C++ ArClientBase::runAsync方法代码示例

int main(int argc, char **argv)
{
  Aria::init();
  ArClientBase client;
  ArArgumentParser parser(&argc, argv);

  /* This will be used to connect our client to the server. 
   * It will get the hostname from the -host command line argument: */
  ArClientSimpleConnector clientConnector(&parser);

  parser.loadDefaultArguments();

  /* Check for -host, -help, ARIA arguments, and unhandled arguments: */
  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    Aria::exit(0);
  }

  
  /* Connect our client object to the remote server: */
  if (!clientConnector.connectClient(&client))
  {
    if (client.wasRejected())
      printf("Server '%s' rejected connection, exiting\n", client.getHost());
    else
      printf("Could not connect to server '%s', exiting\n", client.getHost());
    Aria::exit(1);
  } 

  printf("Connected to server.\n");

  client.setRobotName(client.getHost()); // include server name in log messages

  client.runAsync();

 
  ArClientHandlerRobotUpdate updates(&client);
  updates.requestUpdates();

  while (client.getRunningWithLock())
  {
    updates.lock();
    printf("Mode:%s  Status:%s  Pos:%.0f,%.0f,%.0f  Vel:%.0f,%.0f,%.0f  Bat:%.1f  \r",
		updates.getMode(),
		updates.getStatus(),
		updates.getX(), updates.getY(), updates.getTh(),
		updates.getVel(), updates.getLatVel(), updates.getRotVel(),
		updates.getVoltage()
	);
	updates.unlock();
    ArUtil::sleep(1000);
  }

  /* The client stopped running, due to disconnection from the server, general
   * Aria shutdown, or some other reason. */
  client.disconnect();
  Aria::exit(0);
  return 0;
}

int main(int argc, char **argv)
{
  char* host = "localhost";
  if(argc > 1)
    host = argv[1];
  Aria::init();
  ArClientBase client;
  ArGlobalFunctor escapeCB(&escape);
  ArKeyHandler keyHandler;
  Aria::setKeyHandler(&keyHandler);


  printf("Connecting to standaloneServerDemo at %s:%d...\n", host, 7272);
  if (!client.blockingConnect(host, 7272))
  {
    printf("Could not connect to server, exiting\n");
    exit(1);
  } 
  InputHandler inputHandler(&client, &keyHandler);
  OutputHandler outputHandler(&client);
  keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
  client.runAsync();
  while (client.getRunningWithLock())
  {
    keyHandler.checkKeys();
    ArUtil::sleep(1);
  }
  keyHandler.restore();
  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
  Aria::init();
  ArLog::init(ArLog::StdOut, ArLog::Normal);
  ArClientBase client;

  ArArgumentParser parser(&argc, argv);

  ArClientSimpleConnector clientConnector(&parser);
  parser.loadDefaultArguments();

  if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    clientConnector.logOptions();
    exit(0);
  }
  
  if (!clientConnector.connectClient(&client))
  {
    if (client.wasRejected())
      printf("Server '%s' rejected connection, exiting\n", client.getHost());
    else
      printf("Could not connect to server '%s', exiting\n", client.getHost());
    exit(1);
  } 
  client.setRobotName(client.getHost());  // include server hostname in log messages
  client.runAsync();
  ArUtil::sleep(500);
  client.logDataList();
  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
	ros::init(argc, argv, "ariaClientDriverNode");	//ROS Initialization


