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#include "Aria.h"
#include "ArNetworking.h"
class InputHandler
{
public:
InputHandler(ArClientBase *client, ArKeyHandler *keyHandler);
virtual ~InputHandler(void);
void up(void);
void down(void);
void left(void);
void right(void);
void space(void);
protected:
ArClientBase *myClient;
ArKeyHandler *myKeyHandler;
ArFunctorC<InputHandler> myUpCB;
ArFunctorC<InputHandler> myDownCB;
ArFunctorC<InputHandler> myLeftCB;
ArFunctorC<InputHandler> myRightCB;
ArFunctorC<InputHandler> mySpaceCB;
};
InputHandler::InputHandler(ArClientBase *client, ArKeyHandler *keyHandler) :
myUpCB(this, &InputHandler::up),
myDownCB(this, &InputHandler::down),
myLeftCB(this, &InputHandler::left),
myRightCB(this, &InputHandler::right),
mySpaceCB(this, &InputHandler::space)
{
myClient = client;
myKeyHandler = keyHandler;
myKeyHandler->addKeyHandler(ArKeyHandler::UP, &myUpCB);
myKeyHandler->addKeyHandler(ArKeyHandler::DOWN, &myDownCB);
myKeyHandler->addKeyHandler(ArKeyHandler::LEFT, &myLeftCB);
myKeyHandler->addKeyHandler(ArKeyHandler::RIGHT, &myRightCB);
myKeyHandler->addKeyHandler(ArKeyHandler::SPACE, &mySpaceCB);
}
InputHandler::~InputHandler(void)
{
}
void InputHandler::up(void)
{
ArNetPacket packet;
packet.doubleToBuf(25);
myClient->requestOnce("deltaVel", &packet);
}
void InputHandler::down(void)
{
ArNetPacket packet;
packet.doubleToBuf(-25);
myClient->requestOnce("deltaVel", &packet);
}
void InputHandler::left(void)
{
ArNetPacket packet;
packet.doubleToBuf(3.2);
myClient->requestOnce("deltaHeading", &packet);
}
void InputHandler::right(void)
{
ArNetPacket packet;
packet.doubleToBuf(-3.2);
myClient->requestOnce("deltaHeading", &packet);
}
void InputHandler::space(void)
{
ArNetPacket packet;
packet.doubleToBuf(0.00001);
myClient->requestOnce("setVel", &packet);
myClient->requestOnce("deltaHeading", &packet);
}
class OutputHandler
{
public:
OutputHandler(ArClientBase *client);
virtual ~OutputHandler(void);
void handleOutput(ArNetPacket *packet);
protected:
double myX;
double myY;
double myTh;
double myVel;
double myRotVel;
double myVoltage;
ArClientBase *myClient;
ArFunctor1C<OutputHandler, ArNetPacket *> myHandleOutputCB;
};
OutputHandler::OutputHandler(ArClientBase *client) :
myHandleOutputCB(this, &OutputHandler::handleOutput)
{
myClient = client;
myClient->addHandler("output", &myHandleOutputCB);
myClient->request("output", 100);
}
OutputHandler::~OutputHandler(void)
{
myClient->requestStop("output");
}
void OutputHandler::handleOutput(ArNetPacket *packet)
{
myX = packet->bufToByte4();
myY = packet->bufToByte4();
myTh = packet->bufToByte2()/10.0;
myVel = packet->bufToByte2();
myRotVel = packet->bufToByte2();
myVoltage = packet->bufToByte2()/10.0;
printf("\rx: %6.0f y: %6.0f th: %5.1f vel: %4.0f rotVel: %3.0f voltage: %4.1f",
myX, myY, myTh, myVel, myRotVel, myVoltage);
fflush(stdout);
}
void escape(void)
{
Aria::shutdown();
}
int main(int argc, char **argv)
{
char* host = "localhost";
if(argc > 1)
host = argv[1];
Aria::init();
ArClientBase client;
ArGlobalFunctor escapeCB(&escape);
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
printf("Connecting to standaloneServerDemo at %s:%d...\n", host, 7272);
if (!client.blockingConnect(host, 7272))
{
printf("Could not connect to server, exiting\n");
exit(1);
}
InputHandler inputHandler(&client, &keyHandler);
OutputHandler outputHandler(&client);
keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
client.runAsync();
while (client.getRunningWithLock())
{
keyHandler.checkKeys();
ArUtil::sleep(1);
}
keyHandler.restore();
Aria::shutdown();
return 0;
}
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