C++ ArKeyHandler::restore方法代码示例

int main(int argc, char** argv)
{
  // set up our simpleConnector
  ArSimpleConnector simpleConnector(&argc, argv);
  // robot
  ArRobot robot;
  // a key handler so we can do our key handling
  ArKeyHandler keyHandler;

  ArLog::init(ArLog::StdOut,ArLog::Verbose);

  // if there are more arguments left then it means we didn't
  // understand an option
  if (!simpleConnector.parseArgs() || argc > 1)
  {    
    simpleConnector.logOptions();
    keyHandler.restore();
    exit(1);
  }

  // mandatory init
  Aria::init();
  ArLog::init(ArLog::StdOut, ArLog::Terse, NULL, true);

  // let the global aria stuff know about it
  Aria::setKeyHandler(&keyHandler);
  // toss it on the robot
  robot.attachKeyHandler(&keyHandler);

  // set up the robot for connecting
  if (!simpleConnector.connectRobot(&robot))
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    keyHandler.restore();
    return 1;
  }

  // turn on the motors for the velocity response test
  robot.comInt(ArCommands::ENABLE, 1);
  velTime.setToNow();

  // turn off the sonar
  robot.comInt(ArCommands::SONAR, 0);

  ArGlobalFunctor1<ArRobot *> userTaskCB(&userTask, &robot);
  robot.addUserTask("iotest", 100, &userTaskCB);

  robot.comInt(ArCommands::IOREQUEST, 1);
  requestTime.setToNow();

  //start the robot running, true so that if we lose connection the run stops
  robot.run(true);
  
  // now exit
  Aria::shutdown();
  return 0;


}

/*!
 * Callback function for the q key.
 */
void
quitCB(void)
{
  roundRobinFlag = false;
  keyHandler.restore();
  advancedptr->shutDown();
}

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;
}

void hardExit(void)
{
  ArKeyHandler *keyHandler;
  robot->disconnect();
  if ((keyHandler = Aria::getKeyHandler()) != NULL)
    keyHandler->restore();
  else
    printf("Could not restore keyboard settings.");
  exit(0);
}

//.........这里部分代码省略.........

  //ArAnalogGyro gyro(&robot);


  // if we're not using the sim, make a serial connection and set it up
  if (!useSim)
  {
    ArSerialConnection *serCon;
    serCon = new ArSerialConnection;
    serCon->setPort();
    //serCon->setBaud(38400);
    con = serCon;
  }
  // if we are using the sim, set up a tcp connection
  else
  {
    ArTcpConnection *tcpCon;
    tcpCon = new ArTcpConnection;
    tcpCon->setPort();
    con = tcpCon;
  }

  // set the connection on the robot
  robot.setDeviceConnection(con);
  // try to connect, if we fail exit
  if (!robot.blockingConnect())
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }


  // set up a key handler so escape exits and attach to the robot
  ArKeyHandler keyHandler;
  robot.attachKeyHandler(&keyHandler);

  // run the robot, true here so that the run will exit if connection lost
  robot.runAsync(true);



  // if we're not using the sim, set up the port for the laser
  if (!useSim)
  {
    laserCon.setPort(ArUtil::COM3);
    sick.setDeviceConnection(&laserCon);
  }


  // now that we're connected to the robot, connect to the laser
  sick.runAsync();


  if (!sick.blockingConnect())
  {
    printf("Could not connect to SICK laser... exiting\n");
    robot.disconnect();
    Aria::shutdown();
    return 1;
  }

#ifdef WIN32
  // wait until someone pushes the motor button to go
  while (1)
  {
    robot.lock();
    if (!robot.isRunning())
      exit(0);
    if (robot.areMotorsEnabled())
    {
      robot.unlock();
      break;
    }
    robot.unlock();
    ArUtil::sleep(100);
  }
#endif

  // basically from here on down the robot just cruises around a bit

  robot.lock();
  // enable the motors, disable amigobot sounds
  robot.comInt(ArCommands::ENABLE, 1);

  // move a couple meters
  robot.setRotVel(3000);
  robot.unlock();

