int main(int argc, char **argv)
{
Aria::init();
ArClientBase client;
ArArgumentParser parser(&argc, argv);
/* This will be used to connect our client to the server.
* It will get the hostname from the -host command line argument: */
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
/* Check for -host, -help, ARIA arguments, and unhandled arguments: */
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(0);
}
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
Aria::exit(1);
}
printf("Connected to server.\n");
client.setRobotName(client.getHost()); // include server name in log messages
client.runAsync();
ArClientHandlerRobotUpdate updates(&client);
updates.requestUpdates();
while (client.getRunningWithLock())
{
updates.lock();
printf("Mode:%s Status:%s Pos:%.0f,%.0f,%.0f Vel:%.0f,%.0f,%.0f Bat:%.1f \r",
updates.getMode(),
updates.getStatus(),
updates.getX(), updates.getY(), updates.getTh(),
updates.getVel(), updates.getLatVel(), updates.getRotVel(),
updates.getVoltage()
);
updates.unlock();
ArUtil::sleep(1000);
}
/* The client stopped running, due to disconnection from the server, general
* Aria shutdown, or some other reason. */
client.disconnect();
Aria::exit(0);
return 0;
}
int main(int argc, char **argv)
{
char* host = "localhost";
if(argc > 1)
host = argv[1];
Aria::init();
ArClientBase client;
ArGlobalFunctor escapeCB(&escape);
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
printf("Connecting to standaloneServerDemo at %s:%d...\n", host, 7272);
if (!client.blockingConnect(host, 7272))
{
printf("Could not connect to server, exiting\n");
exit(1);
}
InputHandler inputHandler(&client, &keyHandler);
OutputHandler outputHandler(&client);
keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
client.runAsync();
while (client.getRunningWithLock())
{
keyHandler.checkKeys();
ArUtil::sleep(1);
}
keyHandler.restore();
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArLog::init(ArLog::StdOut, ArLog::Normal);
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
clientConnector.logOptions();
exit(0);
}
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
client.setRobotName(client.getHost()); // include server hostname in log messages
client.runAsync();
ArUtil::sleep(500);
client.logDataList();
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "ariaClientDriverNode"); //ROS Initialization
Aria::init(); //Aria Initialization
ArClientBase client; //setup client
ArArgumentParser parser(&argc, argv); //command line argument handler
ArClientSimpleConnector clientConnector(&parser); //connect to Arserver
parser.loadDefaultArguments();
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(0);
}
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
printf("Connected to server.\n");
client.setRobotName(client.getHost()); // include server name in log messages
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
ArGlobalFunctor escapeCB(&escape);
keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
client.runAsync();
if(!client.dataExists("ratioDrive") )
printf("Warning: server does not have ratioDrive command, can not use drive commands!\n");
else
printf("Keys are:\nUP: Forward\nDOWN: Backward\nLEFT: Turn Left\nRIGHT: Turn Right\n");
printf("s: Enable safe drive mode (if supported).\nu: Disable safe drive mode (if supported).\nl: list all data requests on server\n\nDrive commands use 'ratioDrive'.\nt: logs the network tracking tersely\nv: logs the network tracking verbosely\nr: resets the network tracking\n\n");
AriaClientDriver ariaClientDriver(&client,&keyHandler,"");
//while (ros::ok() && client.getRunningWithLock()) //the main loop
while (client.getRunningWithLock()) //the main loop
{
keyHandler.checkKeys(); //addthis if teleop from node required
ariaClientDriver.controlloop();
//Input output handling callback threads implemented in ariaClientDriver Class
ArUtil::sleep(100); //noneed
}
client.disconnect();
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
clientConnector.logOptions();
exit(0);
}
if (parser.getArgc() < 4 || parser.getArgc() > 6)
{
printf("usage: %s <x> <y> <th> <optional:xyspread> <optional:thspread>", argv[0]);
exit(1);
}
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
client.runAsync();
ArNetPacket sending;
// put in the arguments (you can see what they are from doing -lcl on clientDemo)
sending.byte4ToBuf(atoi(parser.getArg(1)));
sending.byte4ToBuf(atoi(parser.getArg(2)));
sending.byte4ToBuf(atoi(parser.getArg(3)));
if (parser.getArgc() > 4)
sending.uByte4ToBuf(atoi(parser.getArg(4)));
if (parser.getArgc() > 5)
sending.uByte4ToBuf(atoi(parser.getArg(5)));
// send the packet
client.requestOnce("localizeToPose", &sending);
// you have to give the client some time to send the command
ArUtil::sleep(500);
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(0);
}
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
printf("Connected to server.\n");
/* Create a key handler and also tell Aria about it */
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
/* Global escape-key handler to shut everythnig down */
ArGlobalFunctor escapeCB(&escape);
keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
client.runAsync();
while (client.getRunningWithLock())
{
keyHandler.checkKeys();
ArUtil::sleep(100);
}
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
std::string hostname;
ArGlobalFunctor1<ArNetPacket *> drawingCB(&drawing);
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
/* Check for -help, and unhandled arguments: */
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(0);
}
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
printf("Connected to server.\n");
client.addHandler("listDrawings", &drawingCB);
client.requestOnce("listDrawings");
client.runAsync();
while (client.getRunningWithLock())
{
ArUtil::sleep(1);
//printf("%d ms since last data\n", client.getLastPacketReceived().mSecSince());
}
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
clientConnector.logOptions();
exit(0);
}
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
client.runAsync();
ArNetPacket sending;
// We have to tell it what section we're sending
sending.strToBuf("Section");
// The map is in the files section
sending.strToBuf("Files");
// The parameter name
sending.strToBuf("Map");
// The value of the parameter
sending.strToBuf("entire2.map");
// you could put in however many of these you want...
