClient fileFromClient(&server, fileDir, "/tmp");
ArServerDeleteFileOnServer deleteFileOnServer(&server, fileDir);
// */
#endif
/* Video image streaming, and camera controls (Requires SAVserver or ACTS) */
// Forward any video if either ACTS or SAV server are running.
// You can find out more about SAV and ACTS on our website
// http://robots.activmedia.com. ACTS is for color tracking and is
// a seperate product. SAV just does software A/V transmitting and is
// free to all our customers. Just run ACTS or SAV server before you
// start this program and this class here will forward video from the
// server to the client.
ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);
// make a camera to use in case we have video. the camera collection collects
// multiple ptz cameras
ArPTZ *camera = NULL;
ArServerHandlerCamera *handlerCamera = NULL;
ArCameraCollection *cameraCollection = NULL;
// if we have video then set up a camera
if (videoForwarder.isForwardingVideo())
{
cameraCollection = new ArCameraCollection();
cameraCollection->addCamera("Cam1", "PTZ", "Camera", "PTZ");
videoForwarder.setCameraName("Cam1");
videoForwarder.addToCameraCollection(*cameraCollection);
camera = new ArVCC4(&robot); //, invertedCamera, ArVCC4::COMM_UNKNOWN, true, true);
// To use an RVision SEE camera instead:
// camera = new ArRVisionPTZ(&robot);
camera->init();
handlerCamera = new ArServerHandlerCamera("Cam1",
&server,
&robot,
camera,
cameraCollection);
pathTask.addGoalFinishedCB(
new ArFunctorC<ArServerHandlerCamera>(
handlerCamera,
&ArServerHandlerCamera::cameraModeLookAtGoalClearGoal));
}
// After all of the cameras / videos have been created and added to the collection,
// then start the collection server.
//
if (cameraCollection != NULL) {
new ArServerHandlerCameraCollection(&server, cameraCollection);
}
/* Load configuration values, map, and begin! */
// When parsing the configuration file, also look at the program's command line options
// from the command-line argument parser as well as the configuration file.
// (So you can use any argument on the command line, namely -map.)
Aria::getConfig()->useArgumentParser(&parser);
puts("xxx");puts("aaa"); fflush(stdout);
// Read in parameter files.
ArLog::log(ArLog::Normal, "Loading config file %s into ArConfig (base directory %s)...", Arnl::getTypicalParamFileName(), Aria::getConfig()->getBaseDirectory());
if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
{
ArLog::log(ArLog::Normal, "Trouble loading configuration file, exiting");
Aria::exit(5);
}
// Warn about unknown params.
if (!simpleOpener.checkAndLog() || !parser.checkHelpAndWarnUnparsed())
{
logOptions(argv[0]);
Aria::exit(6);
}
// Warn if there is no map
if (map.getFileName() == NULL || strlen(map.getFileName()) <= 0)
{
ArLog::log(ArLog::Normal, "");
ArLog::log(ArLog::Normal, "### No map file is set up, you can make a map with the following procedure");
ArLog::log(ArLog::Normal, " 0) You can find this information in README.txt or docs/Mapping.txt");
ArLog::log(ArLog::Normal, " 1) Connect to this server with MobileEyes");
ArLog::log(ArLog::Normal, " 2) Go to Tools->Map Creation->Start Scan");
ArLog::log(ArLog::Normal, " 3) Give the map a name and hit okay");
ArLog::log(ArLog::Normal, " 4) Drive the robot around your space (see docs/Mapping.txt");
ArLog::log(ArLog::Normal, " 5) Go to Tools->Map Creation->Stop Scan");
ArLog::log(ArLog::Normal, " 6) Start up Mapper3");
ArLog::log(ArLog::Normal, " 7) Go to File->Open on Robot");
ArLog::log(ArLog::Normal, " 8) Select the .2d you created");
ArLog::log(ArLog::Normal, " 9) Create a .map");
ArLog::log(ArLog::Normal, " 10) Go to File->Save on Robot");
ArLog::log(ArLog::Normal, " 11) In MobileEyes, go to Tools->Robot Config");
ArLog::log(ArLog::Normal, " 12) Choose the Files section");
ArLog::log(ArLog::Normal, " 13) Enter the path and name of your new .map file for the value of the Map parameter.");
ArLog::log(ArLog::Normal, " 14) Press OK and your new map should become the map used");
ArLog::log(ArLog::Normal, "");
}
// Print a log message notifying user of the directory for map files
ArLog::log(ArLog::Normal, "");
ArLog::log(ArLog::Normal,
"Directory for maps and file serving: %s", fileDir);
ArLog::log(ArLog::Normal, "See the ARNL README.txt for more information");
ArLog::log(ArLog::Normal, "");
// Do an initial localization of the robot. It tries all the home points
// in the map, as well as the robot's current odometric position, as possible
// places the robot is likely to be at startup. If successful, it will
// also save the position it found to be the best localized position as the
// "Home" position, which can be obtained from the localization task (and is
// used by the "Go to home" network request).
