C++ ArServerBase::run方法代码示例

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;

  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;
  
  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();
  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();
  
  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)
{
  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();

}

//.........这里部分代码省略.........
  // 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.
  robot.runAsync(true);

#ifndef SONARNL
  // Start the laser thread.
  sick.runAsync();

  // Connect the laser
  if (!sick.blockingConnect())
  {
    printf("Couldn't connect to sick, exiting\n");
    Aria::shutdown();
    return 1;
  }
#endif

  ArUtil::sleep(300);

  // If you want to set the number of samples change the line below
  locTask.setNumSamples(2000);
  // Localize the robot to home
  if(locTask.localizeRobotAtHomeBlocking())
  {
    printf("Successfully localized at home.\n");
  }
  else
  {
    printf("WARNING: Unable to localize at home position!\n");
  }


  robot.lock();
  // attach stuff to the server
  ArServerInfoRobot serverInfoRobot(&server, &robot);
  ArServerInfoSensor serverInfoSensor(&server, &robot);
  ArServerInfoPath serverInfoPath(&server, &robot, &pathTask);
  ArServerInfoLocalization serverInfoLocalization(&server, &robot, &locTask);

#ifndef SONARNL
  // Set it up to handle maps.
  ArServerHandlerMap serverMap(&server, &arMap, ArServerHandlerMap::POINTS);
#else
  ArServerHandlerMap serverMap(&server, &arMap, ArServerHandlerMap::LINES);
#endif

  // Set up a service that allows the client to monitor the communication
  // between the robot and the client.
  //
  ArServerHandlerCommMonitor serverCommMonitor(&server);


  //ArServerModeGoto modeGoto(&server, &robot, &pathTask);
  //ArServerModeStop modeStop(&server, &robot);
  //ArServerModeDrive modeDrive(&server, &robot);

  SimpleTask simpleTask(&robot, &pathTask);

  robot.unlock();
  // Read in param files.
  Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName());

  // Now let it spin off in its own thread
  server.run();
  exit(0);

}