	Aria::init();										//Aria Initialization
	ArClientBase client;								//setup client
	ArArgumentParser parser(&argc, argv);				//command line argument handler
	ArClientSimpleConnector clientConnector(&parser);	//connect to Arserver

	parser.loadDefaultArguments();
	if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
	{
		Aria::logOptions();
		exit(0);
	}

	if (!clientConnector.connectClient(&client))
	{
		if (client.wasRejected())
			printf("Server '%s' rejected connection, exiting\n", client.getHost());
		else
			printf("Could not connect to server '%s', exiting\n", client.getHost());
		exit(1);
	}
	printf("Connected to server.\n");

	client.setRobotName(client.getHost()); // include server name in log messages
	ArKeyHandler keyHandler;
	Aria::setKeyHandler(&keyHandler);
	ArGlobalFunctor escapeCB(&escape);
	keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
	client.runAsync();

	if(!client.dataExists("ratioDrive") )
		printf("Warning: server does not have ratioDrive command, can not use drive commands!\n");
	else
		printf("Keys are:\nUP: Forward\nDOWN: Backward\nLEFT: Turn Left\nRIGHT: Turn Right\n");
	printf("s: Enable safe drive mode (if supported).\nu: Disable safe drive mode (if supported).\nl: list all data requests on server\n\nDrive commands use 'ratioDrive'.\nt: logs the network tracking tersely\nv: logs the network tracking verbosely\nr: resets the network tracking\n\n");


	AriaClientDriver ariaClientDriver(&client,&keyHandler,"");

	//while (ros::ok() && client.getRunningWithLock()) //the main loop
	while (client.getRunningWithLock()) //the main loop
	{
		keyHandler.checkKeys();  //addthis if teleop from node required
		ariaClientDriver.controlloop();
		//Input output handling callback threads implemented in ariaClientDriver Class
		ArUtil::sleep(100);	//noneed

	}

	client.disconnect();
	Aria::shutdown();
	return 0;
}

int main(int argc, char **argv)
{
  Aria::init();
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);
  ArClientBase client;

  ArArgumentParser parser(&argc, argv);

  ArClientSimpleConnector clientConnector(&parser);
  parser.loadDefaultArguments();

  if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    clientConnector.logOptions();
    exit(0);
  }

  if (parser.getArgc() < 4 || parser.getArgc() > 6)
  {
    printf("usage: %s <x> <y> <th> <optional:xyspread> <optional:thspread>", argv[0]);
    exit(1);
  }

  if (!clientConnector.connectClient(&client))
  {
    if (client.wasRejected())
      printf("Server '%s' rejected connection, exiting\n", client.getHost());
    else
      printf("Could not connect to server '%s', exiting\n", client.getHost());
    exit(1);
  } 
  client.runAsync();

  ArNetPacket sending;
  // put in the arguments (you can see what they are from doing -lcl on clientDemo)
  sending.byte4ToBuf(atoi(parser.getArg(1)));
  sending.byte4ToBuf(atoi(parser.getArg(2)));
  sending.byte4ToBuf(atoi(parser.getArg(3)));
  if (parser.getArgc() > 4)
    sending.uByte4ToBuf(atoi(parser.getArg(4)));
  if (parser.getArgc() > 5)
    sending.uByte4ToBuf(atoi(parser.getArg(5)));
  // send the packet
  client.requestOnce("localizeToPose", &sending);

  // you have to give the client some time to send the command
  ArUtil::sleep(500);
  

  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
  Aria::init();

  ArClientBase client;

  ArArgumentParser parser(&argc, argv);

  ArClientSimpleConnector clientConnector(&parser);

  parser.loadDefaultArguments();

  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    exit(0);
  }

  if (!clientConnector.connectClient(&client))
  {
    if (client.wasRejected())
      printf("Server '%s' rejected connection, exiting\n", client.getHost());
    else
      printf("Could not connect to server '%s', exiting\n", client.getHost());
    exit(1);
  } 

  printf("Connected to server.\n");


  /* Create a key handler and also tell Aria about it */
  ArKeyHandler keyHandler;
  Aria::setKeyHandler(&keyHandler);

  /* Global escape-key handler to shut everythnig down */
  ArGlobalFunctor escapeCB(&escape);
  keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);

  client.runAsync();

  while (client.getRunningWithLock())
  {
    keyHandler.checkKeys();
    ArUtil::sleep(100);
  }

