C++ ArClientBase::wasRejected方法代码示例

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


    ArArgumentParser parser(&argc, argv);
    ArClientSimpleConnector clientConnector(&parser);

    parser.loadDefaultArguments();

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


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


    client.addHandler("getCameraModeListCam1",
                      new ArGlobalFunctor1<ArNetPacket *>(&getCameraModeList));

    client.requestOnce("getCameraModeListCam1");

    ArNetPacket sending;

    // This does the look at goal mode
    sending.empty();
    sending.strToBuf("lookAtGoal");
    client.requestOnce("setCameraModeCam1", &sending);

    // This does the look at point mode (at 0 0);

    sending.empty();
    sending.strToBuf("lookAtPoint");
    sending.byte4ToBuf(1157);
    sending.byte4ToBuf(-15786);
    client.requestOnce("setCameraModeCam1", &sending);

    while (Aria::getRunning() && client.isConnected())
    {
        client.loopOnce();
        ArUtil::sleep(1000);
    }
    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)
{
  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)
{
	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)
{
  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)
{

  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 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)
{
  Aria::init();
  ArClientBase client;
  std::string host;
  

  ArArgumentParser parser(&argc, argv);
  ArClientSimpleConnector clientConnector(&parser);

  parser.loadDefaultArguments();

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

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

  
  client.requestOnce("reloadConfig");


  ArTime start;
  start.setToNow();
  while (Aria::getRunning() && client.isConnected())
  {
    client.loopOnce();
    ArUtil::sleep(ArMath::random() % 10000);
    client.requestOnce("reloadConfig");
  }
  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);
  } 

  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;

}

int main(int argc, char **argv)
{
  Aria::init();
  ArGlobalFunctor1<ArNetPacket *> clientListHandlerCB(&clientListHandler);
  ArGlobalFunctor1<ArNetPacket *> clientAddedHandlerCB(&clientAddedHandler);
  ArGlobalFunctor1<ArNetPacket *> clientRemovedHandlerCB(&clientRemovedHandler);
  ArNetPacket packet;

  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");

  client.addHandler("clientList", &clientListHandlerCB);
  client.requestOnce("clientList");
  client.addHandler("clientRemoved", &clientRemovedHandlerCB);
  client.request("clientRemoved", -1);
  client.addHandler("clientAdded", &clientAddedHandlerCB);
  client.request("clientAdded", -1);
  client.run();
  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)
{
  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();
  ArNetPacket request;
//  request.
//  client.requestOnceByCommand(ArCommands::ENABLE, )


  ArClientHandlerRobotUpdate updates(&client);
//  client.requestOnce("enableMotor");

  ArGlobalFunctor1<ArNetPacket*> enableCB(&enable);
  ArGlobalFunctor1<ArNetPacket *> getFileCB(&netGetFile);
  ArGlobalFunctor1<ArNetPacket*> recieveDataCB(&recieveData);

  client.addHandler("requestEnableMotor", &enableCB);
  client.addHandler("handleCheckObjectData", &recieveDataCB);
  //client.addHandler("getFile", &getFileCB);

  client.requestOnce("requestEnableMotor");
  client.request("handleCheckObjectData", 10);
  updates.requestUpdates();
  if (checkObject)
	client.requestOnceWithString("getFile", "./image/ball.jpg");
  ArPose pose;
  namedWindow("image", 0);
  while (client.getRunningWithLock())
  {

	  //client.requestOnce("sendData");

	  if (checkObject) {
	//	  if (!a) {
			  cout <<"OK"<<endl;
		//	  client.requestOnceWithString("getFile", "./image/ball.jpg");
			  client.addHandler("getFile", &getFileCB);
//			  client.remHandler("getFile", &getFileCB);
		  //}	else {
			  //client.remHandler("getFile", &getFileCB);
		  //}
		  Mat image;
		  image = imread("./image/ball.jpg", CV_LOAD_IMAGE_COLOR);
		  
		  imshow("image", image);
		  char c = (char)waitKey(10);
		  if( c == 27 )
			break;
	  }

    ArUtil::sleep(200);
  }

//  client.requestStop("getFile");

  cout <<"Da tim thay qua bong o vi tri pose("<<pose.getX()<<", "<<pose.getY()<<")"<<endl;

  cout <<"Vi tri pose("<<pose.getX()<<", "<<pose.getY()<<")"<<endl;

  /* 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)
{
  // Initialize Aria and Arnl global information
 
 /* Aria initialization: */
  Aria::init();

  ArLog::init(ArLog::File, ArLog::Verbose,"c:\\temp\\AmbifluxRobot.log",true);

  ArLog::log(ArLog::Verbose, "Ambiflux Starting");

  // Create the sound queue.
  ArSoundsQueue soundQueue;

  // Set WAV file callbacks 
  soundQueue.setPlayWavFileCallback(ArSoundPlayer::getPlayWavFileCallback());
  soundQueue.setInterruptWavFileCallback(ArSoundPlayer::getStopPlayingCallback());

  // Notifications when the queue goes empty or non-empty.
  soundQueue.addQueueEmptyCallback(new ArGlobalFunctor(&queueNowEmpty));
  soundQueue.addQueueNonemptyCallback(new ArGlobalFunctor(&queueNowNonempty));

  // Run the sound queue in a new thread
  soundQueue.runAsync();
  /* Pool de messages en provenance de la tablette
  Issu de l'implementation d'un modèle producteur/consommateur
  pour les messages entrants. Plusieurs thread y accèdent
  Tread-safe (mutex)*/
  //Pool<Frame> messagePool;
 /* Pool de messages en provenance d'un client TCP
  Issu de l'implementation d'un modèle producteur/consommateur
  pour les messages entrants. Plusieurs thread y accèdent
  Tread-safe (mutex)*/
  /*TODO : A remplacer par tcpReceivedPool */
  //Pool<Frame> tcpMessagePool;

  /* Pool de messages en provenance d'un client TCP
  Issu de l'implementation d'un modèle producteur/consommateur
  pour les messages entrants. Plusieurs thread y accèdent
  Tread-safe (mutex)*/
  Pool<TCPReceivedRequest> tcpReceivedPool;

  /*Create our thread to communicate with iPad
   Server start on port 7171 to receive requests from ipad
   A client is created on port 7474 to request iPad
   */
  //IhmCommunicationThread ihm(7171, &messagePool);

  IhmCommunicationThread ihm(7171, &tcpReceivedPool);
   //On s'abonne à la réception de message par la classe IhmCommunicationThread
  //Todo : A supprimer ?
  //ArGlobalFunctor1<Frame> functMessageReceived(&CallbackIhmReceived);
  //ihm.setCallback(&functMessageReceived);
  ihm.runAsync();

  //soundQueue.play("c:\\temp\\let_me_out.wav");

  

  //while(true);

  /* Create our client object. This is the object which connects with a remote
   * server over the network, and which manages all of our communication with it
   * once connected by sending data "requests".  Requests may be sent once, or
   * may be repeated at any frequency. Requests and replies to requsets contain 
   * payload "packets", into which various data types may be packed (when making a 
   * request), and from which they may also be extracted (when handling a reply). 
   * See the InputHandler and OutputHandler classes above for
   * examples of making requests and reading/writing the data in packets.
   */
  ArClientBase client;

  /* Aria components use this to get options off the command line: */
  ArArgumentParser parser(&argc, argv);

  /* This will be used to connect our client to the server, including
   * various bits of handshaking (e.g. sending a password, retrieving a list
   * of data requests and commands...)
   * It will get the hostname from the -host command line argument: */
  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);
  } 

//.........这里部分代码省略.........