locTask.localizeRobotAtHomeBlocking();
// Let the client switch manager (for multirobot) spin off into its own thread
// TODO move to multirobot example?
clientSwitch.runAsync();
// Start the networking server's thread
server.runAsync();
// Add a key handler so that you can exit by pressing
// escape. Note that this key handler, however, prevents this program from
// running in the background (e.g. as a system daemon or run from
// the shell with "&") -- it will lock up trying to read the keys;
// remove this if you wish to be able to run this program in the background.
ArKeyHandler *keyHandler;
if ((keyHandler = Aria::getKeyHandler()) == NULL)
{
keyHandler = new ArKeyHandler;
Aria::setKeyHandler(keyHandler);
robot.lock();
robot.attachKeyHandler(keyHandler);
robot.unlock();
puts("Server running. To exit, press escape.");
}
ArnlASyncTaskExample asyncTaskExample(&pathTask, &robot, &modeGoto, &parser);
// Enable the motors and wait until the robot exits (disconnection, etc.) or this program is
// canceled.
robot.enableMotors();
robot.waitForRunExit();
Aria::exit(0);
}
int main(int argc, char **argv)
{
// Initialize Aria and Arnl global information
Aria::init();
Arnl::init();
// You can change default ArLog options in this call, but the settings in the parameter file
// (arnl.p) which is loaded below (Aria::getConfig()->parseFile()) will override the options.
//ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);
// Used to parse the command line arguments.
ArArgumentParser parser(&argc, argv);
// Load default arguments for this computer (from /etc/Aria.args, environment
// variables, and other places)
parser.loadDefaultArguments();
#ifdef ARNL_LASER
// Tell the laser connector to always connect the first laser since
// this program always requires a laser.
parser.addDefaultArgument("-connectLaser");
#endif
// The robot object
ArRobot robot;
// handle messages from robot controller firmware and log the contents
robot.addPacketHandler(new ArGlobalRetFunctor1<bool, ArRobotPacket*>(&handleDebugMessage));
// This object is used to connect to the robot, which can be configured via
// command line arguments.
ArRobotConnector robotConnector(&parser, &robot);
// Connect to the robot
if (!robotConnector.connectRobot())
{
ArLog::log(ArLog::Normal, "Error: Could not connect to robot... exiting");
Aria::exit(3);
}
// Set up where we'll look for files. Arnl::init() set Aria's default
// directory to Arnl's default directory; addDirectories() appends this
// "examples" directory.
char fileDir[1024];
ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(),
"examples");
// To direct log messages to a file, or to change the log level, use these calls:
//ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);
//ArLog::init(ArLog::File, ArLog::Verbose);
// Add a section to the configuration to change ArLog parameters
ArLog::addToConfig(Aria::getConfig());
// set up a gyro (if the robot is older and its firmware does not
// automatically incorporate gyro corrections, then this object will do it)
ArAnalogGyro gyro(&robot);
// Our networking server
ArServerBase server;
#ifdef ARNL_GPSLOC
// GPS connector.
ArGPSConnector gpsConnector(&parser);
#endif
// Set up our simpleOpener, used to set up the networking server
ArServerSimpleOpener simpleOpener(&parser);
#ifdef ARNL_LASER
// the laser connector
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
#endif
// used to connect to camera PTZ control
ArPTZConnector ptzConnector(&parser, &robot);
#ifdef ARNL_MULTIROBOT
// Used to connect to a "central server" which can be used as a proxy
// for multiple robot servers, and as a way for them to also communicate with
// each other. (objects implementing some of these inter-robot communication
// features are created below).
// NOTE: If the central server is running on the same host as robot server(s),
// then you must use the -serverPort argument to instruct these robot-control
// server(s) to use different ports than the default 7272, since the central
// server will use that port.
ArClientSwitchManager clientSwitch(&server, &parser);
#endif
// Load default arguments for this computer (from /etc/Aria.args, environment
// variables, and other places)
parser.loadDefaultArguments();
// Parse arguments
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
logOptions(argv[0]);
Aria::exit(1);
}
// This causes Aria::exit(9) to be called if the robot unexpectedly
// disconnects
ArGlobalFunctor1<int> shutdownFunctor(&Aria::exit, 9);
robot.addDisconnectOnErrorCB(&shutdownFunctor);
// Create an ArSonarDevice object (ArRangeDevice subclass) and
// connect it to the robot.
