robotConnectionCallbacks.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#include "Aria.h"

/*
  This class contains the methods called by the connection callback functors.
*/
class ConnHandler
{
public:
  // Constructor
  ConnHandler(ArRobot *robot);

  // Destructor, its just empty
  ~ConnHandler(void) {}
  
  // called if the connection was sucessfully made
  void connected(void);

  // called if the connection failed. stop the robot processing thread.
  void connectionFailed(void);

  // called when the connection is closed
  void disconnected(void);

  // called if the connection is lost due to an error
  void connectionLost(void);

protected:
  // keep a robot pointer
  ArRobot *myRobot;

  // the functor callbacks
  ArFunctorC<ConnHandler> myConnectedCB;
  ArFunctorC<ConnHandler> myConnFailCB;
  ArFunctorC<ConnHandler> myDisconnectedCB;
  ArFunctorC<ConnHandler> myConnLostCB;
};

/* ConnHandler constructor. Initialize functor objects, then
 * add them as connection handler callbacks with the robot object.
*/
ConnHandler::ConnHandler(ArRobot *robot) :
  myConnectedCB(this, &ConnHandler::connected),  
  myConnFailCB(this, &ConnHandler::connectionFailed),
  myDisconnectedCB(this, &ConnHandler::disconnected),
  myConnLostCB(this, &ConnHandler::connectionLost)

{
  // keep a robot pointer for use by the handler callback methods
  myRobot = robot;

  // add the callbacks to the robot
  myRobot->addConnectCB(&myConnectedCB, ArListPos::FIRST);
  myRobot->addFailedConnectCB(&myConnFailCB, ArListPos::FIRST);
  myRobot->addDisconnectNormallyCB(&myDisconnectedCB, ArListPos::FIRST);
  myRobot->addDisconnectOnErrorCB(&myDisconnectedCB, ArListPos::FIRST);
}

// just exit if the connection failed
void ConnHandler::connectionFailed(void)
{
  ArLog::log(ArLog::Normal, "ConnHandler: Connection failed. Exiting the program.");
  exit(1);
}

void ConnHandler::connected(void)
{
  ArLog::log(ArLog::Normal, "ConnHandler: Connected. Turning off sonar,");
  // turn off sonar, turn off amigobot sounds
  myRobot->comInt(ArCommands::SONAR, 0);
  myRobot->comInt(ArCommands::SOUNDTOG, 0);
}

// disconnected
void ConnHandler::disconnected(void)
{
  ArLog::log(ArLog::Normal, "ConnHandler: Connection closed. Exiting the program.");
  exit(0);
}

// lost connection due to errror, exit
void ConnHandler::connectionLost(void)
{
  ArLog::log(ArLog::Normal, "ConnHandler: Lost connection due to an error! Exiting the program!");
  exit(1);
}



int main(int argc, char **argv) 
{
  Aria::init();
  ArRobot robot;
  ArArgumentParser argParser(&argc, argv);
  ArSimpleConnector con(&argParser);
  if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    return 1;
  }

  // Create a connection handler object, defined above, then try to connect to the
  // robot.
  ConnHandler ch(&robot);
  con.connectRobot(&robot);
  robot.runAsync(true);

  // Sleep for 10 seconds, then request that ArRobot stop its thread.
  ArLog::log(ArLog::Normal, "Sleeping for 10 seconds...");
  ArUtil::sleep(10000);
  ArLog::log(ArLog::Normal, "...requesting that the robot thread exit, then shutting down ARIA and exiting.");
  robot.stopRunning();
  Aria::shutdown();
  return 0;
}

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