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from AriaPy import *
from ArNetworkingPy import *
import sys
from math import sin
# This is an example server that shows how to draw arbitrary figures in a
# client (e.g. MobileEyes).
# These are callbacks that respond to client requests for the drawings'
# geometry data.
def exampleHomeDrawingNetCallback(client, requestPkt):
print "exampleHomeDrawingNetCallback"
reply = ArNetPacket()
# 7 Vertices
reply.byte4ToBuf(7)
# Centered on 0,0.
# X: Y:
reply.byte4ToBuf(-500); reply.byte4ToBuf(500); # Vertex 1
reply.byte4ToBuf(-500); reply.byte4ToBuf(-500); # Vertex 2
reply.byte4ToBuf(500); reply.byte4ToBuf(-500); # Vertex 3
reply.byte4ToBuf(500); reply.byte4ToBuf(500); # Vertex 4
reply.byte4ToBuf(0); reply.byte4ToBuf(1000); # Vertex 5
reply.byte4ToBuf(-500); reply.byte4ToBuf(500); # Vertex 6
reply.byte4ToBuf(500); reply.byte4ToBuf(500); # Vertex 7
client.sendPacketUdp(reply)
print "exampleHomeDrawingNetCallback Done."
def exampleDotsDrawingNetCallback(client, requestPkt):
reply = ArNetPacket()
tik = ArUtil_getTime() % 200
t = tik / 5.0
# Three dots
reply.byte4ToBuf(3)
# Dot 1:
reply.byte4ToBuf(3000); # X coordinate (mm)
reply.byte4ToBuf((int) (sin(t) * 1000));# Y
# Dot 2:
reply.byte4ToBuf(3500); # X
reply.byte4ToBuf((int) (sin(t+500) * 1000));# Y
# Dot 3:
reply.byte4ToBuf(4000); # X
reply.byte4ToBuf((int) (sin(t+1000) * 1000));# Y
client.sendPacketUdp(reply)
def exampleXDrawingNetCallback(client, requestPkt):
reply = ArNetPacket()
# X marks the spot. 2 line segments, so 4 vertices:
reply.byte4ToBuf(4)
# Segment 1:
reply.byte4ToBuf(-4250); # X1
reply.byte4ToBuf(250); # Y1
reply.byte4ToBuf(-3750); # X2
reply.byte4ToBuf(-250); # Y2
# Segment 2:
reply.byte4ToBuf(-4250); # X1
reply.byte4ToBuf(-250); # Y1
reply.byte4ToBuf(-3750); # X2
reply.byte4ToBuf(250); # Y2
client.sendPacketUdp(reply)
def exampleArrowsDrawingNetCallback(client, requestPkt):
# 1 arrow that points at the robot
reply = ArNetPacket()
reply.byte4ToBuf(1) # 1 arrow
reply.byte4ToBuf(0); # Pos. X
reply.byte4ToBuf(700); # Pos. Y
client.sendPacketUdp(reply)
# Main program:
Aria_init()
robot = ArRobot()
server = ArServerBase()
parser = ArArgumentParser(sys.argv)
simpleConnector = ArSimpleConnector(parser)
simpleOpener = ArServerSimpleOpener(parser)
parser.loadDefaultArguments()
if not Aria_parseArgs() or not parser.checkHelpAndWarnUnparsed():
Aria_logOptions()
Aria_exit(1)
if not simpleOpener.open(server):
if simpleOpener.wasUserFileBad():
print "Error: Bad user/password/permissions file."
else:
print "Error: Could not open server port. Use -help to see options."
Aria_exit(1)
# Devices
sonarDev = ArSonarDevice()
robot.addRangeDevice(sonarDev)
irs = ArIRs()
robot.addRangeDevice(irs)
bumpers = ArBumpers()
robot.addRangeDevice(bumpers)
sick = ArSick()
robot.addRangeDevice(sick);
# attach services to the server
serverInfoRobot = ArServerInfoRobot(server, robot)
serverInfoSensor = ArServerInfoSensor(server, robot)
# This is the service that provides drawing data to the client.
drawings = ArServerInfoDrawings(server)
# Convenience function that sets up drawings for all the robot's current
# range devices (using default shape and color info)
drawings.addRobotsRangeDevices(robot)
# Add our custom drawings
linedd = ArDrawingData("polyLine", ArColor(255, 0, 0), 2, 49) # shape name, color, size, layer
drawings.addDrawing( linedd, "exampleDrawing_Home", exampleHomeDrawingNetCallback)
dotsdd = ArDrawingData("polyDots", ArColor(0, 255, 0), 250, 48)
drawings.addDrawing(dotsdd, "exampleDrawing_Dots", exampleDotsDrawingNetCallback)
segdd = ArDrawingData("polySegments", ArColor(0, 0, 0), 4, 52)
drawings.addDrawing( segdd, "exampleDrawing_XMarksTheSpot", exampleXDrawingNetCallback)
ardd = ArDrawingData("polyArrows", ArColor(255, 0, 255), 500, 100)
drawings.addDrawing( ardd, "exampleDrawing_Arrows", exampleArrowsDrawingNetCallback)
# modes for moving the robot
modeStop = ArServerModeStop(server, robot)
modeDrive = ArServerModeDrive(server, robot)
modeRatioDrive = ArServerModeRatioDrive(server, robot)
modeWander = ArServerModeWander(server, robot)
modeStop.addAsDefaultMode()
modeStop.activate()
# set up some simple commands ("custom commands")
commands = ArServerHandlerCommands(server)
uCCommands = ArServerSimpleComUC(commands, robot)
loggingCommands = ArServerSimpleComMovementLogging(commands, robot)
configCommands = ArServerSimpleComLogRobotConfig(commands, robot)
# add the commands to enable and disable safe driving to the simple commands
modeDrive.addControlCommands(commands)
# Connect to the robot.
if not simpleConnector.connectRobot(robot):
print "Error: Could not connect to robot... exiting"
Aria_exit(1)
# set up the laser before handing it to the laser mode
simpleConnector.setupLaser(sick)
robot.enableMotors()
# start the robot cycle running in a background thread
robot.runAsync(True)
# start the laser processing cycle in a background thread
sick.runAsync()
# connect the laser if it was requested
if not simpleConnector.connectLaser(sick):
print "Error: Could not connect to laser... exiting"
Aria_exit(2)
# log whatever we wanted to before the runAsync
simpleOpener.checkAndLog()
# run the server thread in the background
server.runAsync()
print "Server is now running on port %d..." % (simpleOpener.getPort())
robot.waitForRunExit()
Aria_exit(0)
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