  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{

  std::string hostname;
  ArGlobalFunctor1<ArNetPacket *> drawingCB(&drawing);
  Aria::init();
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);



  ArArgumentParser parser(&argc, argv);

  ArClientSimpleConnector clientConnector(&parser);
  
  parser.loadDefaultArguments();

  /* Check for -help, and unhandled arguments: */
  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    exit(0);
  }

  /* Connect our client object to the remote server: */
  if (!clientConnector.connectClient(&client))
  {
    if (client.wasRejected())
      printf("Server '%s' rejected connection, exiting\n", client.getHost());
    else
      printf("Could not connect to server '%s', exiting\n", client.getHost());
    exit(1);
  } 

  printf("Connected to server.\n");

  client.addHandler("listDrawings", &drawingCB);
  client.requestOnce("listDrawings");
  
  client.runAsync();
  while (client.getRunningWithLock())
  {
    ArUtil::sleep(1);
    //printf("%d ms since last data\n", client.getLastPacketReceived().mSecSince());
  }
  Aria::shutdown();
  return 0;

}

int main(int argc, char **argv)
{
  Aria::init();
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);
  ArClientBase client;

  ArArgumentParser parser(&argc, argv);

  ArClientSimpleConnector clientConnector(&parser);
  parser.loadDefaultArguments();

  if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    clientConnector.logOptions();
    exit(0);
  }
  
  if (!clientConnector.connectClient(&client))
  {
    if (client.wasRejected())
      printf("Server '%s' rejected connection, exiting\n", client.getHost());
    else
      printf("Could not connect to server '%s', exiting\n", client.getHost());
    exit(1);
  } 
  client.runAsync();

  ArNetPacket sending;
  // We have to tell it what section we're sending
  sending.strToBuf("Section");
  // The map is in the files section
  sending.strToBuf("Files");
  // The parameter name
  sending.strToBuf("Map");
  // The value of the parameter
  sending.strToBuf("entire2.map");

  // you could put in however many of these you want... 

  client.requestOnce("setConfig", &sending);

  // you have to give the client some time to send the command
  ArUtil::sleep(500);
  

  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
  Aria::init();
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);
  ArClientBase client;

  ArArgumentParser parser(&argc, argv);

  ArClientSimpleConnector clientConnector(&parser);
  parser.loadDefaultArguments();

  if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    clientConnector.logOptions();
    exit(0);
  }
  
  if (!clientConnector.connectClient(&client))
  {
    if (client.wasRejected())
      printf("Server '%s' rejected connection, exiting\n", client.getHost());
    else
      printf("Could not connect to server '%s', exiting\n", client.getHost());
    exit(1);
  } 
  client.runAsync();

  ArNetPacket sending;
  // We have to tell it what route we want to patrol
  sending.strToBuf("hallways");
  // tell it how much many times we want to patrol (<= 0 == forever)
  sending.byte4ToBuf(0);

  client.requestOnce("patrolRouteCount", &sending);

  // note that there's also another call (patrol) that just has it always
  // patrol forever but this gives you more options and is only
  // slightly more complicated (just give it that byte4)

  // you have to give the client some time to send the command
  ArUtil::sleep(500);
  

  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{

  std::string hostname;
  Aria::init();
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);

  if (argc == 1)
    hostname = "localhost";
  else
    hostname = argv[1];
  if (!client.blockingConnect(hostname.c_str(), 7272))
  {
    printf("Could not connect to server, exiting\n");
    exit(1);
  } 

  
  /*
  ArGlobalFunctor1<ArNetPacket *> getDirListingCB(&getDirListing);
  client.addHandler("getDirListing", &getDirListingCB);
  //client.requestOnceWithString("getDirListing", "");

  ArGlobalFunctor1<ArNetPacket *> getFileCB(&netGetFile);
  client.addHandler("getFile", &getFileCB);
  client.requestOnceWithString("getFile", "all.bob");

