int main(int argc, char** argv)
{
// set up our simpleConnector
ArSimpleConnector simpleConnector(&argc, argv);
// robot
ArRobot robot;
// a key handler so we can do our key handling
ArKeyHandler keyHandler;
ArLog::init(ArLog::StdOut,ArLog::Verbose);
// if there are more arguments left then it means we didn't
// understand an option
if (!simpleConnector.parseArgs() || argc > 1)
{
simpleConnector.logOptions();
keyHandler.restore();
exit(1);
}
// mandatory init
Aria::init();
ArLog::init(ArLog::StdOut, ArLog::Terse, NULL, true);
// let the global aria stuff know about it
Aria::setKeyHandler(&keyHandler);
// toss it on the robot
robot.attachKeyHandler(&keyHandler);
// set up the robot for connecting
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
keyHandler.restore();
return 1;
}
// turn on the motors for the velocity response test
robot.comInt(ArCommands::ENABLE, 1);
velTime.setToNow();
// turn off the sonar
robot.comInt(ArCommands::SONAR, 0);
ArGlobalFunctor1<ArRobot *> userTaskCB(&userTask, &robot);
robot.addUserTask("iotest", 100, &userTaskCB);
robot.comInt(ArCommands::IOREQUEST, 1);
requestTime.setToNow();
//start the robot running, true so that if we lose connection the run stops
robot.run(true);
// now exit
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
// set up our simple connector
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
// set up the robot for connecting
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
ArModuleLoader::Status status;
std::string str;
ArLog::log(ArLog::Terse, "moduleActionExample: Loading the module \"moduleActionExample_Mod\" with a string argument...");
status=ArModuleLoader::load("./moduleActionExample_Mod", &robot, (char *)"You've loaded a module!");
printStatus(status);
ArLog::log(ArLog::Terse, "moduleActionExample: Loading the module \"moduleActionExample_Mod2\" with a string argument...");
status=ArModuleLoader::load("./moduleActionExample2_Mod", &robot, (char *)"You've loaded a second module!");
printStatus(status);
//ArLog::log(ArLog::Terse, "moduleActionExample: Reloading \"moduleActionExample_Mod\" with no argument...");
//status=ArModuleLoader::reload("./moduleActionExample_Mod", &robot);
//printStatus(status);
//ArLog::log(ArLog::Terse, "moduleActionExample: Closing \"moduleActionExample_Mod\"...");
//status=ArModuleLoader::close("./moduleActionExample_Mod");
//printStatus(status);
ArUtil::sleep(3000);
Aria::exit(0);
return(0);
}
int main(int argc, char **argv)
{
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
// robot
ArRobot robot;
/// our server
ArServerBase server;
// set up our parser
ArArgumentParser parser(&argc, argv);
// set up our simple connector
ArSimpleConnector simpleConnector(&parser);
// set up a gyro
ArAnalogGyro gyro(&robot);
// load the default arguments
parser.loadDefaultArguments();
// parse the command line... fail and print the help if the parsing fails
// or if the help was requested
if (!simpleConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
simpleConnector.logOptions();
exit(1);
}
if (!server.loadUserInfo("userServerTest.userInfo"))
{
printf("Could not load user info, exiting\n");
exit(1);
}
server.logUsers();
// first open the server up
if (!server.open(7272))
{
printf("Could not open server port\n");
exit(1);
}
// sonar, must be added to the robot
ArSonarDevice sonarDev;
// add the sonar to the robot
robot.addRangeDevice(&sonarDev);
ArIRs irs;
robot.addRangeDevice(&irs);
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
// a laser in case one is used
ArSick sick(361, 180);
// add the laser to the robot
robot.addRangeDevice(&sick);
// attach stuff to the server
ArServerInfoRobot serverInfoRobot(&server, &robot);
ArServerInfoSensor serverInfoSensor(&server, &robot);
ArServerInfoDrawings drawings(&server);
drawings.addRobotsRangeDevices(&robot);
// ways of moving the robot
ArServerModeStop modeStop(&server, &robot);
ArServerModeDrive modeDrive(&server, &robot);
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
ArServerModeWander modeWander(&server, &robot);
modeStop.addAsDefaultMode();
modeStop.activate();
// set up the simple commands
ArServerHandlerCommands commands(&server);
// add the commands for the microcontroller
ArServerSimpleComUC uCCommands(&commands, &robot);
// add the commands for logging
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot);
// add the commands for the gyro
ArServerSimpleComGyro gyroCommands(&commands, &robot, &gyro);
// add the commands to enable and disable safe driving to the simple commands
modeDrive.addControlCommands(&commands);
// Forward any video if we have some to forward.. this will forward
// from SAV or ACTS, you can find both on our website
// http://robots.activmedia.com, ACTS is for color tracking and is
