Aria  2.8.0
seekurPower.cpp

Control Seekur or Seekur Jr. accessory power switching from command line options. Run with -help for help on command line options. See robot manuals and notes on http://robots.mobilerobots.com for more information.

/*
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"
typedef struct {
const char *option;
int port;
const char *description;
int set;
} powerspec;
powerspec PowerSpecs[] = {
{"pc2", 1, "Turn onboard computer #2 on or off.", 0},
{"pc3", 13, "Turn onboard computer #3 on or off.", 0},
{"pc4", 14, "Turn onboard computer #4 on or off", 0},
{"pc5", 15, "Turn onboard computer #5 on or off.", 0},
{"lrf1", 9, "Turn laser rangefinder #1 on or off.", 0},
{"lrf2", 24, "Turn laser rangefinder #2 on or off.", 0},
{"lrf1heat", 11, "Turn laser rangefinder #1's heater on or off.", 0},
{"lrf2heat", 27, "Turn laser rangefinder #2's heater on or off.", 0},
{"gps", 6, "Turn GPS receeiver on or off.", 0},
{"poe", 4, "Turn 12V Power over Ethernet port on or off.", 0},
{"lan", 5, "Turn internal LAN ethernet switch on or off.", 0},
{"camera", 12, "Turn the 24V RVision camera on or off.", 0},
{"rvision", 12, "Turn the 24V RVision camera on or off.", 0},
{"ptu1", 9, "Turn pan/tilt unit #1 on or off.", 0},
{"ptu2", 22, "Turn pan/tilt unit #2 on or off.", 0},
{"ptu3", 23, "Turn pan/tilt unit #3 on or off.", 0},
{"arm", 29, "Turn the 24V manipulator arm on or off.", 0},
{"armcam", 7, "Turn the arm camera or other 12V arm accessories on or off.", 0}
};
int main(int argc, char **argv)
{
int numPowerSpecs = sizeof(PowerSpecs)/sizeof(powerspec);
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "seekurPower: Error: Could not connect to the robot.");
}
if (!Aria::parseArgs() || parser.checkArgument("help"))
{
ArLog::log(ArLog::Terse, "Options for seekurPower command (your robot may not have some of these devices):");
ArLog::log(ArLog::Terse, "-<n> <on|off|reset>\t\tTurn port <n> on or off, or reset by turning off then on again. Refer to robot documentation or http://robots.mobilerobots.com/wiki/Seekur_Switched_Power_Outputs for list and notes.");
for(int i = 0; i < numPowerSpecs; ++i)
ArLog::log(ArLog::Terse, "-%s <on|off|reset>\t\t%s (port %d)", PowerSpecs[i].option, PowerSpecs[i].description, PowerSpecs[i].port);
ArLog::log(ArLog::Terse, "-robotOff\t\tTurn whole robot off");
}
if(parser.checkArgument("-robotOff"))
{
ArLog::log(ArLog::Terse, "-robotOff given -- powering down entire robot with command #119 in 5 seconds...");
for(int i = 5; i > 0; --i)
{
ArLog::log(ArLog::Terse, "Shutting down in %d seconds...", i);
}
robot.com(119);
}
std::list<powerspec> todo;
int nargs = parser.getArgc();
for(int argi = 1; argi < nargs; ++argi)
{
const char *opt = parser.getArg(argi);
if(opt[0] != '-')
{
ArLog::log(ArLog::Terse, "seekurPower: Error: invalid option %s. Use -help for list of options.", opt);
}
++opt;
if(opt[0] == '-')
++opt;
bool found = false;
if(argi == nargs-1) // option given as last argument, with no value
{
ArLog::log(ArLog::Terse, "seekurPower: Error: Missing argument to last option %s. Specify on, off or reset.", opt);
}
const char *val = parser.getArg(++argi);
for(int pi = 0; pi < numPowerSpecs; ++pi)
{
powerspec ps = PowerSpecs[pi];
if(strcmp(opt, ps.option) == 0)
{
found = true;
if(strcmp(val, "on") == 0)
ps.set = 1;
else if(strcmp(val, "off") == 0)
ps.set = 0;
else if(strcmp(val, "reset") == 0)
ps.set = 2;
else
{
ArLog::log(ArLog::Terse, "seekurPower: Error: Invalid value '%s' for option %s. Use on, off or reset.", val, opt);
}
todo.push_back(ps);
break;
}
}
if(!found)
{
{
found = true;
powerspec ps;
ps.option = opt;
ps.description = NULL;
ps.port = atoi(opt);
if(strcmp(val, "on") == 0)
ps.set = 1;
else if(strcmp(val, "off") == 0)
ps.set = 0;
else if(strcmp(val, "reset") == 0)
ps.set = 2;
todo.push_back(ps);
}
}
if(!found)
{
ArLog::log(ArLog::Terse, "seekurPower: Warning: unrecognized option %s. Use -help for list of options.", opt);
}
}
for(std::list<powerspec>::const_iterator i = todo.begin(); i != todo.end(); ++i)
{
powerspec ps = *i;
if(ps.set == 2)
{
ArLog::log(ArLog::Normal, "seekurPower: Switching %s (port %d) off, waiting 2 seconds., then switching it back on again...", ps.option, ps.port);
robot.com2Bytes(116, ps.port, 0);
robot.com2Bytes(116, ps.port, 1);
}
else
{
ArLog::log(ArLog::Normal, "seekurPower: Switching %s (port %d) %s...", ps.option, ps.port, ps.set?"on":"off");
robot.com2Bytes(116, ps.port, ps.set);
}
}
}
ArRobot::com2Bytes
bool com2Bytes(unsigned char command, char high, char low)
Sends a command to the robot with two bytes for argument.
Definition: ArRobot.cpp:5648
ArUtil::isOnlyNumeric
static bool isOnlyNumeric(const char *str)
Returns true if this string is only numeric (i.e. it contains only numeric.
Definition: ariaUtil.cpp:827
ArLog::Terse
Use terse logging.
Definition: ArLog.h:61
ArRobotConnector
Connect to robot or simulator based on program command line parameters.
Definition: ArRobotConnector.h:80
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
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
Aria::parseArgs
static bool parseArgs(void)
Parses the arguments for the program (calls all the callbacks added with addParseArgsCB())
Definition: Aria.cpp:759
ArUtil::sleep
static void sleep(unsigned int ms)
Sleep for the given number of milliseconds.
Definition: ariaUtil.cpp:151
ArLog::Normal
Use normal logging.
Definition: ArLog.h:62
ArRobot::com
bool com(unsigned char command)
Sends a command to the robot with no arguments.
Definition: ArRobot.cpp:5621