/usr/include/Aria/ArBatteryConnector.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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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
*/
#ifndef ARBATTERYCONNECTOR_H
#define ARBATTERYCONNECTOR_H
#include "ariaTypedefs.h"
#include "ArSerialConnection.h"
#include "ArTcpConnection.h"
#include "ArArgumentBuilder.h"
#include "ArArgumentParser.h"
#include "ariaUtil.h"
#include "ArRobotConnector.h"
class ArBatteryMTX;
class ArRobot;
/// Connect to robot and battery based on run-time availablitily and command-line arguments
/**
ArBatteryConnector makes a battery connection either through a serial port
connection, or through a TCP
port (for the simulator or for robots with Ethernet-serial bridge
devices instead of onboard computers).
Normally, it first attempts a TCP connection on
@a localhost port 8101, to use a simulator if running. If the simulator
is not running, then it normally then connects using the serial port
Various connection
parameters are configurable through command-line arguments or in the robot
parameter file. (Though the internal interface used by ARIA to do this is also
available if you need to use it: See addBattery(); otherwise don't use
addBattery(), setupBattery(), etc.).
When you create your ArBatteryConnector, pass it command line parameters via
either the argc and argv variables from main(), or pass it an
ArArgumentBuilder or ArArgumentParser object. (ArArgumentBuilder
is able to obtain command line parameters from a Windows program
that uses WinMain() instead of main()).
ArBatteryConnector registers a callback with the global Aria class. Use
Aria::parseArgs() to parse all command line parameters to the program, and
Aria::logOptions() to print out information about all registered command-line parameters.
The following command-line arguments are checked:
@verbinclude ArBatteryConnector_options
To connect to any batteries that were set up in the robot parameter file or
via command line arguments, call connectBatteries(). If successful,
connectBatteries() will return true and add an entry for each battery connected
in the ArRobot object's list of batteries. These ArBatteryMTX objects can be
accessed from your ArRobot object via ArRobot::findBattery() or ArRobot::getBatteryMap().
@since 2.8.0
**/
class ArBatteryConnector
{
public:
/// Constructor that takes argument parser
AREXPORT ArBatteryConnector(ArArgumentParser *parser,
ArRobot *robot, ArRobotConnector *robotConnector,
bool autoParseArgs = true,
ArLog::LogLevel infoLogLevel = ArLog::Verbose);
/// Destructor
AREXPORT ~ArBatteryConnector(void);
/// Connects all the batteries the robot has that should be auto connected
AREXPORT bool connectBatteries(bool continueOnFailedConnect = false,
bool addConnectedBatteriesToRobot = true,
bool addAllBatteriesToRobot = false,
bool turnOnBatteries = true,
bool powerCycleBatteryOnFailedConnect = true);
/// Sets up a battery to be connected
AREXPORT bool setupBattery(ArBatteryMTX *battery,
int batteryNumber = 1);
/// Connects the battery synchronously (will take up to a minute)
AREXPORT bool connectBattery(ArBatteryMTX *battery,
int batteryNumber = 1,
bool forceConnection = true);
/// Adds a battery so parsing will get it
AREXPORT bool addBattery(ArBatteryMTX *battery,
int batteryNumber = 1);
/// Function to parse the arguments given in the constructor
AREXPORT bool parseArgs(void);
/// Function to parse the arguments given in an arbitrary parser
AREXPORT bool parseArgs(ArArgumentParser *parser);
/// Log the options the simple connector has
AREXPORT void logOptions(void) const;
/// Internal function to get the battery (only useful between parseArgs and connectBatteries)
AREXPORT ArBatteryMTX *getBattery(int batteryNumber);
/// Internal function to replace the battery (only useful between parseArgs and connectBatteries) but not the battery data
AREXPORT bool replaceBattery(ArBatteryMTX *battery, int batteryNumber);
protected:
/// Class that holds information about the battery data
class BatteryData
{
public:
BatteryData (int number, ArBatteryMTX *battery) {
myNumber = number;
myBattery = battery;
myConn = NULL;
myConnect = false; myConnectReallySet = false;
myPort = NULL;
myPortType = NULL;
myType = NULL;
myRemoteTcpPort = 0; myRemoteTcpPortReallySet = false;
myBaud = NULL;
myAutoConn = NULL;
}
virtual ~BatteryData() {}
/// The number of this battery
int myNumber;
/// The actual pointer to this battery
ArBatteryMTX *myBattery;
// our connection
ArDeviceConnection *myConn;
// if we want to connect the battery
bool myConnect;
// if myConnect was really set
bool myConnectReallySet;
// the port we want to connect the battery on
const char *myPort;
// the type of port we want to connect to the battery on
const char *myPortType;
// battery Type
const char *myType;
// wheather to auto conn
const char *myAutoConn;
// battery tcp port if we're doing a remote host
int myRemoteTcpPort;
// if our remote battery tcp port was really set
bool myRemoteTcpPortReallySet;
/// the baud we want to use
const char *myBaud;
};
std::map<int, BatteryData *> myBatteries;
/// Parses the battery arguments
AREXPORT bool parseBatteryArgs(ArArgumentParser *parser,
BatteryData *batteryData);
/// Logs the battery command line option help text.
AREXPORT void logBatteryOptions(BatteryData *batterydata, bool header = true, bool metaOpts = true) const;
// Sets the battery parameters
bool internalConfigureBattery(BatteryData *batteryData);
std::string myBatteryTypes;
// our parser
ArArgumentParser *myParser;
bool myOwnParser;
// if we should autoparse args or toss errors
bool myAutoParseArgs;
bool myParsedArgs;
ArRobot *myRobot;
ArRobotConnector *myRobotConnector;
// variables to hold if we're logging or not
bool myBatteryLogPacketsReceived;
bool myBatteryLogPacketsSent;
ArLog::LogLevel myInfoLogLevel;
ArRetFunctorC<bool, ArBatteryConnector> myParseArgsCB;
ArConstFunctorC<ArBatteryConnector> myLogOptionsCB;
};
#endif // ARLASERCONNECTOR_H
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