C++ ArServerBase::logCommandGroups方法代码示例

//.........这里部分代码省略.........
    robot.addRangeDevice(&sonarDev);

    ArIRs irs;
    robot.addRangeDevice(&irs);

    ArBumpers bumpers;
    robot.addRangeDevice(&bumpers);

    // a laser in case one is used
    ArSick sick(361, 180);
    // add the laser to the robot
    robot.addRangeDevice(&sick);




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

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

    // set up the simple commands
    ArServerHandlerCommands commands(&server);
    // add the commands for the microcontroller
    ArServerSimpleComUC uCCommands(&commands, &robot);
    // add the commands for logging
    ArServerSimpleComMovementLogging loggingCommands(&commands, &robot);
    // add the commands for the gyro
    ArServerSimpleComGyro gyroCommands(&commands, &robot, &gyro);

    // add the commands to enable and disable safe driving to the simple commands
    modeDrive.addControlCommands(&commands);

    // Forward any video if we have some to forward.. this will forward
    // from SAV or ACTS, you can find both on our website
    // http://robots.activmedia.com, ACTS is for color tracking and is
    // charged for but SAV just does software A/V transmitting and is
    // free to all our customers... just run ACTS or SAV before you
    // start this program and this class here will forward video from it
    // to MobileEyes
    ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);

    // make a camera to use in case we have video
    ArPTZ *camera = NULL;
    ArServerHandlerCamera *handlerCamera = NULL;
    // if we have video then set up a camera
    if (videoForwarder.isForwardingVideo())
    {
        bool invertedCamera = false;
        camera = new ArVCC4(&robot,	invertedCamera,
                            ArVCC4::COMM_UNKNOWN, true, true);
        camera->init();
        handlerCamera = new ArServerHandlerCamera(&server, &robot, camera);
    }

    server.logCommandGroups();
    server.logCommandGroupsToFile("userServerTest.commandGroups");

    // now let it spin off in its own thread
    server.runAsync();

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

    // set up the laser before handing it to the laser mode
    simpleConnector.setupLaser(&sick);

    robot.enableMotors();
    // start the robot running, true so that if we lose connection the run stops
    robot.runAsync(true);

    sick.runAsync();

    // connect the laser if it was requested
    if (!simpleConnector.connectLaser(&sick))
    {
        printf("Could not connect to laser... exiting\n");
        Aria::shutdown();
        return 1;
    }

    robot.waitForRunExit();
    // now exit
    Aria::shutdown();
    exit(0);
}