int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
robot = new ArRobot; // hack global pointer so global functions can use it
// Connect to the robot, get some initial data from it such as type and name,
// and then load parameter files for this robot.
ArRobotConnector robotConnector(&parser, robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "auxSerialExample: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
// -help not given
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
// functor for the packet handler
ArGlobalRetFunctor1<bool, ArRobotPacket *> getAuxCB(&getAuxPrinter);
// add our packet handler as the first one in the list
robot->addPacketHandler(&getAuxCB, ArListPos::FIRST);
ArLog::log(ArLog::Normal, "auxSerialExample: Connected to the robot. Sending command to change AUX1 baud rate to 9600...");
robot->comInt(ArCommands::AUX1BAUD, 0); // See robot manual
// Send the first GETAUX request
robot->comInt(ArCommands::GETAUX, 1);
// If you wanted to recieve information from the second aux. serial port, use
// the GETAUX2 command instead; but the packet returned will also have a
// different type ID.
//robot->comInt(ArCommands::GETAUX2, 1);
// run the robot until disconnect, then shutdown and exit.
robot->run(true);
Aria::exit(0);
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser argParser(&argc, argv);
ArSimpleConnector conn(&argParser);
argParser.loadDefaultArguments();
if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
return 1;
}
// This is a global pointer so the global functions can use it.
robot = new ArRobot;
// functor for the packet handler
ArGlobalRetFunctor1<bool, ArRobotPacket *> getAuxCB(&getAuxPrinter);
// add our packet handler as the first one in the list
robot->addPacketHandler(&getAuxCB, ArListPos::FIRST);
// Connect to the robot
if(!conn.connectRobot(robot))
{
ArLog::log(ArLog::Terse, "getAuxExample: Error connecting to the robot.");
return 2;
}
ArLog::log(ArLog::Normal, "getAuxExample: Connected to the robot. Sending command to change AUX1 baud rate to 9600...");
robot->comInt(ArCommands::AUX1BAUD, 0); // See robot manual
// Send the first GETAUX request
robot->comInt(ArCommands::GETAUX, 1);
// If you wanted to recieve information from the second aux. serial port, use
// the GETAUX2 command instead; but the packet returned will also have a
// different type ID.
//robot->comInt(ArCommands::GETAUX2, 1);
// run the robot until disconnect, then shutdown and exit.
robot->run(true);
Aria::shutdown();
return 0;
}
