C++ ArServerBase::addData方法代码示例

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)
{
  // mandatory init
  Aria::init();

  //ArLog::init(ArLog::StdOut, ArLog::Verbose);

  // set up our parser
  ArArgumentParser parser(&argc, argv);

  // load the default arguments 
  parser.loadDefaultArguments();

  // robot
  //ArRobot robot;
  ArGlobalFunctor2<ArServerClient *, ArNetPacket *> laserRequestCB(&laserRequest); //this is used for laserdata requests
  ArGlobalFunctor2<ArServerClient *, ArNetPacket *> laserRequestCB2(&laserRequest_and_odom); //this is used for laserdata requests
  // set up our simple connector
  ArRobotConnector robotConnector(&parser, &robot);


  // add a gyro, it'll see if it should attach to the robot or not
  ArAnalogGyro gyro(&robot);


  // set up the robot for connecting
  if (!robotConnector.connectRobot())
  {
    printf("Could not connect to robot... exiting\n");
    Aria::exit(1);
  }

  // our base server object
  ArServerBase server;
  server.addData("LaserRequest", "custom command for server to enable laser data", &laserRequestCB, "none", "none"); //laser data request
  server.addData("LaserRequest_odom", "custom command for server to enable laser data", &laserRequestCB2, "none", "none"); //laser data request
  ArServerSimpleOpener simpleOpener(&parser);

  ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
 
  // Tell the laser connector to always connect the first laser since
  // this program always requires a laser.
  parser.addDefaultArgument("-connectLaser");
  
  // Load default arguments for this computer (from /etc/Aria.args, environment
  // variables, and other places)
  parser.loadDefaultArguments();

  ArClientSwitchManager clientSwitchManager(&server, &parser);

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

  // Set up where we'll look for files such as user/password 
  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("Bad user/password/permissions file\n");
    else
      printf("Could not open server port\n");
    exit(1);
  }

  // Range devices:
  
  ArSonarDevice sonarDev;
  robot.addRangeDevice(&sonarDev);

  ArIRs irs;
  robot.addRangeDevice(&irs);

  ArBumpers bumpers;
  robot.addRangeDevice(&bumpers);

  // attach services to the server
  ArServerInfoRobot serverInfoRobot(&server, &robot);
  ArServerInfoSensor serverInfoSensor(&server, &robot);
  ArServerInfoDrawings drawings(&server);

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

  // set up the simple commands
  ArServerHandlerCommands commands(&server);
  ArServerSimpleComUC uCCommands(&commands, &robot);  // send commands directly to microcontroller
  ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // control debug logging
//.........这里部分代码省略.........

//.........这里部分代码省略.........
			    49), // just below the robot
  */ 

  /* If you want to see the local path planning area use this 
    (You can enable this particular drawing from custom commands 
    which is set up down below in ArServerInfoPath) 
  ArDrawingData drawingDataP("polyLine", ArColor(200,200,200), 1, 75);
  ArFunctor2C<ArPathPlanningTask, ArServerClient *, ArNetPacket *> 
  drawingFunctorP(pathTask, &ArPathPlanningTask::drawSearchRectangle);
  drawings.addDrawing(&drawingDataP, "Local Plan Area", &drawingFunctorP); 
  */

  /* If you want to see the points making up the local path in addition to the
   * main path use this. 
  ArDrawingData drawingDataP2("polyDots", ArColor(0,128,0), 100, 70);
  ArFunctor2C<ArPathPlanningTask, ArServerClient *, ArNetPacket *> 
  drawingFunctorP2(pathTask, &ArPathPlanningTask::drawPathPoints);
  drawings.addDrawing(&drawingDataP2, "Path Points", &drawingFunctorP2);
  */

  // Misc. simple commands:
  ArServerHandlerCommands commands(&server);
	

  // These provide various kinds of information to the client:
  ArServerInfoRobot serverInfoRobot(&server, &robot);
  ArServerInfoSensor serverInfoSensor(&server, &robot);
  ArServerInfoPath serverInfoPath(&server, &robot, &pathTask);
  serverInfoPath.addSearchRectangleDrawing(&drawings);
  serverInfoPath.addControlCommands(&commands);
//-------------------------receive commands or events from client---------------------
  
//   ArServerHandlerCommands commands(&server);
	server.addData("RobotVideo"			,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&VideoServerBase::RobotVideoCB) ,"","");
	server.addData("turn"						,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&turn_func) ,"","");
	server.addData("RobotMotion"	  ,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&S_RobotMotion) ,"","");
	server.addData("CameraMotion"   ,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&S_CameraMotion) ,"","");
	server.addData("RobotTurnLeft"  ,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&S_RobotTurnLeft) ,"","");
	server.addData("RobotTurnRight" ,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&S_RobotTurnRight) ,"","");
	server.addData("TargetApproach" ,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&S_TargetApproach) ,"","");
	server.addData("TargetApproachObstacles" ,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&S_TargetApproach_Obstacles) ,"","");
	server.addData("GlassesCancel" ,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&S_GlassesCancel) ,"","");
	server.addData("Calibration" ,"", new ArGlobalFunctor2<ArServerClient *, ArNetPacket*>(&S_Calibration) ,"","");

	server.addClientRemovedCallback(new ArGlobalFunctor1< ArServerClient * >(&clientCloseCallback));
//-------------------------receive commands or events from client---------------------


  
//***********************  
  ArServerInfoLocalization serverInfoLocalization (&server, &robot, &locManager);
  ArServerHandlerLocalization serverLocHandler (&server, &robot, &locManager);


  // Provide the map to the client (and related controls):
  // This uses both lines and points now, since everything except
  // sonar localization uses both (path planning with sonar still uses both)
  ArServerHandlerMap serverMap(&server, &arMap);

  

  // Add some simple (custom) commands for testing and debugging:
  ArServerSimpleComUC uCCommands(&commands, &robot);                   // Send any command to the microcontroller
  ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // configure logging
  ArServerSimpleComGyro gyroCommands(&commands, &robot, &gyro);        // monitor the gyro
  ArServerSimpleComLogRobotConfig configCommands(&commands, &robot);   // trigger logging of the robot config parameters