/usr/share/doc/libaria-dev/examples/mtxIO.cpp is in libaria-dev 2.8.0+repack-1.2.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 | /*
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"
#include "ArMTXIO.h"
/** @example mtxIO.cpp Sets patterns on digital outputs and acts on digital
* inputs. Attach LEDs to the outputs and buttons to the digital inputs to
* use. (See the Pioneer LX manual and robots.mobilerobots.com for more
* details.)
* The 'mtx' Linux kernel module must be loaded, and the /dev/mtx character
* device must have been created (see mtxIODriver documentation). You must
* have read/write access to /dev/mtx.
*/
void printBits(unsigned short c) {
int i;
for (i=0; i < 16; i++) {
if (i == 8) {
ArLog::log(ArLog::Normal, " ");
}
if (0x8000 & (c << i)) {
ArLog::log(ArLog::Normal, "1");
}
else {
ArLog::log(ArLog::Normal, "0");
}
}
ArLog::log(ArLog::Normal, " (0x%04x) ", c);
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "mtxIO: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
// -help not given
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArLog::log(ArLog::Normal, "mtxIO: Connected.");
robot.comInt(ArCommands::JOYINFO, 0);
ArMTXIO mtxIO;
if(!mtxIO.isEnabled())
{
ArLog::log(ArLog::Terse, "mtxIO: Error opening MTX IO device interface!");
Aria::exit(4);
}
robot.runAsync(true);
unsigned char out = 1;
while(true)
{
mtxIO.lock();
// print state of inputs
unsigned char inp;
mtxIO.getDigitalInputMon1(&inp);
printBits(inp);
mtxIO.getDigitalInputMon2(&inp);
printBits(inp);
/* shouldn't be neccesary
unsigned char cur;
// get current state
if(!mtxIO.getDigitalOutputControl1(&cur))
{
ArLog::log(ArLog::Terse, "mtxIO: Error getting current state of output control 1");
mtxIO.unlock();
Aria::exit(2);
}
*/
// set new state on both output banks
if(!mtxIO.setDigitalOutputControl1(&out))
{
ArLog::log(ArLog::Terse, "mtxIO: Error setting state of output control 1");
mtxIO.unlock();
Aria::exit(3);
}
if(!mtxIO.setDigitalOutputControl2(&out))
{
ArLog::log(ArLog::Terse, "mtxIO: Error setting state of output control 2");
mtxIO.unlock();
Aria::exit(3);
}
// wait
mtxIO.unlock();
ArUtil::sleep(500);
// shift
out = out << 1;
if(out == 0) out = 1;
}
Aria::exit(0);
// wait
mtxIO.unlock();
ArUtil::sleep(500);
// shift
out = out << 1;
if(out == 0) out = 1;
}
Aria::exit(0);
}
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