/**
Go to a named goal
*/
JNIEXPORT jint JNICALL Java_com_adept_arandroid_ArjRobot_gotoGoal
(JNIEnv *env, jobject obj, jstring goal)
{
const char *cGoal = env->GetStringUTFChars(goal, 0);
debugPrintS("Sending to goal ", cGoal);
myOutputHandler->setGoal(cGoal);
ArUtil::sleep(100);
myClient.requestOnceWithString("gotoGoal", cGoal);
debugPrint("On its way");
//env->ReleaseStringUTFChars(goal, cGoal);
}
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)
{
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;
}
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 ;
}