client.requestOnce("setConfig", &sending);
// you have to give the client some time to send the command
ArUtil::sleep(500);
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
clientConnector.logOptions();
exit(0);
}
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
client.runAsync();
ArNetPacket sending;
// We have to tell it what route we want to patrol
sending.strToBuf("hallways");
// tell it how much many times we want to patrol (<= 0 == forever)
sending.byte4ToBuf(0);
client.requestOnce("patrolRouteCount", &sending);
// note that there's also another call (patrol) that just has it always
// patrol forever but this gives you more options and is only
// slightly more complicated (just give it that byte4)
// you have to give the client some time to send the command
ArUtil::sleep(500);
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
std::string hostname;
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
if (argc == 1)
hostname = "localhost";
else
hostname = argv[1];
if (!client.blockingConnect(hostname.c_str(), 7272))
{
printf("Could not connect to server, exiting\n");
exit(1);
}
/*
ArGlobalFunctor1<ArNetPacket *> getDirListingCB(&getDirListing);
client.addHandler("getDirListing", &getDirListingCB);
//client.requestOnceWithString("getDirListing", "");
ArGlobalFunctor1<ArNetPacket *> getFileCB(&netGetFile);
client.addHandler("getFile", &getFileCB);
client.requestOnceWithString("getFile", "all.bob");
ArGlobalFunctor1<ArNetPacket *> netPutFileCB(&netPutFile);
client.addHandler("putFile", &netPutFileCB);
putFile("doxygen.conf", "ArGH/DoxYGEN");
*/
ArGlobalFunctor1<ArNetPacket *> deleteFileCB(&netDeleteFile);
client.addHandler("deleteFile", &deleteFileCB);
client.requestOnceWithString("deleteFile", "1/all.bob");
client.runAsync();
while (client.getRunningWithLock())
{
ArUtil::sleep(1);
}
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
ArClientBase client;
ArGlobalFunctor1<ArNetPacket *> testCB(&test);
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
ArTime startTime;
startTime.setToNow();
if (!client.blockingConnect("localhost", 7273))
{
printf("Could not connect to server, exiting\n");
exit(1);
}
printf("Took %ld msec to connect\n", startTime.mSecSince());
client.runAsync();
client.lock();
client.addHandler("test", &testCB);
client.addHandler("test2", &testCB);
client.addHandler("test3", &testCB);
client.logDataList();
client.requestOnce("test");
client.request("test2", 100);
client.request("test3", -1);
client.unlock();
ArUtil::sleep(1000);
printf("Changing speed\n");
client.lock();
client.request("test2", 300);
client.unlock();
ArUtil::sleep(1000);
client.lock();
client.requestStop("test2");
client.unlock();
ArUtil::sleep(1000);
client.lock();
client.disconnect();
client.unlock();
ArUtil::sleep(50);
exit(0);
}
int main(int argc, char **argv)
{
Aria::init();
ArLog::init(ArLog::StdOut, ArLog::Normal);
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
clientConnector.logOptions();
exit(0);
}
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
ArGlobalFunctor1<ArNetPacket *> getModeDataListCB(&getModeDataList);
ArGlobalFunctor1<ArNetPacket *> getModeInfoCB(&getModeInfo);
client.addHandler("getModeDataList", &getModeDataListCB);
client.requestOnce("getModeDataList");
client.addHandler("getModeInfo", &getModeInfoCB);
client.request("getModeInfo", -1);
client.runAsync();
while (client.getRunningWithLock())
{
ArUtil::sleep(1);
//printf("%d ms since last data\n", client.getLastPacketReceived().mSecSince());
}
Aria::shutdown();
return 0;
}
/**
Initialize the robot connection
*/
JNIEXPORT jint JNICALL Java_com_adept_arandroid_ArjRobot_initialize
(JNIEnv *env, jobject obj, jstring host, jint port)
{
// Get the host ip address
const char *cHost = env->GetStringUTFChars(host, 0);
// Try to connect
Aria::init();
ArLog::setFunctor(new ArGlobalFunctor1<const char*>(ariaLogDebugPrint));
debugPrintS("Connecting to ", cHost);
if (!myClient.blockingConnect(cHost, port, true, NULL, NULL, NULL)) {
debugPrint("Error connecting");
return -1;
}
debugPrint("Connected");
// Run the client connection in a different thread
myClient.runAsync();
// Download the map, maybe move this to it's own function later
debugPrint("getting map");
myClient.requestOnce("getMapBinary");
// Create the OutputHandler
myOutputHandler = new OutputHandler(&myClient);
/* Block until the connection is closed. We will use this time to get
* status update information at a regular rate. */
myShutdown = false;
while (myClient.getRunningWithLock() && !myShutdown) {
