/usr/share/doc/libaria-dev/examples/robotSyncTaskExample.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 | /*
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"
/** @example robotSyncTaskExample.cpp Shows how to add a task callback to ArRobot's synchronization/processing cycle
A sensor interpretation task callback is invoked
by the ArRobot object every cycle as it runs, which records the robot's current
pose and velocity.
Note that tasks must take a small amount of time to execute, to avoid delaying the
robot cycle.
*/
class PrintingTask
{
public:
// Constructor. Adds our 'user task' to the given robot object.
PrintingTask(ArRobot *robot);
// Destructor. Removes our user task from the robot
~PrintingTask(void);
// This method will be called by the callback functor
void doTask(void);
protected:
ArRobot *myRobot;
// The functor to add to the robot for our 'user task'.
ArFunctorC<PrintingTask> myTaskCB;
};
// the constructor (note how it uses chaining to initialize myTaskCB)
PrintingTask::PrintingTask(ArRobot *robot) :
myTaskCB(this, &PrintingTask::doTask)
{
myRobot = robot;
// just add it to the robot
myRobot->addSensorInterpTask("PrintingTask", 50, &myTaskCB);
}
PrintingTask::~PrintingTask()
{
myRobot->remSensorInterpTask(&myTaskCB);
}
void PrintingTask::doTask(void)
{
// print out some info about the robot
printf("\rx %6.1f y %6.1f th %6.1f vel %7.1f mpacs %3d", myRobot->getX(),
myRobot->getY(), myRobot->getTh(), myRobot->getVel(),
myRobot->getMotorPacCount());
fflush(stdout);
// Need sensor readings? Try myRobot->getRangeDevices() to get all
// range devices, then for each device in the list, call lockDevice(),
// getCurrentBuffer() to get a list of recent sensor reading positions, then
// unlockDevice().
}
int main(int argc, char** argv)
{
// the connection
ArSimpleConnector con(&argc, argv);
if(!con.parseArgs())
{
con.logOptions();
return 1;
}
// robot
ArRobot robot;
// sonar array range device
ArSonarDevice sonar;
// This object encapsulates the task we want to do every cycle.
// Upon creation, it puts a callback functor in the ArRobot object
// as a 'user task'.
PrintingTask pt(&robot);
// initialize aria
Aria::init();
// add the sonar object to the robot
robot.addRangeDevice(&sonar);
// open the connection to the robot; if this fails exit
if(!con.connectRobot(&robot))
{
printf("Could not connect to the robot.\n");
return 2;
}
printf("Connected to the robot. (Press Ctrl-C to exit)\n");
// Start the robot process cycle running. Each cycle, it calls the robot's
// tasks. When the PrintingTask was created above, it added a new
// task to the robot. 'true' means that if the robot connection
// is lost, then ArRobot's processing cycle ends and this call returns.
robot.run(true);
printf("Disconnected. Goodbye.\n");
return 0;
}
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