Aria  2.8.0
actionGroupExample.cpp

Example of using ArActionGroup objects to switch between two different kinds of behavior.This program creates two action groups, a teleoperation group and a wander group. Each group contains actions that together effect the desired behavior: in teleoperation mode, input actions allow the robot to be driven by keyboard or joystick, and higher-priority limiter actions help avoid obstacles. In wander mode, a constant-velocity action drives the robot forward, but higher-priority avoidance actions make the robot turn away from obstacles, or back up if an obstacle is hit or the motors stall. Keyboard commands (the T and W keys) are used to switch between the two modes, by activating the action group for the chosen mode.

See also
ArActionGroup
Actions overview
actionExample.cpp
/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
ArActionGroup *teleop;
ArActionGroup *wander;
// Activate the teleop action group. activateExlcusive() causes
// all other active action groups to be deactivated.
void teleopMode(void)
{
teleop->activateExclusive();
printf("\n== Teleoperation Mode ==\n");
printf(" Use the arrow keys to drive, and the spacebar to stop.\n For joystick control hold the trigger button.\n Press 'w' to switch to wander mode.\n Press escape to exit.\n");
}
// Activate the wander action group. activateExlcusive() causes
// all other active action groups to be deactivated.
void wanderMode(void)
{
wander->activateExclusive();
printf("\n== Wander Mode ==\n");
printf(" The robot will now just wander around avoiding things.\n Press 't' to switch to teleop mode.\n Press escape to exit.\n");
}
int main(int argc, char** argv)
{
ArArgumentParser argParser(&argc, argv);
ArSimpleConnector con(&argParser);
ArRobot robot;
argParser.loadDefaultArguments();
if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
{
return 1;
}
/* - the action group for teleoperation actions: */
teleop = new ArActionGroup(&robot);
// don't hit any tables (if the robot has IR table sensors)
// limiter for close obstacles
teleop->addAction(new ArActionLimiterForwards("speed limiter near",
300, 600, 250), 95);
// limiter for far away obstacles
teleop->addAction(new ArActionLimiterForwards("speed limiter far",
300, 1100, 400), 90);
// limiter so we don't bump things backwards
// the joydrive action (drive from joystick)
ArActionJoydrive joydriveAct("joydrive", 400, 15);
teleop->addAction(&joydriveAct, 50);
// the keydrive action (drive from keyboard)
teleop->addAction(new ArActionKeydrive, 45);
/* - the action group for wander actions: */
wander = new ArActionGroup(&robot);
// if we're stalled we want to back up and recover
wander->addAction(new ArActionStallRecover, 100);
// react to bumpers
wander->addAction(new ArActionBumpers, 75);
// turn to avoid things closer to us
wander->addAction(new ArActionAvoidFront("Avoid Front Near", 225, 0), 50);
// turn avoid things further away
wander->addAction(new ArActionAvoidFront, 45);
// keep moving
wander->addAction(new ArActionConstantVelocity("Constant Velocity", 400), 25);
/* - use key commands to switch modes, and use keyboard
* and joystick as inputs for teleoperation actions. */
// create key handler if Aria does not already have one
if (keyHandler == NULL)
{
keyHandler = new ArKeyHandler;
Aria::setKeyHandler(keyHandler);
robot.attachKeyHandler(keyHandler);
}
// set the callbacks
ArGlobalFunctor teleopCB(&teleopMode);
ArGlobalFunctor wanderCB(&wanderMode);
keyHandler->addKeyHandler('w', &wanderCB);
keyHandler->addKeyHandler('W', &wanderCB);
keyHandler->addKeyHandler('t', &teleopCB);
keyHandler->addKeyHandler('T', &teleopCB);
// if we don't have a joystick, let 'em know
if (!joydriveAct.joystickInited())
printf("Note: Do not have a joystick, only the arrow keys on the keyboard will work.\n");
// set the joystick so it won't do anything if the button isn't pressed
joydriveAct.setStopIfNoButtonPressed(false);
/* - connect to the robot, then enter teleoperation mode. */
robot.addRangeDevice(&sonar);
if(!con.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "actionGroupExample: Could not connect to the robot.");
}
robot.enableMotors();
teleopMode();
robot.run(true);
}
ArActionStallRecover
Action to recover from a stall.
