C++ ArRobot::lock方法代码示例

void SensorDetectPopup::popupClosed(ArTypes::Byte4 popupID, int button)
{
  // A client closed the popup
  ArLog::log(ArLog::Normal, "popupExample: a client closed popup dialog window with id=%d. Button=%d...", popupID, button);
  myPopupDisplayed = false;

  if(button < 0)
  {
    ArLog::log(ArLog::Normal, "\t...popup timed out or closed due to an error.");
    return;
  }

  if (button == 0)
  {
    ArLog::log(ArLog::Normal, "\t...OK pressed.");
    return;
  }

  if(button == 1)
  {
    ArLog::log(ArLog::Normal, "\t...180 degree rotate requested.");
    myRobot->lock();
    myRobot->setDeltaHeading(180);
    myRobot->unlock();
    return;
  }

  if(button == 2)
  {
    ArLog::log(ArLog::Normal, "\t...exit requested.");
    myRobot->stopRunning();
    Aria::shutdown();
    Aria::exit(0);
  }
}

void laserRequest_and_odom(ArServerClient *client, ArNetPacket *packet)
{ 
  robot.lock();
  ArNetPacket sending;
  sending.empty();
  ArLaser* laser = robot.findLaser(1);
  if(!laser){
      printf("Could not connect to Laser... exiting\n");
      Aria::exit(1);}	
  laser->lockDevice();
  const std::list<ArSensorReading*> *sensorReadings = laser->getRawReadings(); // see ArRangeDevice interface doc
  sending.byte4ToBuf((ArTypes::Byte4)(sensorReadings->size()));
  for (std::list<ArSensorReading*>::const_iterator it2= sensorReadings->begin(); it2 != sensorReadings->end(); ++it2){
	ArSensorReading* laserRead =*it2;
        sending.byte4ToBuf((ArTypes::Byte4)(laserRead->getRange()));
	//printf("%i,%i:",laserRead->getRange(),laserRead->getIgnoreThisReading());
  }
  sending.byte4ToBuf((ArTypes::Byte4)(robot.getX()));
  sending.byte4ToBuf((ArTypes::Byte4)(robot.getY()));
  sending.byte4ToBuf((ArTypes::Byte4)(robot.getTh()));
  sending.byte4ToBuf((ArTypes::Byte4)(robot.getVel()));
  sending.byte4ToBuf((ArTypes::Byte4)(robot.getRotVel()));
  //printf("%1f,%1f,%1f\n",robot.getX(),robot.getY(),robot.getTh());
  laser->unlockDevice();
  robot.unlock();
  sending.finalizePacket();
  //sending.printHex();
  client->sendPacketTcp(&sending);
}

bool RosAriaNode::disable_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    ROS_INFO("RosAria: Disable motors request.");
    robot->lock();
    robot->disableMotors();
    robot->unlock();
	// todo could wait and see if motors do become disabled, and send a response with an error flag if not
    return true;
}

bool RosAriaNode::enable_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    ROS_INFO("RosAria: Enable motors request.");
    robot->lock();
    if(robot->isEStopPressed())
        ROS_WARN("RosAria: Warning: Enable motors requested, but robot also has E-Stop button pressed. Motors will not enable.");
    robot->enableMotors();
    robot->unlock();
	// todo could wait and see if motors do become enabled, and send a response with an error flag if not
    return true;
}

int main(int argc, char **argv)
{
  Aria::init();
  ArRobot robot;

  ArSerialConnection serialConnection;
  ArTcpConnection tcpConnection;
    
  if (tcpConnection.open("localhost", 8101)) {
    robot.setDeviceConnection(&tcpConnection);
  } else {
    serialConnection.setPort("/dev/ttyUSB0");
    robot.setDeviceConnection(&serialConnection);
  }
  robot.blockingConnect();
   
  printf("Setting robot to run async\n");
  robot.runAsync(false);

  printf("Turning off sound\n");
  robot.comInt(ArCommands::SOUNDTOG, 0);

  printf("Enabling motors\n");
  robot.enableMotors();