ArUtil::sleep(100);
myServerStatus = myOutputHandler->getServerStatus();
myOutputHandler->getRobotStatus(myRobotStatus);
}
debugPrint("Shutting down Aria");
myClient.disconnect();
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
return 1;
}
if (!clientConnector.connectClient(&client))
{
if(client.wasRejected())
ArLog::log(ArLog::Terse, "Error, server '%s' rejected connection. Exiting.", client.getHost());
else
ArLog::log(ArLog::Terse, "Error, could not connect to server '%s'. Exiting.", client.getHost());
return 2;
}
client.setRobotName(client.getHost()); // include server hostname in log messages
client.runAsync();
PtzCameraExample example(&client);
if(!example.init())
return 1;
example.run();
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
std::string hostname;
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
ArClientFileFromClient::SendSpeed speed = ArClientFileFromClient::SPEED_AUTO;
if (parser.checkArgument("-speed_fast"))
{
ArLog::log(ArLog::Normal, "Putting file with speed_fast");
speed = ArClientFileFromClient::SPEED_FAST;
}
else if (parser.checkArgument("-speed_slow"))
{
ArLog::log(ArLog::Normal, "Putting file with speed_slow");
speed = ArClientFileFromClient::SPEED_SLOW;
}
else
{
ArLog::log(ArLog::Normal, "Putting file with speed_auto");
}
bool pauseAfterSend;
if (parser.checkArgument("-pauseAfterSend"))
{
ArLog::log(ArLog::Normal, "Will pause after send");
pauseAfterSend = true;
}
else
{
ArLog::log(ArLog::Normal, "Will not pause after send");
pauseAfterSend = false;
}
/* Check for -help, and unhandled arguments: */
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed(1) ||
parser.getArgc() <= 1)
{
ArLog::log(ArLog::Normal, "%s <fileName> [-speed_fast] [-speed_slow] [-pauseAfterSend]",
argv[0]);
ArLog::log(ArLog::Normal, "Default send speed is speed_auto");
ArLog::log(ArLog::Normal, "");
Aria::logOptions();
exit(0);
}
const char *fileName = parser.getArg(1);
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
fileFromClient = new ArClientFileFromClient(&client);
fileFromClient->addFileSentCallback(
new ArGlobalFunctor1<int>(&fileSent));
client.runAsync();
done = false;
if (!fileFromClient->putFileToDirectory(NULL, fileName, fileName,
speed))
{
printf("Error before sending file\n");
Aria::exit(1);
}
waitForDone();
if (pauseAfterSend)
ArUtil::sleep(10000);
Aria::exit(0);
return 255;
}
int main(int argc, char **argv)
{
std::string hostname;
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
ArClientBase client;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
/* Check for -help, and unhandled arguments: */
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(0);
}
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
fileLister = new ArClientFileLister(&client);
fileLister->addUpdatedCallback(new ArGlobalFunctor1<int>(&updated));
fileToClient = new ArClientFileToClient(&client);
fileToClient->addFileReceivedCallback(
new ArGlobalFunctor1<int>(&fileReceived));
fileFromClient = new ArClientFileFromClient(&client);
fileFromClient->addFileSentCallback(
new ArGlobalFunctor1<int>(&fileSent));
deleteFileOnServer = new ArClientDeleteFileOnServer(&client);
deleteFileOnServer->addFileDeletedCallback(
new ArGlobalFunctor1<int>(&fileDeleted));
client.runAsync();
/*
if (deleteFileOnServer->deleteFileFromDirectory(NULL, "all.bob"))
waitForDone();
else
printf("Error deleting file\n");
if (deleteFileOnServer->deleteFileFromDirectory("1", "all.bob"))
waitForDone();
else
printf("Error deleting file\n");
if (deleteFileOnServer->deleteFileFromDirectory("1/3", "all.bob"))
waitForDone();
else
printf("Error deleting file\n");
if (deleteFileOnServer->deleteFileFromDirectory("fun", "all.bob"))
waitForDone();
else
printf("Error deleting file\n");
if (deleteFileOnServer->deleteFileFromDirectory("argh", "all.bob"))
waitForDone();
else
printf("Error deleting file\n");
*/
/*
done = false;
if (fileFromClient->putFileToDirectory("argh", "png", "app_logo.png", ArClientFileFromClient::SPEED_SLOW))
waitForDone();
else
printf("Error before sending file\n");
*/
done = false;
if (fileFromClient->putFileToDirectory(NULL, "dox", "doxygen.conf", ArClientFileFromClient::SPEED_SLOW))
waitForDone();
else
printf("Error before sending file\n");
/*
done = false;
if (fileFromClient->putFileToDirectory("argh", "png", "app_logo.png")
waitForDone();
else
printf("Error before sending file\n");
done = false;
if (fileFromClient->putFileToDirectory(NULL, "dox", "doxygen.conf")
waitForDone();
else
printf("Error before sending file\n");
*/
/*
fileLister->changeToTopDir();