// charged for but SAV just does software A/V transmitting and is
// free to all our customers... just run ACTS or SAV before you
// start this program and this class here will forward video from it
// to MobileEyes
ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);
// make a camera to use in case we have video
ArPTZ *camera = NULL;
ArServerHandlerCamera *handlerCamera = NULL;
// if we have video then set up a camera
if (videoForwarder.isForwardingVideo())
{
bool invertedCamera = false;
camera = new ArVCC4(&robot, invertedCamera,
ArVCC4::COMM_UNKNOWN, true, true);
camera->init();
handlerCamera = new ArServerHandlerCamera(&server, &robot, camera);
}
server.logCommandGroups();
server.logCommandGroupsToFile("userServerTest.commandGroups");
// now let it spin off in its own thread
server.runAsync();
// set up the robot for connecting
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// set up the laser before handing it to the laser mode
simpleConnector.setupLaser(&sick);
robot.enableMotors();
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
sick.runAsync();
// connect the laser if it was requested
if (!simpleConnector.connectLaser(&sick))
{
printf("Could not connect to laser... exiting\n");
Aria::shutdown();
return 1;
}
robot.waitForRunExit();
// now exit
Aria::shutdown();
exit(0);
}
int main(int argc, char **argv)
{
Aria::init();
ArRobot robot;
ArServerBase server;
ArArgumentParser parser(&argc, argv);
ArSimpleConnector simpleConnector(&parser);
ArServerSimpleOpener simpleOpener(&parser);
// parse the command line... fail and print the help if the parsing fails
// or if help was requested
parser.loadDefaultArguments();
if (!simpleConnector.parseArgs() || !simpleOpener.parseArgs() ||
!parser.checkHelpAndWarnUnparsed())
{
simpleConnector.logOptions();
simpleOpener.logOptions();
exit(1);
}
// Set up where we'll look for files such as config file, user/password file,
// etc.
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("Error: Bad user/password/permissions file.\n");
else
printf("Error: Could not open server port. Use -help to see options.\n");
exit(1);
}
// Devices
ArAnalogGyro gyro(&robot);
ArSonarDevice sonarDev;
robot.addRangeDevice(&sonarDev);
ArIRs irs;
robot.addRangeDevice(&irs);
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
ArSick sick(361, 180);
robot.addRangeDevice(&sick);
ArServerInfoRobot serverInfoRobot(&server, &robot);
ArServerInfoSensor serverInfoSensor(&server, &robot);
// This is the service that provides drawing data to the client.
ArServerInfoDrawings drawings(&server);
// Convenience function that sets up drawings for all the robot's current
// range devices (using default shape and color info)
drawings.addRobotsRangeDevices(&robot);
// Add our custom drawings
drawings.addDrawing(
// shape: color: size: layer:
new ArDrawingData("polyLine", ArColor(255, 0, 0), 2, 49),
"exampleDrawing_Home",
new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleHomeDrawingNetCallback)
);
drawings.addDrawing(
new ArDrawingData("polyDots", ArColor(0, 255, 0), 250, 48),
"exampleDrawing_Dots",
new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleDotsDrawingNetCallback)
);
drawings.addDrawing(
new ArDrawingData("polySegments", ArColor(0, 0, 0), 4, 52),
"exampleDrawing_XMarksTheSpot",
new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleXDrawingNetCallback)
);
drawings.addDrawing(
new ArDrawingData("polyArrows", ArColor(255, 0, 255), 500, 100),
"exampleDrawing_Arrows",
new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleArrowsDrawingNetCallback)
);
// modes for moving the robot
ArServerModeStop modeStop(&server, &robot);
ArServerModeDrive modeDrive(&server, &robot);
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
ArServerModeWander modeWander(&server, &robot);
modeStop.addAsDefaultMode();
modeStop.activate();
// Connect to the robot.
if (!simpleConnector.connectRobot(&robot))
{
printf("Error: Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// set up the laser before handing it to the laser mode
simpleConnector.setupLaser(&sick);
robot.enableMotors();
// start the robot cycle running in a background thread
robot.runAsync(true);
// start the laser processing cycle in a background thread
sick.runAsync();
// connect the laser if it was requested
if (!simpleConnector.connectLaser(&sick))
{
printf("Error: Could not connect to laser... exiting\n");
Aria::shutdown();
return 1;
}
// log whatever we wanted to before the runAsync
simpleOpener.checkAndLog();
// run the server thread in the background
server.runAsync();
printf("Server is now running...\n");
// Add a key handler mostly that windows can exit by pressing
// escape, note that the key handler prevents you from running this program
// in the background on Linux.