  ArGlobalFunctor1<ArNetPacket *> netPutFileCB(&netPutFile);
  client.addHandler("putFile", &netPutFileCB);
  putFile("doxygen.conf", "ArGH/DoxYGEN");
  */

  ArGlobalFunctor1<ArNetPacket *> deleteFileCB(&netDeleteFile);
  client.addHandler("deleteFile", &deleteFileCB);
  client.requestOnceWithString("deleteFile", "1/all.bob");

  client.runAsync();

  while (client.getRunningWithLock())
  {
    ArUtil::sleep(1);
  }
  Aria::shutdown();
  return 0;

}

int main(int argc, char **argv)
{
  ArClientBase client;
  ArGlobalFunctor1<ArNetPacket *> testCB(&test);

  Aria::init();
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);
  ArTime startTime;
  startTime.setToNow();
  if (!client.blockingConnect("localhost", 7273))
  {
    printf("Could not connect to server, exiting\n");
    exit(1);
  }    
  printf("Took %ld msec to connect\n", startTime.mSecSince());
  
  client.runAsync();
  
  client.lock();
  client.addHandler("test", &testCB);
  client.addHandler("test2", &testCB);
  client.addHandler("test3", &testCB);
  client.logDataList();
  
  client.requestOnce("test");
  client.request("test2", 100);
  client.request("test3", -1);
  client.unlock();
  ArUtil::sleep(1000);
  printf("Changing speed\n");
  client.lock();
  client.request("test2", 300);
  client.unlock();
  ArUtil::sleep(1000);
  client.lock();
  client.requestStop("test2");
  client.unlock();
  
  ArUtil::sleep(1000);
  client.lock();
  client.disconnect();
  client.unlock();
  ArUtil::sleep(50);
  exit(0);
}

int main(int argc, char **argv)
{

  Aria::init();
  ArLog::init(ArLog::StdOut, ArLog::Normal);
  ArClientBase client;

  ArArgumentParser parser(&argc, argv);

  ArClientSimpleConnector clientConnector(&parser);
  parser.loadDefaultArguments();

  if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    clientConnector.logOptions();
    exit(0);
  }
  
  if (!clientConnector.connectClient(&client))
  {
    if (client.wasRejected())
      printf("Server '%s' rejected connection, exiting\n", client.getHost());
    else
      printf("Could not connect to server '%s', exiting\n", client.getHost());
    exit(1);
  } 

  ArGlobalFunctor1<ArNetPacket *> getModeDataListCB(&getModeDataList);
  ArGlobalFunctor1<ArNetPacket *> getModeInfoCB(&getModeInfo);
  client.addHandler("getModeDataList", &getModeDataListCB);
  client.requestOnce("getModeDataList");
  client.addHandler("getModeInfo", &getModeInfoCB);
  client.request("getModeInfo", -1);

  client.runAsync();
  while (client.getRunningWithLock())
  {
    ArUtil::sleep(1);
    //printf("%d ms since last data\n", client.getLastPacketReceived().mSecSince());
  }
  Aria::shutdown();
  return 0;

}

/** 
 Initialize the robot connection 
*/
JNIEXPORT jint JNICALL Java_com_adept_arandroid_ArjRobot_initialize
  (JNIEnv *env, jobject obj, jstring host, jint port)
{
	// Get the host ip address
	const char *cHost = env->GetStringUTFChars(host, 0);
	
	// Try to connect
	Aria::init();
  ArLog::setFunctor(new ArGlobalFunctor1<const char*>(ariaLogDebugPrint));
	debugPrintS("Connecting to ", cHost);
	if (!myClient.blockingConnect(cHost, port, true, NULL, NULL, NULL)) {
		debugPrint("Error connecting");
		return -1;
	}
	debugPrint("Connected");
	
	// Run the client connection in a different thread  
	myClient.runAsync();
	
	// Download the map, maybe move this to it's own function later
	debugPrint("getting map");
	myClient.requestOnce("getMapBinary");
	
