Aria  2.8.0
laserConnect.cpp

example showing how to connect to laser rangefinders attached to the robot and retrieve data from them. What kinds of laser or lasers are connected to the robot, and their parameters, are loaded from the robot's parameter file in the params directory. First the default for this type of mobile robot is loaded (e.g. p3dx-sh.p for a Pioneer 3 DX), followed by a parameter file specific to this individual robot (based on its 'name'), if such a parameter file exists. Laser parameters may also be given as command line options, use the -help option to list them. This program will only connect to any lasers that have LaserAutoConnect true in the parameter file, or if the -connectLaser or -cl command-line options are given. You may need to edit the parameter file for your robot to set LaserAutoConnect to true.

TODO: show how to force laser connect even if autoconnect is false.

This program will work either with the MobileSim simulator or on a real robot's onboard computer. (Or use -remoteHost to connect to a wireless ethernet-serial bridge.)

/*
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)
{
ArRobot robot;
ArArgumentParser parser(&argc, argv);
ArRobotConnector robotConnector(&parser, &robot);
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Connect to the robot, get some initial data from it such as type and name,
// and then load parameter files for this robot.
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "lasersExample: Could not connect to the robot.");
{
// -help not given
}
}
{
return 2;
}
ArLog::log(ArLog::Normal, "lasersExample: Connected to robot.");
// Start the robot processing cycle running in the background.
// True parameter means that if the connection is lost, then the
// run loop ends.
robot.runAsync(true);
// Connect to laser(s) as defined in parameter files.
// (Some flags are available as arguments to connectLasers() to control error behavior and to control which lasers are put in the list of lasers stored by ArRobot. See docs for details.)
if(!laserConnector.connectLasers())
{
ArLog::log(ArLog::Terse, "Could not connect to configured lasers. Exiting.");
return 3;
}
// Allow some time to read laser data
ArLog::log(ArLog::Normal, "Connected to all lasers.");
// Print out some data from each connected laser.
while(robot.isConnected())
{
int numLasers = 0;
// Get a pointer to ArRobot's list of connected lasers. We will lock the robot while using it to prevent changes by tasks in the robot's background task thread or any other threads. Each laser has an index. You can also store the laser's index or name (laser->getName()) and use that to get a reference (pointer) to the laser object using ArRobot::findLaser().
robot.lock();
std::map<int, ArLaser*> *lasers = robot.getLaserMap();
for(std::map<int, ArLaser*>::const_iterator i = lasers->begin(); i != lasers->end(); ++i)
{
int laserIndex = (*i).first;
ArLaser* laser = (*i).second;
if(!laser)
continue;
++numLasers;
laser->lockDevice();
// The current readings are a set of obstacle readings (with X,Y positions as well as other attributes) that are the most recent set from teh laser.
std::list<ArPoseWithTime*> *currentReadings = laser->getCurrentBuffer(); // see ArRangeDevice interface doc
// There is a utility to find the closest reading wthin a range of degrees around the laser, here we use this laser's full field of view (start to end)
// If there are no valid closest readings within the given range, dist will be greater than laser->getMaxRange().
double angle = 0;
double dist = laser->currentReadingPolar(laser->getStartDegrees(), laser->getEndDegrees(), &angle);
ArLog::log(ArLog::Normal, "Laser #%d (%s): %s. Have %d 'current' readings. Closest reading is at %3.0f degrees and is %2.4f meters away.", laserIndex, laser->getName(), (laser->isConnected() ? "connected" : "NOT CONNECTED"), currentReadings->size(), angle, dist/1000.0);
laser->unlockDevice();
}
if(numLasers == 0)
ArLog::log(ArLog::Normal, "No lasers.");
else
// Unlock robot and sleep for 5 seconds before next loop.
robot.unlock();
}
ArLog::log(ArLog::Normal, "lasersExample: exiting.");
return 0;
}
ArRobotConnector::connectRobot