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");
}
robot.waitForRunExit();
Aria::shutdown();
exit(0);
}
int __cdecl _tmain (int argc, char** argv)
{
//------------ I N I C I O M A I N D E L P R O G R A M A D E L R O B O T-----------//
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
ActionGos go(500, 350);
robot.addAction(&go, 48);
ActionTurns turn(400, 110);
robot.addAction(&turn, 49);
ActionTurns turn2(400, 110);
robot.addAction(&turn2, 49);
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("Presionar ESC para salir\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
// ============================ INICIO CONFIG COM =================================//
CSerial serial;
LONG lLastError = ERROR_SUCCESS;
// Trata de abrir el com seleccionado
lLastError = serial.Open(_T("COM3"),0,0,false);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Imposible abrir el COM"));
// Inicia el puerto serial (9600,8N1)
lLastError = serial.Setup(CSerial::EBaud9600,CSerial::EData8,CSerial::EParNone,CSerial::EStop1);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Imposible setear la config del COM"));
// Register only for the receive event
lLastError = serial.SetMask(CSerial::EEventBreak |
CSerial::EEventCTS |
CSerial::EEventDSR |
CSerial::EEventError |
CSerial::EEventRing |
CSerial::EEventRLSD |
CSerial::EEventRecv);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to set COM-port event mask"));
// Use 'non-blocking' reads, because we don't know how many bytes
// will be received. This is normally the most convenient mode
// (and also the default mode for reading data).
lLastError = serial.SetupReadTimeouts(CSerial::EReadTimeoutNonblocking);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to set COM-port read timeout."));
// ============================ FIN CONFIG COM =================================//
bool first = true;
int goalNum = 0;
int color = 3;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
printf("El contador esta en: --> %d <---\n",goalNum);
if (goalNum > 20)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
{
gotoPoseAction.setGoal(ArPose(1150, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
// Create the sound queue.
ArSoundsQueue soundQueue;
// Run the sound queue in a new thread
soundQueue.runAsync();
std::vector<const char*> filenames;
filenames.push_back("sound-r2a.wav");
soundQueue.play(filenames[0]);
}
else if (goalNum == 2)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn.myActivate = 1;
turn.myDirection = 1;
turn.activate();
ArUtil::sleep(1000);
turn.deactivate();
turn.myActivate = 0;
turn.myDirection = 0;
robot.lock();
}
else if (goalNum == 3)
{
gotoPoseAction.setGoal(ArPose(1150, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 4)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 5)
{
gotoPoseAction.setGoal(ArPose(650, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 6)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 7)
{
gotoPoseAction.setGoal(ArPose(650, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 8)
{
gotoPoseAction.setGoal(ArPose(1800,1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 9)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 10)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 850));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
gotoPoseAction.setGoal(ArPose(3500, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1550));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 11)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 613));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
goalNum = 19;
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1785));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 12)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 13)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3500, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3500, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 14)
{
robot.unlock();
//Valor para el while
bool fContinue = true;
// <<<<<<------------- 1 Parte Secuencia: BAJA BRAZO ------------->>>>>> //
lLastError = serial.Write("b");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
//-------------------------E S C U C H A C O M ----------------------------//
do
{
// Wait for an event
lLastError = serial.WaitEvent();
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to wait for a COM-port event."));
// Save event
const CSerial::EEvent eEvent = serial.GetEventType();
// Handle break event
if (eEvent & CSerial::EEventBreak)
{
printf("\n### BREAK received ###\n");
}
// Handle CTS event
if (eEvent & CSerial::EEventCTS)
{
printf("\n### Clear to send %s ###\n", serial.GetCTS()?"on":"off");
}
// Handle DSR event
if (eEvent & CSerial::EEventDSR)
{
printf("\n### Data set ready %s ###\n", serial.GetDSR()?"on":"off");
}
// Handle error event
if (eEvent & CSerial::EEventError)
{
printf("\n### ERROR: ");
switch (serial.GetError())
{
case CSerial::EErrorBreak: printf("Break condition"); break;
case CSerial::EErrorFrame: printf("Framing error"); break;
case CSerial::EErrorIOE: printf("IO device error"); break;
case CSerial::EErrorMode: printf("Unsupported mode"); break;
case CSerial::EErrorOverrun: printf("Buffer overrun"); break;
case CSerial::EErrorRxOver: printf("Input buffer overflow"); break;
case CSerial::EErrorParity: printf("Input parity error"); break;
case CSerial::EErrorTxFull: printf("Output buffer full"); break;
default: printf("Unknown"); break;
}
printf(" ###\n");
}
// Handle ring event
if (eEvent & CSerial::EEventRing)
{
printf("\n### RING ###\n");
}
// Handle RLSD/CD event
if (eEvent & CSerial::EEventRLSD)
{
printf("\n### RLSD/CD %s ###\n", serial.GetRLSD()?"on":"off");
}
// Handle data receive event
if (eEvent & CSerial::EEventRecv)
{
// Read data, until there is nothing left
DWORD dwBytesRead = 0;
char szBuffer[101];
do
{
// Lee datos del Puerto COM
lLastError = serial.Read(szBuffer,sizeof(szBuffer)-1,&dwBytesRead);
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to read from COM-port."));
if (dwBytesRead > 0)
{
//Preseteo color
int color = 0;
// Finaliza el dato, asi que sea una string valida
szBuffer[dwBytesRead] = '\0';
// Display the data
printf("%s", szBuffer);
// <<<<<<----------- 2 Parte Secuencia: CIERRA GRIPPER ----------->>>>>> //
if (strchr(szBuffer,76))
{
lLastError = serial.Write("c");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<------------- 3 Parte Secuencia: SUBE BRAZO ------------->>>>>> //
if (strchr(szBuffer,117))
