SONARNL: sonarnlServer.cpp

#include "Aria.h"
#include "ArNetworking.h"
#include "Arnl.h"

#include "ArSonarLocalizationTask.h"

void logOptions(const char *progname)
{
  ArLog::log(ArLog::Normal, "Usage: %s [options]\n", progname);
  ArLog::log(ArLog::Normal, "[options] are any program options listed below, or any ARNL configuration");
  ArLog::log(ArLog::Normal, "parameters as -name <value>, see params/arnl.p for list.");
  ArLog::log(ArLog::Normal, "For example, -map <map file>.");
  Aria::logOptions();
}

bool gyroErrored = false;
const char* getGyroStatusString(ArRobot* robot)
{
  if(!robot || !robot->getOrigRobotConfig() || robot->getOrigRobotConfig()->getGyroType() < 2) return "N/A";
  if(robot->getFaultFlags() & ArUtil::BIT4)
  {
    gyroErrored = true;
    return "ERROR/OFF";
  }
  if(gyroErrored)
  {
    return "OK but error before";
  }
  return "OK";
}

int main(int argc, char **argv)
{
  // Initialize Aria and Arnl global information
  Aria::init();
  Arnl::init();


  // The robot object
  ArRobot robot;

  // Parse the command line arguments.
  ArArgumentParser parser(&argc, argv);

  // Set up our simpleConnector, to connect to the robot and laser
  //ArSimpleConnector simpleConnector(&parser);
  ArRobotConnector robotConnector(&parser, &robot);

  // Connect to the robot
  if (!robotConnector.connectRobot())
  {
    ArLog::log(ArLog::Normal, "Error: Could not connect to robot... exiting");
    Aria::exit(3);
  }



  // Set up where we'll look for files. Arnl::init() set Aria's default
  // directory to Arnl's default directory; addDirectories() appends this
  // "examples" directory.
  char fileDir[1024];
  ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(), 
             "examples");
  
  
  // To direct log messages to a file, or to change the log level, use these  calls:
  //ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);
  //ArLog::init(ArLog::File, ArLog::Verbose);
 
  // Add a section to the configuration to change ArLog parameters
  ArLog::addToConfig(Aria::getConfig());

  // set up a gyro (if the robot is older and its firmware does not
  // automatically incorporate gyro corrections, then this object will do it)
  ArAnalogGyro gyro(&robot);

  // Our networking server
  ArServerBase server;
  

  // Set up our simpleOpener, used to set up the networking server
  ArServerSimpleOpener simpleOpener(&parser);

  
  // Load default arguments for this computer (from /etc/Aria.args, environment
  // variables, and other places)
  parser.loadDefaultArguments();

  // Parse arguments 
  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    logOptions(argv[0]);
    Aria::exit(1);
  }
  

  // This causes Aria::exit(9) to be called if the robot unexpectedly
  // disconnects
  ArGlobalFunctor1<int> shutdownFunctor(&Aria::exit, 9);
  robot.addDisconnectOnErrorCB(&shutdownFunctor);


  // Create an ArSonarDevice object (ArRangeDevice subclass) and 
  // connect it to the robot.
  ArSonarDevice sonarDev;
  robot.addRangeDevice(&sonarDev);



  // This object will allow robot's movement parameters to be changed through
  // a Robot Configuration section in the ArConfig global configuration facility.
  ArRobotConfig robotConfig(&robot);

  // Include gyro configuration options in the robot configuration section.
  robotConfig.addAnalogGyro(&gyro);

  // Start the robot thread.
  robot.runAsync(true);
  



    /* Create and set up map object */
  
  // Set up the map object, this will look for files in the examples
  // directory (unless the file name starts with a /, \, or .
  // You can take out the 'fileDir' argument to look in the program's current directory
  // instead.
  // When a configuration file is loaded into ArConfig later, if it specifies a
  // map file, then that file will be loaded as the map.
  ArMap map(fileDir);
  // set it up to ignore empty file names (otherwise if a configuration omits
  // the map file, the whole configuration change will fail)
  map.setIgnoreEmptyFileName(true);
  // ignore the case, so that if someone is using MobileEyes or
  // MobilePlanner from Windows and changes the case on a map name,
  // it will still work.
  map.setIgnoreCase(true);

