simpleConnect.cpp

Very simple example showing how to connect with ArSimpleConnector.

One of the simplest ARIA programs possible: Connects with ArSimpleConnector, waits 3 seconds doing nothing, then exits.

/*
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"

int main(int argc, char **argv)
{
  ArRobot robot;
  Aria::init();
  ArSimpleConnector connector(&argc, argv);
  if (!Aria::parseArgs())
  {
    Aria::logOptions();
    Aria::shutdown();
    return 1;
  }
  
  if (!connector.connectRobot(&robot))
  {
    ArLog::log(ArLog::Normal, "simpleConnect: Could not connect to robot... exiting");
    return 2;
  }

  ArLog::log(ArLog::Normal, "simpleConnect: Connected.");

  // Start the robot running in the background.
  // True parameter means that if the connection is lost, then the 
  // run loop ends.
  robot.runAsync(true);

  // Print out some data from the SIP
  ArLog::log(ArLog::Normal, "simpleConnect: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Battery=%.2fV",
    robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());

  // Sleep for 3 seconds.
  ArLog::log(ArLog::Normal, "simpleConnect: Sleeping for 3 seconds...");
  ArUtil::sleep(3000);

  
  ArLog::log(ArLog::Normal, "simpleConnect: Ending robot thread...");
  robot.stopRunning();

  ArLog::log(ArLog::Normal, "simpleConnect: Exiting.");
  return 0;
}

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