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#include "Aria.h"
#include "ArNetworking.h"
/** @example simpleServerExample.cpp This is a simple example of an ArNetworking server.
* This server provides range sensor data to the client, and teleoperation
* controls. It also includes an example of a custom command (using
* ArServerHandlerCommands).
*
* For a more complete server, see serverDemo.cpp.
*/
/* This function is called ArServerHandlerCommands when our custom command is
* recieved. */
void customCommandHandler(ArArgumentBuilder *args)
{
if(args && args->getArg(0))
ArLog::log(ArLog::Normal, "Recieved custom command with argument \"%s\".", args->getArg(0));
else
ArLog::log(ArLog::Normal, "Recieved custom command with no arguments.");
}
int main(int argc, char **argv)
{
Aria::init();
ArRobot robot;
ArArgumentParser parser(&argc, argv);
ArSimpleConnector simpleConnector(&parser);
// The base server object, manages all connections to clients.
ArServerBase server;
// This object simplifies configuration and opening of the ArServerBase
// object.
ArServerSimpleOpener simpleOpener(&parser);
// parse the command line. fail and print the help if the parsing fails
// or if the help was requested with -help
parser.loadDefaultArguments();
if (!simpleConnector.parseArgs() || !simpleOpener.parseArgs() ||
!parser.checkHelpAndWarnUnparsed())
{
simpleConnector.logOptions();
simpleOpener.logOptions();
exit(1);
}
// Use the ArSimpleOpener to open the server port
if (!simpleOpener.open(&server))
{
ArLog::log(ArLog::Terse, "Error: Could not open server on port %d", simpleOpener.getPort());
exit(1);
}
//
// Create services attached to the base server:
//
// Robot position etc.:
ArServerInfoRobot serverInfoRobot(&server, &robot);
// Robot control modes (only one mode can be active at once):
ArServerModeStop modeStop(&server, &robot);
// old ArServerModeDrive modeDrive(&server, &robot);
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
ArServerModeWander modeWander(&server, &robot);
modeStop.addAsDefaultMode();
modeStop.activate();
// This provides a simple way to add new commands.
ArServerHandlerCommands commands(&server);
// Add our custom command. ArServerHandlerCommands also has other methods
// for adding commands taht take different kinds of arguments, or no
// arguments.
ArGlobalFunctor1<ArArgumentBuilder*> customCommandFunctor(&customCommandHandler);
commands.addStringCommand("ExampleCustomCommand", "Example of a custom command. simpleServerExample will print out the text sent with the command.", &customCommandFunctor);
// These objects provide various debugging and diagnostic custom commands:
ArServerSimpleComUC uCCommands(&commands, &robot); // Get information about the robot
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // Control logging
modeRatioDrive.addControlCommands(&commands); // Drive mode diagnostics
// This provides the client (e.g. MobileEyes) with a simple table of string values
// (called an InfoGroup). An InfoGroup is kept globally by Aria.
// The values in the table sent to clients are retrieved periodically by calling a
// functor.
ArServerInfoStrings stringInfo(&server);
Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());
// Here are some example entries in the InfoGroup:
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(&robot,
&ArRobot::getMotorPacCount));
//
// Connect to the robot:
//
if (!simpleConnector.connectRobot(&robot))
{
printf("Error: Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.enableMotors();
robot.runAsync(true);
// The simple opener might have information to display right before starting
// the server thread:
simpleOpener.checkAndLog();
// now let the server base run in a new thread, accepting client connections.
server.runAsync();
ArLog::log(ArLog::Normal, "Server is now running... Press Ctrl-C to exit.");
robot.waitForRunExit();
Aria::shutdown();
exit(0);
}
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