{
lLastError = serial.Write("s");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<------------- 4 Parte Secuencia: COLOR ------------->>>>>> //
if (strchr(szBuffer,72))
{
lLastError = serial.Write("C");
if (lLastError != ERROR_SUCCESS)
return ::ShowError(serial.GetLastError(), _T("Unable to send data"));
}
// <<<<<<---------- 5.1 Parte Secuencia: COLOR ROJO---------->>>>>> //
if (strchr(szBuffer,82))
{
color = 1;
//salir del bucle
fContinue = false;
}
// <<<<<<---------- 5.2 Parte Secuencia: COLOR AZUL ---------->>>>>> //
if (strchr(szBuffer,66))
{
color = 2;
//salir del bucle
fContinue = false;
}
// <<<<<<---------- 5.3 Parte Secuencia: COLOR VERDE ---------->>>>>> //
if (strchr(szBuffer,71))
{
color = 3;
//salir del bucle
fContinue = false;
}
}
}
while (dwBytesRead == sizeof(szBuffer)-1);
}
}
while (fContinue);
// Close the port again
serial.Close();
robot.lock();
}
else if (goalNum == 15)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 16)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 17)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 603));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1795));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 18)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 860));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1540));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 19)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 20)
{
gotoPoseAction.setGoal(ArPose(1800, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "No puede llegar al punto, y la aplicacion saldra en %d", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(10);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
//------------ F I N M A I N D E L P R O G R A M A D E L R O B O T-----------//
return 0;
}
int _tmain(int argc, char** argv)
{
//-------------- M A I N D E L P R O G R A M A D E L R O B O T------------//
//----------------------------------------------------------------------------------//
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
ActionTurns turn(400, 55);
robot.addAction(&turn, 49);
ActionTurns turn2(400, 55);
robot.addAction(&turn2, 49);
turn.deactivate();
turn2.deactivate();
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("Presionar ESC para salir\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
bool first = true;
int goalNum = 0;
int color = 3;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
printf("El contador esta en: --> %d <---\n",goalNum);
if (goalNum > 20)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
{
gotoPoseAction.setGoal(ArPose(1150, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 2)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn.myActivate = 1;
turn.myDirection = 1;
turn.activate();
ArUtil::sleep(1000);
turn.deactivate();
turn.myActivate = 0;
turn.myDirection = 0;
robot.lock();
}
else if (goalNum == 3)
{
gotoPoseAction.setGoal(ArPose(1150, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 4)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 5)
{
gotoPoseAction.setGoal(ArPose(650, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 6)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 7)
{
gotoPoseAction.setGoal(ArPose(650, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 8)
{
gotoPoseAction.setGoal(ArPose(1800,1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 9)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 10)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 850));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
gotoPoseAction.setGoal(ArPose(3500, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1550));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 11)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 613));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
goalNum = 19;
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1785));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 12)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 13)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3500, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3500, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 14)
{
//secuencia de drop de la figura
}
else if (goalNum == 15)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 16)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 17)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 603));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1795));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 18)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 860));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1540));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 19)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 20)
{
gotoPoseAction.setGoal(ArPose(1800, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "No puede llegar al punto, y la aplicacion saldra en %d", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(10);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
//----------------------------------------------------------------------------------//
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArRobot robot;
ArArgumentParser parser(&argc, argv);
ArSimpleConnector simpleConnector(&parser);
// The base server object, manages all connections to clients.
ArServerBase server;
// This object simplifies configuration and opening of the ArServerBase
// object.
ArServerSimpleOpener simpleOpener(&parser);
// parse the command line. fail and print the help if the parsing fails
// or if the help was requested with -help
parser.loadDefaultArguments();
if (!simpleConnector.parseArgs() || !simpleOpener.parseArgs() ||
!parser.checkHelpAndWarnUnparsed())
{
simpleConnector.logOptions();
simpleOpener.logOptions();
exit(1);
}
// Use the ArSimpleOpener to open the server port
if (!simpleOpener.open(&server))
{
ArLog::log(ArLog::Terse, "Error: Could not open server on port %d", simpleOpener.getPort());
exit(1);
}
//
// Create services attached to the base server:
//
// Robot position etc.:
ArServerInfoRobot serverInfoRobot(&server, &robot);
// Robot control modes (only one mode can be active at once):
ArServerModeStop modeStop(&server, &robot);
// old ArServerModeDrive modeDrive(&server, &robot);
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
ArServerModeWander modeWander(&server, &robot);
modeStop.addAsDefaultMode();
modeStop.activate();
// This provides a simple way to add new commands.