    
    /* Create localization and path planning threads */


  ArPathPlanningTask pathTask(&robot, &sonarDev, &map);


  ArLog::log(ArLog::Normal, "Creating sonar localization task");
  ArSonarLocalizationTask locTask(&robot, &sonarDev, &map);








    /* Start the server */

  // Open the networking server
  if (!simpleOpener.open(&server, fileDir, 240))
  {
    ArLog::log(ArLog::Normal, "Error: Could not open server.");
    exit(2);
  }



    /* Create various services that provide network access to clients (such as
     * MobileEyes), as well as add various additional features to ARNL */





  /* Add additional range devices to the robot and path planning task (so it
     avoids obstacles detected by these devices) */
  
  // Add IR range device to robot and path planning task (so it avoids obstacles
  // detected by this device)
  robot.lock();
  ArIRs irs;
  robot.addRangeDevice(&irs);
  pathTask.addRangeDevice(&irs, ArPathPlanningTask::CURRENT);

  // Add bumpers range device to robot and path planning task (so it avoids obstacles
  // detected by this device)
  ArBumpers bumpers;
  robot.addRangeDevice(&bumpers);
  pathTask.addRangeDevice(&bumpers, ArPathPlanningTask::CURRENT);

  // Add range device which uses forbidden regions given in the map to give virtual
  // range device readings to ARNL.  (so it avoids obstacles
  // detected by this device)
  ArForbiddenRangeDevice forbidden(&map);
  robot.addRangeDevice(&forbidden);
  pathTask.addRangeDevice(&forbidden, ArPathPlanningTask::CURRENT);

  robot.unlock();


  // Action to slow down robot when localization score drops but not lost.
  ArActionSlowDownWhenNotCertain actionSlowDown(&locTask);
  pathTask.getPathPlanActionGroup()->addAction(&actionSlowDown, 140);

  // Action to stop the robot when localization is "lost" (score too low)
  ArActionLost actionLostPath(&locTask, &pathTask);
  pathTask.getPathPlanActionGroup()->addAction(&actionLostPath, 150);


  
  // Service to provide drawings of data in the map display :
  ArServerInfoDrawings drawings(&server);
  drawings.addRobotsRangeDevices(&robot);

  /* Draw a box around the local path planning area use this 
    (You can enable this particular drawing from custom commands 
    which is set up down below in ArServerInfoPath) */
  ArDrawingData drawingDataP("polyLine", ArColor(200,200,200), 1, 75);
  ArFunctor2C<ArPathPlanningTask, ArServerClient *, ArNetPacket *> 
    drawingFunctorP(&pathTask, &ArPathPlanningTask::drawSearchRectangle);
  drawings.addDrawing(&drawingDataP, "Local Plan Area", &drawingFunctorP); 



  // "Custom" commands. You can add your own custom commands here, they will
  // be available in MobileEyes' custom commands (enable in the toolbar or
  // access through Robot Tools)
  ArServerHandlerCommands commands(&server);


  // These provide various kinds of information to the client:
  ArServerInfoRobot serverInfoRobot(&server, &robot);
  ArServerInfoSensor serverInfoSensor(&server, &robot);
  ArServerInfoPath serverInfoPath(&server, &robot, &pathTask);
  serverInfoPath.addSearchRectangleDrawing(&drawings);
  serverInfoPath.addControlCommands(&commands);

  // Provides localization info and allows the client (MobileEyes) to relocalize at a given
  // pose:
  ArServerInfoLocalization serverInfoLocalization(&server, &robot, &locTask);
  ArServerHandlerLocalization serverLocHandler(&server, &robot, &locTask);

  // If you're using MobileSim, ArServerHandlerLocalization sends it a command
  // to move the robot's true pose if you manually do a localization through 
  // MobileEyes.  To disable that behavior, use this constructor call instead:
  // ArServerHandlerLocalization serverLocHandler(&server, &robot, true, false);
  // The fifth argument determines whether to send the command to MobileSim.

