Aria  2.8.0
mtxWheelLights.cpp

Shows possible MTX wheel lamp states

/*
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)
{
ArArgumentParser parser(&argc, argv);
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "mtxWheelLights: Could not connect to the robot.");
{
// -help not given
}
}
{
}
ArLog::log(ArLog::Normal, "mtxWheelLights: Connected.");
robot.runAsync(true);
struct {
ArTypes::UByte pattern;
} lamp;
lamp.value = 0;
lamp.flags = 0;
lamp.flags2 = 0;
const int sleeptime = 3000;
for(lamp.pattern = 1; lamp.pattern <= 10; ++(lamp.pattern))
{
ArLog::log(ArLog::Normal, "mtxWheelLights: pattern %d...", lamp.pattern);
robot.comDataN(ArCommands::WHEEL_LIGHT, (const char*)&lamp, 4);
ArUtil::sleep(sleeptime);
if(lamp.pattern == 6)
{
for(lamp.value = 0; lamp.value <= 100; lamp.value += 10)
{
ArLog::log(ArLog::Normal, "mtxWheelLights: pattern %d with value %d...", lamp.pattern, lamp.value);
robot.comDataN(ArCommands::WHEEL_LIGHT, (const char*)&lamp, 4);
ArUtil::sleep(sleeptime);
}
lamp.value = 0;
}
else
{
lamp.value = 50;
ArLog::log(ArLog::Normal, "mtxWheelLights: patterd %d with value 50...", lamp.pattern);
robot.comDataN(ArCommands::WHEEL_LIGHT, (const char*)&lamp, 4);
ArUtil::sleep(sleeptime);
lamp.value = 0;
}
ArLog::log(ArLog::Normal, "mtxWheelLights: pattern %d with warning flag...", lamp.pattern);
lamp.flags |= ArUtil::BIT1;
robot.comDataN(ArCommands::WHEEL_LIGHT, (const char*)&lamp, 4);
ArUtil::sleep(sleeptime);
lamp.flags = 0;
}
ArLog::log(ArLog::Normal, "mtxWheelLights: Exiting.");
return 0;
}
ArRobotConnector::connectRobot
bool connectRobot(void)
Sets up the robot then connects it.
Definition: ArRobotConnector.cpp:405
ArCommands::WHEEL_LIGHT
@ WHEEL_LIGHT
For the wheel lights.
Definition: ArCommands.h:147
ArArgumentParser::loadDefaultArguments
void loadDefaultArguments(int positon=1)
Adds args from default files and environmental variables.
Definition: ArArgumentParser.cpp:736
ArUtil::BIT1
@ BIT1
value of BIT1
Definition: ariaUtil.h:81
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
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
ArTypes::Byte
char Byte
A single signed byte.
Definition: ariaTypedefs.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
ArTypes::UByte
unsigned char UByte
A single unsigned byte.
Definition: ariaTypedefs.h:87
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
ArRobot::runAsync
void runAsync(bool stopRunIfNotConnected, bool runNonThreadedPacketReader=false)
Starts the instance to do processing in its own new thread.
Definition: ArRobot.cpp:301
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
ArLog::Normal
@ Normal
Use normal logging.
Definition: ArLog.h:62
ArRobot::comDataN
bool comDataN(unsigned char command, const char *data, int size)
Sends a command containing exactly the data in the given buffer as argument.
Definition: ArRobot.cpp:5693