ArSonarDevice sonarDev;
robot.addRangeDevice(&sonarDev);
// This object will allow robot's movement parameters to be changed through
// a Robot Configuration section in the ArConfig global configuration facility.
ArRobotConfig robotConfig(&robot);
// Include gyro configuration options in the robot configuration section.
robotConfig.addAnalogGyro(&gyro);
// Start the robot thread.
robot.runAsync(true);
#ifdef ARNL_GPSLOC
// On the Seekur, power to the GPS receiver is switched on by this command.
// (A third argument of 0 would turn it off). On other robots this command is
// ignored. If this fails, you may need to reset the port with ARIA demo or
// seekurPower program (turn port off then on again). If the port is already
// on, it will have no effect on the GPS (it will remain powered.)
// Do this now before connecting to lasers to give it plenty of time to power
// on, initialize, and find a good position before GPS localization begins.
ArLog::log(ArLog::Normal, "Turning on GPS power... (Seekur/Seekur Jr. power port 6)");
robot.com2Bytes(116, 6, 1);
#endif
#ifdef ARNL_LASER
// connect the laser(s) if it was requested, this adds them to the
// robot too, and starts them running in their own threads
ArLog::log(ArLog::Normal, "Connecting to laser(s) configured in parameters...");
if (!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Error: Could not connect to laser(s). Exiting.");
Aria::exit(2);
}
ArLog::log(ArLog::Normal, "Done connecting to laser(s).");
#endif
#if defined(ARNL_LASERLOC) || defined(ARNL_MAPPING)
// find the laser we should use for localization and/or mapping,
// which will be the first laser
robot.lock();
ArLaser *firstLaser = robot.findLaser(1);
if (firstLaser == NULL || !firstLaser->isConnected())
{
ArLog::log(ArLog::Normal, "Did not have laser 1 or it is not connected, cannot start localization and/or mapping... exiting");
Aria::exit(2);
}
robot.unlock();
#endif
/* Create and set up map object */
// Set up the map object, this will look for files in the examples
// directory (unless the file name starts with a /, \, or .
// You can take out the 'fileDir' argument to look in the program's current directory
// instead.
// When a configuration file is loaded into ArConfig later, if it specifies a
// map file, then that file will be loaded as the map.
ArMap map(fileDir);
// set it up to ignore empty file names (otherwise if a configuration omits
// the map file, the whole configuration change will fail)
map.setIgnoreEmptyFileName(true);
// ignore the case, so that if someone is using MobileEyes or
// MobilePlanner from Windows and changes the case on a map name,
// it will still work.
map.setIgnoreCase(true);
/* Create localization threads */
#ifdef ARNL_MULTILOC
ArLocalizationManager locManager(&robot, &map);
#define LOCTASK locManager
#endif
#ifdef ARNL_LASERLOC
ArLog::log(ArLog::Normal, "Creating laser localization task");
// Laser Monte-Carlo Localization
ArLocalizationTask locTask(&robot, firstLaser, &map);
#ifdef ARNL_MULTILOC
locManager.addLocalizationTask(&locTask);
#else
#define LOCTASK locTask
#endif
#endif
#ifdef ARNL_SONARLOC
ArLog::log(ArLog::Normal, "Creating sonar localization task");
ArSonarLocalizationTask locTask(&robot, &sonarDev, &map);
#ifdef ARNL_MULTILOC
locManager.addLocalizationTask(&locTask);
#else
#define LOCTASK locTask
#endif
#endif
#ifndef ARNL_GPSLOC
// A callback function, which is called if localization fails
ArGlobalFunctor1<int> locFailedCB(&locFailed);
locTask.setFailedCallBack(&locFailedCB); //, &locTask);
#endif
#ifdef ARNL_GPSLOC
ArLog::log(ArLog::Normal, "Connecting to GPS...");
// Connect to GPS
ArGPS *gps = gpsConnector.createGPS(&robot);
if(!gps || !gps->connect())
{
ArLog::log(ArLog::Terse, "Error connecting to GPS device."
"Try -gpsType, -gpsPort, and/or -gpsBaud command-line arguments."