  // add a set of actions that combine together to effect the wander behavior
  /*ArActionStallRecover recover;
  ArActionBumpers bumpers;
  ArActionAvoidFront avoidFrontNear("Avoid Front Near", 225, 0);
  ArActionAvoidFront avoidFrontFar;
  ArActionConstantVelocity constantVelocity("Constant Velocity", 400);
  robot.addAction(&recover, 100);
  robot.addAction(&bumpers, 75);
  robot.addAction(&avoidFrontNear, 50);
  robot.addAction(&avoidFrontFar, 49);
  robot.addAction(&constantVelocity, 25);*/

  printf("Locking\n");
  robot.lock();
  robot.setVel(100.0);
  robot.unlock();
  printf("Sleeping\n");
  ArUtil::sleep(3*1000);
  printf("Awake\n");

  
  // wait for robot task loop to end before exiting the program
  //while (true);
  //robot.waitForRunExit();
  

  Aria::exit(0);
  return 0;
}

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;
}

void RosAriaNode::sonarConnectCb()
{
  robot->lock();
  if (sonar_pub.getNumSubscribers() == 0)
  {
    robot->disableSonar();
    use_sonar = false;
  }
  else
  {
    robot->enableSonar();
    use_sonar = true;
  }
  robot->unlock();
}

void
RosAriaNode::cmdvel_cb( const geometry_msgs::TwistConstPtr &msg)
{
  veltime = ros::Time::now();
#ifdef SPEW
  ROS_INFO( "new speed: [%0.2f,%0.2f](%0.3f)", msg->linear.x*1e3, msg->angular.z, veltime.toSec() );
#endif

  robot->lock();
  robot->setVel(msg->linear.x*1e3);
  robot->setRotVel(msg->angular.z*180/M_PI);
  robot->unlock();
  ROS_DEBUG("RosAria: sent vels to to aria (time %f): x vel %f mm/s, y vel %f mm/s, ang vel %f deg/s", veltime.toSec(),
    (double) msg->linear.x * 1e3, (double) msg->linear.y * 1.3, (double) msg->angular.z * 180/M_PI);
}

void RosAriaNode::spin()
{
  //ros::spin();

    while(ros::ok()){
               if(ros::WallTime::now()-last_command_time_ > ros::WallDuration(1)){
                   robot->lock();
                   robot->setVel(0.0);
                   if(robot->hasLatVel())
                     robot->setLatVel(0.0);
                   robot->setRotVel(0.0);
                   robot->unlock();
               }
               ros::spinOnce();
           }
}

// this is the function called in the new thread
void *Joydrive::runThread(void *arg)
{
  threadStarted();

  int trans, rot;

  // only run while running, ie play nice and pay attention to the thread 
  //being shutdown
  while (myRunning)
  {
    // lock the robot before touching it
    myRobot->lock();
    if (!myRobot->isConnected())
    {
      myRobot->unlock();
      break;
    }
    // print out some information about the robot
    printf("\rx %6.1f  y %6.1f  tth  %6.1f vel %7.1f mpacs %3d   ", 
	   myRobot->getX(), myRobot->getY(), myRobot->getTh(), 
	   myRobot->getVel(), myRobot->getMotorPacCount());
    fflush(stdout);
    // if one of the joystick buttons is pushed, drive the robot
    if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
					myJoyHandler.getButton(2)))
    {
      // get out the values from the joystick
      myJoyHandler.getAdjusted(&rot, &trans);
      // drive the robot
      myRobot->setVel(trans);
      myRobot->setRotVel(-rot);
    }
    // if no buttons are pushed stop the robot
    else
    {
      myRobot->setVel(0);
      myRobot->setRotVel(0);
    }
    // unlock the robot, so everything else can run
    myRobot->unlock();
    // now take a little nap
    ArUtil::sleep(50);
  }
  // return out here, means the thread is done
  return NULL;
}

/// Called when another node subscribes or unsubscribes from sonar topic.
void RosAriaNode::sonarConnectCb()
{
  publish_sonar = (sonar_pub.getNumSubscribers() > 0);
  publish_sonar_pointcloud2 = (sonar_pointcloud2_pub.getNumSubscribers() > 0);
  robot->lock();
  if (publish_sonar || publish_sonar_pointcloud2)
  {
    robot->enableSonar();
    sonar_enabled = false;
  }
  else if(!publish_sonar && !publish_sonar_pointcloud2)
  {
    robot->disableSonar();
    sonar_enabled = true;
  }
  robot->unlock();
}

int main(int argc, char **argv){
	Aria::init();
	ArRobot robot;
	ArArgumentParser parser(&argc, argv);
	ArSimpleConnector connector(& parser);

	parser.loadDefaultArguments();
	Aria::logOptions();
	if (!connector.parseArgs()){
		cout << "Unknown settings\n";
		Aria::exit(0);
		exit(1);
	}

	if (!connector.connectRobot(&robot)){
		cout << "Unable to connect\n";
		Aria::exit(0);
		exit(1);
	}

	robot.runAsync(true);
	robot.lock();
	robot.comInt(ArCommands::ENABLE, 1);
	robot.unlock();



