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)
{
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);
}
/**
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;
}