"Use -help for help. Exiting.");
Aria::exit(5);
}
// set up GPS localization task
ArLog::log(ArLog::Normal, "Creating GPS localization task");
ArGPSLocalizationTask gpsLocTask(&robot, gps, &map);
#ifdef ARNL_MULTILOC
locManager.addLocalizationTask(&gpsLocTask);
#else
#define LOCTASK gpsLocTask
#endif
#endif
#ifdef ARNL_LASER
// Set some options and callbacks on each laser that the laser connector
// connected to.
std::map<int, ArLaser *>::iterator laserIt;
for (laserIt = robot.getLaserMap()->begin();
laserIt != robot.getLaserMap()->end();
laserIt++)
{
int laserNum = (*laserIt).first;
ArLaser *laser = (*laserIt).second;
// Skip lasers that aren't connected
if(!laser->isConnected())
continue;
// add the disconnectOnError CB to shut things down if the laser
// connection is lost
laser->addDisconnectOnErrorCB(&shutdownFunctor);
// set the number of cumulative readings the laser will take
laser->setCumulativeBufferSize(200);
// set the cumulative clean offset (so that they don't all fire at once)
laser->setCumulativeCleanOffset(laserNum * 100);
// reset the cumulative clean time (to make the new offset take effect)
laser->resetLastCumulativeCleanTime();
// Add the packet count to the Aria info strings (It will be included in
// MobileEyes custom details so you can monitor whether the laser data is
// being received correctly)
std::string laserPacketCountName;
laserPacketCountName = laser->getName();
laserPacketCountName += " Packet Count";
Aria::getInfoGroup()->addStringInt(
laserPacketCountName.c_str(), 10,
new ArRetFunctorC<int, ArLaser>(laser,
&ArLaser::getReadingCount));
}
#endif
/* Start the server */
// Open the networking server
if (!simpleOpener.open(&server, fileDir, 240))
{
ArLog::log(ArLog::Normal, "Error: Could not open server.");
exit(2);
}
/* Create various services that provide network access to clients (such as
* MobileEyes), as well as add various additional features to ARNL */
robot.unlock();
// Service to provide drawings of data in the map display :
ArServerInfoDrawings drawings(&server);
drawings.addRobotsRangeDevices(&robot);
#ifdef ARNL_LASERLOC
/* Show the sample points used by MCL */
ArDrawingData drawingDataL("polyDots", ArColor(0,255,0), 100, 75);
ArFunctor2C<ArLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorL(&locTask, &ArLocalizationTask::drawRangePoints);
drawings.addDrawing(&drawingDataL, "Localization Points", &drawingFunctorL);
#endif
#ifdef ARNL_GPSLOC
/* Show the positions calculated by GPS localization */
ArDrawingData drawingDataG("polyDots", ArColor(100,100,255), 130, 61);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG(&gpsLocTask, &ArGPSLocalizationTask::drawGPSPoints);
drawings.addDrawing(&drawingDataG, "GPS Points", &drawingFunctorG);
ArDrawingData drawingDataG2("polyDots", ArColor(255,100,100), 100, 62);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG2(&gpsLocTask, &ArGPSLocalizationTask::drawKalmanPoints);
drawings.addDrawing(&drawingDataG2, "Kalman Points", &drawingFunctorG2);
ArDrawingData drawingDataG3("polyDots", ArColor(100,255,100), 70, 63);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG3(&gpsLocTask, &ArGPSLocalizationTask::drawOdoPoints);
drawings.addDrawing(&drawingDataG3, "Odom. Points", &drawingFunctorG3);
ArDrawingData drawingDataG4("polyDots", ArColor(255,50,50), 100, 75);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG4(&gpsLocTask, &ArGPSLocalizationTask::drawKalmanRangePoints);
drawings.addDrawing(&drawingDataG4, "KalRange Points", &drawingFunctorG4);
ArDrawingData drawingDataG5("polySegments", ArColor(100,0,255), 1, 78);
ArFunctor2C<ArGPSLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorG5(&gpsLocTask, &ArGPSLocalizationTask::drawKalmanVariance);
drawings.addDrawing(&drawingDataG5, "VarGPS", &drawingFunctorG5);
#endif
// "Custom" commands. You can add your own custom commands here, they will
// be available in MobileEyes' custom commands (enable in the toolbar or
// access through Robot Tools)
ArServerHandlerCommands commands(&server);
// These provide various kinds of information to the client:
ArServerInfoRobot serverInfoRobot(&server, &robot);
ArServerInfoSensor serverInfoSensor(&server, &robot);
// Provides localization info and allows the client (MobileEyes) to relocalize at a given
// pose:
ArServerInfoLocalization serverInfoLocalization(&server, &robot, &LOCTASK);
ArServerHandlerLocalization serverLocHandler(&server, &robot, &LOCTASK);
// If you're using MobileSim, ArServerHandlerLocalization sends it a command
// to move the robot's true pose if you manually do a localization through
// MobileEyes. To disable that behavior, use this constructor call instead:
// ArServerHandlerLocalization serverLocHandler(&server, &robot, true, false);
// The fifth argument determines whether to send the command to MobileSim.
