int main(int argc, char **argv)
{
std::string str;
int ret;
// connection to the robot
ArTcpConnection con;
// the robot
ArRobot robot;
// ake the joydrive object, which also creates its own thread
Joydrive joyd(&robot);
// the connection handler
ConnHandler ch(&robot, &joyd);
// init aria, which will make a dedicated signal handling thread
Aria::init(Aria::SIGHANDLE_THREAD);
// open the connection with default args, exit if it fails
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
// set the connection on the robot
robot.setDeviceConnection(&con);
// run the robot in its own thread
robot.runAsync(false);
// have the robot connect asyncronously (so its loop is still running)
// if this fails it means that the robot isn't running in its own thread
if (!robot.asyncConnect())
{
printf(
"asyncConnect failed because robot is not running in its own thread.\n");
Aria::shutdown();
return 1;
}
// now we just wait for the robot to be done running
printf("Waiting for the robot's run to exit.\n");
robot.waitForRunExit();
// then we exit
printf("exiting main\n");
Aria::exit(0); // exit program
return 0;
}
int main(int argc, char **argv)
{
// just some stuff for returns
std::string str;
int ret;
// robots connection
ArSerialConnection con;
// the robot, this turns state reflection off
ArRobot robot(NULL, false);
// the joydrive as defined above, this also adds itself as a user task
Joydrive joyd(&robot);
// mandatory init
Aria::init();
// open the connection, if it fails, exit
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
// set the connection o nthe robot
robot.setDeviceConnection(&con);
// connect, if we fail, exit
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// turn off the sonar, enable the motors, turn off amigobot sounds
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// run, if we lose connection to the robot, exit
robot.run(true);
// shutdown and go away
Aria::shutdown();
return 0;
}
int main(int argc, char **argv)
{
std::string str;
int ret;
// connection
ArTcpConnection con;
// robot, this starts it with state reflecting turned off
ArRobot robot(NULL, false);
// make the joydrive instance, which adds its task to the robot
Joydrive joyd(&robot);
// mandatory aria initialization
Aria::init();
// open the connection, if it fails, exit
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::exit(1);
return 1;
}
// set the robots connection
robot.setDeviceConnection(&con);
// try to connect, if we fail exit
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
return 1;
}
// turn off sonar, turn the motors on, turn off amigobot sound
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
// run the robot, true so that if connection is lost the run stops
robot.run(true);
// now exit
Aria::exit(0); // exit program
return 0;
}
int main(int argc, char **argv)
{
std::string str;
int ret;
int num;
ArPose pose;
Aria::init();
if (argc != 2)
{
printf("Usage is '%s <num>' where <num> is one of:\n", argv[0]);
printf("1 Moves the robot back to the origin.\n");
printf("2 Moves the robot +1 meter in X direction.\n");
printf("3 Does a transform test, going from the origin to robot and back.\n");
printf("4 Does a transform test with a point 1 meter to the -x from the robot (ie left).\n");
printf("5 Does a transform, prints out sonar plar reading before and after.\n");
printf("6 Disconnects the robot, and reconnects to it.\n");
exit(1);
}
num = atoi(argv[1]);
ArTcpConnection con;
ArRobot robot(NULL, false);
Joydrive joyd(&robot, num);
ArFunctorC<Joydrive> driveCB(&joyd, &Joydrive::drive);
ArSonarDevice sonar;
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
robot.addUserTask("joydrive", 50, &driveCB);
robot.addRangeDevice(&sonar);
robot.setDeviceConnection(&con);
pose.setPose(4000, 2000, 90);
robot.moveTo(pose);
pose = robot.getPose();
printf("Position set to, before connect.\n");
pose.log();
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
pose = robot.getPose();
printf("Position robot at, after connect.\n");
pose.log();
//printf("Position being reset to 0.\n");
//pose.setPose(0, 0, 0);
//robot.moveTo(pose);
//robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::SOUNDTOG, 0);
robot.run(true);
Aria::shutdown();
return 0;
}