ArServerHandlerCommands commands(&server);
// Add our custom command. ArServerHandlerCommands also has other methods
// for adding commands taht take different kinds of arguments, or no
// arguments.
ArGlobalFunctor1<ArArgumentBuilder*> customCommandFunctor(&customCommandHandler);
commands.addStringCommand("ExampleCustomCommand", "Example of a custom command. simpleServerExample will print out the text sent with the command.", &customCommandFunctor);
// These objects provide various debugging and diagnostic custom commands:
ArServerSimpleComUC uCCommands(&commands, &robot); // Get information about the robot
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // Control logging
modeRatioDrive.addControlCommands(&commands); // Drive mode diagnostics
// This provides the client (e.g. MobileEyes) with a simple table of string values
// (called an InfoGroup). An InfoGroup is kept globally by Aria.
// The values in the table sent to clients are retrieved periodically by calling a
// functor.
ArServerInfoStrings stringInfo(&server);
Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());
// Here are some example entries in the InfoGroup:
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(&robot,
&ArRobot::getMotorPacCount));
//
// Connect to the robot:
//
if (!simpleConnector.connectRobot(&robot))
{
printf("Error: Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.enableMotors();
robot.runAsync(true);
// The simple opener might have information to display right before starting
// the server thread:
simpleOpener.checkAndLog();
// now let the server base run in a new thread, accepting client connections.
server.runAsync();
ArLog::log(ArLog::Normal, "Server is now running... Press Ctrl-C to exit.");
robot.waitForRunExit();
Aria::shutdown();
exit(0);
}
int
main(int argc, char *argv[])
{
// Initialize location of Aria, Arnl and their args.
Aria::init();
Arnl::init();
// The robot object
ArRobot robot;
#ifndef SONARNL
// The laser object
ArSick sick(181, 361);
#endif
// Parse them command line arguments.
ArArgumentParser parser(&argc, argv);
// Set up our simpleConnector
ArSimpleConnector simpleConnector(&parser);
// Load default arguments for this computer
parser.loadDefaultArguments();
// Parse its arguments for the simple connector.
simpleConnector.parseArgs();
// sonar, must be added to the robot, for teleop and wander
ArSonarDevice sonarDev;
// add the sonar to the robot
robot.addRangeDevice(&sonarDev);
ArMap arMap;
#ifndef SONARNL
// Initialize the localization
ArLocalizationTask locTask(&robot, &sick, &arMap);
// Make the path task
ArPathPlanningTask pathTask(&robot, &sick, &sonarDev, &arMap);
#else
// Initialize the localization
ArSonarLocalizationTask locTask(&robot, &sonarDev, &arMap);
// Make the path task
ArPathPlanningTask pathTask(&robot, NULL, &sonarDev, &arMap);
#endif
// Stop the robot as soon as localization fails.
ArFunctor1C<ArPathPlanningTask, int>
locaFailed(&pathTask, &ArPathPlanningTask::trackingFailed);
locTask.addFailedLocalizationCB(&locaFailed);
// Read in param files.
Aria::getConfig()->useArgumentParser(&parser);
if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
{
printf("Trouble loading configuration file, exiting\n");
exit(1);
}
// Warn about unknown params.
if (!parser.checkHelpAndWarnUnparsed())
{
printf("\nUsage: %s -map mapfilename\n\n", argv[0]);
simpleConnector.logOptions();
exit(2);
}
// Our server
ArServerBase server;
// First open the server up
if (!server.open(7272))
{
printf("Could not open server port\n");
exit(1);
}
// Connect the robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.com2Bytes(31, 14, 0);
robot.com2Bytes(31, 15, 0);
ArUtil::sleep(100);
robot.com2Bytes(31, 14, 1);
robot.com2Bytes(31, 15, 1);
robot.enableMotors();
robot.clearDirectMotion();
#ifndef SONARNL
// Set up the laser before handing it to the laser mode
simpleConnector.setupLaser(&sick);
// Add the laser to the robot
robot.addRangeDevice(&sick);
#endif
// Start the robot thread.
robot.runAsync(true);
#ifndef SONARNL
// Start the laser thread.
sick.runAsync();
// Connect the laser
if (!sick.blockingConnect())
{
printf("Couldn't connect to sick, exiting\n");
Aria::shutdown();
return 1;
}
#endif
ArUtil::sleep(300);
// If you want to set the number of samples change the line below
locTask.setNumSamples(2000);
// Localize the robot to home
if(locTask.localizeRobotAtHomeBlocking())
{
printf("Successfully localized at home.\n");
}
else
{
printf("WARNING: Unable to localize at home position!\n");
}
robot.lock();
// attach stuff to the server
ArServerInfoRobot serverInfoRobot(&server, &robot);
ArServerInfoSensor serverInfoSensor(&server, &robot);
ArServerInfoPath serverInfoPath(&server, &robot, &pathTask);
ArServerInfoLocalization serverInfoLocalization(&server, &robot, &locTask);
#ifndef SONARNL
// Set it up to handle maps.