waitForDone();
fileLister->changeToDir("argh");
waitForDone();
fileLister->log(true);
fileToClient->getFileFromDirectory("argh\\um", "doxygen", "slashes");
waitForDone();
fileToClient->getFileFromDirectory("argh", "DOXYGEN.Conf", "blah.um.2");
waitForDone();
fileToClient->getFileFromDirectory("argh", "wehlkjadsf", "blah.um.2");
waitForDone();
fileToClient->getFileFromDirectory("argh", "1", "blah.um");
waitForDone();
fileToClient->getFileFromDirectory(NULL, "1", "blah.um.2");
waitForDone();
*/
/*
fileToClient->getFileFromDirectory(NULL, "all.map", "all.map.2");
waitForDone();
fileToClient->getFileFromDirectory(NULL, "um.map", "all.map.2");
waitForDone();
fileToClient->getFileFromDirectory(NULL, "all.map", "all.map.3");
waitForDone();
fileToClient->getFileFromDirectory(NULL, "configClient.txt", "something");
waitForDone();
*/
/*
fileLister->changeToTopDir();
waitForDone();
fileLister->changeToDir("0level");
waitForDone();
fileLister->changeToDir("1level");
waitForDone();
fileLister->upOneDir();
waitForDone();
fileLister->changeToDir("1level2");
waitForDone();
*/
Aria::shutdown();
return 0;
}
void NavigationClient::Main()
{
std::cout << "Navigation client started" << std::endl;
int argsNumber;
argsNumber = 3;
char *arguments[argsNumber];
arguments[0]="./arg_test";
arguments[1]="-host";
//arguments[2]="10.41.42.1";
//se puede poner también patrolbot
arguments[2]="77.7.27.1";
int robotCase, counter;
ArClientBase client;
ArPose pose(0, 0, 0);
ArPose GoToPose(3000.0, 0.0, -90.0);
ArNetPacket posePacket, directGoToPosePacket;
ArArgumentParser parser(&argsNumber, arguments);posePacket.empty();
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
headingsForBedroom.push_back(45);
headingsForBedroom.push_back(25);
headingsForBedroom.push_back(0);
headingsForLiving.push_back(-20);
headingsForLiving.push_back(-55);
headingsForLiving.push_back(-80);
headingsForLiving.push_back(-110);
headingsForLiving.push_back(-140);
openDoor = false;
if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed()) {
clientConnector.logOptions();
exit(0);
}
printf("Connecting...\n");
if (!clientConnector.connectClient(&client)) {
if (client.wasRejected())
printf("Server rejected connection, exiting\n");
else
printf("Could not connect to server, exiting\n");
exit(1);
}
printf("Connected to server.\n");
client.addHandler("pathPlannerStatus", new ArGlobalFunctor1<ArNetPacket*>(&handlePathPlannerStatus));
client.addHandler("update", new ArGlobalFunctor1<ArNetPacket*>(&handleRobotUpdate));
client.addHandler("goalName", new ArGlobalFunctor1<ArNetPacket*>(&handleGoalName));
client.addHandler("getGoals", new ArGlobalFunctor1<ArNetPacket*>(&handleGoalList));
client.addHandler("getSensorCurrent", new ArGlobalFunctor1<ArNetPacket*>(&handleSensorCurrent));
client.addHandler("getSensorList", new ArGlobalFunctor1<ArNetPacket*>(&handleSensorList));
client.addHandler("getLocState", new ArGlobalFunctor1<ArNetPacket*>(&handleLocState));
client.runAsync();
client.requestOnce("getGoals");
client.requestOnce("getSensorList");
client.requestOnceWithString("getSensorCurrent", "lms2xx_1");
// client.request("pathPlannerStatus", 5000);
client.request("goalName", 1000);
client.request("update", 1000);
client.requestOnce("getLocState");
sleep(2);
int cont =0;
while (!openDoor) {
cont++;
ArUtil::sleep(2000);
client.requestOnceWithString("getSensorCurrent", "lms2xx_1");
}
printf("*** Door has been OPENED *** \n");
sleep(2);
if (client.dataExists("localizeToPose")) {
printf(".. Server does have \"localizeToPose\" request.\n");
posePacket.byte4ToBuf(sharedMemory->getInstance().getLocalizationRobotPosition().get_X());
posePacket.byte4ToBuf(sharedMemory->getInstance().getLocalizationRobotPosition().get_Y());
posePacket.byte4ToBuf(sharedMemory->getInstance().getLocalizationRobotPosition().get_Angle());
client.requestOnce("localizeToPose", &posePacket);
ArUtil::sleep(1500);
}
else
printf(".. Server doesn't have that request.\n");
for(;;){
string action = sharedMemory->getInstance().getAction();
if (action=="navigate"){
cout<<"Starting: "<< action << "STATE in NavigationClient"<<endl;
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
sharedMemory->getInstance().setAction("turn");
}if (action=="navigateToParty"){
cout<<"Starting: "<< action << "STATE in NavigationClient"<<endl;
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
sleep(6);
sharedMemory->getInstance().startDownToRotations=false;
sharedMemory->getInstance().sintetizer.set_Phrase("If you need something please wave your hand to my bottom kinect");
