本文整理汇总了C++中ArRobot::comStr方法的典型用法代码示例。如果您正苦于以下问题：C++ ArRobot::comStr方法的具体用法？C++ ArRobot::comStr怎么用？C++ ArRobot::comStr使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ArRobot的用法示例。
在下文中一共展示了ArRobot::comStr方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main(int argc, char **argv)
{
std::string str;
int ret;
ArTime start;
// connection to the robot
ArSerialConnection con;
// the robot
ArRobot robot;
// the connection handler from above
ConnHandler ch(&robot);
// init area with a dedicated signal handling thread
Aria::init(Aria::SIGHANDLE_THREAD);
// open the connection with the defaults, exit if failed
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
// set the robots connection
robot.setDeviceConnection(&con);
// try to connect, if we fail, the connection handler should bail
if (!robot.blockingConnect())
{
// this should have been taken care of by the connection handler
// but just in case
printf(
"asyncConnect failed because robot is not running in its own thread.\n");
Aria::shutdown();
return 1;
}
// run the robot in its own thread, so it gets and processes packets and such
robot.runAsync(false);
int i;
while (Aria::getRunning())
{
robot.lock();
robot.comStr(ArCommands::TTY3, "1234567890");
robot.unlock();
}
robot.disconnect();
// shutdown and ge tout
Aria::shutdown();
return 0;
}示例2: handler
//.........这里部分代码省略.........
myAcquire->deactivate();
myPickUp->deactivate();
myDriveTo->activate();
myDriveTo->setChannel(myLapWall);
myDropOff->deactivate();
myTableLimiter->activate();
}
if (myDriveTo->getState() == DriveTo::STATE_FAILED)
{
printf("###### DriveToLapWall: failed\n");
setState(STATE_BACKUP_LAP_WALL);
//handler();
return;
}
else if (myDriveTo->getState() == DriveTo::STATE_SUCCEEDED)
{
printf("###### DriveToLapWall: succesful\n");
setState(STATE_BACKUP_LAP_WALL);
//handler();
return;
}
break;
case STATE_BACKUP_LAP_WALL:
if (myNewState)
{
myNewState = false;
myRobot->move(BACKUP_DIST * .75);
myAcquire->deactivate();
myPickUp->deactivate();
myDriveTo->deactivate();
myDropOff->deactivate();
myTableLimiter->deactivate();
}
if (myRobot->isLeftMotorStalled() || myRobot->isRightMotorStalled())
{
printf("###### BackupLapWall: Failed, going forwards\n");
myRobot->clearDirectMotion();
setState(STATE_FORWARD_LAP_WALL);
}
if (myStateStartTime.mSecSince() > BACKUP_TIME ||
myStateStartPos.findDistanceTo(myRobot->getPose()) >
ArMath::fabs(BACKUP_DIST * .95 * .75))
{
printf("###### BackupLapWall: Succeeded\n");
myRobot->clearDirectMotion();
setState(STATE_SWITCH);
//handler();
return;
}
break;
case STATE_FORWARD_LAP_WALL:
if (myNewState)
{
myNewState = false;
myRobot->move(-BACKUP_DIST * .75);
myAcquire->deactivate();
myPickUp->deactivate();
myDriveTo->deactivate();
myDropOff->deactivate();
myTableLimiter->deactivate();
}
if (myRobot->isLeftMotorStalled() || myRobot->isRightMotorStalled())
{
printf("###### ForwardLapWall: Failed\n");
myRobot->clearDirectMotion();
setState(STATE_FAILED);
}
if (myStateStartTime.mSecSince() > BACKUP_TIME ||
myStateStartPos.findDistanceTo(myRobot->getPose()) >
ArMath::fabs(BACKUP_DIST * .95 * .75))
{
printf("###### ForwardLapWall: Succeeded\n");
myRobot->clearDirectMotion();
setState(STATE_SWITCH);
//handler();
return;
}
break;
case STATE_SWITCH:
printf("!! Switching walls around.\n");
tempColor = myDropWall;
myDropWall = myLapWall;
myLapWall = tempColor;
setState(STATE_ACQUIRE_BLOCK);
//handler();
return;
case STATE_FAILED:
printf("@@@@@ Failed to complete the task!\n");
myRobot->comInt(ArCommands::SONAR, 0);
ArUtil::sleep(50);
myRobot->comStr(ArCommands::SAY, "\52\77\37\62\42\70");
ArUtil::sleep(500);
Aria::shutdown();
myRobot->disconnect();
myRobot->stopRunning();
return;
}
}示例3: handler
//.........这里部分代码省略.........
{
printf("###### Drop: success\n");
setState(STATE_DROP_BACKUP);
//handler();
return;
}
break;
case STATE_DROP_BACKUP:
if (myNewState)
{
printf("!! Drop backup\n");
myAcquire->deactivate();
myPickUp->deactivate();
myDriveTo->deactivate();
myBackup->activate();
myNewState = false;
}
if (myStateStart.mSecSince() > 2000)
{
printf("###### Drop_Backup: done\n");
setState(STATE_ACQUIRE_LAP_WALL);
//handler();
return;
}
break;
case STATE_ACQUIRE_LAP_WALL:
if (myNewState)
{
printf("!! Acquire Lap wall, channel %d\n", myLapWall);
myNewState = false;
mySony->panTilt(0, -5);
myAcquire->activate();
myAcquire->setChannel(myLapWall);
myPickUp->deactivate();
myDriveTo->deactivate();
myBackup->deactivate();
}
if (myAcquire->getState() == Acquire::STATE_FAILED ||
myStateStart.mSecSince() > 35000)
{
printf("###### AcquireLapWall:: failed\n");
setState(STATE_SWITCH);
//handler();
return;
}
else if (myAcquire->getState() == Acquire::STATE_SUCCEEDED)
{
printf("###### AcquireLapWall: successful\n");
setState(STATE_DRIVETO_LAP_WALL);
//handler();
return;
}
break;
case STATE_DRIVETO_LAP_WALL:
if (myNewState)
{
printf("!! Driveto Lap wall, channel %d\n", myLapWall);
myNewState = false;
myAcquire->deactivate();
myPickUp->deactivate();
myDriveTo->activate();
myDriveTo->setChannel(myLapWall);
myBackup->deactivate();
}
if (myDriveTo->getState() == DriveTo::STATE_FAILED)
{
printf("###### DriveToLapWall: failed\n");
setState(STATE_SWITCH);
//handler();
return;
}
else if (myDriveTo->getState() == DriveTo::STATE_SUCCEEDED)
{
printf("###### DriveToLapWall: succesful\n");
setState(STATE_SWITCH);
//handler();
return;
}
break;
case STATE_SWITCH:
printf("!! Switching walls around.\n");
tempColor = myDropWall;
myDropWall = myLapWall;
myLapWall = tempColor;
setState(STATE_ACQUIRE_BLOCK);
//handler();
return;
case STATE_FAILED:
printf("@@@@@ Failed to complete the task!\n");
myRobot->comInt(ArCommands::SONAR, 0);
ArUtil::sleep(50);
myRobot->comStr(ArCommands::SAY, "\52\77\37\62\42\70");
ArUtil::sleep(500);
Aria::shutdown();
myRobot->disconnect();
myRobot->stopRunning();
return;
}
}