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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
/*
This demo starts up the robot in its own thread, then runs a bunch of the
direct motion commands... note that if you want to stop direct motion
commands and let actions take over, you should use clearDirectMotion, see
the docs for details. Also note how it locks the robot before doing anything
with the robot, then unlocks it when done, this is vital for threaded code.
You shouldn't really use threads if you don't understand them or don't need
them.
*/
/*
This is a connection handler, fairly simple, but quite useful, esp when
the robot is running in another thread. Its not really needed here
since blockingConnect is used. But it'd still be useful if there is an
error after connected
*/
class ConnHandler
{
public:
// Constructor
ConnHandler(ArRobot *robot);
// Destructor, its just empty
~ConnHandler(void) {}
// to be called if the connection was made
void connected(void);
// to call if the connection failed
void connFail(void);
// to be called if the connection was lost
void disconnected(void);
protected:
// robot pointer
ArRobot *myRobot;
// the functor callbacks
ArFunctorC<ConnHandler> myConnectedCB;
ArFunctorC<ConnHandler> myConnFailCB;
ArFunctorC<ConnHandler> myDisconnectedCB;
};
/*
The constructor, note its use of contructor chaining to initalize the
callbacks.
*/
ConnHandler::ConnHandler(ArRobot *robot) :
myConnectedCB(this, &ConnHandler::connected),
myConnFailCB(this, &ConnHandler::connFail),
myDisconnectedCB(this, &ConnHandler::disconnected)
{
// set the robot poitner
myRobot = robot;
// add the callbacks to the robot
myRobot->addConnectCB(&myConnectedCB, ArListPos::FIRST);
myRobot->addFailedConnectCB(&myConnFailCB, ArListPos::FIRST);
myRobot->addDisconnectNormallyCB(&myDisconnectedCB, ArListPos::FIRST);
myRobot->addDisconnectOnErrorCB(&myDisconnectedCB, ArListPos::FIRST);
}
// just exit if the connection failed
void ConnHandler::connFail(void)
{
printf("Failed to connect.\n");
myRobot->stopRunning();
Aria::shutdown();
return;
}
// turn on motors, and off sonar, and off amigobot sounds, when connected
void ConnHandler::connected(void)
{
printf("Connected\n");
myRobot->comInt(ArCommands::SONAR, 0);
myRobot->comInt(ArCommands::ENABLE, 1);
myRobot->comInt(ArCommands::SOUNDTOG, 0);
}
// lost connection, so just exit
void ConnHandler::disconnected(void)
{
printf("Lost connection\n");
exit(0);
}
int main(int argc, char **argv)
{
std::string str;
int ret;
ArTime start;
// connection to the robot
ArSerialConnection con;
// the robot
ArRobot robot;
// the connection handler from above
ConnHandler ch(&robot);
// init area with a dedicated signal handling thread
Aria::init(Aria::SIGHANDLE_THREAD);
// open the connection with the defaults, exit if failed
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
// set the robots connection
robot.setDeviceConnection(&con);
// try to connect, if we fail, the connection handler should bail
if (!robot.blockingConnect())
{
// this should have been taken care of by the connection handler
// but just in case
printf(
"asyncConnect failed because robot is not running in its own thread.\n");
Aria::shutdown();
return 1;
}
// run the robot in its own thread, so it gets and processes packets and such
robot.runAsync(false);
int i;
while (Aria::getRunning())
{
robot.lock();
robot.comStr(ArCommands::TTY3, "1234567890");
robot.unlock();
}
robot.disconnect();
// shutdown and ge tout
Aria::shutdown();
return 0;
}
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