ArServerHandlerMap serverMap(&server, &arMap, ArServerHandlerMap::POINTS);
#else
ArServerHandlerMap serverMap(&server, &arMap, ArServerHandlerMap::LINES);
#endif
// Set up a service that allows the client to monitor the communication
// between the robot and the client.
//
ArServerHandlerCommMonitor serverCommMonitor(&server);
//ArServerModeGoto modeGoto(&server, &robot, &pathTask);
//ArServerModeStop modeStop(&server, &robot);
//ArServerModeDrive modeDrive(&server, &robot);
SimpleTask simpleTask(&robot, &pathTask);
robot.unlock();
// Read in param files.
Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName());
// Now let it spin off in its own thread
server.run();
exit(0);
}
int main(int argc, char **argv)
{
bool done;
double distToTravel = 3000;
int spinTime = 0;
// set up our simpleConnector
ArSimpleConnector simpleConnector(&argc, argv);
// set up a key handler so escape exits and attach to the robot
ArKeyHandler keyHandler;
Aria::init();
robot = new ArRobot;
printf("You can press the escape key to exit this program\n");
// parse its arguments
if (simpleConnector.parseArgs())
{
simpleConnector.logOptions();
exit(1);
}
// if there are more arguments left then it means we didn't
// understand an option
/*
if (argc > 1)
{
simpleConnector.logOptions();
keyHandler.restore();
exit(1);
}
*/
ArGlobalFunctor exitCB(&hardExit);
ArGlobalFunctor printerCB(&printer);
keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &exitCB);
robot->attachKeyHandler(&keyHandler);
Aria::setKeyHandler(&keyHandler);
// set up the robot for connecting
if (!simpleConnector.connectRobot(robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
keyHandler.restore();
return 1;
}
//robot->addUserTask("printer", 50, &printerCB);
// run the robot, true here so that the run will exit if connection lost
robot->runAsync(true);
#ifdef WIN32
// wait until someone pushes the motor button to go
printf("Press the motor button to start the robot moving\n");
while (1)
{
robot->lock();
if (!robot->isRunning())
hardExit();
if (robot->areMotorsEnabled())
{
robot->unlock();
break;
}
robot->unlock();
ArUtil::sleep(100);
}
#endif
ArAnalogGyro *gyro;
if (argc == 1)
{
printf("Gyro\n");
gyro = new ArAnalogGyro(robot);
}
printf("Waiting for inertial to stabilize for 5 seconds.\n");
// wait a bit for the inertial to warm up
ArUtil::sleep(5000);
// basically from here on down the robot just cruises around a bit
robot->lock();
// enable the motors, disable amigobot sounds
robot->comInt(ArCommands::SONAR, 0);
robot->comInt(ArCommands::ENABLE, 1);
robot->setMoveDoneDist(200);
// move a couple meters
printf("Driving out\n");
robot->move(distToTravel);
robot->setHeading(0);
robot->unlock();
do {
ArUtil::sleep(100);
robot->lock();
//robot->setHeading(0);
done = robot->isMoveDone(200);
robot->unlock();
} while (!done);
if (spinTime != 0)
{
printf("Spinning a while\n");
// rotate a few times
robot->lock();
robot->setRotVel(200);
robot->unlock();
ArUtil::sleep(spinTime * 1000);
}
printf("Pointing back\n");
robot->lock();
robot->setHeading(180);
robot->unlock();
do {
ArUtil::sleep(100);
robot->lock();
//robot->setHeading(180);
done = robot->isHeadingDone(5);
robot->unlock();
} while (!done);
printf("Driving back\n");
// move a couple meters
robot->lock();
robot->move(distToTravel);
robot->setHeading(180);
robot->unlock();
do {
ArUtil::sleep(100);
robot->lock();
//robot->setHeading(180);
done = robot->isMoveDone(200);
robot->unlock();
} while (!done);
printf("Pointing back in original direction.\n");
robot->lock();
robot->setHeading(0);
robot->unlock();
do {
ArUtil::sleep(100);
robot->lock();
//robot->setHeading(0);
done = robot->isHeadingDone(5);
robot->unlock();
} while (!done);
robot->lock();
printf("Final heading %.2f\n", robot->getTh());
robot->disconnect();
robot->unlock();
// now exit
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
double speed = 1000;
double squareSide = 2000;
// whether to use the sim for the laser or not, if you use the sim
// for hte laser, you have to use the sim for the robot too
// robot
robot = new ArRobot;
// the laser
ArSick sick;
// set up our simpleConnector
ArSimpleConnector simpleConnector(&argc, argv);
// set up a key handler so escape exits and attach to the robot
