C++ ArServerBase类代码示例

int main(int argc, char **argv)
{
  Aria::init();
  ArServerBase server;

  if (!server.open(7272))
  {
    printf("Could not open server port\n");
    exit(1);
  }

  ArServerHandlerCommands commands(&server);
  commands.addCommand("Function1", "Call the function that is number 1!", 
			    new ArGlobalFunctor(&function1));
  commands.addCommand("Function2", "Second function to call", 
			    new ArGlobalFunctor(&function2));
  commands.addCommand("Function3", "Tree climb", 
			    new ArGlobalFunctor(&function3));
  commands.addStringCommand("StringFunction4", 
			"Print a string in function 4", 
			    new ArGlobalFunctor1<
			    ArArgumentBuilder *>(&function4));
  commands.addStringCommand("StringFunction5", 
			"Prints a string given (5)", 
			    new ArGlobalFunctor1<
			    ArArgumentBuilder *>(&function5));
  commands.addStringCommand("StringFunction6", 
				  "Print out a value for function 6", 
			    new ArGlobalFunctor1<
			    ArArgumentBuilder *>(&function6));

  server.run();
}

int main(int argc, char **argv)
{
  Aria::init();
  ArServerBase server;
  
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);
  ArConfig *config;
  config = Aria::getConfig();

  ArRobotP3DX dx;
  //dx.writeFile("dx.txt");
  *Aria::getConfig() = dx;
  //Aria::getConfig()->writeFile("dxcopy.txt");

  if (!server.open(7272))
  {
    printf("Could not open server port\n");
    exit(1);
  }

  ArServerHandlerConfig configHandler(&server, Aria::getConfig());
  server.run();
  
  Aria::shutdown();

  return 0;
}

int main(int argc, char **argv)
{
  Aria::init();
  ArServerBase server;
  
  ArConfig *config;
  config = Aria::getConfig();
  std::string section;
  char joy[512];
  sprintf(joy, "Joy");
  section = "section1";
  config->addParam(ArConfigArg("int", new int, "fun int", 0), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("double", new double, "fun double", 0, 1), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("bool", new bool, "fun bool"), section.c_str(), ArPriority::IMPORTANT);
  config->addParam(ArConfigArg("string", joy, "fun string", sizeof(joy)), section.c_str(), ArPriority::TRIVIAL);
  section = "section8";
  config->addParam(ArConfigArg("int", new int, "fun int", 0), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("double", new double, "fun double", 0, 1), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("doubleFOUR", (double).4, "fun double", 0.0, 1.0), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("double three", new double, "fun double", 0, 1), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("double two", new double, "fun double", 0, 1), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("double one", new double, "fun double", 0, 1), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("double", new double, "fun double", 0, 1), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("bool", new bool, "fun bool"), section.c_str(), ArPriority::IMPORTANT);
  config->addParam(ArConfigArg("string", joy, "fun string", sizeof(joy)), section.c_str(), ArPriority::TRIVIAL);
  section = "some section";
  config->setSectionComment("some section", "this is a random section with 4 ints");
  config->addParam(ArConfigArg("int1", new int, "fun int"), section.c_str(), ArPriority::TRIVIAL);
  config->addParam(ArConfigArg("int2", new int, "fun int", -1, 1200), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("int3", new int, "fun int"), section.c_str(), ArPriority::IMPORTANT);
  config->addParam(ArConfigArg("int4", new int, "fun int"), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("int4", new int, "fun int"), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("int1", new int, "fun int"), section.c_str(), ArPriority::TRIVIAL);
  section = "another section";
  config->setSectionComment("another section", "this is another section with 1 of each type");
  config->addParam(ArConfigArg("inta", new int, "fun int"), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("doublea", new double, "fun double"), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("boola", new bool, "fun bool"), section.c_str(), ArPriority::NORMAL);
  config->addParam(ArConfigArg("stringa", new char[512], "fun string", 512), section.c_str(), ArPriority::NORMAL);

  if (!server.open(7272))
  {
    printf("Could not open server port\n");
    exit(1);
  }
  config->setBaseDirectory("./");
  config->writeFile("default.txt");
  config->parseFile("modified.txt");
  config->writeFile("modifiedModified.txt");
  ArServerHandlerConfig configHandler(&server, Aria::getConfig(), 
				      "default.txt");
  
  server.run();
  