	ArSonarDevice sonar;
	robot.addRangeDevice(&sonar);

	G_id = 0;
	G_SONAR_FD = fopen("../sensors/sonars","w");
	G_pose_fd  = fopen("../sensors/pose","w");
	int numSonar = robot.getNumSonar();
	while(1){
		readPosition(robot);
		readSonars(robot, 8);
		setMotors(robot);
		usleep(20000);
	}

	fclose(G_SONAR_FD);
	fclose(G_pose_fd);
	Aria::exit(0);
}

/*
 * To Read the parameter
*/
void RosAriaNode::readParameters()
{
  // Robot Parameters  
  robot->lock();
  ros::NodeHandle n_("~");
  if (n_.hasParam("TicksMM"))
  {
    n_.getParam( "TicksMM", TicksMM);
    ROS_INFO("Setting TicksMM from ROS Parameter: %d", TicksMM);
    robot->comInt(93, TicksMM);
  }
  else
  {
    TicksMM = robot->getOrigRobotConfig()->getTicksMM();
    n_.setParam( "TicksMM", TicksMM);
    ROS_INFO("Setting TicksMM from robot EEPROM: %d", TicksMM);
  }
  
  if (n_.hasParam("DriftFactor"))
  {
    n_.getParam( "DriftFactor", DriftFactor);
    ROS_INFO("Setting DriftFactor from ROS Parameter: %d", DriftFactor);
    robot->comInt(89, DriftFactor);
  }
  else
  {
    DriftFactor = robot->getOrigRobotConfig()->getDriftFactor();
    n_.setParam( "DriftFactor", DriftFactor);
    ROS_INFO("Setting DriftFactor from robot EEPROM: %d", DriftFactor);
  }
  
  if (n_.hasParam("RevCount"))
  {
    n_.getParam( "RevCount", RevCount);
    ROS_INFO("Setting RevCount from ROS Parameter: %d", RevCount);
    robot->comInt(88, RevCount);
  }
  else
  {
    RevCount = robot->getOrigRobotConfig()->getRevCount();
    n_.setParam( "RevCount", RevCount);
    ROS_INFO("Setting RevCount from robot EEPROM: %d", RevCount);
  }
  robot->unlock();
}

/*!
 * Shuts down the system.
 *
 */
void
Advanced::shutDown(void)
{
  Aria::exit(0);
  //
  // Stop the path planning thread.
  //
  if(myPathPlanningTask){
    myPathPlanningTask->stopRunning();
//    delete myPathPlanningTask;
    printf("Stopped Path Planning Thread\n");
  }
  //
  // Stop the localization thread.
  //
  if(myLocaTask){
    myLocaTask->stopRunning();
    delete myLocaTask;
    printf("Stopped Localization Thread\n");
  }
  //
  // Stop the laser thread.
  //
  if(mySick)
  {
    mySick->lockDevice();
    mySick->disconnect();
    mySick->unlockDevice();
    printf("Stopped Laser Thread\n");
  }
  //
  // Stop the robot thread.
  //
  myRobot->lock();
  myRobot->stopRunning();
  myRobot->unlock();
  printf("Stopped Robot Thread\n");
  //
  // Exit Aria
  //
  Aria::shutdown();
  printf("Aria Shutdown\n");

}

void setMotors(ArRobot& robot){
	TiObj G_motor;
	G_motor.loadFile("../motors/motors");

	if ( G_motor.has("speed") || G_motor.has("rotation") ){
		cout << G_motor;

		robot.lock();
		if ( G_motor.has("speed") )
			robot.setVel( G_motor.atInt("speed") );
		if ( G_motor.has("rotation") ) 
			robot.setRotVel( G_motor.atInt("rotation") );
		robot.unlock();

		FILE* fd = fopen("../motors/motors","w");
		fclose(fd);
	}
	//
}