  ArUtil::sleep(15 * 1000);

  robot.lock();
  robot.disconnect();
  robot.unlock();
  keyHandler.restore();
  exit(1);

  // now exit
  return 0;
}

int main(int argc, char **argv)
{
  bool done;
  double distToTravel = 3000;
  int spinTime = 0;

  // set up our simpleConnector
  ArSimpleConnector simpleConnector(&argc, argv);
  // set up a key handler so escape exits and attach to the robot
  ArKeyHandler keyHandler;

  Aria::init();

  robot = new ArRobot;

  printf("You can press the escape key to exit this program\n");

  // parse its arguments
  if (simpleConnector.parseArgs())
  {
    simpleConnector.logOptions();
    exit(1);
  }

  // if there are more arguments left then it means we didn't
  // understand an option
  /*
  if (argc > 1)
  {    
    simpleConnector.logOptions();
    keyHandler.restore();
    exit(1);
  }
  */

  ArGlobalFunctor exitCB(&hardExit);
  ArGlobalFunctor printerCB(&printer);

  keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &exitCB);
  robot->attachKeyHandler(&keyHandler);
  Aria::setKeyHandler(&keyHandler);



  // set up the robot for connecting
  if (!simpleConnector.connectRobot(robot))
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    keyHandler.restore();
    return 1;
  }

  //robot->addUserTask("printer", 50, &printerCB);
  // run the robot, true here so that the run will exit if connection lost
  robot->runAsync(true);

#ifdef WIN32
  // wait until someone pushes the motor button to go
  printf("Press the motor button to start the robot moving\n");
  while (1)
  {
    robot->lock();
    if (!robot->isRunning())
      hardExit();
    if (robot->areMotorsEnabled())
    {
      robot->unlock();
      break;
    }
    robot->unlock();
    ArUtil::sleep(100);
  }
#endif
  ArAnalogGyro *gyro;

  if (argc == 1)
  {
    printf("Gyro\n");
    gyro = new ArAnalogGyro(robot);
  }
  printf("Waiting for inertial to stabilize for 5 seconds.\n");
  // wait a bit for the inertial to warm up
  ArUtil::sleep(5000);
  // basically from here on down the robot just cruises around a bit
  robot->lock();
  // enable the motors, disable amigobot sounds
  robot->comInt(ArCommands::SONAR, 0);
  robot->comInt(ArCommands::ENABLE, 1);
  robot->setMoveDoneDist(200);

  // move a couple meters
  printf("Driving out\n");
  robot->move(distToTravel);
  robot->setHeading(0);
  robot->unlock();
  do {
    ArUtil::sleep(100);
    robot->lock();
    //robot->setHeading(0);
//.........这里部分代码省略.........

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

  printf("type away... (ESC to quit)\n");
  while (1)
  {
    //keyHandler.checkKeys();
    key = keyHandler.getKey();
    if(key == -1)
    {
      ArUtil::sleep(100);
      continue;
    }
    printf("keyHandler.getKey() returned %d.\n", key);
    switch (key) {
    case ArKeyHandler::UP:
      printf("Up\n");
      break;
    case ArKeyHandler::DOWN:
      printf("Down\n");
      break;
    case ArKeyHandler::LEFT:
      printf("Left\n");
      break;
    case ArKeyHandler::RIGHT:
      printf("Right\n");
      break;
    case ArKeyHandler::ESCAPE:
      printf("Escape\n");
      printf("Exiting\n");
      keyHandler.restore();
      exit(0);
    case ArKeyHandler::F1:
      printf("F1\n");
      break;
    case ArKeyHandler::F2:
      printf("F2\n");
      break;
    case ArKeyHandler::F3:
      printf("F3\n");
      break;
    case ArKeyHandler::F4:
      printf("F4\n");
      break;
    case ArKeyHandler::F5:
      printf("F5\n");
      break;
    case ArKeyHandler::F6:
      printf("F6\n");
      break;
    case ArKeyHandler::F7:
      printf("F7\n");
      break;
    case ArKeyHandler::F8:
      printf("F8\n");
      break;
    case ArKeyHandler::F9:
      printf("F9\n");
      break;
    case ArKeyHandler::F10:
      printf("F10\n");
      break;
    case ArKeyHandler::F11:
      printf("F11\n");
      break;
    case ArKeyHandler::F12:
      printf("F12\n");
      break;
    case ArKeyHandler::HOME:
      printf("HOME\n");
      break;
    case ArKeyHandler::END:
      printf("END\n");
      break;
    case ArKeyHandler::INSERT:
      printf("INSERT\n");
      break;
    case ArKeyHandler::DEL:
      printf("DELETE\n");
      break;
    case ArKeyHandler::PAGEUP:
      printf("PAGEUP\n");
      break;
    case ArKeyHandler::PAGEDOWN:
      printf("PAGEDOWN\n");
      break;
    case ArKeyHandler::SPACE:
      printf("Space\n");
      break;
    case ArKeyHandler::TAB:
      printf("Tab\n");
      break;
    case ArKeyHandler::ENTER:
      printf("Enter\n");
      break;
    case ArKeyHandler::BACKSPACE:
      printf("Backspace\n");
//.........这里部分代码省略.........