sleep(8);
indexHeading=0;
sharedMemory->getInstance().setAction("turn");
}
else if (action=="navigateBackToEmergency"){
cout<<"Starting: "<< action << "STATE in NavigationClient"<<endl;
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
// sharedMemory->sintetizer.set_Phrase("Emergency Situation resolved");
sharedMemory->getInstance().setAction("createReport");
}else if (action=="navigateToEntrance"){
cout<<"Starting: "<< action << "STATE in NavigationClient"<<endl;
sharedMemory->getInstance().sintetizer.set_Phrase("Do not worry, I have called the ambulance");
sleep(2);
sharedMemory->getInstance().sintetizer.set_Phrase("Please wait a moment, I willl wait for them");
sleep(2);
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
sharedMemory->getInstance().setAction("waitForAmbulance");
}
else if (action=="navigateCloseTo"){
cout<<"Starting: "<< action << "STATE in NavigationClient"<<endl;
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
sharedMemory->getInstance().setAction("requestEmergencyObjects");
}
else if (action=="navigateToHome"){
cout<<"Starting: "<< action << " STATE in NavigationClient"<<endl;
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
sharedMemory->getInstance().setAction("requestCommand");
}
else if (action=="navigateToQuestions"){
cout<<"Starting: "<< action << " STATE in NavigationClient"<<endl;
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
sharedMemory->getInstance().setAction("requestQuestions");
}
else if (action=="navigateToObject"){
//solo es utilizado por cocktail Party
//Si se quita la indicación de lugar en requestOptions aqui debe mandarse el destino predefinido (kitchen?)
cout<<"Starting: "<< action << " STATE in NavigationClient"<<endl;
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
sharedMemory->getInstance().setAction("recognizeObject");
}
else if (action=="navigateToObjectCategory"){
//considera que la posición de la categoria de un objeto (en pick and place) es la misma posición que la de donde esta el objeto en emergencia.
cout<<"Starting: "<< action << " STATE in NavigationClient"<<endl;
//por default ahorita esta dining como el la categoria del objeto
navigateTo(sharedMemory->getInstance().getStringDestination(), &client);
if (sharedMemory->getInstance().getTestRunning()=="pick and place" || sharedMemory->getInstance().getTestRunning()=="Emergency" )
sharedMemory->getInstance().setAction("deliverObject");
else
sharedMemory->getInstance().setAction("userRecognize");
}else if (action=="navigateToPoint"){
cout<<"Starting: "<< action << " STATE in NavigationClient"<<endl;
//TODO verificar que esto limpia el objeto
posePacket.empty();
posePacket.byte4ToBuf(sharedMemory->getInstance().lastObjective->getObjetivePosition().get_X());
posePacket.byte4ToBuf(sharedMemory->getInstance().lastObjective->getObjetivePosition().get_Y());
posePacket.byte4ToBuf(sharedMemory->getInstance().lastObjective->getObjetivePosition().get_Angle());
cout << "Enviando punto a navegación: "<< sharedMemory->getInstance().lastObjective->getObjetivePosition().get_X() << "," << sharedMemory->getInstance().lastObjective->getObjetivePosition().get_Y() << "," << sharedMemory->getInstance().lastObjective->getObjetivePosition().get_Angle()<<endl;
client.requestOnce("gotoPose", &posePacket);
sleep(10);
printf("Before while Navigation");
while (strncmp(textData, "Arrived at", 10) != 0){
sleep(10);
}
printf("Navigation ended");
if (sharedMemory->getInstance().getTestRunning()=="CocktailParty")
sharedMemory->getInstance().setAction("userLearn");
else
sharedMemory->getInstance().setAction("requestEmergencyObjects");
}else if (action=="navigateForward"){
stringstream command;
cout<<"Starting: "<< action << " STATE in NavigationClient"<<endl;
command<<"8 " << sharedMemory->getInstance().getGestureDepthPosition();
cout<< "****** AVANZA "<<command.str().c_str()<<" mm"<<endl;
client.requestOnceWithString("MicroControllerMotionCommand",command.str().c_str());
sleep(10);
printf("Before while Navigation");
while (strncmp(textData, "Stopped", 10) != 0){
sleep(10);
}
sharedMemory->getInstance().setAction("turn");
}else if (action=="turn"){
int heading=0;
stringstream command;
cout<<"Starting: "<< action << " STATE in NavigationClient"<<endl;
if (sharedMemory->getInstance().startDownToRotations==false){
if (sharedMemory->getInstance().getStringDestination()=="bedroom"){
cout<<"Entrando BEDROOM 1"<<endl;
if (indexHeading < headingsForBedroom.size()){
heading=headingsForBedroom[indexHeading];
indexHeading++;