  // Provide the map to the client (and related controls):
  ArServerHandlerMap serverMap(&server, &map);

  // These objects add some simple (custom) commands to 'commands' for testing and debugging:
  ArServerSimpleComUC uCCommands(&commands, &robot);                   // Send any command to the microcontroller
  ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // configure logging
  ArServerSimpleComLogRobotConfig configCommands(&commands, &robot);   // trigger logging of the robot config parameters
//  ArServerSimpleServerCommands serverCommands(&commands, &server);     // monitor networking behavior (track packets sent etc.)


  // service that allows the client to monitor the communication link status
  // between the robot and the client.
  //
  ArServerHandlerCommMonitor handlerCommMonitor(&server);



  // service that allows client to change configuration parameters in ArConfig 
  ArServerHandlerConfig handlerConfig(&server, Aria::getConfig(),
                      Arnl::getTypicalDefaultParamFileName(),
                      Aria::getDirectory());



  /* Set up the possible modes for remote control from a client such as
   * MobileEyes:
   */

  // Mode To go to a goal or other specific point:
  ArServerModeGoto modeGoto(&server, &robot, &pathTask, &map,
                locTask.getRobotHome(),
                locTask.getRobotHomeCallback());


  // Mode To stop and remain stopped:
  ArServerModeStop modeStop(&server, &robot);


  // Teleoperation modes To drive by keyboard, joystick, etc:
  ArServerModeRatioDrive modeRatioDrive(&server, &robot);  
//  ArServerModeDrive modeDrive(&server, &robot);            // Older mode for compatability



  // Prevent normal teleoperation driving if localization is lost using
  // a high-priority action, which enables itself when the particular mode is
  // active.
  // (You have to enter unsafe drive mode to drive when lost.)
  ArActionLost actionLostRatioDrive(&locTask, &pathTask, &modeRatioDrive);
  modeRatioDrive.getActionGroup()->addAction(&actionLostRatioDrive, 110);

  // Add drive mode section to the configuration, and also some custom (simple) commands:
  modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings");
  modeRatioDrive.addControlCommands(&commands);

  // Wander mode (also prevent wandering if lost):
  ArServerModeWander modeWander(&server, &robot);
  ArActionLost actionLostWander(&locTask, &pathTask, &modeWander);
  modeWander.getActionGroup()->addAction(&actionLostWander, 110);


  // This provides a small table of interesting information for the client
  // to display to the operator. You can add your own callbacks to show any
  // data you want.
  ArServerInfoStrings stringInfo(&server);
  Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());
  
  // Provide a set of informational data (turn on in MobileEyes with
  // View->Custom Details)

  Aria::getInfoGroup()->addStringInt(
      "Motor Packet Count", 10, 
      new ArConstRetFunctorC<int, ArRobot>(&robot, 
                           &ArRobot::getMotorPacCount));

  Aria::getInfoGroup()->addStringDouble(
      "Sonar Localization Score", 8, 
      new ArRetFunctorC<double, ArSonarLocalizationTask>(
          &locTask, 
      &ArSonarLocalizationTask::getLocalizationScore),
      "%.03f");
  Aria::getInfoGroup()->addStringInt(
      "Sonar Loc Num Samples", 8, 
      new ArRetFunctorC<int, ArSonarLocalizationTask>(
          &locTask, &ArSonarLocalizationTask::getCurrentNumSamples),
      "%4d");


  // Display gyro status if gyro is enabled and is being handled by the firmware (gyro types 2, 3, or 4).
  // (If the firmware detects an error communicating with the gyro or IMU it
  // returns a flag, and stops using it.)
  // (This gyro type parameter, and fault flag, are only in ARCOS, not Seekur firmware)
  if(robot.getOrigRobotConfig() && robot.getOrigRobotConfig()->getGyroType() > 1)
  {
    Aria::getInfoGroup()->addStringString(
          "Gyro/IMU Status", 10,
          new ArGlobalRetFunctor1<const char*, ArRobot*>(&getGyroStatusString, &robot)
      );
  }





  // Make Stop mode the default (If current mode deactivates without entering
  // a new mode, then Stop Mode will be selected)
  modeStop.addAsDefaultMode();
    // TODO move up near where stop mode is created?





