C++ ArRobot::addDisconnectOnErrorCB方法代码示例

int main(void)
{
  int ret;
  std::string str;
  CBTest cbTest;

  ArFunctorC<CBTest> connectCB(&cbTest, &CBTest::connected);
  ArFunctorC<CBTest> failedConnectCB(&cbTest, &CBTest::failedConnect);
  ArFunctorC<CBTest> disconnectCB(&cbTest, &CBTest::disconnected);
  ArFunctorC<CBTest> disconnectErrorCB(&cbTest, &CBTest::disconnectedError);

  ArSerialConnection con;
  ArRobot robot;

  printf("If a robot is attached to your port you should see:\n");
  printf("Failed connect, Connected, Disconnected Error, Connected, Disconnected\n");
  printf("If no robot is attached you should see:\n");
  printf("Failed connect, Failed connect, Failed connect\n");
  printf("-------------------------------------------------------\n");
  ArLog::init(ArLog::None, ArLog::Terse);

  srand(time(NULL));

  robot.setDeviceConnection(&con);
  robot.addConnectCB(&connectCB, ArListPos::FIRST);
  robot.addFailedConnectCB(&failedConnectCB, ArListPos::FIRST);
  robot.addDisconnectNormallyCB(&disconnectCB, ArListPos::FIRST);
  robot.addDisconnectOnErrorCB(&disconnectErrorCB, ArListPos::FIRST);
  
  // this should fail since there isn't an open port yet
  robot.blockingConnect();
  
  if ((ret = con.open()) != 0)
  {
    str = con.getOpenMessage(ret);
    printf("Open failed: %s\n", str.c_str());
    exit(0);
  }
  
  robot.blockingConnect();

  con.close();
  robot.loopOnce();
  

  if ((ret = con.open()) != 0)
  {
    str = con.getOpenMessage(ret);
    printf("Open failed: %s\n", str.c_str());
    exit(0);
  }  
  robot.blockingConnect();
  robot.disconnect();

  exit(0);

}

int main(int argc, char **argv)
{
  // Initialize Aria and Arnl global information
  Aria::init();
  Arnl::init();


  // The robot object
  ArRobot robot;

  // Parse the command line arguments.
  ArArgumentParser parser(&argc, argv);

  // Set up our simpleConnector, to connect to the robot and laser
  //ArSimpleConnector simpleConnector(&parser);
  ArRobotConnector robotConnector(&parser, &robot);

  // Connect to the robot
  if (!robotConnector.connectRobot())
  {
    ArLog::log(ArLog::Normal, "Error: Could not connect to robot... exiting");
    Aria::exit(3);
  }



  // Set up where we'll look for files. Arnl::init() set Aria's default
  // directory to Arnl's default directory; addDirectories() appends this
  // "examples" directory.
  char fileDir[1024];
  ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(), 
			 "examples");
  
  
  // To direct log messages to a file, or to change the log level, use these  calls:
  //ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);
  //ArLog::init(ArLog::File, ArLog::Verbose);
 
  // Add a section to the configuration to change ArLog parameters
  ArLog::addToConfig(Aria::getConfig());

  // set up a gyro (if the robot is older and its firmware does not
  // automatically incorporate gyro corrections, then this object will do it)
  ArAnalogGyro gyro(&robot);

  // Our networking server
  ArServerBase server;
  

  // Set up our simpleOpener, used to set up the networking server
  ArServerSimpleOpener simpleOpener(&parser);

  // the laser connector
  ArLaserConnector laserConnector(&parser, &robot, &robotConnector);

  // Tell the laser connector to always connect the first laser since
  // this program always requires a laser.
  parser.addDefaultArgument("-connectLaser");
  
  // Load default arguments for this computer (from /etc/Aria.args, environment
  // variables, and other places)
  parser.loadDefaultArguments();

  // Parse arguments 
  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    logOptions(argv[0]);
    Aria::exit(1);
  }
  

  // This causes Aria::exit(9) to be called if the robot unexpectedly
  // disconnects
  ArGlobalFunctor1<int> shutdownFunctor(&Aria::exit, 9);
  robot.addDisconnectOnErrorCB(&shutdownFunctor);


  // Create an ArSonarDevice object (ArRangeDevice subclass) and 
  // connect it to the robot.
  ArSonarDevice sonarDev;
  robot.addRangeDevice(&sonarDev);



  // This object will allow robot's movement parameters to be changed through
  // a Robot Configuration section in the ArConfig global configuration facility.
  ArRobotConfig robotConfig(&robot);

  // Include gyro configuration options in the robot configuration section.
  robotConfig.addAnalogGyro(&gyro);

  // Start the robot thread.
  robot.runAsync(true);
  

  // connect the laser(s) if it was requested, this adds them to the
  // robot too, and starts them running in their own threads
  if (!laserConnector.connectLasers())
  {
    ArLog::log(ArLog::Normal, "Could not connect to all lasers... exiting\n");
//.........这里部分代码省略.........

//.........这里部分代码省略.........
  ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
#endif

  // used to connect to camera PTZ control
  ArPTZConnector ptzConnector(&parser, &robot);

#ifdef ARNL_MULTIROBOT
  // Used to connect to a "central server" which can be used as a proxy 
  // for multiple robot servers, and as a way for them to also communicate with
  // each other.  (objects implementing some of these inter-robot communication
  // features are created below).  
  // NOTE: If the central server is running on the same host as robot server(s),
  // then you must use the -serverPort argument to instruct these robot-control
  // server(s) to use different ports than the default 7272, since the central
  // server will use that port.
  ArClientSwitchManager clientSwitch(&server, &parser);
#endif
  
  // Load default arguments for this computer (from /etc/Aria.args, environment
  // variables, and other places)
  parser.loadDefaultArguments();

  // Parse arguments 
  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    logOptions(argv[0]);
    Aria::exit(1);
  }
  

  // This causes Aria::exit(9) to be called if the robot unexpectedly
  // disconnects
  ArGlobalFunctor1<int> shutdownFunctor(&Aria::exit, 9);
  robot.addDisconnectOnErrorCB(&shutdownFunctor);


  // Create an ArSonarDevice object (ArRangeDevice subclass) and 
  // connect it to the robot.
  ArSonarDevice sonarDev;
  robot.addRangeDevice(&sonarDev);



  // This object will allow robot's movement parameters to be changed through
  // a Robot Configuration section in the ArConfig global configuration facility.
  ArRobotConfig robotConfig(&robot);

  // Include gyro configuration options in the robot configuration section.
  robotConfig.addAnalogGyro(&gyro);

  // Start the robot thread.
  robot.runAsync(true);

#ifdef ARNL_GPSLOC
  // On the Seekur, power to the GPS receiver is switched on by this command.
  // (A third argument of 0 would turn it off). On other robots this command is
  // ignored. If this fails, you may need to reset the port with ARIA demo or 
  // seekurPower program (turn port off then on again).  If the port is already
  // on, it will have no effect on the GPS (it will remain powered.)
  // Do this now before connecting to lasers to give it plenty of time to power
  // on, initialize, and find a good position before GPS localization begins.
  ArLog::log(ArLog::Normal, "Turning on GPS power... (Seekur/Seekur Jr. power port 6)");
  robot.com2Bytes(116, 6, 1);
#endif
  
#ifdef ARNL_LASER