Connect to robot or simulator based on program command line parameters. More...

#include <ArRobotConnector.h>

Public Member Functions
	ArRobotConnector (ArArgumentParser parser, ArRobot robot, bool autoParseArgs=true, bool connectAllComponents=true)
	Constructor that takes argument parser. More...

bool	connectRobot (void)
	Sets up the robot then connects it. More...

bool	connectRobot (ArRobot *robot)
	Sets up the robot then connects it. More...

const char *	getRemoteHost (void) const
	Gets the remote host, if one was used, or NULL if it wasn't.

bool	getRemoteIsSim (void) const
	Gets if the remote connection is a sim.

ArRobot *	getRobot (void)
	Gets the robot this connector is using (mostly for backwards compatibility stuff)

void	logOptions (void) const
	Log the options the simple connector has. More...

bool	parseArgs (void)
	Function to parse the arguments given in the constructor. More...

bool	parseArgs (ArArgumentParser *parser)
	Function to parse the arguments given in an arbitrary parser. More...

void	setRemoteIsSim (bool remoteIsSim)
	Call for forcing the remote to be a sim (mostly for internal use)

bool	setupRobot (void)
	Sets up the given robot to be connected. More...

bool	setupRobot (ArRobot *robot)
	Sets up an arbitrary robot to be connected. More...

	~ArRobotConnector (void)
	Destructor.

Protected Attributes
bool	myAutoParseArgs

ArBatteryConnector *	myBatteryConnector

bool	myConnectAllComponents

bool	myHaveParsedArgs

ArConstFunctorC< ArRobotConnector >	myLogOptionsCB

bool	myOwnParser

ArRetFunctorC< bool, ArRobotConnector >	myParseArgsCB

ArArgumentParser *	myParser

const char *	myRemoteHost

bool	myRemoteIsNotSim

bool	myRemoteIsSim

int	myRemoteRobotTcpPort

ArRobot *	myRobot

int	myRobotBaud

bool	myRobotLogActions

bool	myRobotLogMovementReceived

bool	myRobotLogMovementSent

bool	myRobotLogPacketsReceived

bool	myRobotLogPacketsSent

bool	myRobotLogVelocitiesReceived

const char *	myRobotPort

ArSerialConnection	myRobotSerConn

ArTcpConnection	myRobotTcpConn

ArSonarConnector *	mySonarConnector

bool	myUsingSim

Detailed Description

Connect to robot or simulator based on program command line parameters.

ArRobotConnector makes a robot connection either through a TCP port (for the simulator or for robots with Ethernet-serial bridge devices instead of onboard computers), or through a direct serial port connection. Normally, it first attempts a TCP connection on localhost port 8101, to use a simulator if running. If the simulator is not running, then it normally then connects using the serial port (the first serial port, COM1, by default). Various other connection parameters are configurable through command-line arguments.

When you create your ArRobotConnector, pass it command line parameters via either the argc and argv variables from main(), or pass it an ArArgumentBuilder or ArArgumentParser object. (ArArgumentBuilder is able to obtain command line parameters from a Windows program that uses WinMain() instead of main()). ArRobotConnector registers a callback with the global Aria class. Use Aria::parseArgs() to parse all command line parameters to the program, and Aria::logOptions() to print out information about all registered command-line parameters.

The following command-line arguments are checked:

Options for ArRobotConnector (see docs for more details):

Robot options:
-remoteHost <remoteHostNameOrIP>
-rh <remoteHostNameOrIP>
-robotPort <robotSerialPort>
-rp <robotSerialPort>
-robotBaud <baud>
-rb <baud>
-remoteRobotTcpPort <remoteRobotTcpPort>
-rrtp <remoteRobotTcpPort>
-remoteIsSim
-ris
-remoteIsNotSim
-rins
-robotLogPacketsReceived
-rlpr
-robotLogPacketsSent
-rlps
-robotLogMovementReceived
-rlmr
-robotLogMovementSent
-rlms
-robotLogVelocitiesReceived
-rlvr
-robotLogActions
-rla

You can then prepare an ArRobot object for connection (with various connection options configured via the command line parameters) and initiate the connection attempt by that object by calling connectRobot().

After it's connected, you must then begin the robot processing cycle by calling ArRobot::runAsync() or ArRobot::run().

See also: ArLaserConnector; ArRobot

Since: 2.7.0

Examples:: cameraPTZExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gyroExample.cpp, laserConnect.cpp, lasers.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, mtxWheelLights.cpp, seekurPower.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, teleopActionsExample.cpp, and wander.cpp.

