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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<title>ARNL: arnlJustLocalization.cpp</title>
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<h1>arnlJustLocalization.cpp</h1>Example which does localization only, but provides servers for remote operation with MobileEyes.<p>
<div class="fragment"><pre class="fragment">
<span class="preprocessor">#include "Aria.h"</span>
<span class="preprocessor">#include "ArNetworking.h"</span>
<span class="preprocessor">#include "Arnl.h"</span>
<span class="preprocessor">#include "ArLocalizationTask.h"</span>
<span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])
{
Aria::init();
Arnl::init();
ArRobot robot;
ArServerBase server;
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArServerSimpleOpener simpleOpener (&parser);
ArAnalogGyro gyro (&robot);
parser.loadDefaultArguments();
<span class="keywordflow">if</span> (!Aria::parseArgs () || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions ();
Aria::exit (1);
}
ArSick sick;
robot.addRangeDevice (&sick);
ArSonarDevice sonarDev;
robot.addRangeDevice (&sonarDev);
ArBumpers bumpers;
robot.addRangeDevice (&bumpers);
<span class="comment">// Use the "examples" directory as a place to keep map files</span>
<span class="keywordtype">char</span> fileDir[1024];
ArUtil::addDirectories (fileDir, <span class="keyword">sizeof</span> (fileDir), Aria::getDirectory (),
<span class="stringliteral">"examples"</span>);
<span class="comment">// Set up the map, this will look for files in the examples</span>
<span class="comment">// directory (unless the file name starts with a / \ or .</span>
<span class="comment">// You can take out the argument to look in the current directory</span>
ArMap arMap (fileDir);
<span class="comment">// set it up to ignore empty file names (otherwise the parseFile</span>
<span class="comment">// on the config will fail)</span>
arMap.setIgnoreEmptyFileName (<span class="keyword">true</span>);
<a name="_a0"></a><a class="codeRef" doxygen="BaseArnl.tag:../BaseArnl-Reference//" href="../BaseArnl-Reference//classArLocalizationManager.html">ArLocalizationManager</a> locManager(&robot, &arMap);
<a name="_a1"></a><a class="code" href="classArLocalizationTask.html" title="Task that performs continuous localization of the robot with a laser range sensor...">ArLocalizationTask</a> locTask (&robot, &sick, &arMap);
locManager.<a name="a2"></a><a class="codeRef" doxygen="BaseArnl.tag:../BaseArnl-Reference//" href="../BaseArnl-Reference//classArLocalizationManager.html#724677bf1495bf4e7547018d6385f3b9">addLocalizationTask</a>(&locTask);
<span class="comment">// Add log controls to configuration</span>
ArLog::addToConfig (Aria::getConfig ());
<span class="comment">// Open the server port</span>
<span class="keywordflow">if</span> (!simpleOpener.open (&server, fileDir, 240))
{
ArLog::log (ArLog::Normal, <span class="stringliteral">"Could not open server port"</span>);
exit (2);
}
<span class="comment">// Connect to the robot</span>
<span class="keywordflow">if</span> (!simpleConnector.connectRobot (&robot))
{
ArLog::log (ArLog::Normal, <span class="stringliteral">"Could not connect to robot... exiting"</span>);
Aria::exit (3);
}
robot.enableMotors ();
robot.clearDirectMotion ();
<span class="comment">// reset the simulator to its start position</span>
robot.com(ArCommands::SIM_RESET);
simpleConnector.setupLaser (&sick);
<span class="comment">// run robot task cycle</span>
robot.runAsync (<span class="keyword">true</span>);
<span class="comment">// Run SICK thread and try to connect</span>
sick.runAsync ();
<span class="keywordflow">if</span> (!sick.blockingConnect ())
{
ArLog::log (ArLog::Normal, <span class="stringliteral">"Couldn't connect to laser, exiting"</span>);
Aria::exit (4);
}
ArUtil::sleep (300);
<span class="comment">// Forbidden regions from the map.</span>
ArForbiddenRangeDevice forbidden (&arMap);
robot.addRangeDevice (&forbidden);
<span class="comment">// Objects that provide network services:</span>
ArServerInfoRobot serverInfoRobot (&server, &robot);
ArServerInfoSensor serverInfoSensor (&server, &robot);
<a name="_a3"></a><a class="codeRef" doxygen="BaseArnl.tag:../BaseArnl-Reference//" href="../BaseArnl-Reference//classArServerInfoLocalization.html">ArServerInfoLocalization</a> serverInfoLocalization (&server, &robot, &locManager);
<a name="_a4"></a><a class="codeRef" doxygen="BaseArnl.tag:../BaseArnl-Reference//" href="../BaseArnl-Reference//classArServerHandlerLocalization.html">ArServerHandlerLocalization</a> serverLocHandler (&server, &robot, &locManager);
ArServerHandlerMap serverMap (&server, &arMap);
<span class="comment">// Drawing services in the map display:</span>
ArServerInfoDrawings drawings (&server);
drawings.addRobotsRangeDevices (&robot);
<span class="comment">// Misc. "custom " commands:</span>
ArServerHandlerCommands commands (&server);
ArServerSimpleComUC uCCommands (&commands, &robot);
ArServerSimpleComMovementLogging loggingCommands (&commands, &robot);