// Provide the map to the client (and related controls):
ArServerHandlerMap serverMap(&server, &map);
// These objects add some simple (custom) commands to 'commands' for testing and debugging:
ArServerSimpleComUC uCCommands(&commands, &robot); // Send any command to the microcontroller
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // configure logging
ArServerSimpleComLogRobotConfig configCommands(&commands, &robot); // trigger logging of the robot config parameters
// ArServerSimpleServerCommands serverCommands(&commands, &server); // monitor networking behavior (track packets sent etc.)
// service that allows the client to monitor the communication link status
// between the robot and the client.
//
ArServerHandlerCommMonitor handlerCommMonitor(&server);
// service that allows client to change configuration parameters in ArConfig
ArServerHandlerConfig handlerConfig(&server, Aria::getConfig(),
Arnl::getTypicalDefaultParamFileName(),
Aria::getDirectory());
// This service causes the client to show simple dialog boxes
ArServerHandlerPopup popupServer(&server);
/* Set up the possible modes for remote control from a client such as
* MobileEyes:
*/
// Mode To stop and remain stopped:
ArServerModeStop modeStop(&server, &robot);
#ifndef ARNL_SONARLOC
// Cause the sonar to turn off automatically
// when the robot is stopped, and turn it back on when commands to move
// are sent. (Note, if using SONARNL to localize, then don't do this
// since localization may get lost)
ArSonarAutoDisabler sonarAutoDisabler(&robot);
#endif
// Teleoperation modes To drive by keyboard, joystick, etc:
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
// Prevent normal teleoperation driving if localization is lost using
// a high-priority action, which enables itself when the particular mode is
// active.
// (You have to enter unsafe drive mode to drive when lost.)
ArActionLost actionLostRatioDrive(&LOCTASK, NULL, &modeRatioDrive);
modeRatioDrive.getActionGroup()->addAction(&actionLostRatioDrive, 110);
// Add drive mode section to the configuration, and also some custom (simple) commands:
modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings");
modeRatioDrive.addControlCommands(&commands);
// Wander mode (also prevent wandering if lost):
ArServerModeWander modeWander(&server, &robot);
ArActionLost actionLostWander(&LOCTASK, NULL, &modeWander);
modeWander.getActionGroup()->addAction(&actionLostWander, 110);
// Tool to log data periodically to a file
ArDataLogger dataLogger(&robot, "datalog.txt");
dataLogger.addToConfig(Aria::getConfig()); // make it configurable through ArConfig
// Automatically add anything from the global info group to the data logger.
Aria::getInfoGroup()->addAddStringCallback(dataLogger.getAddStringFunctor());
// This provides a small table of interesting information for the client
// to display to the operator. You can add your own callbacks to show any
// data you want.
ArServerInfoStrings stringInfo(&server);
Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());
// The following statements add fields to a set of informational data called
// the InfoGroup. These are served to MobileEyes for displayi (turn on by enabling Details
// and Custom Details in the View menu of MobileEyes.)
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(&robot,
&ArRobot::getMotorPacCount));
#ifdef ARNL_LASERLOC
Aria::getInfoGroup()->addStringDouble(
"Laser Localization Score", 8,
new ArRetFunctorC<double, ArLocalizationTask>(
&locTask, &ArLocalizationTask::getLocalizationScore),
"%.03f");
Aria::getInfoGroup()->addStringInt(
"Laser Loc Num Samples", 8,
new ArRetFunctorC<int, ArLocalizationTask>(
&locTask, &ArLocalizationTask::getCurrentNumSamples),
"%4d");
#elif defined(ARNL_SONARLOC)
Aria::getInfoGroup()->addStringDouble(
"Sonar Localization Score", 8,
new ArRetFunctorC<double, ArSonarLocalizationTask>(
&locTask,
&ArSonarLocalizationTask::getLocalizationScore),
"%.03f");
Aria::getInfoGroup()->addStringInt(
"Sonar Loc Num Samples", 8,
new ArRetFunctorC<int, ArSonarLocalizationTask>(
&locTask, &ArSonarLocalizationTask::getCurrentNumSamples),
"%4d");
#endif
#ifdef ARNL_GPSLOC
const char *dopfmt = "%2.4f";
const char *posfmt = "%2.8f";
const char *altfmt = "%3.6f m";
Aria::getInfoGroup()->addStringString(
"GPS Fix Mode", 25,
new ArConstRetFunctorC<const char*, ArGPS>(gps, &ArGPS::getFixTypeName)
);
Aria::getInfoGroup()->addStringInt(
"GPS Num. Satellites", 4,
new ArConstRetFunctorC<int, ArGPS>(gps, &ArGPS::getNumSatellitesTracked)
);
Aria::getInfoGroup()->addStringDouble(
"GPS HDOP", 12,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getHDOP),
dopfmt
);
Aria::getInfoGroup()->addStringDouble(
"GPS VDOP", 5,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getVDOP),
dopfmt
);
Aria::getInfoGroup()->addStringDouble(
"GPS PDOP", 5,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getPDOP),
dopfmt
);
Aria::getInfoGroup()->addStringDouble(
"Latitude", 15,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getLatitude),
posfmt
);
Aria::getInfoGroup()->addStringDouble(
"Longitude", 15,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getLongitude),
posfmt
);
Aria::getInfoGroup()->addStringDouble(
"Altitude", 8,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getAltitude),
altfmt
);
// only some GPS receivers provide these, but you can uncomment them
// here to enable them if yours does.