Constructor & Destructor Documentation

◆ ArRobotConnector()

ArRobotConnector::ArRobotConnector	(	ArArgumentParser *	parser,
		ArRobot *	robot,
		bool	autoParseArgs = `true`,
		bool	connectAllComponents = `true`
	)

Constructor that takes argument parser.

Warning: do not delete parser during the lifetime of this ArRobotConnector, which may need to access its contents later.

Parameters

parser	argument parser object (see parseArgs() for list of command line arguments recognized)
robot	ArRobot object to connect to the robot
autoParseArgs	if true (default), trigger argument parsing before connection if not already done. (normally, a program will call Aria::parseArgs() to trigger argument parsing for all created objects.
connectAllComponents	if true (default), then connect to all robot components. If false, then your program may need to create additional connector objects for components such as sonar and battery. (MTX-series robots have separate connections to components such as battery, sonar, etc. Other robots do not require this.)

Member Function Documentation

◆ connectRobot() [1/2]

bool ArRobotConnector::connectRobot ( void )

Sets up the robot then connects it.

Prepares the given ArRobot object for connection, then begins a blocking connection attempt.

If you wish to simply prepare the ArRobot object, but not begin the connection, then use setupRobot().

Examples:: cameraPTZExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gyroExample.cpp, laserConnect.cpp, lasers.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, mtxWheelLights.cpp, seekurPower.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, teleopActionsExample.cpp, and wander.cpp.

◆ connectRobot() [2/2]

bool ArRobotConnector::connectRobot ( ArRobot * robot )

Sets up the robot then connects it.

Prepares the given ArRobot object for connection, then begins a blocking connection attempt.

If you wish to simply prepare the ArRobot object, but not begin the connection, then use setupRobot().

◆ logOptions()

void ArRobotConnector::logOptions ( void ) const

Log the options the simple connector has.

Normally called by Aria::logOptions().

◆ parseArgs() [1/2]

bool ArRobotConnector::parseArgs ( void )

Function to parse the arguments given in the constructor.

Parse command line arguments using the ArArgumentParser given in the ArRobotConnector constructor.

See parseArgs(ArArgumentParser*) for details about argument parsing.

Returns: true if the arguments were parsed successfully false if not

◆ parseArgs() [2/2]

bool ArRobotConnector::parseArgs ( ArArgumentParser * parser )

Function to parse the arguments given in an arbitrary parser.

Parse command line arguments for ArRobotConnector held by the given ArArgumentParser.

Normally called via global Aria::parseArgs() method.

Returns: true if the arguments were parsed successfully false if not

The following arguments are used for the robot connection:

-robotPort port

-rp port

Use the given serial port device name for a serial port connection (e.g. COM1, or /dev/ttyS0 if on Linux.) The default is the first serial port, or COM1, which is the typical Pioneer setup.

-remoteHost hostname

-rh hostname

Use a TCP connection to a remote computer with the given network host name instead of a serial port connection

-remoteRobotTcpPort port

-rrtp port

Use the given TCP port number if connecting to a remote robot using TCP due to -remoteHost having been given.

-remoteIsSim

-ris

The remote TCP robot given by -remoteHost or -rh is actually a simulator. Use any alternative behavior intended for the simulator (e.g. tell the laser device object to request laser data from the simulator rather than trying to connect to a real laser device on the local computer)

-remoteIsNotSim

-rins

The remote TCP robot given by -remoteHost or -rh (or their defaults) is actually a simulator but DO NOT treat it like one. Use any the default robot behavior, instead of the simulator behavior (ie open a real laser device for the laser type given and try and talk to it over it's actual local port or remote port if given)

-robotBaud baudrate

-rb baudrate

Use the given baud rate when connecting over a serial port, instead of trying to use the normal rate.

◆ setupRobot() [1/2]

bool ArRobotConnector::setupRobot ( void )

Sets up the given robot to be connected.

This method is normally used internally by connectRobot(), but you may use it if you wish.

If -remoteHost was given, then open that TCP port. If it was not given, then try to open a TCP port to the simulator on localhost. If that fails, then use a local serial port connection. Sets the given ArRobot's device connection pointer to this object. Sets up internal settings determined by command line arguments such as serial port and baud rate, etc.

After calling this function (and it returns true), then you may connect ArRobot to the robot using ArRobot::blockingConnect() (or similar).

Returns: false if -remoteHost was given and there was an error connecting to the remote host, true otherwise.

◆ setupRobot() [2/2]

bool ArRobotConnector::setupRobot ( ArRobot * robot )

Sets up an arbitrary robot to be connected.

Deprecated: