ArRobotConnector Class Reference

#include <ArRobotConnector.h>

List of all members.

---

Detailed Description

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:

You can 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().

You can then configure ArRobotConnector for the SICK laser based on the robot connection, and command line parameters with setupLaser(). After calling setupLaser(), you must then run the laser processing thread (with ArRangeDeviceLaser::runAsync() or ArRangeDeviceLaser()run()) and then use ArRobotConnector::connectLaser() to connect with the laser if specifically requested on the command line using the -connectLaser option (or simply call ArRangeDeviceLaser::blockingConnect() (or similar) to attempt a laser connection regardless of whether or not the -connectLaser option was given; use this latter technique if your program always prefers or requires use of the laser).

Public Member Functions
	ArRobotConnector (ArArgumentParser *parser, ArRobot *robot, bool autoParseArgs=true)
	Constructor that takes argument parser.
bool	connectRobot (ArRobot *robot)
	Sets up the robot then connects it.
bool	connectRobot (void)
	Sets up the robot then connects it.
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.
bool	parseArgs (ArArgumentParser *parser)
	Function to parse the arguments given in an arbitrary parser.
bool	parseArgs (void)
	Function to parse the arguments given in the constructor.
bool	setupRobot (ArRobot *robot)
	Sets up an arbitrary robot to be connected.
bool	setupRobot (void)
	Sets up the given robot to be connected.
	~ArRobotConnector (void)
	Destructor.
Protected Attributes
bool	myAutoParseArgs
bool	myHaveParsedArgs
	If we've parsed the args already or not.
ArConstFunctorC< ArRobotConnector >	myLogOptionsCB
bool	myOwnParser
ArRetFunctorC< bool, ArRobotConnector >	myParseArgsCB
ArArgumentParser *	myParser
const char *	myRemoteHost
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
bool	myUsingSim

---

The documentation for this class was generated from the following file:

• ArRobotConnector.h

---