drawingsExample.cpp

Example showing how to draw custom graphics in clients such as MobileEyes

This is an example server that shows how to draw arbitrary figures in a client (e.g. MobileEyes) via ArServerInfoDrawings. It draws some lines, "arrows", and moving dots with various sizes and colors. You can use these drawings for debugging or visualization, for example, to represent sensor readings. In fact, specific support for ArRobot, ArSick, ArSonarDevice, ArIRs and ArBumpers are built in to ArServerInfoDrawings: see drawingsExampleWithRobot.cpp or serverDemo.cpp.

See also:

drawingsExampleWithRobot.cpp

#include "Aria.h"
#include "ArNetworking.h"
#include <math.h>


/* These are callbacks that respond to client requests for the drawings' 
 * geometry data. */
void exampleHomeDrawingNetCallback(ArServerClient* client, ArNetPacket* requestPkt);
void exampleDotsDrawingNetCallback(ArServerClient* client, ArNetPacket* requestPkt);
void exampleXDrawingNetCallback(ArServerClient* client, ArNetPacket* requestPkt);
void exampleArrowsDrawingNetCallback(ArServerClient* client, ArNetPacket* requestPkt);

int main(int argc, char **argv)
{
  Aria::init();
  ArServerBase server;

  ArArgumentParser parser(&argc, argv);
  ArServerSimpleOpener simpleOpener(&parser);

  // parse the command line... fail and print the help if the parsing fails
  // or if help was requested
  parser.loadDefaultArguments();
  if (!simpleOpener.parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {    
    simpleOpener.logOptions();
    exit(1);
  }


  // first open the server up
  if (!simpleOpener.open(&server))
  {
    if (simpleOpener.wasUserFileBad())
      printf("Error: Bad user/password/permissions file.\n");
    else
      printf("Error: Could not open server port. Use -help to see options.\n");
    exit(1);
  }


  // This is the service that provides drawing data to the client.
  ArServerInfoDrawings drawings(&server);

  // Add our custom drawings
  drawings.addDrawing(
      //                shape:      color:               size:   layer:
      new ArDrawingData("polyLine", ArColor(255, 0, 0),  2,      49),
      "exampleDrawing_Home", 
      new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleHomeDrawingNetCallback)
  );
  drawings.addDrawing(                                    
      new ArDrawingData("polyDots", ArColor(0, 255, 0), 250, 48),
      "exampleDrawing_Dots", 
      new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleDotsDrawingNetCallback)
  );
  drawings.addDrawing(
      new ArDrawingData("polySegments", ArColor(0, 0, 0), 4, 52),
      "exampleDrawing_XMarksTheSpot", 
      new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleXDrawingNetCallback)
  );
  drawings.addDrawing(
      new ArDrawingData("polyArrows", ArColor(255, 0, 255), 500, 100),
      "exampleDrawing_Arrows", 
      new ArGlobalFunctor2<ArServerClient*, ArNetPacket*>(&exampleArrowsDrawingNetCallback)
  );


  // log whatever we wanted to before the runAsync
  simpleOpener.checkAndLog();

  // run the server thread in the background
  server.runAsync();

  printf("Server is now running...\n");


  // Add a key handler mostly that windows can exit by pressing
  // escape, note that the key handler prevents you from running this program
  // in the background on Linux.
  ArKeyHandler *keyHandler;
  if ((keyHandler = Aria::getKeyHandler()) == NULL)
  {
    keyHandler = new ArKeyHandler;
    Aria::setKeyHandler(keyHandler);
    printf("To exit, press escape.\n");
  }

 
  // run forever
  while(true) ArUtil::sleep(10000);

  Aria::shutdown();
  exit(0);  
}




// Network callbacks for drawings' current geometry data:

void exampleHomeDrawingNetCallback(ArServerClient* client, ArNetPacket* requestPkt) {
  ArNetPacket reply;

  // 7 Vertices
  reply.byte4ToBuf(7);

  // Centered on 0,0.
  // X:                    Y:
  reply.byte4ToBuf(-500);  reply.byte4ToBuf(500);   // Vertex 1
  reply.byte4ToBuf(-500);  reply.byte4ToBuf(-500);  // Vertex 2
  reply.byte4ToBuf(500);   reply.byte4ToBuf(-500);  // Vertex 3
  reply.byte4ToBuf(500);   reply.byte4ToBuf(500);   // Vertex 4
  reply.byte4ToBuf(0);     reply.byte4ToBuf(1000);  // Vertex 5
  reply.byte4ToBuf(-500);  reply.byte4ToBuf(500);   // Vertex 6
  reply.byte4ToBuf(500);   reply.byte4ToBuf(500);   // Vertex 7

  client->sendPacketUdp(&reply);
}

void exampleDotsDrawingNetCallback(ArServerClient* client, ArNetPacket* requestPkt) {
  ArNetPacket reply;

  unsigned int tik = ArUtil::getTime() % 200;
  double t = tik / 5.0;

  // Three dots
  reply.byte4ToBuf(3);

  // Dot 1:
  reply.byte4ToBuf(3000);  // X coordinate (mm)
  reply.byte4ToBuf((int) (sin(t) * 1000));// Y

  // Dot 2:
  reply.byte4ToBuf(3500);  // X
  reply.byte4ToBuf((int) (sin(t+500) * 1000));// Y

  // Dot 3:
  reply.byte4ToBuf(4000);  // X
  reply.byte4ToBuf((int) (sin(t+1000) * 1000));// Y

  client->sendPacketUdp(&reply);
}

void exampleXDrawingNetCallback(ArServerClient* client, ArNetPacket* requestPkt) {
  ArNetPacket reply;

  // X marks the spot. 2 line segments, so 4 vertices:
  reply.byte4ToBuf(4);

  // Segment 1:
  reply.byte4ToBuf(-4250); // X1
  reply.byte4ToBuf(250);   // Y1
  reply.byte4ToBuf(-3750); // X2
  reply.byte4ToBuf(-250);  // Y2

  // Segment 2:
  reply.byte4ToBuf(-4250); // X1
  reply.byte4ToBuf(-250);  // Y1
  reply.byte4ToBuf(-3750); // X2
  reply.byte4ToBuf(250);   // Y2
  
  client->sendPacketUdp(&reply);
}

void exampleArrowsDrawingNetCallback(ArServerClient* client, ArNetPacket* requestPkt) {
  // 1 Arrow that points at the robot
  ArNetPacket reply;
  reply.byte4ToBuf(1);
  reply.byte4ToBuf(0);      // Pos. X
  reply.byte4ToBuf(700);   // Pos. Y
  client->sendPacketUdp(&reply);
}

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