cout<<"Entrando a If UNO bedroom"<<endl;
}else{
sharedMemory->getInstance().startDownToRotations=true;
indexHeading=headingsForBedroom.size()-2;
heading=(-1000);//valor dado para detectar que no se obtuvo un valor válido para el heading, dado que se cambia la forma en como se recorre el arreglo
cout<<"Entrando a else UNO bedroom"<<endl;
}
}else {//if (sharedMemory->getInstance().getStringDestination()=="living"){
cout<<"Entrando a LIVING 1"<<endl;
if (indexHeading < headingsForLiving.size()){
heading=headingsForLiving[indexHeading];
indexHeading++;
cout<<"Entrando a If UNO living"<<endl;
}else{
sharedMemory->getInstance().startDownToRotations=true;
indexHeading=headingsForLiving.size()-2;//no menos uno porque ya el proceso anterior permition visitar este indice
heading=(-1000);
cout<<"Entrando a else UNO Living"<<endl;
}
}
}else{
if (sharedMemory->getInstance().getStringDestination()=="bedroom"){
cout<<"Entrando BEDROoM 2"<<endl;
if (indexHeading >= 0){
heading=headingsForBedroom[indexHeading];
indexHeading--;
cout<<"Entrando a if DOS bedroom"<<endl;
}else{
sharedMemory->getInstance().startDownToRotations=false;
indexHeading=1;
heading=(-1000);
cout<<"Entrando a else DOS bedroom"<<endl;
}
}else {//if (sharedMemory->getInstance().getStringDestination()=="living"){
cout<<"Entrando a LIVING 2"<<endl;
if (indexHeading>= 0){
heading=headingsForLiving[indexHeading];
indexHeading--;
cout<<"Entrando a if DOS living"<<endl;
}else{
sharedMemory->getInstance().startDownToRotations=false;
indexHeading=1;//no 0 porque ya el proceso anterior permitió visitar este indice
heading=(-1000);
cout<<"Entrando a else DOS living"<<endl;
}
}
}
if (heading>(-1000)){
command<<"12 " << heading;
cout<< "****** ROTAR "<<command.str().c_str()<<" grades con INDEXHEADING: "<<indexHeading<<"valorArray"<< headingsForLiving[indexHeading]<<endl;
client.requestOnceWithString("MicroControllerMotionCommand",command.str().c_str());
//sharedMemory->getInstance().sintetizer.set_Phrase("If you need something, please wave your hand to my bottom kinect");
sleep(1);
cout<<"*INVERSA al hacer el heading: "<< sharedMemory->getInstance().startDownToRotations << endl;
sharedMemory->getInstance().setAction("payAttention");
}
}else if (action=="navigateToExit"){
//éste estado solo llamarlo para terminar la prueba
cout<<"Starting: "<< action << "STATE in NavigationClient"<<endl;
navigateTo("Exit", &client);
sharedMemory->getInstance().setAction("turnOff");;
}
else if (action=="turnOff"){
cout<<"Starting: "<< action << " STATE in NavigationClient"<<endl;
//ArUtil::sleep(60000);
printf("Server disconnected.\n");
Aria::shutdown();
}
}
return ;
}
int main(int argc, char **argv)
{
/* Aria initialization: */
Aria::init();
//ArLog::init(ArLog::StdErr, ArLog::Verbose);
/* Create our client object. This is the object which connects with a remote
* server over the network, and which manages all of our communication with it
* once connected by sending data "requests". Requests may be sent once, or
* may be repeated at any frequency. Requests and replies to requsets contain
* payload "packets", into which various data types may be packed (when making a
* request), and from which they may also be extracted (when handling a reply).
* See the InputHandler and OutputHandler classes above for
* examples of making requests and reading/writing the data in packets.
*/
ArClientBase client;
/* Aria components use this to get options off the command line: */
ArArgumentParser parser(&argc, argv);
/* This will be used to connect our client to the server, including
* various bits of handshaking (e.g. sending a password, retrieving a list
* of data requests and commands...)
* It will get the hostname from the -host command line argument: */
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
/* Check for -help, and unhandled arguments: */
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(0);
}
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
printf("Connected to server.\n");
client.setRobotName(client.getHost()); // include server name in log messages
/* Create a key handler and also tell Aria about it */
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
/* Global escape-key handler to shut everythnig down */
ArGlobalFunctor escapeCB(&escape);
keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
/* Now that we're connected, we can run the client in a background thread,
* sending requests and receiving replies. When a reply to a request arrives,
* or the server makes a request of the client, a handler functor is invoked.