Definition: ArActionStallRecover.h:40
ArActionGroup::activateExclusive
virtual void activateExclusive(void)
Activates all the actions in this group and deactivates all others.
Definition: ArActionGroup.cpp:97
ArActionGroup
Group a set of ArAction objects together.
Definition: ArActionGroup.h:49
ArKeyHandler
Perform actions when keyboard keys are pressed.
Definition: ArKeyHandler.h:65
Aria::getKeyHandler
static ArKeyHandler * getKeyHandler(void)
Gets a pointer to the global key handler, if one has been set with setKeyHandler()
Definition: Aria.cpp:630
ArActionLimiterTableSensor
Action to limit speed (and stop) based on whether the "table"-sensors see anything.
Definition: ArActionLimiterTableSensor.h:40
ArLog::Terse
@ Terse
Use terse logging.
Definition: ArLog.h:61
ArActionGroup::addAction
virtual void addAction(ArAction *action, int priority)
Adds an action to this group's robot, and associates the action with this group.
Definition: ArActionGroup.cpp:56
ArSimpleConnector
Legacy connector for robot and laser.
Definition: ArSimpleConnector.h:51
ArRobot::enableMotors
void enableMotors()
Enables the motors on the robot.
Definition: ArRobot.cpp:6521
ArActionAvoidFront
This action does obstacle avoidance, controlling both trans and rot.
Definition: ArActionAvoidFront.h:51
Aria::setKeyHandler
static void setKeyHandler(ArKeyHandler *keyHandler)
Sets the key handler, so that other classes can find it using getKeyHandler()
Definition: Aria.cpp:624
ArRobot::addRangeDevice
void addRangeDevice(ArRangeDevice *device)
Adds a rangeDevice to the robot's list of them, and set the ArRangeDevice object's robot pointer to t...
Definition: ArRobot.cpp:5757
Aria::exit
static void exit(int exitCode=0)
Shutdown all Aria processes/threads, call exit callbacks, and exit the program.
Definition: Aria.cpp:367
ArLog::log
static void log(LogLevel level, const char *str,...)
Log a message, with formatting and variable number of arguments.
Definition: ArLog.cpp:93
ArActionConstantVelocity
Action for going straight at a constant velocity.
Definition: ArActionConstantVelocity.h:37
ArKeyHandler::addKeyHandler
bool addKeyHandler(int keyToHandle, ArFunctor *functor)
This adds a keyhandler, when the keyToHandle is hit, functor will fire.
Definition: ArKeyHandler.cpp:144
Aria::init
static void init(SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...
Definition: Aria.cpp:128
ArRobot
Central class for communicating with and operating the robot.
Definition: ArRobot.h:82
ArArgumentParser
Parse and store program command-line arguments for use by other ARIA classes.
Definition: ArArgumentParser.h:64
Aria::logOptions
static void logOptions(void)
Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB())
Definition: Aria.cpp:794
ArActionBumpers
Action to deal with if the bumpers trigger.
Definition: ArActionBumpers.h:45
ArSonarDevice
Keep track of recent sonar readings from a robot as an ArRangeDevice.
Definition: ArSonarDevice.h:51
ArActionJoydrive
This action will use the joystick for input to drive the robot.
Definition: ArActionJoydrive.h:51
Aria::parseArgs
static bool parseArgs(void)
Parses the arguments for the program (calls all the callbacks added with addParseArgsCB())
Definition: Aria.cpp:759
ArActionKeydrive
This action will use the keyboard arrow keys for input to drive the robot.
Definition: ArActionKeydrive.h:37
ArGlobalFunctor
Functor for a global function with no parameters.
Definition: ArFunctor.h:648
ArActionLimiterBackwards
Action to limit the backwards motion of the robot based on range sensor readings.
Definition: ArActionLimiterBackwards.h:40
ArRobot::run
void run(bool stopRunIfNotConnected, bool runNonThreaded=false)
Starts the instance to do processing in this thread.
Definition: ArRobot.cpp:255
ArRobot::attachKeyHandler
void attachKeyHandler(ArKeyHandler *keyHandler, bool exitOnEscape=true, bool useExitNotShutdown=true)
Attachs a key handler.
Definition: ArRobot.cpp:6641
ArActionLimiterForwards
Action to limit the forwards motion of the robot based on range sensor readings.
Definition: ArActionLimiterForwards.h:39