int main(int argc, char **argv) { // mandatory init Aria::init(); //ArLog::init(ArLog::StdOut, ArLog::Verbose); // set up our parser ArArgumentParser parser(&argc, argv); // load the default arguments parser.loadDefaultArguments(); // robot ArRobot robot; // set up our simple connector ArRobotConnector robotConnector(&parser, &robot); // add a gyro, it'll see if it should attach to the robot or not ArAnalogGyro gyro(&robot); // set up the robot for connecting if (!robotConnector.connectRobot()) { printf("Could not connect to robot... exiting\n"); Aria::exit(1); } ArDataLogger dataLogger(&robot, "dataLog.txt"); dataLogger.addToConfig(Aria::getConfig()); // our base server object ArServerBase server; ArLaserConnector laserConnector(&parser, &robot, &robotConnector); ArServerSimpleOpener simpleOpener(&parser); ArClientSwitchManager clientSwitchManager(&server, &parser); // parse the command line... fail and print the help if the parsing fails // or if the help was requested if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) { Aria::logOptions(); Aria::exit(1); } // Set up where we'll look for files such as user/password 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); } // Range devices: ArSonarDevice sonarDev; robot.addRangeDevice(&sonarDev); ArIRs irs; robot.addRangeDevice(&irs); ArBumpers bumpers; robot.addRangeDevice(&bumpers); // attach services to the server ArServerInfoRobot serverInfoRobot(&server, &robot); ArServerInfoSensor serverInfoSensor(&server, &robot); ArServerInfoDrawings drawings(&server); // modes for controlling robot movement ArServerModeStop modeStop(&server, &robot); ArServerModeRatioDrive modeRatioDrive(&server, &robot); ArServerModeWander modeWander(&server, &robot); modeStop.addAsDefaultMode(); modeStop.activate(); // set up the simple commands ArServerHandlerCommands commands(&server); ArServerSimpleComUC uCCommands(&commands, &robot); // send commands directly to microcontroller ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // control debug logging ArServerSimpleComGyro gyroCommands(&commands, &robot, &gyro); // configure gyro ArServerSimpleComLogRobotConfig configCommands(&commands, &robot); // control more debug logging ArServerSimpleServerCommands serverCommands(&commands, &server); // control ArNetworking debug logging ArServerSimpleLogRobotDebugPackets logRobotDebugPackets(&commands, &robot, "."); // debugging tool // ArServerModeDrive is an older drive mode. ArServerModeRatioDrive is newer and generally performs better, // but you can use this for old clients if neccesary. //ArServerModeDrive modeDrive(&server, &robot); //modeDrive.addControlCommands(&commands); // configure the drive modes (e.g. enable/disable safe drive) ArServerHandlerConfig serverHandlerConfig(&server, Aria::getConfig()); // make a config handler ArLog::addToConfig(Aria::getConfig()); // let people configure logging modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings"); // able to configure teleop settings modeRatioDrive.addControlCommands(&commands); // Forward 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 separate 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); // Control a pan/tilt/zoom camera, if one is installed, and the video // forwarder was enabled above. ArPTZ *camera = NULL; ArServerHandlerCamera *handlerCamera = NULL; ArCameraCollection *cameraCollection = NULL; if (videoForwarder.isForwardingVideo()) { bool invertedCamera = false; camera = new ArVCC4(&robot, invertedCamera, ArVCC4::COMM_UNKNOWN, true, true); camera->init(); cameraCollection = new ArCameraCollection(); cameraCollection->addCamera("Cam1", "VCC4", "Camera", "VCC4"); handlerCamera = new ArServerHandlerCamera("Cam1", &server, &robot, camera, cameraCollection); } // You can use this class to send a set of arbitrary strings // for MobileEyes to display, this is just a small example ArServerInfoStrings stringInfo(&server); Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor()); Aria::getInfoGroup()->addStringInt( "Motor Packet Count", 10, new ArConstRetFunctorC<int, ArRobot>(&robot, &ArRobot::getMotorPacCount)); /* Aria::getInfoGroup()->addStringInt( "Laser Packet Count", 10, new ArRetFunctorC<int, ArSick>(&sick, &ArSick::getSickPacCount)); */ // start the robot running, true means that if we lose connection the run thread stops robot.runAsync(true); // connect the laser(s) if it was requested if (!laserConnector.connectLasers()) { printf("Could not connect to lasers... exiting\n"); Aria::exit(2); } drawings.addRobotsRangeDevices(&robot); // log whatever we wanted to before the runAsync simpleOpener.checkAndLog(); // now let it spin off in its own thread server.runAsync(); printf("Server is now running...