  Aria::shutdown();

  return 0;
}

int main(int argc, char **argv)
{
  Aria::init();
  ArGlobalFunctor2<ArServerClient *, ArNetPacket *> testCB(&testFunction);
  ArGlobalFunctor2<ArServerClient *, ArNetPacket *> setVelCB(&setVelFunction);
  ArServerBase server;
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);
  ArNetPacket packet;

  server.addData("test", "some wierd test", &testCB, "none", "none");
  server.addData("test2", "another wierd test", &testCB, "none", "none");
  server.addData("test3", "yet another wierd test", &testCB, "none", "none");
  server.addData("SetVelRequest", "yet another wierd test", &setVelCB, "none", "none");
  if (!server.open(7273))
  {
    printf("Could not open server port\n");
    exit(1);
  }
  server.runAsync();
  while (server.getRunningWithLock())
  {
    ArUtil::sleep(1000);
    server.broadcastPacketTcp(&packet, "test3");
  }
  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
  Aria::init();
  ArServerBase server;
  if (!server.open(7272))
  {
    printf("Could not open server port\n");
    exit(1);
  }
  server.run();
  return 0;
}

int main(int argc, char **argv)
{
  Aria::init();
  ArServerBase server;

  if (!server.open(7272))
  {
    printf("Could not open server port\n");
    exit(1);
  }

  ArServerFileLister fileLister(&server, ".");
  ArServerFileToClient fileToClient(&server, ".");
  ArServerFileFromClient fileFromClient(&server, ".", "/tmp");
  ArServerDeleteFileOnServer fileDeleter(&server, ".");
  server.run();
}

int main(int argc, char *argv[])
{

  Aria::init();
  ArVideo::init();


  ArArgumentParser argParser(&argc, argv);

  ArServerBase server;
  ArServerSimpleOpener openServer(&argParser);

  argParser.loadDefaultArguments();
  if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed()) {
    Aria::logOptions();
    Aria::exit(-1);
  }


  if(!openServer.open(&server))
  {
    std::cout << "error opening ArNetworking server" << std::endl;
    Aria::exit(5);
    return 5;
  }
  server.runAsync();
  std::cout << "ArNetworking server running on port " << server.getTcpPort() << std::endl;

  /* Set up ArNetworking services */

  ArVideoRemoteForwarder forwarder(&server, "localhost", 7070);
  if(!forwarder.connected())
  {
    std::cout << "ERror connecting to server localhost:7070" << std::endl;
    Aria::exit(1);
  }
  std::cout << "ArNetworking server running on port " << server.getTcpPort() << std::endl;
  
  while(true) ArUtil::sleep(10000);

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

int main(int argc, char **argv)
{
  Aria::init();
  ArServerBase server;
  ArGlobalFunctor2<ArServerClient *, ArNetPacket *> sendEmptyCB(&sendEmpty);
  if (!server.open(7272))
  {
    printf("Could not open server port\n");
    exit(1);
  }

  ArServerInfoDrawings drawing(&server);

  ArDrawingData arrows("polyarrow", ArColor(0, 0, 255), 5, 50);
  ArDrawingData dots("polydots", ArColor(0, 255, 0), 12, 50);
  drawing.addDrawing(&arrows, "arrows", &sendEmptyCB);
  drawing.addDrawing(&dots, "dots", &sendEmptyCB);
  server.run();

}

int main(int argc, char **argv)
{
  Aria::init();
  
  ArServerBase robotServer;
  if (!robotServer.open(5000))
  {
    printf("Could not open robot server port\n");
    Aria::exit(1);
  }

