Aria  2.8.0
mtxIO.cpp

Sets patterns on digital outputs and acts on digital inputs. Attach LEDs to the outputs and buttons to the digital inputs to use. (See the Pioneer LX manual and robots.mobilerobots.com for more details.) The 'mtx' Linux kernel module must be loaded, and the /dev/mtx character device must have been created (see mtxIODriver documentation). You must have read/write access to /dev/mtx.

/*
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"
#include "ArMTXIO.h"
void printBits(unsigned short c) {
int i;
for (i=0; i < 16; i++) {
if (i == 8) {
}
if (0x8000 & (c << i)) {
}
else {
}
}
ArLog::log(ArLog::Normal, " (0x%04x) ", c);
}
int main(int argc, char **argv)
{
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "mtxIO: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
// -help not given
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
}
ArLog::log(ArLog::Normal, "mtxIO: Connected.");
robot.comInt(ArCommands::JOYINFO, 0);
ArMTXIO mtxIO;
if(!mtxIO.isEnabled())
{
ArLog::log(ArLog::Terse, "mtxIO: Error opening MTX IO device interface!");
}
robot.runAsync(true);
unsigned char out = 1;
while(true)
{
mtxIO.lock();
// print state of inputs
unsigned char inp;
mtxIO.getDigitalInputMon1(&inp);
printBits(inp);
mtxIO.getDigitalInputMon2(&inp);
printBits(inp);
/* shouldn't be neccesary
unsigned char cur;
// get current state
if(!mtxIO.getDigitalOutputControl1(&cur))
{
ArLog::log(ArLog::Terse, "mtxIO: Error getting current state of output control 1");
mtxIO.unlock();
Aria::exit(2);
}
*/
// set new state on both output banks
if(!mtxIO.setDigitalOutputControl1(&out))
{
ArLog::log(ArLog::Terse, "mtxIO: Error setting state of output control 1");
mtxIO.unlock();
}
if(!mtxIO.setDigitalOutputControl2(&out))
{
ArLog::log(ArLog::Terse, "mtxIO: Error setting state of output control 2");
mtxIO.unlock();
}
// wait
mtxIO.unlock();
// shift
out = out << 1;
if(out == 0) out = 1;
}
// wait
mtxIO.unlock();
// shift
out = out << 1;
if(out == 0) out = 1;
}
}
ArLog::Terse
Use terse logging.
Definition: ArLog.h:61
ArMTXIO::isEnabled
bool isEnabled(void)
returns true if the device is opened and operational
Definition: ArMTXIO.h:85
ArRobot::comInt
bool comInt(unsigned char command, short int argument)
Sends a command to the robot with an int for argument.
Definition: ArRobot.cpp:5634
ArRobotConnector
Connect to robot or simulator based on program command line parameters.
Definition: ArRobotConnector.h:80
ArMTXIO
Interface to digital and analog I/O and switched power outputs on MTX core (used in Pioneer LX and ot...
Definition: ArMTXIO.h:65
ArMTXIO::lock
int lock(void)
Lock global (shared) mutex for all ArMTXIO instances.
Definition: ArMTXIO.h:139
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
ArMTXIO::unlock
int unlock(void)
Unlock global (shared) mutex for all ArMTXIO instances.
Definition: ArMTXIO.h:142
ArRobot::runAsync
void runAsync(bool stopRunIfNotConnected, bool runNonThreadedPacketReader=false)
Starts the instance to do processing in its own new thread.
Definition: ArRobot.cpp:301
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