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demo.cc
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demo.cc
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#include <iostream>
#include "Aria.h"
#include "ArSystemStatus.h"
#include "ArNetworking.h"
#include "ArVideo.h"
#include "ArmDemoTask.h"
#include "KinectArVideoServer.h"
// Return codes:
// 0 - Normal exit
// 2 - Error connecting to arms
// 3 - Error parsing command line arguments
// 4 - Error connecting to PTU/PTZ
// 5 - Error opening server
// 7 - Error connecting to ARNL server
int main(int argc, char **argv)
{
Aria::init();
ArVideo::init();
/* Get arguments */
ArArgumentParser argParser(&argc, argv);
ArPTZConnector ptzConnector(&argParser, NULL);
ArServerBase server;
ArServerSimpleOpener openServer(&argParser);
ArClientBase client;
ArClientSimpleConnector clientConnector(&argParser);
argParser.loadDefaultArguments();
if(!Aria::parseArgs())
{
puts("error parsing args");
Aria::exit(3);
}
if(!argParser.checkHelp())
{
Aria::logOptions();
Aria::exit(0);
}
/* Connect to PTU */
ptzConnector.connect();
printf("Found %lu PTUs/cameras\n", ptzConnector.getNumPTZs());
if(ptzConnector.getNumPTZs() <= 0)
{
ArLog::log(ArLog::Normal, "Error connecting to PTU. Specify type with -ptzType. Run with -help for additional options.");
Aria::exit(4);
}
ArPTZ* ptu = ptzConnector.getPTZ(0);
if(!ptu)
{
puts("no PTU");
Aria::exit(4);
}
printf("PTU pan limits (%f, %f) tilt limits (%f, %f)\n",
ptu->getMinPan(), ptu->getMaxPan(),
ptu->getMinTilt(), ptu->getMaxTilt() );
/*
printf("TEST PANTILT\npan left %f\n", -45.0);
ptu->panTilt(-45, 0);
ArUtil::sleep(5000);
printf("pan right %f\n", 45.0);
ptu->panTilt(45, 0);
ArUtil::sleep(5000);
printf("tilt up %f\n", 45.0);
ptu->panTilt(0, 45);
ArUtil::sleep(5000);
printf("tilt down -20\n");
ptu->panTilt(0, -20);
*/
/* Connect to ARNL */
// TODO keep retrying to connect in runloop
if(!clientConnector.connectClient(&client))
{
ArLog::log(ArLog::Terse, "Could not connect to ARNL server. Specify server address or name with -host option. Run with -help for more options.");
Aria::exit(7);
}
/* Init demo */
ArmDemoTask armDemoTask(&client, ptu);
ArLog::log(ArLog::Normal, "Connecting to arm(s)...");
if(!armDemoTask.init_arms())
{
ArLog::log(ArLog::Terse, "Could not connect to arms.");
Aria::exit(2);
}
ArLog::log(ArLog::Normal, "Parking arms");
armDemoTask.park_arms();
ArLog::log(ArLog::Normal, "Starting Arm Demo monitor task");
armDemoTask.runAsync();
// test lookat by looking at points 1m ahead (-1 on y), 1m to each side (x), 1m up/down (z), etc.
/*
puts("TEST LOOKAT");
ArUtil::sleep(5000);
puts("straigt ahead");
armDemoTask.ptu_look_at(0+armOffset[LEFT].x, -1+armOffset[LEFT].y, 0+armOffset[LEFT].z);
puts("");
ArUtil::sleep(5000);
puts("left");
armDemoTask.ptu_look_at(1+armOffset[LEFT].x, -1+armOffset[LEFT].y, 0+armOffset[LEFT].z);
puts("");
ArUtil::sleep(5000);
puts("right");
armDemoTask.ptu_look_at(-1+armOffset[LEFT].x, -1+armOffset[LEFT].y, 0+armOffset[LEFT].z);
puts("");
ArUtil::sleep(5000);
puts("up right");
armDemoTask.ptu_look_at(-1+armOffset[LEFT].x, -1+armOffset[LEFT].y, 1+armOffset[LEFT].z);
puts("");
ArUtil::sleep(5000);
puts("down left");
armDemoTask.ptu_look_at(1+armOffset[LEFT].x, -1+armOffset[LEFT].y, -1+armOffset[LEFT].z);
puts("");
ArUtil::sleep(5000);
puts("down right");
armDemoTask.ptu_look_at(-1+armOffset[LEFT].x, -1+armOffset[LEFT].y, -1+armOffset[LEFT].z);
puts("");
ArUtil::sleep(5000);
puts("up left");
armDemoTask.ptu_look_at(1+armOffset[LEFT].x, -1+armOffset[LEFT].y, 1+armOffset[LEFT].z);
puts("");
ArUtil::sleep(5000);
Aria::exit(0);
*/
/* Set up ArNetworking server */
ArServerHandlerCommands commandsServer(&server);
#ifndef WIN32
ArServerFileLister fileLister(&server, ".");
ArServerFileToClient fileToClient(&server, ".");
ArServerDeleteFileOnServer deleteFileOnServer(&server, ".");
#endif
ArServerInfoStrings stringInfoServer(&server);
Aria::getInfoGroup()->addAddStringCallback(stringInfoServer.getAddStringFunctor());
ArSystemStatus::startPeriodicUpdate();
Aria::getInfoGroup()->addStringDouble(
"CPU Use", 10, ArSystemStatus::getCPUPercentFunctor(), "% 4.0f%%");
// Aria::getInfoGroup()->addStringUnsignedLong(
// "Computer Uptime", 14, ArSystemStatus::getUptimeFunctor());
// Aria::getInfoGroup()->addStringUnsignedLong(
// "Program Uptime", 14, ArSystemStatus::getProgramUptimeFunctor());
Aria::getInfoGroup()->addStringInt(
"Wireless Link Quality", 9, ArSystemStatus::getWirelessLinkQualityFunctor(), "%d");
Aria::getInfoGroup()->addStringInt(
"Wireless Noise", 10, ArSystemStatus::getWirelessLinkNoiseFunctor(), "%d");
Aria::getInfoGroup()->addStringInt(
"Wireless Signal", 10, ArSystemStatus::getWirelessLinkSignalFunctor(), "%d");
ArServerHandlerCommMonitor commMonitorServer(&server);
ArServerInfoDrawings drawingsServer(&server);
drawingsServer.addDrawing(
new ArDrawingData("polyDots", ArColor(255, 0, 0), 120, 50), "armEE",
new ArFunctor2C<ArmDemoTask, ArServerClient*, ArNetPacket*>(&armDemoTask, &ArmDemoTask::armEENetDrawingCallback));
/* Kinect */
KinectArVideoServer kinectVideoServer(&server);
kinectVideoServer.runAsync();
/* Start server */
printf("Opening ArNetworking server...\n");
if(!openServer.open(&server))
{
std::cout << "error opening ArNetworking server" << std::endl;
Aria::exit(5);
return 5;
}
server.runAsync();
std::cout
<< std::endl
<< "--------------------------------------------" << std::endl
<< "ArNetworking server now running on port " << server.getTcpPort() << std::endl
<< "--------------------------------------------" << std::endl
<< std::endl;
/* Run */
puts("Running...");
client.run();
Aria::exit(0);
}