  ArServerBase clientServer;
  if (!clientServer.open(7272))
  {
    printf("Could not open robot server port\n");
    Aria::exit(1);
  }

  ArCentralManager switchManager(&robotServer, &clientServer);

  switchManager.addForwarderAddedCallback(
	  new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderAdded), 
	  100);
  switchManager.addForwarderRemovedCallback(
	  new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderRemoved), 
	  100);

  // Start a small handler to monitor communication between the server and 
  // client.
  ArServerHandlerCommMonitor commMonitor(&clientServer);

  ArServerHandlerCommands commands(&clientServer);
  commands.setPrefix("CentralServer");

  ArServerSimpleServerCommands serverCommands(&commands, &clientServer, 
					      false);
  commands.addCommand(
	  "NetworkLogConnections", "Logs the connections to the central server, and to all the forwarded connections",
	  new ArFunctorC<ArCentralManager>
	  (&switchManager, &ArCentralManager::logConnections));

  clientServer.runAsync();
  robotServer.run();
  Aria::exit(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.........

int main(int argc, char **argv)
{

//----------------------initialized robot server------------------------------------------
  Aria::init();
  Arnl::init();
  
  ArServerBase server;
	
//-----------------------------------------------------------------------------------
	VCCHandler ptz(&robot); 		//create keyboard for control vcc50i

	
	G_PTZHandler->reset();
	ArUtil::sleep(300);
	G_PTZHandler->panSlew(30);
//-----------------------------------------------------------------------------------

  argc = 2 ;

  argv[0] = "-map";
  argv[1] = "map20121111.map";
  
  // Parse the command line arguments.
  ArArgumentParser parser(&argc, argv);

  // Set up our simpleConnector
  ArSimpleConnector simpleConnector(&parser);

  // Set up our simpleOpener
  ArServerSimpleOpener simpleOpener(&parser);
  

//*******
  // Set up our client for the central server
//   ArClientSwitchManager clientSwitch(&server, &parser);
//************
  
  // Load default arguments for this computer (from /etc/Aria.args, environment
  // variables, and other places)
//   parser.loadDefaultArguments();

  // set up a gyro
  ArAnalogGyro gyro(&robot);
  //gyro.activate();
  // Parse arguments for the simple connector.
//   if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
//   {
//     ArLog::log(ArLog::Normal, "\nUsage: %s -map mapfilename\n", argv[0]);
//     Aria::logOptions();
//     Aria::exit(1);
//   }


  // The laser object, will be used if we have one


  // Add the laser to the robot
  robot.addRangeDevice(&sick);

  // Sonar, must be added to the robot, used by teleoperation and wander to
  // detect obstacles, and for localization if SONARNL
  ArSonarDevice sonarDev;

  // Add the sonar to the robot
  robot.addRangeDevice(&sonarDev);
  
  // Set up where we'll look for files
  char fileDir[1024];
  ArUtil::addDirectories(fileDir, sizeof(fileDir), "./", "maps");
  ArLog::log(ArLog::Normal, "Installation directory is: %s\nMaps directory is: %s\n", Aria::getDirectory(), fileDir);
  
  // Set up the map, this will look for files in the examples
  // directory (unless the file name starts with a /, \, or .
  // You can take out the 'fileDir' argument to look in the current directory
  // instead
  
  ArMap arMap(fileDir);
  // set it up to ignore empty file names (otherwise the parseFile
  // on the config will fail)
  arMap.setIgnoreEmptyFileName(true);
  
//********************************
//Localization
//********************************
  

  ArLocalizationManager locManager(&robot, &arMap);
  ArLog::log(ArLog::Normal, "Creating laser localization task");
  ArLocalizationTask locTask (&robot, &sick, &arMap);
  locManager.addLocalizationTask(&locTask);

  
//*******************************
//Path planning
//*******************************
  