* The handlers for this program are registered with the client by the
* InputHandler and OutputHandler classes (in their constructors, above) */
client.runAsync();
/* Create the InputHandler object and request safe-drive mode */
InputHandler inputHandler(&client, &keyHandler);
inputHandler.safeDrive();
/* Use ArClientBase::dataExists() to see if the "ratioDrive" request is available on the
* currently connected server. */
if(!client.dataExists("ratioDrive") )
printf("Warning: server does not have ratioDrive command, can not use drive commands!\n");
else
printf("Keys are:\nUP: Forward\nDOWN: Backward\nLEFT: Turn Left\nRIGHT: Turn Right\n");
printf("s: Enable safe drive mode (if supported).\nu: Disable safe drive mode (if supported).\nl: list all data requests on server\n\nDrive commands use 'ratioDrive'.\nt: logs the network tracking tersely\nv: logs the network tracking verbosely\nr: resets the network tracking\n\n");
/* Create the OutputHandler object. It will begin printing out data from the
* server. */
OutputHandler outputHandler(&client);
/* Begin capturing keys into the key handler. Callbacks will be called
* asyncrosously from this main thread when pressed. */
/* While the client is still running (getRunningWithLock locks the "running"
* flag until it returns), check keys on the key handler (which will call
* our callbacks), then tell the input handler to send drive commands.
* Sleep a fraction of a second as well to avoid using
* too much CPU time, and give other threads time to work.
*/
while (client.getRunningWithLock())
{
keyHandler.checkKeys();
inputHandler.sendInput();
ArUtil::sleep(100);
}
/* The client stopped running, due to disconnection from the server, general
* Aria shutdown, or some other reason. */
client.disconnect();
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
// Initialize Aria and Arnl global information
/* Aria initialization: */
Aria::init();
ArLog::init(ArLog::File, ArLog::Verbose,"c:\\temp\\AmbifluxRobot.log",true);
ArLog::log(ArLog::Verbose, "Ambiflux Starting");
// Create the sound queue.
ArSoundsQueue soundQueue;
// Set WAV file callbacks
soundQueue.setPlayWavFileCallback(ArSoundPlayer::getPlayWavFileCallback());
soundQueue.setInterruptWavFileCallback(ArSoundPlayer::getStopPlayingCallback());
// Notifications when the queue goes empty or non-empty.
soundQueue.addQueueEmptyCallback(new ArGlobalFunctor(&queueNowEmpty));
soundQueue.addQueueNonemptyCallback(new ArGlobalFunctor(&queueNowNonempty));
// Run the sound queue in a new thread
soundQueue.runAsync();
/* Pool de messages en provenance de la tablette
Issu de l'implementation d'un modèle producteur/consommateur
pour les messages entrants. Plusieurs thread y accèdent
Tread-safe (mutex)*/
//Pool<Frame> messagePool;
/* Pool de messages en provenance d'un client TCP
Issu de l'implementation d'un modèle producteur/consommateur
pour les messages entrants. Plusieurs thread y accèdent
Tread-safe (mutex)*/
/*TODO : A remplacer par tcpReceivedPool */
//Pool<Frame> tcpMessagePool;
/* Pool de messages en provenance d'un client TCP
Issu de l'implementation d'un modèle producteur/consommateur
pour les messages entrants. Plusieurs thread y accèdent
Tread-safe (mutex)*/
Pool<TCPReceivedRequest> tcpReceivedPool;
/*Create our thread to communicate with iPad
Server start on port 7171 to receive requests from ipad
A client is created on port 7474 to request iPad
*/
//IhmCommunicationThread ihm(7171, &messagePool);
IhmCommunicationThread ihm(7171, &tcpReceivedPool);
//On s'abonne à la réception de message par la classe IhmCommunicationThread
//Todo : A supprimer ?
//ArGlobalFunctor1<Frame> functMessageReceived(&CallbackIhmReceived);
//ihm.setCallback(&functMessageReceived);
ihm.runAsync();
//soundQueue.play("c:\\temp\\let_me_out.wav");
//while(true);
/* Create our client object. This is the object which connects with a remote
* server over the network, and which manages all of our communication with it
* once connected by sending data "requests". Requests may be sent once, or
* may be repeated at any frequency. Requests and replies to requsets contain
* payload "packets", into which various data types may be packed (when making a
* request), and from which they may also be extracted (when handling a reply).
* See the InputHandler and OutputHandler classes above for
* examples of making requests and reading/writing the data in packets.
*/
ArClientBase client;
/* Aria components use this to get options off the command line: */
ArArgumentParser parser(&argc, argv);
/* This will be used to connect our client to the server, including
* various bits of handshaking (e.g. sending a password, retrieving a list
* of data requests and commands...)
* It will get the hostname from the -host command line argument: */
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
/* Check for -help, and unhandled arguments: */
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(0);
}
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
exit(1);
}
printf("Connected to server.\n");
client.setRobotName(client.getHost()); // include server name in log messages
///* Create a key handler and also tell Aria about it */
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
/* Global escape-key handler to shut everythnig down */
ArGlobalFunctor escapeCB(&escape);
keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
/* Now that we're connected, we can run the client in a background thread,
* sending requests and receiving replies. When a reply to a request arrives,
* or the server makes a request of the client, a handler functor is invoked.
