C++ ArSerialConnection::setPort方法代码示例

AREXPORT ArTCMCompassDirect::ArTCMCompassDirect(const char *serialPortName) :
  myCreatedOwnDeviceConnection(true),
  myNMEAParser("ArTCMCompassDirect"),
  myHCHDMHandler(this, &ArTCMCompassDirect::handleHCHDM)
{
  ArSerialConnection *newSerialCon = new ArSerialConnection();
  newSerialCon->setPort(serialPortName);
  newSerialCon->setBaud(9600);
  myDeviceConnection = newSerialCon;
  myNMEAParser.addHandler("HCHDM", &myHCHDMHandler);
}

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;
}

void SetupRobot(void)
{
	puts("attempting to connect to robot");
	RobotConnectoin.setPort("COM8");
	RobotConnectoin.setBaud(9600);
	robot.setDeviceConnection(&RobotConnectoin);
	if(!robot.blockingConnect()){puts("not connected to robot");Aria::shutdown();}
	robot.addRangeDevice(&sonarDev);
	robot.addRangeDevice(&bumpers);
	robot.enableMotors();
	robot.enableSonar();
	robot.requestEncoderPackets();
	robot.setCycleChained(false);
//	robot.setRotVelMax(robot.getRotVelMax());
}

int main(int argc, char **argv)
{
  Aria::init();
  ArLog::init(ArLog::StdErr, ArLog::Normal);
  ArArgumentParser parser(&argc, argv);
  parser.loadDefaultArguments();

  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    Aria::exit(1);
  }
  
  ArSerialConnection con;
  con.setPort(ArUtil::COM4);
  con.setBaud(19200);
  if(!con.openSimple())
    ArLog::log(ArLog::Terse, "could not open COM4");

  char buf[512];
  
  while (true)
  {
    int n = con.read(buf, 512, 10);
    if(n < 0)
    {
      ArLog::log(ArLog::Terse, "Error reading.");
      Aria::exit(n);
    }
    if(n == 0)
      continue;

    // log for debugging:
    char cmd = 0;
    int x = 0;
    int size = 0;
    for(int i = 0; i < n; ++i)
    {
      if(buf[i] == 0xc1 || buf[i] == 0x5a) puts("");
      printf("0x%hhX (%u)    ", buf[i], buf[i]);
  }
  
   }   
    

  Aria::exit(0);
}

int main(int argc, char **argv) 
{
  // just some stuff for returns
  std::string str;
  // robots connection
  ArSerialConnection con;

  // the robot, this turns state reflection off
  ArRobot robot(NULL, false);
  // the joydrive as defined above, this also adds itself as a user task
  KeyPTU ptu(&robot);

  // mandatory init
  Aria::init();

  ArLog::init(ArLog::StdOut, ArLog::Terse, NULL, true);

  con.setPort(ArUtil::COM1);
  // set the connection on the robot
  robot.setDeviceConnection(&con);

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


  // turn off the sonar, enable the motors, turn off amigobot sounds
  robot.comInt(ArCommands::SONAR, 0);
  robot.comInt(ArCommands::ENABLE, 1);
  robot.comInt(ArCommands::SOUNDTOG, 0);

  printf("Press '?' for available commands\r\n");
  // run, if we lose connection to the robot, exit
  robot.run(true);
  
  // shutdown and go away
  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
  int ret;
  std::string str;
  // the serial connection (robot)
  ArSerialConnection serConn;
  // tcp connection (sim)
  ArTcpConnection tcpConn;
  // the robot
  ArRobot robot;
  // the laser
  ArSick sick;
  // the laser connection
  ArSerialConnection laserCon;

  bool useSimForLaser = false;


  std::string hostname = "prod.local.net";

  // timeouts in minutes
  int wanderTime = 0;
  int restTime = 0;


  // check arguments
  if (argc == 3 || argc == 4)
  {
    wanderTime = atoi(argv[1]);
    restTime = atoi(argv[2]);
    if (argc == 4)
      hostname = argv[3];
  }
  else
  {
    printf("\nUsage:\n\tpeoplebotTest <wanderTime> <restTime> <hostname>\n\n");
    printf("Times are in minutes.  Hostname is the machine to pipe the ACTS display to\n\n");
    wanderTime = 15;
    restTime = 45;
  }

  printf("Wander time - %d minutes\nRest time - %d minutes\n", wanderTime, restTime);
  printf("Sending display to %s.\n\n", hostname.c_str());

  // sonar, must be added to the robot
  ArSonarDevice sonar;