  // Make the path task planning task
  ArPathPlanningTask pathTask(&robot, &sick, &sonarDev, &arMap);
  G_PathPlanning = &pathTask;
//.........这里部分代码省略.........

int main(int argc, char **argv)
{
  Aria::init();
  ArRobot robot;
  ArSonarDevice sonar;
  ArSick sick;
  robot.addRangeDevice(&sonar);
  ArServerBase server;

  // Argument parser:
  ArArgumentParser parser(&argc, argv);
  parser.loadDefaultArguments();

  // Connector and server opener:
  ArRobotConnector robotConnector(&parser, &robot);
  if(!robotConnector.connectRobot())
  {
    ArLog::log(ArLog::Terse, "popupExample: Could not connect to the robot.");
    if(parser.checkHelpAndWarnUnparsed())
    {
      Aria::logOptions();
    }
    Aria::exit(1);
  }

  ArLaserConnector laserConnector(&parser, &robot, &robotConnector);

  ArServerSimpleOpener simpleOpener(&parser);

  // Get command-line and other parameters
  if(!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    Aria::exit(1);
  }

  robot.runAsync(true);

  // connect to the laser
  if(!laserConnector.connectLasers())
  {
    ArLog::log(ArLog::Normal, "popupExample: Warning: Could not connect to lasers.");
  }


  // Open the server
  if(!simpleOpener.open(&server))
  {
    ArLog::log(ArLog::Terse, "popupExample: Error, could not open server.");
    return 1;
  }
  server.runAsync();
  ArLog::log(ArLog::Normal, "popupExample: Server running. Press control-C to exit.");
  ArLog::log(ArLog::Normal, "popupExample: Each time an obstacle is detected near the robot, a new popup message will be created. Connect with MobileEyes to see them.");

  // Sends robot position etc.
  ArServerInfoRobot robotInfoServer(&server, &robot);

  // This service sends drawings e.g. showing range device positions
  ArServerInfoDrawings drawingsServer(&server);
  drawingsServer.addRobotsRangeDevices(&robot);

  // This service can send messages to clients to display as popup dialogs:
  ArServerHandlerPopup popupServer(&server);

  // This object contains the robot sensor interpretation task and creates
  // popups:
  SensorDetectPopup(&robot, &popupServer);

  // modes for controlling robot movement
  ArServerModeStop modeStop(&server, &robot);
  ArServerModeRatioDrive modeRatioDrive(&server, &robot);  
  ArServerModeWander modeWander(&server, &robot);
  modeStop.addAsDefaultMode();
  modeStop.activate();

  // allow configuration of driving and other settings
  ArServerHandlerConfig serverHandlerConfig(&server, Aria::getConfig()); // make a config handler
  ArLog::addToConfig(Aria::getConfig()); // let people configure logging

  modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings"); // able to configure teleop settings

  robot.enableMotors();
  robot.waitForRunExit();

  Aria::exit(0);
}

int main ( int argc, char *argv[] ){
//cout << "running....\n";
try{
	// Create the socket
	ServerSocket server ( 30000 );

	Aria::init();
	Arnl::init();

	ArRobot robot;
	ArArgumentParser parser(&argc, argv);
	parser.loadDefaultArguments();
	ArSonarDevice sonar;
	ArSimpleConnector simpleConnector(&parser);

	// Our server for mobile eyes
	ArServerBase moServer;

	// Set up our simpleOpener
	ArServerSimpleOpener simpleOpener(&parser);

	parser.loadDefaultArguments();
  	if (!Aria::parseArgs () || !parser.checkHelpAndWarnUnparsed()){
    		Aria::logOptions ();
   		Aria::exit (1);
  	}

	//Add the sonar to the robot
	robot.addRangeDevice(&sonar);

  	// Look for map in the current directory
  	ArMap arMap;
  	// set it up to ignore empty file names (otherwise the parseFile
  	// on the config will fail)
  	arMap.setIgnoreEmptyFileName (true);