\n"); // Add a key handler so that you can exit by pressing // escape. Note that a key handler prevents you from running // a program in the background on Linux, since it expects an // active terminal to read keys from; remove this if you want // to run it in the background. ArKeyHandler *keyHandler; if ((keyHandler = Aria::getKeyHandler()) == NULL) { keyHandler = new ArKeyHandler; Aria::setKeyHandler(keyHandler); robot.lock(); robot.attachKeyHandler(keyHandler); robot.unlock(); printf("To exit, press escape.\n"); } // Read in parameter files. std::string configFile = "serverDemoConfig.txt"; Aria::getConfig()->setBaseDirectory("./"); if (Aria::getConfig()->parseFile(configFile.c_str(), true, true)) { ArLog::log(ArLog::Normal, "Loaded config file %s", configFile.c_str()); } else { if (ArUtil::findFile(configFile.c_str())) { ArLog::log(ArLog::Normal, "Trouble loading configuration file %s, continuing", configFile.c_str()); } else { ArLog::log(ArLog::Normal, "No configuration file %s, will try to create if config used", configFile.c_str()); } } clientSwitchManager.runAsync(); robot.lock(); robot.enableMotors(); robot.unlock(); robot.waitForRunExit(); Aria::exit(0); }
int main(int argc, char **argv) { Aria::init(); ArRobot robot; ArSonarDevice sonar; ArSick sick; robot.addRangeDevice(&sonar); ArServerBase server; // Argument parser: ArArgumentParser parser(&argc, argv); parser.loadDefaultArguments(); // Connector and server opener: ArRobotConnector robotConnector(&parser, &robot); if(!robotConnector.connectRobot()) { ArLog::log(ArLog::Terse, "popupExample: Could not connect to the robot."); if(parser.checkHelpAndWarnUnparsed()) { Aria::logOptions(); } Aria::exit(1); } ArLaserConnector laserConnector(&parser, &robot, &robotConnector); ArServerSimpleOpener simpleOpener(&parser); // Get command-line and other parameters if(!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) { Aria::logOptions(); Aria::exit(1); } robot.runAsync(true); // connect to the laser if(!laserConnector.connectLasers()) { ArLog::log(ArLog::Normal, "popupExample: Warning: Could not connect to lasers."); } // Open the server if(!simpleOpener.open(&server)) { ArLog::log(ArLog::Terse, "popupExample: Error, could not open server."); return 1; } server.runAsync(); ArLog::log(ArLog::Normal, "popupExample: Server running. Press control-C to exit."); ArLog::log(ArLog::Normal, "popupExample: Each time an obstacle is detected near the robot, a new popup message will be created. Connect with MobileEyes to see them."); // Sends robot position etc. ArServerInfoRobot robotInfoServer(&server, &robot); // This service sends drawings e.g. showing range device positions ArServerInfoDrawings drawingsServer(&server); drawingsServer.addRobotsRangeDevices(&robot); // This service can send messages to clients to display as popup dialogs: ArServerHandlerPopup popupServer(&server); // This object contains the robot sensor interpretation task and creates // popups: SensorDetectPopup(&robot, &popupServer); // modes for controlling robot movement ArServerModeStop modeStop(&server, &robot); ArServerModeRatioDrive modeRatioDrive(&server, &robot); ArServerModeWander modeWander(&server, &robot); modeStop.addAsDefaultMode(); modeStop.activate(); // allow configuration of driving and other settings ArServerHandlerConfig serverHandlerConfig(&server, Aria::getConfig()); // make a config handler ArLog::addToConfig(Aria::getConfig()); // let people configure logging modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings"); // able to configure teleop settings robot.enableMotors(); robot.waitForRunExit(); Aria::exit(0); }