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#include "Aria.h"
#include "ArNetworking.h"
class InputHandler
{
public:
InputHandler(ArServerBase *server, ArRobot *robot);
virtual ~InputHandler(void);
void setVel(ArServerClient *client, ArNetPacket *packet);
void deltaVel(ArServerClient *client, ArNetPacket *packet);
void deltaHeading(ArServerClient *client, ArNetPacket *packet);
protected:
ArActionInput myActionInput;
ArRobot *myRobot;
ArServerBase *myServer;
ArFunctor2C<InputHandler, ArServerClient *, ArNetPacket *> mySetVelCB;
ArFunctor2C<InputHandler, ArServerClient *, ArNetPacket *> myDeltaVelCB;
ArFunctor2C<InputHandler, ArServerClient *, ArNetPacket *> myDeltaHeadingCB;
};
InputHandler::InputHandler(ArServerBase *server, ArRobot *robot) :
mySetVelCB(this, &InputHandler::setVel),
myDeltaVelCB(this, &InputHandler::deltaVel),
myDeltaHeadingCB(this, &InputHandler::deltaHeading)
{
myRobot = robot;
myServer = server;
myRobot->addAction(&myActionInput, 50);
myServer->addData("setVel", "sets the velocity of the robot", &mySetVelCB,
"double: vel", "none");
myServer->addData("deltaVel", "changes the velocity of the robot",
&myDeltaVelCB, "double: deltaVel", "none");
myServer->addData("deltaHeading", "changes the heading of the robot",
&myDeltaHeadingCB, "double: deltaHeading", "none");
}
InputHandler::~InputHandler(void)
{
myRobot->remAction(&myActionInput);
/*myServer->remData("setVel");
myServer->remData("deltaVel");
myServer->remData("deltaHeading");*/
}
void InputHandler::setVel(ArServerClient *client, ArNetPacket *packet)
{
double vel = packet->bufToDouble();
//printf("Vel %g\n", vel);
myActionInput.setVel(vel);
}
void InputHandler::deltaVel(ArServerClient *client, ArNetPacket *packet)
{
double delta = packet->bufToDouble();
//printf("DeltaVel %g\n", delta);
//myActionInput.deltaVel(delta); // deltaVel has been removed from ArActionInput
myActionInput.setVel(myRobot->getVel() + delta);
}
void InputHandler::deltaHeading(ArServerClient *client, ArNetPacket *packet)
{
double delta = packet->bufToDouble();
//printf("DeltaHeading %g\n", delta);
myActionInput.deltaHeadingFromCurrent(delta);
}
class OutputHandler
{
public:
OutputHandler(ArServerBase *server, ArRobot *robot);
virtual ~OutputHandler(void);
void buildOutput(void);
void output(ArServerClient *client, ArNetPacket *packet);
protected:
ArServerBase *myServer;
ArRobot *myRobot;
ArMutex myPacketMutex;
ArNetPacket myBuiltPacket;
ArNetPacket mySendingPacket;
ArFunctor2C<OutputHandler, ArServerClient *, ArNetPacket *> myOutputCB;
ArFunctorC<OutputHandler> myTaskCB;
};
OutputHandler::OutputHandler(ArServerBase *server, ArRobot *robot) :
myOutputCB(this, &OutputHandler::output),
myTaskCB(this, &OutputHandler::buildOutput)
{
myServer = server;
myRobot = robot;
myServer->addData("output", "gives the status of the robot", &myOutputCB,
"none", "byte4: x, byte4: y, byte2: th*10, byte2: vel, byte2: rotvel, byte2: battery*10");
myRobot->addUserTask("output", 50, &myTaskCB);
}
OutputHandler::~OutputHandler(void)
{
}
void OutputHandler::buildOutput(void)
{
myPacketMutex.lock();
myBuiltPacket.empty();
myBuiltPacket.byte4ToBuf(ArMath::roundInt(myRobot->getX()));
myBuiltPacket.byte4ToBuf(ArMath::roundInt(myRobot->getY()));
myBuiltPacket.byte2ToBuf(ArMath::roundInt(myRobot->getTh()));
myBuiltPacket.byte2ToBuf(ArMath::roundInt(myRobot->getVel()));
myBuiltPacket.byte2ToBuf(ArMath::roundInt(myRobot->getRotVel()));
myBuiltPacket.byte2ToBuf(ArMath::roundInt(
myRobot->getBatteryVoltage() * 10));
myPacketMutex.unlock();
}
void OutputHandler::output(ArServerClient *client, ArNetPacket *packet)
{
myPacketMutex.lock();
mySendingPacket.duplicatePacket(&myBuiltPacket);
myPacketMutex.unlock();
client->sendPacketTcp(&mySendingPacket);
}
int main(int argc, char **argv)
{
Aria::init();
ArServerBase server;
// the serial connection (robot)
ArSerialConnection serConn;
// tcp connection (sim)
ArTcpConnection tcpConn;
// robot
ArRobot robot;
// first open the server up
if (!server.open(7272))
{
printf("Could not open server port\n");
exit(1);
}
// attach stuff to the server
InputHandler inputHandler(&server, &robot);
OutputHandler outputHandler(&server, &robot);
// now let it spin off in its own thread
server.runAsync();
tcpConn.setPort();
// see if we can get to the simulator (true is success)
if (tcpConn.openSimple())
{
// we could get to the sim, so set the robots device connection to the sim
printf("Connecting to simulator through tcp.\n");
robot.setDeviceConnection(&tcpConn);
}
else
{
// we couldn't get to the sim, so set the port on the serial
// connection and then set the serial connection as the robots
// device
// modify the next line if you're not using the first serial port
// to talk to your robot
serConn.setPort();
printf(
"Could not connect to simulator, connecting to robot through serial.\n");
robot.setDeviceConnection(&serConn);
}
// try to connect, if we fail exit
if (!robot.blockingConnect())
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// enable the motors, disable amigobot sounds
robot.comInt(ArCommands::ENABLE, 1);
robot.comInt(ArCommands::BUMPSTALL, 0);
// run the robot, true here so that the run will exit if connection lost
robot.run(true);
// now exit
Aria::shutdown();
return 0;
}
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