ArServerSimpleComGyro gyroCommands (&commands, &robot, &gyro);
ArServerSimpleComLogRobotConfig configCommands (&commands, &robot);
<span class="comment">// Set up the possible modes for remote control from a client such as</span>
<span class="comment">// MobileEyes:</span>
<span class="comment">// To stop and remain stopped:</span>
ArServerModeStop modeStop (&server, &robot);
modeStop.addAsDefaultMode ();
<span class="comment">// Disable the sonar automatically if stopped and enable when we</span>
<span class="comment">// move</span>
ArSonarAutoDisabler sonarAutoDisabler (&robot);
<span class="comment">// Teleoperate by keyboard, joystick, etc:</span>
ArServerModeRatioDrive modeRatioDrive (&server, &robot);
<span class="comment">// Teloperation mode's configuration and special commands:</span>
modeRatioDrive.addControlCommands (&commands);
modeRatioDrive.addToConfig (Aria::getConfig (), <span class="stringliteral">"Teleop settings"</span>);
<span class="comment">// Wander mode:</span>
ArServerModeWander
modeWander (&server, &robot);
<span class="comment">// Prevent driving if localization is lost:</span>
<a name="_a5"></a><a class="codeRef" doxygen="BaseArnl.tag:../BaseArnl-Reference//" href="../BaseArnl-Reference//classArActionLost.html">ArActionLost</a> actionLostRatioDrive (&locManager, NULL, &modeRatioDrive);
modeRatioDrive.getActionGroup ()->addAction (&actionLostRatioDrive, 110);
<span class="comment">// Prevent wandering if lost:</span>
<a class="codeRef" doxygen="BaseArnl.tag:../BaseArnl-Reference//" href="../BaseArnl-Reference//classArActionLost.html">ArActionLost</a>
actionLostWander (&locManager, NULL, &modeWander);
modeWander.getActionGroup ()->addAction (&actionLostWander, 110);
<span class="comment">// This provides a small table of interesting information for the client</span>
<span class="comment">// to display to the operator:</span>
ArServerInfoStrings
stringInfo (&server);
Aria::getInfoGroup ()->addAddStringCallback (stringInfo.
getAddStringFunctor ());
<span class="comment">// Display localization score and more</span>
Aria::getInfoGroup ()->addStringDouble (<span class="stringliteral">"Localization Score"</span>, 8,
<span class="keyword">new</span> ArRetFunctorC < <span class="keywordtype">double</span>,
<a class="code" href="classArLocalizationTask.html" title="Task that performs continuous localization of the robot with a laser range sensor...">ArLocalizationTask</a> > (&locTask,
&<a class="code" href="classArLocalizationTask.html" title="Task that performs continuous localization of the robot with a laser range sensor...">ArLocalizationTask</a>::
getLocalizationScore),
<span class="stringliteral">"%.03f"</span>);
Aria::getInfoGroup ()->addStringInt (<span class="stringliteral">"Laser Packet Count"</span>, 10,
<span class="keyword">new</span> ArRetFunctorC < int, ArSick > (&sick,
&ArSick::
getSickPacCount));
Aria::getInfoGroup ()->addStringInt (<span class="stringliteral">"Motor Packet Count"</span>, 10,
<span class="keyword">new</span> ArConstRetFunctorC < <span class="keywordtype">int</span>,
ArRobot > (&robot,
&ArRobot::getMotorPacCount));
<span class="comment">// Create service that allows client to change configuration parameters in ArConfig </span>
ArServerHandlerConfig handlerConfig (&server, Aria::getConfig (),
Arnl::getTypicalDefaultParamFileName (),
Aria::getDirectory ());
<span class="comment">// Read in parameter files.</span>
Aria::getConfig ()->useArgumentParser (&parser);
<span class="keywordflow">if</span> (!Aria::getConfig ()->parseFile (Arnl::getTypicalParamFileName ()))
{
ArLog::log (ArLog::Normal, <span class="stringliteral">"Trouble loading configuration file, exiting"</span>);
Aria::exit (5);
}
<span class="comment">// Error if there is no map</span>
<span class="keywordflow">if</span> (arMap.getFileName () == NULL || strlen (arMap.getFileName ()) <= 0)
{
ArLog::log(ArLog::Terse, <span class="stringliteral">"Warning, no map given. Use the -map command-line argument or modify the config using MobileEyes or by editing the parameter file."</span>);
ArLog::log(ArLog::Terse, <span class="stringliteral">"See the documentation, including MAPPING.txt or SONAR_MAPPING.txt."</span>);
}
ArLog::log (ArLog::Normal, <span class="stringliteral">"Directory for maps and file serving: %s"</span>, fileDir);
ArLog::log (ArLog::Normal, <span class="stringliteral">"See the README.txt for more information"</span>);
robot.unlock();
<span class="comment">// Localize robot at home.</span>
locTask.<a name="a6"></a><a class="code" href="classArLocalizationTask.html#5f03ae43cbb2d0ca0f0c9d4277858fa1" title="Try initial localization at each home point at the map, and set the robot pose to...">localizeRobotAtHomeBlocking</a>();
server.runAsync();
ArLog::log(ArLog::Normal, <span class="stringliteral">"Server now running on port %d. Press Control-C to exit."</span>, server.getTcpPort());
robot.waitForRunExit();
Aria::exit(0);
}
</pre></div> </div>
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