	// First open the server 
	if (!simpleOpener.open(&moServer)){
		if (simpleOpener.wasUserFileBad())
    			ArLog::log(ArLog::Normal, "Bad user file");
		else
    			ArLog::log(ArLog::Normal, "Could not open server port");
  		exit(2);
	}

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

	// Create the localization task (it will start its own thread here)
	ArSonarLocalizationTask locTask(&robot, &sonar, &arMap);

	ArLocalizationManager locManager(&robot, &arMap);

	ArLog::log(ArLog::Normal, "Creating sonar localization task");
	locManager.addLocalizationTask(&locTask);




	// Set the initial pose to the robot's "Home" position from the map, or
	// (0,0,0) if none, then let the localization thread take over.
	locTask.localizeRobotAtHomeNonBlocking();

	//Create the path planning task
	ArPathPlanningTask pathTask(&robot,&sonar,&arMap);

	ArLog::log(ArLog::Normal, "Robot Server: Connected.");

	robot.enableMotors();
	robot.clearDirectMotion();

	// Start the robot processing cycle running in the background.
	// True parameter means that if the connection is lost, then the
	// run loop ends.
	robot.runAsync(true);

	// Read in parameter files.
  	Aria::getConfig ()->useArgumentParser (&parser);
  	if (!Aria::getConfig ()->parseFile (Arnl::getTypicalParamFileName ())){
		ArLog::log (ArLog::Normal, "Trouble loading configuration file, exiting");
		Aria::exit (5);
	}

	//Create the three states
	robot.lock();
	Follow follow = Follow(&robot,&sonar);
	GoTo goTo(&robot,&pathTask,&arMap);
	Search s(&robot,&sonar);

	// Bumpers.
  	ArBumpers bumpers;
  	robot.addRangeDevice(&bumpers);
  	pathTask.addRangeDevice(&bumpers, ArPathPlanningTask::CURRENT);

  	// Forbidden regions from the map
  	ArForbiddenRangeDevice forbidden(&arMap);
  	robot.addRangeDevice(&forbidden);
//.........这里部分代码省略.........

int
main(int argc, char *argv[])
{
  // Initialize location of Aria, Arnl and their args.
  Aria::init();
  Arnl::init();

  // The robot object
  ArRobot robot;
#ifndef SONARNL
  // The laser object
  ArSick sick(181, 361);
#endif

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

  // Set up our simpleConnector
  ArSimpleConnector simpleConnector(&parser);

  // Load default arguments for this computer
  parser.loadDefaultArguments();

  // Parse its arguments for the simple connector.
  simpleConnector.parseArgs();

  // sonar, must be added to the robot, for teleop and wander
  ArSonarDevice sonarDev;
  // add the sonar to the robot
  robot.addRangeDevice(&sonarDev);

  ArMap arMap;
#ifndef SONARNL
  // Initialize the localization
  ArLocalizationTask locTask(&robot, &sick, &arMap);
  // Make the path task
  ArPathPlanningTask pathTask(&robot, &sick, &sonarDev, &arMap);
#else
  // Initialize the localization
  ArSonarLocalizationTask locTask(&robot, &sonarDev, &arMap);
  // Make the path task
  ArPathPlanningTask pathTask(&robot, NULL, &sonarDev, &arMap);
#endif


  // Stop the robot as soon as localization fails.
  ArFunctor1C<ArPathPlanningTask, int>
  locaFailed(&pathTask, &ArPathPlanningTask::trackingFailed);
  locTask.addFailedLocalizationCB(&locaFailed);

  // Read in param files.
  Aria::getConfig()->useArgumentParser(&parser);
  if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
  {
    printf("Trouble loading configuration file, exiting\n");
    exit(1);
  }
  // Warn about unknown params.
  if (!parser.checkHelpAndWarnUnparsed())
  {
    printf("\nUsage: %s -map mapfilename\n\n", argv[0]);
    simpleConnector.logOptions();
    exit(2);
  }

  // Our server
  ArServerBase server;