	// Create the OutputHandler
	myOutputHandler = new OutputHandler(&myClient);
	
	/* Block until the connection is closed.  We will use this time to get
	 * status update information at a regular rate. */
	myShutdown = false;
	while (myClient.getRunningWithLock() && !myShutdown) {
    ArUtil::sleep(100);
    myServerStatus = myOutputHandler->getServerStatus();
    myOutputHandler->getRobotStatus(myRobotStatus);
  }
  debugPrint("Shutting down Aria");
  myClient.disconnect();
  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
  Aria::init();
  ArClientBase client;

  ArArgumentParser parser(&argc, argv);
  ArClientSimpleConnector clientConnector(&parser);
  parser.loadDefaultArguments();
  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {    
    Aria::logOptions();
    return 1;
  }

  if (!clientConnector.connectClient(&client))
  {
    if(client.wasRejected())
      ArLog::log(ArLog::Terse, "Error, server '%s' rejected connection. Exiting.", client.getHost());
    else
      ArLog::log(ArLog::Terse, "Error, could not connect to server '%s'. Exiting.", client.getHost());
    return 2;
  }

  client.setRobotName(client.getHost());  // include server hostname in log messages

  client.runAsync();

  PtzCameraExample example(&client);
  if(!example.init())
    return 1;

  example.run();


  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
    std::string hostname;
    Aria::init();
    //ArLog::init(ArLog::StdOut, ArLog::Verbose);
    ArClientBase client;


    ArArgumentParser parser(&argc, argv);

    ArClientSimpleConnector clientConnector(&parser);

    parser.loadDefaultArguments();

    ArClientFileFromClient::SendSpeed speed = ArClientFileFromClient::SPEED_AUTO;


    if (parser.checkArgument("-speed_fast"))
    {
        ArLog::log(ArLog::Normal, "Putting file with speed_fast");
        speed = ArClientFileFromClient::SPEED_FAST;
    }
    else if (parser.checkArgument("-speed_slow"))
    {
        ArLog::log(ArLog::Normal, "Putting file with speed_slow");
        speed = ArClientFileFromClient::SPEED_SLOW;
    }
    else
    {
        ArLog::log(ArLog::Normal, "Putting file with speed_auto");
    }

    bool pauseAfterSend;

    if (parser.checkArgument("-pauseAfterSend"))
    {
        ArLog::log(ArLog::Normal, "Will pause after send");
        pauseAfterSend = true;
    }
    else
    {
        ArLog::log(ArLog::Normal, "Will not pause after send");
        pauseAfterSend = false;
    }

    /* Check for -help, and unhandled arguments: */
    if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed(1) ||
            parser.getArgc() <= 1)
    {
        ArLog::log(ArLog::Normal, "%s <fileName> [-speed_fast] [-speed_slow] [-pauseAfterSend]",
                   argv[0]);
        ArLog::log(ArLog::Normal, "Default send speed is speed_auto");
        ArLog::log(ArLog::Normal, "");
        Aria::logOptions();
        exit(0);
    }

    const char *fileName = parser.getArg(1);



    /* Connect our client object to the remote server: */
    if (!clientConnector.connectClient(&client))
    {
        if (client.wasRejected())
            printf("Server '%s' rejected connection, exiting\n", client.getHost());
        else
            printf("Could not connect to server '%s', exiting\n", client.getHost());
        exit(1);
    }

    fileFromClient = new ArClientFileFromClient(&client);
    fileFromClient->addFileSentCallback(
        new ArGlobalFunctor1<int>(&fileSent));

    client.runAsync();

    done = false;
    if (!fileFromClient->putFileToDirectory(NULL, fileName, fileName,
                                            speed))
    {
        printf("Error before sending file\n");
        Aria::exit(1);
    }

    waitForDone();

    if (pauseAfterSend)
        ArUtil::sleep(10000);

    Aria::exit(0);
    return 255;
}