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);
}
int32_t main(int32_t argc, char **argv) {
opendlv::core::system::proxy::ProxySick sick(argc, argv);
return sick.runModule();
}
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);
}
static void
make_player_info(struct nh_player_info *pi)
{
int cap, advskills, i;
memset(pi, 0, sizeof (struct nh_player_info));
pi->moves = moves;
strncpy(pi->plname, u.uplname, sizeof (pi->plname));
pi->align = u.ualign.type;
/* This function could be called before the game is fully inited. Test
youmonst.data as it is required for near_capacity().
program_state.game_running is no good, as we need this data before
game_running is set.
TODO: Wow this is hacky. */
if (!youmonst.data)
return;
API_ENTRY_CHECKPOINT_RETURN_VOID_ON_ERROR();
pi->x = youmonst.mx;
pi->y = youmonst.my;
pi->z = u.uz.dlevel;
if (Upolyd) {
strncpy(pi->rank, msgtitlecase(mons[u.umonnum].mname),
sizeof (pi->rank));
} else
strncpy(pi->rank, rank(), sizeof (pi->rank));
strncpy(pi->rolename, (u.ufemale && urole.name.f) ?
urole.name.f : urole.name.m, sizeof (pi->rolename));
strncpy(pi->racename, urace.noun, sizeof (pi->racename));
strncpy(pi->gendername, genders[u.ufemale].adj,
sizeof(pi->gendername));
pi->max_rank_sz = mrank_sz;
/* abilities */
pi->st = ACURR(A_STR);
pi->st_extra = 0;
if (pi->st > 118) {
pi->st = pi->st - 100;
pi->st_extra = 0;
} else if (pi->st > 18) {
pi->st_extra = pi->st - 18;
pi->st = 18;
}
pi->dx = ACURR(A_DEX);
pi->co = ACURR(A_CON);
pi->in = ACURR(A_INT);
pi->wi = ACURR(A_WIS);
pi->ch = ACURR(A_CHA);
pi->score = botl_score();
/* hp and energy */
pi->hp = Upolyd ? u.mh : u.uhp;
pi->hpmax = Upolyd ? u.mhmax : u.uhpmax;
if (pi->hp < 0)
pi->hp = 0;
pi->en = u.uen;
pi->enmax = u.uenmax;
pi->ac = find_mac(&youmonst);
pi->gold = money_cnt(invent);
pi->coinsym = def_oc_syms[COIN_CLASS];
describe_level(pi->level_desc);
pi->monnum = u.umonster;
pi->cur_monnum = u.umonnum;
/* level and exp points */
if (Upolyd)
pi->level = mons[u.umonnum].mlevel;
else
pi->level = youmonst.m_lev;
pi->xp = youmonst.exp;
cap = near_capacity();
/* check if any skills could be anhanced */
advskills = 0;
for (i = 0; i < P_NUM_SKILLS; i++) {
if (P_RESTRICTED(i))
continue;
if (can_advance(i, FALSE))
advskills++;
}
pi->can_enhance = advskills > 0;
/* add status items for various problems there can be at most 24 items here
at any one time or we overflow the buffer */
if (hu_stat[u.uhs]) /* 1 */
strncpy(pi->statusitems[pi->nr_items++], hu_stat[u.uhs], ITEMLEN);
if (Confusion) /* 2 */
strncpy(pi->statusitems[pi->nr_items++], "Conf", ITEMLEN);
if (sick(&youmonst)) { /* 3 */
if (u.usick_type & SICK_VOMITABLE)
strncpy(pi->statusitems[pi->nr_items++], "FoodPois", ITEMLEN);
if (u.usick_type & SICK_NONVOMITABLE)
strncpy(pi->statusitems[pi->nr_items++], "Ill", ITEMLEN);
}
if (Blind) /* 4 */
strncpy(pi->statusitems[pi->nr_items++], "Blind", ITEMLEN);
if (slippery_fingers(&youmonst)) /* 5 */
strncpy(pi->statusitems[pi->nr_items++], "Greasy", ITEMLEN);
if (leg_hurt(&youmonst)) /* 6 */
strncpy(pi->statusitems[pi->nr_items++], "Lame", ITEMLEN);
if (stunned(&youmonst)) /* 7 */
strncpy(pi->statusitems[pi->nr_items++], "Stun", ITEMLEN);
if (hallucinating(&youmonst)) /* 8 */
strncpy(pi->statusitems[pi->nr_items++], "Hallu", ITEMLEN);
if (strangled(&youmonst)) /* 9 */
strncpy(pi->statusitems[pi->nr_items++], "Strangle", ITEMLEN);
if (sliming(&youmonst)) /* 10 */
strncpy(pi->statusitems[pi->nr_items++], "Slime", ITEMLEN);
if (petrifying(&youmonst)) /* 11 */
strncpy(pi->statusitems[pi->nr_items++], "Petrify", ITEMLEN);
if (u.ustuck && !Engulfed && !sticks(youmonst.data)) /* 12 */
strncpy(pi->statusitems[pi->nr_items++], "Held", ITEMLEN);
if (enc_stat[cap] ) /* 13 */
strncpy(pi->statusitems[pi->nr_items++], enc_stat[cap], ITEMLEN);
if (cancelled(&youmonst))
strncpy(pi->statusitems[pi->nr_items++], "Cancelled", ITEMLEN);
if (slow(&youmonst))
strncpy(pi->statusitems[pi->nr_items++], "Slow", ITEMLEN);
if (Levitation) /* 14 */
strncpy(pi->statusitems[pi->nr_items++], "Lev", ITEMLEN);
else if (Flying)
strncpy(pi->statusitems[pi->nr_items++], "Fly", ITEMLEN);
if (uwep && is_pick(uwep)) /* 15 (first case) */
strncpy(pi->statusitems[pi->nr_items++], "Dig", ITEMLEN);
else if (uwep && is_launcher(uwep))
strncpy(pi->statusitems[pi->nr_items++], "Ranged", ITEMLEN);
else if (uwep && (uwep->otyp == CORPSE) && (touch_petrifies(&mons[uwep->corpsenm])))
strncpy(pi->statusitems[pi->nr_items++], "cWielded", ITEMLEN);
else if (!uwep)
strncpy(pi->statusitems[pi->nr_items++], "Unarmed", ITEMLEN);
else if (!is_wep(uwep))
strncpy(pi->statusitems[pi->nr_items++], "NonWeap", ITEMLEN);
else {
/* strncpy(pi->statusitems[pi->nr_items++], "Melee", ITEMLEN); */
/* Don't show the default Melee status light, as that's the most common case. */
/* 15 (last case) */
}
if (u.utrap) /* 16 */
strncpy(pi->statusitems[pi->nr_items++], trap_stat[u.utraptype],
ITEMLEN);
API_EXIT();
}
/*!
* 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();
}