/*
const char *errfmt = "%2.4f m";
Aria::getInfoGroup()->addStringDouble(
"GPS Lat. Err.", 6,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getLatitudeError),
errfmt
);
Aria::getInfoGroup()->addStringDouble(
"GPS Lon. Err.", 6,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getLongitudeError),
errfmt
);
Aria::getInfoGroup()->addStringDouble(
"GPS Alt. Err.", 6,
new ArConstRetFunctorC<double, ArGPS>(gps, &ArGPS::getAltitudeError),
errfmt
);
*/
Aria::getInfoGroup()->addStringDouble(
"MOGS Localization Score", 8,
new ArRetFunctorC<double, ArGPSLocalizationTask>(
&gpsLocTask, &ArGPSLocalizationTask::getLocalizationScore),
"%.03f"
);
#endif
// Display gyro status if gyro is enabled and is being handled by the firmware (gyro types 2, 3, or 4).
// (If the firmware detects an error communicating with the gyro or IMU it
// returns a flag, and stops using it.)
// (This gyro type parameter, and fault flag, are only in ARCOS, not Seekur firmware)
if(robot.getOrigRobotConfig() && robot.getOrigRobotConfig()->getGyroType() > 1)
{
Aria::getInfoGroup()->addStringString(
"Gyro/IMU Status", 10,
new ArGlobalRetFunctor1<const char*, ArRobot*>(&getGyroStatusString, &robot)
);
}
// Display system CPU and wireless network status
ArSystemStatus::startPeriodicUpdate(1000); // update every 1 second
Aria::getInfoGroup()->addStringDouble("CPU Use", 10, ArSystemStatus::getCPUPercentFunctor(), "% 4.0f%%");
Aria::getInfoGroup()->addStringInt("Wireless Link Quality", 9, ArSystemStatus::getWirelessLinkQualityFunctor(), "%d");
Aria::getInfoGroup()->addStringInt("Wireless Link Noise", 9, ArSystemStatus::getWirelessLinkNoiseFunctor(), "%d");
Aria::getInfoGroup()->addStringInt("Wireless Signal", 9, ArSystemStatus::getWirelessLinkSignalFunctor(), "%d");
// stats on how far its driven since software started
Aria::getInfoGroup()->addStringDouble("Distance Travelled (m)", 20, new ArRetFunctorC<double, ArRobot>(&robot, &ArRobot::getOdometerDistanceMeters), "%.2f");
Aria::getInfoGroup()->addStringDouble("Run time (min)", 20, new
ArRetFunctorC<double, ArRobot>(&robot, &ArRobot::getOdometerTimeMinutes),
"%.2f");
#ifdef ARNL_GPSLOC
// Add some "custom commands" for setting up initial GPS offset and heading.
gpsLocTask.addLocalizationInitCommands(&commands);
// Add some commands for manually creating map objects based on GPS positions:
// ArGPSMapTools gpsMapTools(gps, &robot, &commands, &map);
// Add command to set simulated GPS position manually
if(gpsConnector.getGPSType() == ArGPSConnector::Simulator)
{
ArSimulatedGPS *simGPS = dynamic_cast<ArSimulatedGPS*>(gps);
// simGPS->setDummyPosition(42.80709, -71.579047, 100);
commands.addStringCommand("GPS:setDummyPosition",
"Manually set a new dummy position for simulated GPS. Provide latitude (required), longitude (required) and altitude (optional)",
new ArFunctor1C<ArSimulatedGPS, ArArgumentBuilder*>(simGPS, &ArSimulatedGPS::setDummyPositionFromArgs)
);
}
#endif
// Make Stop mode the default (If current mode deactivates without entering
// a new mode, then Stop Mode will be selected)
modeStop.addAsDefaultMode();
// TODO move up near where stop mode is created?
