int main(void)
{
ArTcpConnection con;
ArRobot robot;
ArSonarDevice sonar;
int ret;
std::string str;
ArActionStallRecover recover;
ArActionConstantVelocity constantVelocity("Constant Velocity", 400);
Aria::init();
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
robot.addRangeDevice(&sonar);
robot.setDeviceConnection(&con);
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
robot.addAction(&recover, 100);
robot.addAction(&constantVelocity, 25);
robot.run(true);
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser argParser(&argc, argv);
argParser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&argParser, &robot);
ArLaserConnector laserConnector(&argParser, &robot, &robotConnector);
// Always try to connect to the first laser:
argParser.addDefaultArgument("-connectLaser");
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "Could not connect to the robot.");
if(argParser.checkHelpAndWarnUnparsed())
{
// -help not given, just exit.
Aria::logOptions();
Aria::exit(1);
}
}
// Trigger argument parsing
if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
puts("This program will make the robot wander around. It uses some avoidance\n"
"actions if obstacles are detected, otherwise it just has a\n"
"constant forward velocity.\n\nPress CTRL-C or Escape to exit.");
ArSonarDevice sonar;
robot.addRangeDevice(&sonar);
robot.runAsync(true);
// try to connect to laser. if fail, warn but continue, using sonar only
if(!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Warning: unable to connect to requested lasers, will wander using robot sonar only.");
}
// turn on the motors, turn off amigobot sounds
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// add a set of actions that combine together to effect the wander behavior
ArActionStallRecover recover;
ArActionBumpers bumpers;
ArActionAvoidFront avoidFrontNear("Avoid Front Near", 225, 0);
ArActionAvoidFront avoidFrontFar;
ArActionConstantVelocity constantVelocity("Constant Velocity", 400);
robot.addAction(&recover, 100);
robot.addAction(&bumpers, 75);
robot.addAction(&avoidFrontNear, 50);
robot.addAction(&avoidFrontFar, 49);
robot.addAction(&constantVelocity, 25);
// wait for robot task loop to end before exiting the program
robot.waitForRunExit();
Aria::exit(0);
}
int main(int argc, char **argv)
{
// robot
ArRobot robot;
// the laser
ArSick sick;
// sonar, must be added to the robot
//ArSonarDevice sonar;
// the actions we'll use to wander
// recover from stalls
//ArActionStallRecover recover;
// react to bumpers
//ArActionBumpers bumpers;
// limiter for close obstacles
ArActionLimiterForwards limiter("speed limiter near", 1600, 0, 0, 1.3);
// limiter for far away obstacles
//ArActionLimiterForwards limiterFar("speed limiter near", 300, 1000, 450, 1.1);
//ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 600, 1.1);
// limiter for the table sensors
//ArActionLimiterTableSensor tableLimiter;
// actually move the robot
ArActionConstantVelocity constantVelocity("Constant Velocity", 1500);
// turn the orbot if its slowed down
ArActionTurn turn;
// mandatory init
Aria::init();
// Parse all our args
ArSimpleConnector connector(&argc, argv);
if (!connector.parseArgs() || argc > 1)
{
connector.logOptions();
exit(1);
}
// add the sonar to the robot
//robot.addRangeDevice(&sonar);
// add the laser to the robot
robot.addRangeDevice(&sick);
// try to connect, if we fail exit
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.comInt(ArCommands::SONAR, 0);
// turn on the motors, turn off amigobot sounds
//robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::SOUNDTOG, 0);
// add the actions
//robot.addAction(&recover, 100);
//robot.addAction(&bumpers, 75);
robot.addAction(&limiter, 49);
//robot.addAction(&limiter, 48);
//robot.addAction(&tableLimiter, 50);
robot.addAction(&turn, 30);
robot.addAction(&constantVelocity, 20);
robot.setStateReflectionRefreshTime(50);
limiter.activate();
turn.activate();
constantVelocity.activate();
robot.clearDirectMotion();
//robot.setStateReflectionRefreshTime(50);
robot.setRotVelMax(50);
robot.setTransAccel(1500);
robot.setTransDecel(100);
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
connector.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");
Aria::shutdown();
return 1;
}
sick.lockDevice();
sick.setMinRange(250);
sick.unlockDevice();
robot.lock();
ArGlobalFunctor1<ArRobot *> userTaskCB(&userTask, &robot);
robot.addUserTask("iotest", 100, &userTaskCB);
requestTime.setToNow();
robot.comInt(ArCommands::IOREQUEST, 1);
robot.comInt(ArCommands::ENABLE, 1);
robot.unlock();
robot.waitForRunExit();
// now exit
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser argParser(&argc, argv);
argParser.loadDefaultArguments();
ArRobot robot;
ArSick laser;
std::ofstream stream; // for loggin
time_t timer;
char buffer[120];
//for loggin
ArRobotConnector robotConnector(&argParser, &robot);
ArLaserConnector laserConnector(&argParser, &robot, &robotConnector);
int32_t count = 0;
readyLog(stream);
if (!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "Could not connect to the robot.");
if (argParser.checkHelpAndWarnUnparsed())
{
// -help not given, just exit.
Aria::logOptions();
Aria::exit(1);
return 1;
}
}
// Trigger argument parsing
if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
return 1;
}
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
puts("This program will make the robot wander around. It uses some avoidance\n"
"actions if obstacles are detected, otherwise it just has a\n"
"constant forward velocity.\n\nPress CTRL-C or Escape to exit.");
//ArSonarDevice sonar;
//robot.addRangeDevice(&sonar);
robot.addRangeDevice(&laser);
robot.runAsync(true);
// try to connect to laser. if fail, warn but continue, using sonar only
if (!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Warning: unable to connect to requested lasers, will wander using robot sonar only.");
}
double sampleAngle, dist;
auto sampleRange = laser.currentReadingPolar(-20, 20, &sampleAngle);
auto degreeStr = laser.getDegreesChoicesString();
std::cout << "auto sampleRange = laser.currentReadingPolar(-20, 20, &sampleAngle);" << sampleRange << std::endl;
std::cout << "auto degreeStr = laser.getDegreesChoicesString(); : " << degreeStr << std::endl;
// turn on the motors, turn off amigobot sounds
robot.enableMotors();
//robot.getLaserMap()
robot.comInt(ArCommands::SOUNDTOG, 0);
// add a set of actions that combine together to effect the wander behavior
ArActionStallRecover recover;
ArActionBumpers bumpers;
ArActionAvoidFront avoidFrontNear("Avoid Front Near", 100, 0);
ArActionAvoidFront avoidFrontFar;
ArActionConstantVelocity constantVelocity("Constant Velocity", 400);
robot.addAction(&recover, 100);
robot.addAction(&bumpers, 75);
robot.addAction(&avoidFrontNear, 50);
robot.addAction(&avoidFrontFar, 49);
robot.addAction(&constantVelocity, 25);
stream << "IMPORTANT !! == robot.getRobotRadius() : " << robot.getRobotRadius << std::endl;
std::string timestamp;
while (1)
{
//
//
time(&timer);
strftime(buffer, 80, " - timestamp : %I:%M:%S", localtime(&timer));
timestamp = buffer;
dist = robot.checkRangeDevicesCurrentPolar(-70, 70, &sampleAngle) - robot.getRobotRadius();
stream << count << timestamp << "checkRangeDevicesCurrentPolar(-70, 70, &angle) : " << dist << std::endl;
Sleep(500);
count++;
}
// wwill add processor here
// wait for robot task loop to end before exiting the program
robot.waitForRunExit();
Aria::exit(0);
return 0;
}