ArKeyHandler keyHandler;
robot->attachKeyHandler(&keyHandler);
// parse its arguments
if (simpleConnector.parseArgs())
{
simpleConnector.logOptions();
keyHandler.restore();
exit(1);
}
// if there are more arguments left then it means we didn't
// understand an option
/*
if (argc > 1)
{
simpleConnector.logOptions();
keyHandler.restore();
exit(1);
}
*/
// set a default filename
//std::string filename = "c:\\log\\1scans.2d";
std::string filename = "1scans.2d";
// see if we want to use a different filename
//if (argc > 1)
//Lfilename = argv[1];
printf("Logging to file %s\n", filename.c_str());
// start the logger with good values
//sick.configureShort(useSim, ArSick::BAUD38400, ArSick::DEGREES180, ArSick::INCREMENT_HALF);
ArSickLogger logger(robot, &sick, 300, 25, filename.c_str());
// mandatory init
Aria::init();
// add it to the robot
robot->addRangeDevice(&sick);
//ArAnalogGyro gyro(robot);
// set up the robot for connecting
if (!simpleConnector.connectRobot(robot))
{
printf("Could not connect to robot->.. exiting\n");
Aria::shutdown();
return 1;
}
robot->setRotVelMax(300);
robot->setRotAccel(300);
robot->setRotDecel(300);
robot->setAbsoluteMaxTransVel(2000);
robot->setTransVelMax(2000);
robot->setTransAccel(500);
robot->setTransDecel(500);
/*
robot->comInt(82, 30); // rotkp
robot->comInt(83, 200); // rotkv
robot->comInt(84, 0); // rotki
robot->comInt(85, 15); // transkp
robot->comInt(86, 450); // transkv
robot->comInt(87, 4); // transki
*/
robot->comInt(82, 30); // rotkp
robot->comInt(83, 200); // rotkv
robot->comInt(84, 0); // rotki
robot->comInt(85, 30); // transkp
robot->comInt(86, 450); // transkv
robot->comInt(87, 4); // transki
// run the robot, true here so that the run will exit if connection lost
robot->runAsync(true);
// set up the laser before handing it to the laser mode
simpleConnector.setupLaser(&sick);
// now that we're connected to the robot, connect to the laser
sick.runAsync();
if (!sick.blockingConnect())
{
printf("Could not connect to SICK laser... exiting\n");
robot->disconnect();
Aria::shutdown();
return 1;
}
robot->lock();
robot->addUserTask("printer", 50, new ArGlobalFunctor(&printer));
robot->unlock();
#ifdef WIN32
// wait until someone pushes the motor button to go
while (1)
{
robot->lock();
if (!robot->isRunning())
exit(0);
if (robot->areMotorsEnabled())
{
robot->unlock();
break;
}
robot->unlock();
ArUtil::sleep(100);
}
#endif
// basically from here on down the robot just cruises around a bit
printf("Starting moving\n");
robot->lock();
// enable the motors, disable amigobot sounds
robot->comInt(ArCommands::ENABLE, 1);
robot->setHeading(0);
robot->setVel(1000);
robot->unlock();
ArUtil::sleep(speed / 500.0 * 1000.0);
printf("Should be up to speed, moving on first side\n");
ArUtil::sleep(squareSide / speed * 1000);
printf("Turning to second side\n");
robot->lock();
robot->setHeading(90);
robot->setVel(speed);
robot->unlock();
ArUtil::sleep(squareSide / speed * 1000);
printf("Turning to third side\n");
robot->lock();
robot->setHeading(180);
robot->setVel(speed);
robot->unlock();
ArUtil::sleep(squareSide / speed * 1000);
printf("Turning to last side\n");
robot->lock();
robot->setHeading(-90);
robot->setVel(speed);
robot->unlock();
ArUtil::sleep(squareSide / speed * 1000);
printf("Pointing back original direction and stopping\n");
robot->lock();
robot->setHeading(0);
robot->setVel(0);
robot->unlock();
ArUtil::sleep(300);
printf("Stopped\n");
sick.lockDevice();
sick.disconnect();
sick.unlockDevice();
robot->lock();
robot->disconnect();
robot->unlock();
// now exit
Aria::shutdown();
return 0;
}
/*!
* Main function which initializes the localization tasks and pathplanning
* tasks.
*
* @param argc No of command line args.
* @param argv Array of command line args.
*
* @return 1 if successful.
*/
int
main(int argc, char *argv[])
{
char* mapname;
if(argc<2){
printf("%s\n",USAGE);
exit(1);
}
Aria::init();
Arnl::init();
// The robot object
ArRobot robot;
#ifndef SONARNL
// The laser object
ArSick sick(181, 361);
#endif
// Set up our simpleConnector
ArSimpleConnector simpleConnector(&argc, argv);
// Parse its arguments
simpleConnector.parseArgs();
// Parse them command line arguments.