* The handlers for this program are registered with the client by the
* InputHandler and OutputHandler classes (in their constructors, above) */
client.runAsync();
///* Create the InputHandler object and request safe-drive mode */
//InputHandler inputHandler(&client);
//inputHandler.gotoGoal("215");
////inputHandler.safeDrive();
// Mode goto
if(!client.dataExists("gotoGoal") )
printf("Warning: Pas de mode goto!\n");
else
printf("Mode goto accepte");
//ArFunctor1<ArNetPacket*>
//client.addHandler("pathPlannerStatus",);
/* Create the OutputHandler object. It will begin printing out data from the
* server. */
OutputHandler outputHandler(&client);
//On s'abonne à la réception de message par la classe IhmCommunicationThread
//Todo : A supprimer ?
//ArGlobalFunctor1<Frame> functMessageReceived(&CallbackIhmReceived);
//ihm.setCallback(&functMessageReceived);
//ihm.runAsync();
//pour tester IHM
// ArUtil::sleep(1000);
// ihm.testCommunication();
//SRMA object
string strSRMA = DALRest::getResourceById("9");
SRMA srma(strSRMA,client, outputHandler, ihm, &soundQueue);
//Loop du mode Ambiant
MainLoop myLoop(srma, &tcpReceivedPool);
myLoop.runAsync();
//Thread loop : TCP commands
//Produces messages in tcpMessagePool
//ServerLoop myServerLoop(srma, &tcpReceivedPool);
//myServerLoop.runAsync();
//Traitement des requetes TCP
//Consulmes messages in tcpMessagePool
//TCPRequestsLoop myTCPRequestsLoop(srma, &tcpReceivedPool);
//myTCPRequestsLoop.runAsync();
/* While the client is still running (getRunningWithLock locks the "running"
* flag until it returns), check keys on the key handler (which will call
* our callbacks), then tell the input handler to send drive commands.
* Sleep a fraction of a second as well to avoid using
* too much CPU time, and give other threads time to work.
*/
while (client.getRunningWithLock())
{
//keyHandler.checkKeys();
//inputHandler.sendInput();
ArUtil::sleep(100);
}
/* The client stopped running, due to disconnection from the server, general
* Aria shutdown, or some other reason. */
client.disconnect();
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArClientBase client;
ArArgumentParser parser(&argc, argv);
/* This will be used to connect our client to the server.
* It will get the hostname from the -host command line argument: */
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
/* Check for -host, -help, ARIA arguments, and unhandled arguments: */
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(0);
}
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server '%s' rejected connection, exiting\n", client.getHost());
else
printf("Could not connect to server '%s', exiting\n", client.getHost());
Aria::exit(1);
}
printf("Connected to server.\n");
client.setRobotName(client.getHost()); // include server name in log messages
client.runAsync();
ArNetPacket request;
// request.
// client.requestOnceByCommand(ArCommands::ENABLE, )
ArClientHandlerRobotUpdate updates(&client);
// client.requestOnce("enableMotor");
ArGlobalFunctor1<ArNetPacket*> enableCB(&enable);
ArGlobalFunctor1<ArNetPacket *> getFileCB(&netGetFile);
ArGlobalFunctor1<ArNetPacket*> recieveDataCB(&recieveData);
client.addHandler("requestEnableMotor", &enableCB);
client.addHandler("handleCheckObjectData", &recieveDataCB);
//client.addHandler("getFile", &getFileCB);
client.requestOnce("requestEnableMotor");
client.request("handleCheckObjectData", 10);
updates.requestUpdates();
if (checkObject)
client.requestOnceWithString("getFile", "./image/ball.jpg");
ArPose pose;
namedWindow("image", 0);
while (client.getRunningWithLock())
{
//client.requestOnce("sendData");
if (checkObject) {
// if (!a) {
cout <<"OK"<<endl;
// client.requestOnceWithString("getFile", "./image/ball.jpg");
client.addHandler("getFile", &getFileCB);
// client.remHandler("getFile", &getFileCB);
//} else {
//client.remHandler("getFile", &getFileCB);
//}
Mat image;
image = imread("./image/ball.jpg", CV_LOAD_IMAGE_COLOR);
imshow("image", image);
char c = (char)waitKey(10);
if( c == 27 )
break;
}
ArUtil::sleep(200);
}
// client.requestStop("getFile");
cout <<"Da tim thay qua bong o vi tri pose("<<pose.getX()<<", "<<pose.getY()<<")"<<endl;
cout <<"Vi tri pose("<<pose.getX()<<", "<<pose.getY()<<")"<<endl;
/* The client stopped running, due to disconnection from the server, general
* Aria shutdown, or some other reason. */
client.disconnect();
Aria::exit(0);
return 0;
}