int main(int argc, char **argv)
{
  double speed = 1000;
  double squareSide = 2000;

  // whether to use the sim for the laser or not, if you use the sim
  // for hte laser, you have to use the sim for the robot too
  // robot
  robot = new ArRobot;
  // the laser
  ArSick sick;
  // set up our simpleConnector
  ArSimpleConnector simpleConnector(&argc, argv);

  // set up a key handler so escape exits and attach to the robot
  ArKeyHandler keyHandler;
  robot->attachKeyHandler(&keyHandler);

  // parse its arguments
  if (simpleConnector.parseArgs())
  {
    simpleConnector.logOptions();
    keyHandler.restore();
    exit(1);
  }

  // if there are more arguments left then it means we didn't
  // understand an option
  /*
  if (argc > 1)
  {    
    simpleConnector.logOptions();
    keyHandler.restore();
    exit(1);
  }
  */

  // set a default filename
  //std::string filename = "c:\\log\\1scans.2d";
  std::string filename = "1scans.2d";
  // see if we want to use a different filename
  //if (argc > 1)
  //Lfilename = argv[1];
  printf("Logging to file %s\n", filename.c_str());
  // start the logger with good values
  
  //sick.configureShort(useSim, ArSick::BAUD38400, 	 ArSick::DEGREES180, ArSick::INCREMENT_HALF);
  ArSickLogger logger(robot, &sick, 300, 25, filename.c_str());
  
  // mandatory init
  Aria::init();

  // add it to the robot
  robot->addRangeDevice(&sick);

  //ArAnalogGyro gyro(robot);


  // set up the robot for connecting
  if (!simpleConnector.connectRobot(robot))
  {
    printf("Could not connect to robot->.. exiting\n");
    Aria::shutdown();
    return 1;
  }

  robot->setRotVelMax(300);
  robot->setRotAccel(300);
  robot->setRotDecel(300);

  robot->setAbsoluteMaxTransVel(2000);
  robot->setTransVelMax(2000);
  robot->setTransAccel(500);
  robot->setTransDecel(500);
  /*
  robot->comInt(82, 30); // rotkp
  robot->comInt(83, 200); // rotkv
  robot->comInt(84, 0); // rotki
  robot->comInt(85, 15); // transkp
  robot->comInt(86, 450); // transkv
  robot->comInt(87, 4); // transki
  */
  robot->comInt(82, 30); // rotkp
  robot->comInt(83, 200); // rotkv
  robot->comInt(84, 0); // rotki
  robot->comInt(85, 30); // transkp
  robot->comInt(86, 450); // transkv
  robot->comInt(87, 4); // transki
  // run the robot, true here so that the run will exit if connection lost
  robot->runAsync(true);



  // set up the laser before handing it to the laser mode
  simpleConnector.setupLaser(&sick);

  // now that we're connected to the robot, connect to the laser
  sick.runAsync();

 if (!sick.blockingConnect())
//.........这里部分代码省略.........