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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"
int main(int argc, char** argv)
{
system("echo joy of joys");
// mandatory init
//ArSignalHandler::block(ArSignalHandler::SigABRT);
Aria::init();
/*
ArSignalHandler::addHandlerCB(new ArGlobalFunctor1<int>(&Aria::signalHandlerCB), ArListPos::LAST);
ArSignalHandler::blockCommon();
ArSignalHandler::block(ArSignalHandler::SigABRT);
ArSignalHandler::handle(ArSignalHandler::SigHUP);
ArSignalHandler::handle(ArSignalHandler::SigINT);
ArSignalHandler::handle(ArSignalHandler::SigQUIT);
ArSignalHandler::handle(ArSignalHandler::SigTERM);
ArSignalHandler::handle(ArSignalHandler::SigPIPE);
ArSignalHandler::blockCommonThisThread();
ArSignalHandler::createHandlerThreaded();
*/
//ArUtil::sleep(1000);
system("echo joy of joys");
// set up our parser
ArArgumentParser parser(&argc, argv);
// set up our simple connector
ArSimpleConnector simpleConnector(&parser);
// robot
ArRobot robot;
// a laser in case one is used
ArSick sick;
// sonar, must be added to the robot, for teleop and wander
ArSonarDevice sonarDev;
// load the default arguments
parser.loadDefaultArguments();
// parse the command line... fail and print the help if the parsing fails
// or if the help was requested
if (!simpleConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
simpleConnector.logOptions();
exit(1);
}
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
// if you're using a program at startup in linux you must NOT
// include a keyhandler or you'll get lockups when trying to read
// keys with no terminal
// a key handler so we can do our key handling
ArKeyHandler keyHandler;
// let the global aria stuff know about it
Aria::setKeyHandler(&keyHandler);
// toss it on the robot
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
// add the sonar to the robot
robot.addRangeDevice(&sonarDev);
// add the laser to the robot
robot.addRangeDevice(&sick);
// add a gyro, it'll see if it should attach to the robot or not
ArAnalogGyro gyro(&robot);
// set up the robot for connecting
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
// set up the laser before handing it to the laser mode
sick.runAsync();
// connect the laser if it was requested
if (!simpleConnector.connectLaser(&sick))
{
printf("Could not connect to laser... exiting\n");
Aria::exit(2);
}
// we need to lock the robot since we'll be setting up these modes
// while the robot is already running and don't want anything to
// break
robot.lock();
// now add all the modes
ArModeLaser laser(&robot, "laser", 'l', 'L', &sick);
ArModeTeleop teleop(&robot, "teleop", 't', 'T');
ArModeUnguardedTeleop unguardedTeleop(&robot, "unguarded teleop", 'u', 'U');
ArModeWander wander(&robot, "wander", 'w', 'W');
ArModeGripper gripper(&robot, "gripper", 'g', 'G');
ArModeCamera camera(&robot, "camera", 'c', 'C');
ArModeSonar sonar(&robot, "sonar", 's', 'S');
ArModeBumps bumps(&robot, "bumps", 'b', 'B');
ArModePosition position(&robot, "position", 'p', 'P', &gyro);
ArModeIO io(&robot, "io", 'i', 'I');
ArModeActs actsMode(&robot, "acts", 'a', 'A');
ArModeCommand command(&robot, "command", 'd', 'D');
ArModeTCM2 tcm2(&robot, "tcm2", 'm', 'M');
// activate the default mode
teleop.activate();
// turn on the motors
robot.comInt(ArCommands::ENABLE, 1);
//robot.comInt(ArCommands::JOYDRIVE, 1);
robot.unlock();
while (robot.isRunning() && Aria::getRunning())
{
system("echo starting; sleep 3; echo done");
ArUtil::sleep(3000);
}
// now exit
Aria::exit(0);
}
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