ArnlASyncTaskExample(ArPathPlanningTask *pp, ArRobot *robot, ArServerModeGoto *servermode, ArArgumentParser *argParser) :
ArnlAsyncTask(pp, robot, "Example ARNL Goal Task", argParser),
myServerMode(servermode), myCurrentGoal(1), myNumGoals(4), myApproachDist(250)
{
// Add some parameters to ArConfig so they can be changed in MobileEyes.
addConfigParam(ArConfigArg("ApproachDist", &myApproachDist, "distance to approach drop point"));
addConfigParam(ArConfigArg("NumGoals", &myNumGoals, "number of goals in chain"));
ArLog::log(ArLog::Normal, "ArArnlASyncTaskExample created: will perform tasks at each goal, and then send ARNL to another. ");
}
void Config::addParam( const std::string &name, const std::vector<std::string> &enumNames, int *param, const std::string &optionsStr, bool readOnly, const std::string &keyName )
{
if(mParamsInitialized)
mParams->addParam(name, enumNames, param, optionsStr, readOnly);
addConfigParam(name, keyName, param, _INT);
}
void Config::addParam( const std::string &name, std::string *param, const std::string &optionsStr, bool readOnly, const std::string &keyName )
{
if(mParamsInitialized)
mParams->addParam(name, param, optionsStr, readOnly);
addConfigParam(name, keyName, param, _STRING);
}
params::InterfaceGl::Options<T> Config::addParamImpl( const std::string &name, T *target, ConfigParamTypes aType, bool readOnly, const std::string &keyName )
{
// should check for params initialized?
addConfigParam(name, keyName, target, aType);
return mParams->addParam(name, target, readOnly);
}