ArArgumentParser parser(&argc, argv);
// Sonar, must be added to the robot, for teleop and wander
ArSonarDevice sonarDev;
// Add the sonar to the robot
robot.addRangeDevice(&sonarDev);
// Set up the robot for connecting
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.enableMotors();
robot.clearDirectMotion();
#ifndef SONARNL
// Set up the laser before handing it to the laser mode
simpleConnector.setupLaser(&sick);
// Add the laser to the robot
robot.addRangeDevice(&sick);
#endif
// Start the robot thread.
robot.runAsync(true);
#ifndef SONARNL
// Start the laser thread.
sick.runAsync();
// Connect the laser
if (!sick.blockingConnect())
{
printf("Couldn't connect to sick, exiting\n");
Aria::shutdown();
return 1;
}
#endif
//
// Set up the big holder.
//
#ifndef SONARNL
advancedptr = new Advanced(&robot, &sick, &sonarDev);
#else
advancedptr = new Advanced(&robot, NULL, &sonarDev);
#endif
//
// Set up the callbacks for localization task.
//
ArFunctor1C<Advanced, int>
failed(advancedptr, &Advanced::trackingFailed);
//
// Set up the callbacks for pathplanning task.
//
ArFunctor1C<Advanced, ArPose>
goal_done(advancedptr, &Advanced::goalDone);
ArFunctor1C<Advanced, ArPose>
goal_failed(advancedptr, &Advanced::goalFailed);
// Read in config file. Do this before creating the localization
// and path planning tasks, so we can override certain config
// parameters such as the map file name when we do so.
if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
{
printf("Trouble loading configuration file, exiting\n");
exit(1);
}
//
// Get mapname and initialize localization task and pathplanning tasks.
//
if((mapname = parser.checkParameterArgument("-map"))){
//
// Start the localization thread. Should be done first.
//
if(!advancedptr->initializeLocalizationTask(mapname)){
printf("Cannot start the localization task thread.\n");
exit(1);
}else{
printf("Started the Localization Thread\n");
}
//
// Get the Aria map from the localization task .
// (Alternatively use a ArMap* made separately)
//
advancedptr->myMap = advancedptr->myLocaTask->getAriaMap();
//
// Set up the path plan structure.
// Cannot precede localization task setup.
//
if(!advancedptr->initializePathPlanningTask()){
printf("Cannot set up for path planning task thread.\n");
exit(1);
}else{
printf("Started Path Planning Thread\n");
}
//
// Functors to be used by the Arnl library if the threads
// signal failure or success.
//
advancedptr->myLocaTask->addFailedLocalizationCB(&failed);
advancedptr->myPathPlanningTask->addGoalDoneCB(&goal_done);
advancedptr->myPathPlanningTask->addGoalFailedCB(&goal_failed);
}else{
printf(USAGE);
exit(1);
}
//
// Get user input.
//
interact();
}
int APIENTRY _tWinMain(HINSTANCE hInstance,
HINSTANCE hPrevInstance,
LPTSTR lpCmdLine,
int nCmdShow)
{
UNREFERENCED_PARAMETER(hPrevInstance);
UNREFERENCED_PARAMETER(lpCmdLine);
//-------------- M A I N D E L P R O G R A M A D E L R O B O T------------//
//----------------------------------------------------------------------------------------------------------
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("speed limiter near", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("speed limiter far", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
bool first = true;
int horiz = 1800;
int vert = 380;
int goalNum = 0;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
if (goalNum > 7)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
gotoPoseAction.setGoal(ArPose(horiz, vert*0));
else if (goalNum == 2)
gotoPoseAction.setGoal(ArPose(0, vert*1));
else if (goalNum == 3)
gotoPoseAction.setGoa l(ArPose(horiz, vert*2)+5);
else if (goalNum == 4)
gotoPoseAction.setGoal(ArPose(0, vert*3));
else if (goalNum == 5)
gotoPoseAction.setGoal(ArPose(horiz, vert*4+5));
else if (goalNum == 6)
gotoPoseAction.setGoal(ArPose(0, vert*5));
else if (goalNum == 7)
gotoPoseAction.setGoal(ArPose(0, vert*0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "%d seconds have elapsed. Cancelling current goal, waiting 3 seconds, and exiting.", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(100);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
return 0;
//----------------------------------------------------------------------------------------------------------
// TODO: Place code here.
MSG msg;
HACCEL hAccelTable;
// Initialize global strings
LoadString(hInstance, IDS_APP_TITLE, szTitle, MAX_LOADSTRING);
LoadString(hInstance, IDC_VENTANAROBOT, szWindowClass, MAX_LOADSTRING);
MyRegisterClass(hInstance);
// Perform application initialization:
if (!InitInstance (hInstance, nCmdShow))
{
return FALSE;
}
hAccelTable = LoadAccelerators(hInstance, MAKEINTRESOURCE(IDC_VENTANAROBOT));
// Main message loop:
while (GetMessage(&msg, NULL, 0, 0))
{
if (!TranslateAccelerator(msg.hwnd, hAccelTable, &msg))
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
return (int) msg.wParam;
}