#ifdef ARNL_MAPPING
/* Services that allow the client to initiate scanning with the laser to
create maps in Mapper3 (So not possible with SONARNL): */
ArServerHandlerMapping handlerMapping(&server, &robot, firstLaser,
fileDir, "", true);
#ifdef ARNL_LASERLOC
// make laser localization stop while mapping
handlerMapping.addMappingStartCallback(
new ArFunctor1C<ArLocalizationTask, bool>
(&locTask, &ArLocalizationTask::setIdleFlag, true));
// and then make it start again when we're doine
handlerMapping.addMappingEndCallback(
new ArFunctor1C<ArLocalizationTask, bool>
(&locTask, &ArLocalizationTask::setIdleFlag, false));
#endif
#ifdef ARNL_GPSLOC
// Save GPS positions in the .2d scan log when making a map
handlerMapping.addLocationData("robotGPS",
gpsLocTask.getPoseInterpPositionCallback());
// add the starting latitude and longitude info to the .2d scan log
handlerMapping.addMappingStartCallback(
new ArFunctor1C<ArGPSLocalizationTask, ArServerHandlerMapping *>
(&gpsLocTask, &ArGPSLocalizationTask::addScanInfo,
&handlerMapping));
#endif
// Make it so our "lost" actions don't stop us while mapping
handlerMapping.addMappingStartCallback(actionLostRatioDrive.getDisableCB());
handlerMapping.addMappingStartCallback(actionLostWander.getDisableCB());
// And then let them make us stop as usual when done mapping
handlerMapping.addMappingEndCallback(actionLostRatioDrive.getEnableCB());
handlerMapping.addMappingEndCallback(actionLostWander.getEnableCB());
#endif // ARNL_MAPPING
/*
// If we are on a simulator, move the robot back to its starting position,
// and reset its odometry.
// This will allow localizeRobotAtHomeBlocking() below will (probably) work (it
// tries current odometry (which will be 0,0,0) and all the map
// home points.
// (Ignored by a real robot)
//robot.com(ArCommands::SIM_RESET);
*/
// create a pose storage class, this will let the program keep track
// of where the robot is between runs... after we try and restore
// from this file it will start saving the robot's pose into the
// file
ArPoseStorage poseStorage(&robot);
/// if we could restore the pose from then set the sim there (this
/// won't do anything to the real robot)... if we couldn't restore
/// the pose then just reset the position of the robot (which again
/// won't do anything to the real robot)
if (poseStorage.restorePose("robotPose"))
serverLocHandler.setSimPose(robot.getPose());
//else
// robot.com(ArCommands::SIM_RESET);
/* File transfer services: */
#pragma GPP off
#ifdef WIN32
// Not implemented for Windows yet.
ArLog::log(ArLog::Normal, "Note, file upload/download services are not implemented for Windows; not enabling them.");
#else
// This block will allow you to set up where you get and put files
// to/from, just comment them out if you don't want this to happen
// /*
ArServerFileLister fileLister(&server, fileDir);
ArServerFileToClient fileToClient(&server, fileDir);
ArServerFileFromClient fileFromClient(&server, fileDir, "/tmp");
ArServerDeleteFileOnServer deleteFileOnServer(&server, fileDir);
// */
#endif
#pragma GPP on
/* Video image streaming, and camera controls (Requires SAVserver or ACTS) */
// Forward one video stream if either ACTS, ArVideo videoSubServer,
// or SAV server are running.
// ArHybridForwarderVideo allows this program to be separate from the ArVideo
// library. You could replace videoForwarder and the PTZ connection code below
// with a call to ArVideo::createVideoServers(), and link the program to the
// ArVideo library if you want to include video capture in the same program
// as robot control.
ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);
// connect to first configured camera PTZ controls (in robot parameter file and
// command line options)
ptzConnector.connect();
ArCameraCollection cameraCollection;
ArPTZ *ptz = ptzConnector.getPTZ(0);
if(ptz)
{
ArLog::log(ArLog::Normal, "Connected to PTZ Camera");
cameraCollection.addCamera("Camera1", ptz->getTypeName(), "Camera", ptz->getTypeName());
videoForwarder.setCameraName("Camera1");
videoForwarder.addToCameraCollection(cameraCollection);
new ArServerHandlerCamera("Camera1",
&server,
&robot,
ptz,
&cameraCollection);
}
// Allows client to find any camera servers created above
ArServerHandlerCameraCollection cameraCollectionServer(&server, &cameraCollection);
/* Load configuration values, map, and begin! */
// When parsing the configuration file, also look at the program's command line options
// from the command-line argument parser as well as the configuration file.
// (So you can use any argument on the command line, namely -map.)
Aria::getConfig()->useArgumentParser(&parser);
// Read in parameter files.