bool connectRobot(void)
Sets up the robot then connects it.
Definition: ArRobotConnector.cpp:405
ArRobot::getLaserMap
const std::map< int, ArLaser * > * getLaserMap(void) const
Gets the range device list.
Definition: ArRobot.cpp:6932
ArArgumentParser::loadDefaultArguments
void loadDefaultArguments(int positon=1)
Adds args from default files and environmental variables.
Definition: ArArgumentParser.cpp:736
ArRangeDevice::currentReadingPolar
virtual double currentReadingPolar(double startAngle, double endAngle, double *angle=NULL) const
Gets the closest current reading in the given polar region.
Definition: ArRangeDevice.cpp:304
ArLog::Terse
@ Terse
Use terse logging.
Definition: ArLog.h:61
ArRobotConnector
Connect to robot or simulator based on program command line parameters.
Definition: ArRobotConnector.h:80
ArRobot::isConnected
bool isConnected(void) const
Questions whether the robot is connected or not.
Definition: ArRobot.h:133
Aria::exit
static void exit(int exitCode=0)
Shutdown all Aria processes/threads, call exit callbacks, and exit the program.
Definition: Aria.cpp:367
ArLog::log
static void log(LogLevel level, const char *str,...)
Log a message, with formatting and variable number of arguments.
Definition: ArLog.cpp:93
ArLaserConnector
Create laser interface objects (for any kind of laser supported by ARIA) and connect to lasers based ...
Definition: ArLaserConnector.h:80
Aria::init
static void init(SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...
Definition: Aria.cpp:128
ArArgumentParser::checkHelpAndWarnUnparsed
bool checkHelpAndWarnUnparsed(unsigned int numArgsOkay=0)
Checks for the help strings and warns about unparsed arguments.
Definition: ArArgumentParser.cpp:843
ArRobot
Central class for communicating with and operating the robot.
Definition: ArRobot.h:82
ArArgumentParser
Parse and store program command-line arguments for use by other ARIA classes.
Definition: ArArgumentParser.h:64
Aria::logOptions
static void logOptions(void)
Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB())
Definition: Aria.cpp:794
ArLaser::isConnected
virtual bool isConnected(void)=0
See if the laser is connected.
ArRangeDevice::getName
virtual const char * getName(void) const
Gets the name of the device.
Definition: ArRangeDevice.cpp:135
ArLog::init
static bool init(LogType type, LogLevel level, const char *fileName="", bool logTime=false, bool alsoPrint=false, bool printThisCall=true)
Initialize the logging utility with options.
Definition: ArLog.cpp:437
ArLog::StdErr
@ StdErr
Use stderr for logging.
Definition: ArLog.h:55
ArRobot::runAsync
void runAsync(bool stopRunIfNotConnected, bool runNonThreadedPacketReader=false)
Starts the instance to do processing in its own new thread.
Definition: ArRobot.cpp:301
ArRobot::unlock
int unlock()
Unlock the robot instance.
Definition: ArRobot.h:1272
Aria::parseArgs
static bool parseArgs(void)
Parses the arguments for the program (calls all the callbacks added with addParseArgsCB())
Definition: Aria.cpp:759
ArUtil::sleep
static void sleep(unsigned int ms)
Sleep for the given number of milliseconds.
Definition: ariaUtil.cpp:151
ArLaserConnector::connectLasers
bool connectLasers(bool continueOnFailedConnect=false, bool addConnectedLasersToRobot=true, bool addAllLasersToRobot=false, bool turnOnLasers=true, bool powerCycleLaserOnFailedConnect=true, int *failedOnLaser=NULL)
Connects all the lasers the robot has that should be auto connected.
Definition: ArLaserConnector.cpp:1213
ArRangeDevice::getCurrentBuffer
virtual const std::list< ArPoseWithTime * > * getCurrentBuffer(void) const
Gets the current buffer of readings.
Definition: ArRangeDevice.h:140
ArLog::Normal
@ Normal
Use normal logging.
Definition: ArLog.h:62
ArLog::Verbose
@ Verbose
Use verbose logging.
Definition: ArLog.h:63
ArLaser::getEndDegrees
double getEndDegrees(void)
Gets the end angle.
Definition: ArLaser.h:271
ArRobot::lock
int lock()
Lock the robot instance.
Definition: ArRobot.h:1268
ArLaser::getStartDegrees
double getStartDegrees(void)
Gets the start angle.
Definition: ArLaser.h:259
ArLaser
Range device interface specialized for laser rangefinder sensors.
Definition: ArLaser.h:111