  // the actions we'll use to wander
  ArActionStallRecover recover;
  ArActionBumpers bumpers;
  ArActionAvoidFront avoidFrontNear("Avoid Front Near", 225, 0);
  ArActionAvoidFront avoidFrontFar;

  // Make a key handler, so that escape will shut down the program
  // cleanly
  ArKeyHandler keyHandler;

  // mandatory init
  Aria::init();

  // Add the key handler to Aria so other things can find it
  Aria::setKeyHandler(&keyHandler);

  // Attach the key handler to a robot now, so that it actually gets
  // some processing time so it can work, this will also make escape
  // exit
  robot.attachKeyHandler(&keyHandler);


  // First we see if we can open the tcp connection, if we can we'll
  // assume we're connecting to the sim, and just go on...  if we
  // can't open the tcp it means the sim isn't there, so just try the
  // robot

  // modify this next line if you're not using default tcp connection
  tcpConn.setPort();

  // see if we can get to the simulator  (true is success)
  if (tcpConn.openSimple())
  {
    // we could get to the sim, so set the robots device connection to the sim
    printf("Connecting to simulator through tcp.\n");
    robot.setDeviceConnection(&tcpConn);
  }
  else
  {
    // we couldn't get to the sim, so set the port on the serial
    // connection and then set the serial connection as the robots
    // device

    // modify the next line if you're not using the first serial port
    // to talk to your robot
    serConn.setPort();
    printf(
      "Could not connect to simulator, connecting to robot through serial.\n");
    robot.setDeviceConnection(&serConn);
  }
  
  
  // add the sonar to the robot
//.........这里部分代码省略.........

int main(int argc, char **argv)
{
  bool done;
  double distToTravel = 2300;

  // 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
  bool useSim = false;
  // the laser
  ArSick sick;
  // connection
  ArDeviceConnection *con;
  // Laser connection
  ArSerialConnection laserCon;
  // robot
  ArRobot robot;

  // 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);


  // 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)
  {
//.........这里部分代码省略.........

ArDeviceConnection *ArDeviceConnectionCreatorHelper::createSerialConnection(
	const char *port, const char *defaultInfo, const char *logPrefix)
{
  ArSerialConnection *serConn = new ArSerialConnection;
  
  std::string serPort;
  if (strcasecmp(port, "COM1") == 0)
    serPort = ArUtil::COM1;
  else if (strcasecmp(port, "COM2") == 0)
    serPort = ArUtil::COM2;
  else if (strcasecmp(port, "COM3") == 0)
    serPort = ArUtil::COM3;
  else if (strcasecmp(port, "COM4") == 0)
    serPort = ArUtil::COM4;
  else if (strcasecmp(port, "COM5") == 0)
    serPort = ArUtil::COM5;
  else if (strcasecmp(port, "COM6") == 0)
    serPort = ArUtil::COM6;
  else if (strcasecmp(port, "COM7") == 0)
    serPort = ArUtil::COM7;
  else if (strcasecmp(port, "COM8") == 0)
    serPort = ArUtil::COM8;
  else if (strcasecmp(port, "COM9") == 0)
    serPort = ArUtil::COM9;
  else if (strcasecmp(port, "COM10") == 0)
    serPort = ArUtil::COM10;
  else if (strcasecmp(port, "COM11") == 0)
    serPort = ArUtil::COM11;
  else if (strcasecmp(port, "COM12") == 0)
    serPort = ArUtil::COM12;
  else if (strcasecmp(port, "COM13") == 0)
    serPort = ArUtil::COM13;
  else if (strcasecmp(port, "COM14") == 0)
    serPort = ArUtil::COM14;
  else if (strcasecmp(port, "COM15") == 0)
    serPort = ArUtil::COM15;
  else if (strcasecmp(port, "COM16") == 0)
    serPort = ArUtil::COM16;
  else if (port != NULL)
    serPort = port;
  
  ArLog::log(ourSuccessLogLevel, "%Set serial port to open %s", 
	     logPrefix, serPort.c_str());
  serConn->setPort(serPort.c_str());
  return serConn;
  /*  
      This code is commented out because it created problems with demo
      (or any other program that used ArLaserConnector::connectLasers
      with addAllLasersToRobot as true)

  int ret;
  
  if ((ret = serConn->open(serPort.c_str())) == 0)
  {
    ArLog::log(ourSuccessLogLevel, "%sOpened serial port %s", 
	       logPrefix, serPort.c_str());
    return serConn;
  }
  else
  {
    ArLog::log(ArLog::Normal, "%sCould not open serial port %s (from %s), because %s", 
	       logPrefix, serPort.c_str(), port,
	       serConn->getOpenMessage(ret));
    delete serConn;
    return NULL;
  }
  */
}