  // First open the server up
  if (!server.open(7272))
  {
    printf("Could not open server port\n");
    exit(1);
  }

  // Connect the robot
  if (!simpleConnector.connectRobot(&robot))
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }

  robot.com2Bytes(31, 14, 0);
  robot.com2Bytes(31, 15, 0);
  ArUtil::sleep(100);
  robot.com2Bytes(31, 14, 1);
  robot.com2Bytes(31, 15, 1);
  robot.enableMotors();
  robot.clearDirectMotion();

#ifndef SONARNL
  // Set up the laser before handing it to the laser mode
  simpleConnector.setupLaser(&sick);

  // Add the laser to the robot
  robot.addRangeDevice(&sick);
#endif

  // Start the robot thread.
//.........这里部分代码省略.........

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

  ArArgumentParser parser(&argc, argv);
  ArSimpleConnector simpleConnector(&parser);
  ArServerSimpleOpener simpleOpener(&parser);


  // parse the command line... fail and print the help if the parsing fails
  // or if help was requested
  parser.loadDefaultArguments();
  if (!simpleConnector.parseArgs() || !simpleOpener.parseArgs() || 
      !parser.checkHelpAndWarnUnparsed())
  {    
    simpleConnector.logOptions();
    simpleOpener.logOptions();
    exit(1);
  }

  // Set up where we'll look for files such as config file, user/password file,
  // etc.
  char fileDir[1024];
  ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(), 
			 "ArNetworking/examples");

  // first open the server up
  if (!simpleOpener.open(&server, fileDir, 240))
  {
    if (simpleOpener.wasUserFileBad())
      printf("Error: Bad user/password/permissions file.\n");
    else
      printf("Error: Could not open server port. Use -help to see options.\n");
    exit(1);
  }


  // Devices
  ArAnalogGyro gyro(&robot);

  ArSonarDevice sonarDev;
  robot.addRangeDevice(&sonarDev);

  ArIRs irs;
  robot.addRangeDevice(&irs);

  ArBumpers bumpers;
  robot.addRangeDevice(&bumpers);

  ArSick sick(361, 180);
  robot.addRangeDevice(&sick);  
  

  ArServerInfoRobot serverInfoRobot(&server, &robot);
  ArServerInfoSensor serverInfoSensor(&server, &robot);

  // This is the service that provides drawing data to the client.
  ArServerInfoDrawings drawings(&server);

  // Convenience function that sets up drawings for all the robot's current
  // range devices (using default shape and color info)
  drawings.addRobotsRangeDevices(&robot);

  // Add our custom drawings
  drawings.addDrawing(
      //                shape:      color:               size:   layer:
      new ArDrawingData("polyLine", ArColor(255, 0, 0),  2,      49),
      "exampleDrawing_Home", 
      new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleHomeDrawingNetCallback)
  );
  drawings.addDrawing(                                    
      new ArDrawingData("polyDots", ArColor(0, 255, 0), 250, 48),
      "exampleDrawing_Dots", 
      new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleDotsDrawingNetCallback)
  );
  drawings.addDrawing(
      new ArDrawingData("polySegments", ArColor(0, 0, 0), 4, 52),
      "exampleDrawing_XMarksTheSpot", 
      new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleXDrawingNetCallback)
  );
  drawings.addDrawing(
      new ArDrawingData("polyArrows", ArColor(255, 0, 255), 500, 100),
      "exampleDrawing_Arrows", 
      new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleArrowsDrawingNetCallback)
  );

  // modes for moving the robot
  ArServerModeStop modeStop(&server, &robot);
  ArServerModeDrive modeDrive(&server, &robot);
  ArServerModeRatioDrive modeRatioDrive(&server, &robot);
  ArServerModeWander modeWander(&server, &robot);
  modeStop.addAsDefaultMode();
  modeStop.activate();

  

  // Connect to the robot.
  if (!simpleConnector.connectRobot(&robot))
//.........这里部分代码省略.........