C++ ArRobot::addPacketHandler方法代码示例

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, "robotPacketHandlerTest: Could not connect to robot... exiting");
    return 2;
  }

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

  robot.addPacketHandler(new ArGlobalRetFunctor1<bool, ArRobotPacket*>(&testcb), ArListPos::FIRST);

  robot.run(true);

  return 0;
}

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

  // You can change default ArLog options in this call, but the settings in the parameter file
  // (arnl.p) which is loaded below (Aria::getConfig()->parseFile())  will override the options.
  //ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);

  // Used to parse the command line arguments.
  ArArgumentParser parser(&argc, argv);
  
  // Load default arguments for this computer (from /etc/Aria.args, environment
  // variables, and other places)
  parser.loadDefaultArguments();

#ifdef ARNL_LASER
  // Tell the laser connector to always connect the first laser since
  // this program always requires a laser.
  parser.addDefaultArgument("-connectLaser");
#endif

  


  // The robot object
  ArRobot robot;

  // handle messages from robot controller firmware and log the contents
  robot.addPacketHandler(new ArGlobalRetFunctor1<bool, ArRobotPacket*>(&handleDebugMessage));

  // This object is used to connect to the robot, which can be configured via
  // command line arguments.
  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;
  
#ifdef ARNL_GPSLOC
  // GPS connector.
  ArGPSConnector gpsConnector(&parser);
#endif

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

#ifdef ARNL_LASER
  // the laser connector
  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 
//.........这里部分代码省略.........