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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 tests the response time for IO packet requests sent to the robot. It can
* also test response for velocity commands if the section is uncommented.
*
* This can be used to see what the delay is in the time a command is sent to the
* time the command takes effect.
*/
ArTime requestTime;
ArTime velTime;
int n = 0;
int vel = 0;
int ABOUT_RIGHT = 5;
void userTask(ArRobot *robot)
{
if (robot->getIOPacketTime().mSecSince() > requestTime.mSecSince())
return;
else
{
ArLog::log(ArLog::Terse, "last packet time: %ld", requestTime.mSecSince() - robot->getIOPacketTime().mSecSince());
fflush(stdout);
robot->comInt(ArCommands::IOREQUEST, 1);
requestTime.setToNow();
}
/* Uncomment the next section to test response in velocity commands. */
/*
if (abs((int)(robot->getVel() - vel)) <= ABOUT_RIGHT &&
velTime.secSince() > 5)
{
if (vel == 0)
vel = 200;
else if (vel == 200)
vel = 400;
else if (vel == 400)
vel = 0;
robot->setVel(vel);
velTime.setToNow();
}
ArLog::log(ArLog::Terse, "vel requested: %d\trobot vel: %3.2f\tvel time: %d", vel, robot->getVel(), velTime.mSecSince());
*/
ArLog::log(ArLog::Terse, "Aria cycle time: %d", robot->getCycleTime());
fflush(stdout);
}
int main(int argc, char** argv)
{
// set up our simpleConnector
ArSimpleConnector simpleConnector(&argc, argv);
// robot
ArRobot robot;
// a key handler so we can do our key handling
ArKeyHandler keyHandler;
ArLog::init(ArLog::StdOut,ArLog::Verbose);
// if there are more arguments left then it means we didn't
// understand an option
if (!simpleConnector.parseArgs() || argc > 1)
{
simpleConnector.logOptions();
keyHandler.restore();
exit(1);
}
// mandatory init
Aria::init();
ArLog::init(ArLog::StdOut, ArLog::Terse, NULL, true);
// let the global aria stuff know about it
Aria::setKeyHandler(&keyHandler);
// toss it on the robot
robot.attachKeyHandler(&keyHandler);
// set up the robot for connecting
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
keyHandler.restore();
return 1;
}
// turn on the motors for the velocity response test
robot.comInt(ArCommands::ENABLE, 1);
velTime.setToNow();
// turn off the sonar
robot.comInt(ArCommands::SONAR, 0);
ArGlobalFunctor1<ArRobot *> userTaskCB(&userTask, &robot);
robot.addUserTask("iotest", 100, &userTaskCB);
robot.comInt(ArCommands::IOREQUEST, 1);
requestTime.setToNow();
//start the robot running, true so that if we lose connection the run stops
robot.run(true);
// now exit
Aria::shutdown();
return 0;
}
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