ArLog::log(ArLog::Normal, "Loading config file %s%s into ArConfig...", Aria::getDirectory(), Arnl::getTypicalParamFileName());
if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
{
ArLog::log(ArLog::Normal, "Could not load ARNL configuration file. Set ARNL environment variable to use non-default installation director.y");
Aria::exit(5);
}
// Warn about unknown params.
if (!simpleOpener.checkAndLog() || !parser.checkHelpAndWarnUnparsed())
{
logOptions(argv[0]);
Aria::exit(6);
}
// Warn if there is no map
if (map.getFileName() == NULL || strlen(map.getFileName()) <= 0)
{
ArLog::log(ArLog::Normal, "");
ArLog::log(ArLog::Normal, "### No map file is set up, you can make a map with the following procedure");
#ifdef ARNL
ArLog::log(ArLog::Normal, " 0) You can find this information in README.txt or docs/Mapping.txt");
ArLog::log(ArLog::Normal, " 1) Connect to this server with MobileEyes");
ArLog::log(ArLog::Normal, " 2) Go to Tools->Map Creation->Start Scan");
ArLog::log(ArLog::Normal, " 3) Give the map a name and hit okay");
ArLog::log(ArLog::Normal, " 4) Drive the robot around your space (see docs/Mapping.txt");
ArLog::log(ArLog::Normal, " 5) Go to Tools->Map Creation->Stop Scan");
ArLog::log(ArLog::Normal, " 6) Start up Mapper3");
ArLog::log(ArLog::Normal, " 7) Go to File->Open on Robot");
ArLog::log(ArLog::Normal, " 8) Select the .2d you created");
ArLog::log(ArLog::Normal, " 9) Create a .map");
ArLog::log(ArLog::Normal, " 10) Go to File->Save on Robot");
ArLog::log(ArLog::Normal, " 11) In MobileEyes, go to Tools->Robot Config");
ArLog::log(ArLog::Normal, " 12) Choose the Files section");
ArLog::log(ArLog::Normal, " 13) Enter the path and name of your new .map file for the value of the Map parameter.");
ArLog::log(ArLog::Normal, " 14) Press OK and your new map should become the map used");
ArLog::log(ArLog::Normal, "");
#elif defined(SONARNL)
ArLog::log(ArLog::Normal, " 0) You can find this information in README.txt or docs/SonarMapping.txt");
ArLog::log(ArLog::Normal, " 1) Start up Mapper3Basic");
ArLog::log(ArLog::Normal, " 2) Go to File->New");
ArLog::log(ArLog::Normal, " 3) Draw a line map of your area (make sure it is to scale)");
ArLog::log(ArLog::Normal, " 4) Go to File->Save on Robot");
ArLog::log(ArLog::Normal, " 5) In MobileEyes, go to Tools->Robot Config");
ArLog::log(ArLog::Normal, " 6) Choose the Files section");
ArLog::log(ArLog::Normal, " 7) Enter the path and name of your new .map file for the value of the Map parameter.");
ArLog::log(ArLog::Normal, " 8) Press OK and your new map should become the map used");
ArLog::log(ArLog::Normal, "");
#endif
#ifdef ARNL_GPSLOC
ArLog::log(ArLog::Normal, "\n See docs/GPSMapping.txt for instructions on creating a map for GPS localization");
#endif
}
// Print a log message notifying user of the directory for map files
ArLog::log(ArLog::Normal, "");
ArLog::log(ArLog::Normal,
"Directory for maps and file serving: %s", fileDir);
ArLog::log(ArLog::Normal, "See the ARNL README.txt for more information");
ArLog::log(ArLog::Normal, "");
// Do an initial localization of the robot. ARNL and SONARNL try all the home points
// in the map, as well as the robot's current odometric position, as possible
// places the robot is likely to be at startup. If successful, it will
// also save the position it found to be the best localized position as the
// "Home" position, which can be obtained from the localization task (and is
// used by the "Go to home" network request).
// MOGS instead just initializes at the current GPS position.
// (You will stil have to drive the robot so it can determine the robot's
// heading, however. See GPS Mapping instructions.)
LOCTASK.localizeRobotAtHomeBlocking();
#ifdef ARNL_MULTIROBOT
// Let the client switch manager (for multirobot) spin off into its own thread
// TODO move to multirobot example?
clientSwitch.runAsync();
#endif
// Start the networking server's thread
server.runAsync();
ArLog::log(ArLog::Normal, "Server running. To exit, press CTRL-C.");
// Enable the motors and wait until the robot exits (disconnection, etc.) or this program is
// canceled.
robot.enableMotors();
robot.waitForRunExit();
Aria::exit(0);
}