  /*
  // If we are on a simulator, move the robot back to its starting position,
  // and reset its odometry.
  // This will allow localizeRobotAtHomeBlocking() below will (probably) work (it
  // tries current odometry (which will be 0,0,0) and all the map
  // home points.
  // (Ignored by a real robot)
  //robot.com(ArCommands::SIM_RESET);
  */


  // create a pose storage class, this will let the program keep track
  // of where the robot is between runs...  after we try and restore
  // from this file it will start saving the robot's pose into the
  // file
  ArPoseStorage poseStorage(&robot);
  if (poseStorage.restorePose("robotPose"))
    serverLocHandler.setSimPose(robot.getPose());
  else
    robot.com(ArCommands::SIM_RESET);



  /* File transfer services: */
  
#ifdef WIN32
  // Not implemented for Windows yet.
  ArLog::log(ArLog::Normal, "Note, file upload/download services are not implemented for Windows; not enabling them.");
#else
  // This block will allow you to set up where you get and put files
  // to/from, just comment them out if you don't want this to happen
  // /*
  ArServerFileLister fileLister(&server, fileDir);
  ArServerFileToClient fileToClient(&server, fileDir);
  ArServerFileFromClient fileFromClient(&server, fileDir, "/tmp");
  ArServerDeleteFileOnServer deleteFileOnServer(&server, fileDir);
  // */
#endif

    /* Video image streaming, and camera controls (Requires SAVserver or ACTS) */

  // Forward any video if either ACTS or SAV server are running.
  // You can find out more about SAV and ACTS on our website
  // http://robots.activmedia.com. ACTS is for color tracking and is
  // a seperate product. SAV just does software A/V transmitting and is
  // free to all our customers. Just run ACTS or SAV server before you
  // start this program and this class here will forward video from the
  // server to the client.
  ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);
  
  // make a camera to use in case we have video. the camera collection collects
  // multiple ptz cameras 
  ArPTZ *camera = NULL;
  ArServerHandlerCamera *handlerCamera = NULL;
  ArCameraCollection *cameraCollection = NULL;

  // if we have video then set up a camera 
  if (videoForwarder.isForwardingVideo())
  {

    cameraCollection = new ArCameraCollection();
    cameraCollection->addCamera("Cam1", "VCC4", "Camera", "VCC4");

    videoForwarder.setCameraName("Cam1");
    videoForwarder.addToCameraCollection(*cameraCollection);

    bool invertedCamera = false;
    camera = new ArVCC4(&robot, invertedCamera, 
                              ArVCC4::COMM_UNKNOWN, true, true);
    camera->init();

    handlerCamera = new ArServerHandlerCamera("Cam1", 
                                                   &server, 
                                                         &robot,
                                                         camera, 
                                                         cameraCollection);

    pathTask.addGoalFinishedCB(
        new ArFunctorC<ArServerHandlerCamera>(
            handlerCamera, 
            &ArServerHandlerCamera::cameraModeLookAtGoalClearGoal));
  }

  // After all of the cameras / videos have been created and added to the collection,
  // then start the collection server.
  //
  if (cameraCollection != NULL) {
    new ArServerHandlerCameraCollection(&server, cameraCollection);
  }




    /* Load configuration values, map, and begin! */

  
  // When parsing the configuration file, also look at the program's command line options 
  // from the command-line argument parser as well as the configuration file.
  // (So you can use any argument on the command line, namely -map.) 
  Aria::getConfig()->useArgumentParser(&parser);

  // Read in parameter files.
  ArLog::log(ArLog::Normal, "Loading config file %s into ArConfig...", Arnl::getTypicalParamFileName());
  if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
  {
    ArLog::log(ArLog::Normal, "Trouble loading configuration file, exiting");
    Aria::exit(5);
  }

  // Warn about unknown params.
  if (!simpleOpener.checkAndLog() || !parser.checkHelpAndWarnUnparsed())
  {
    logOptions(argv[0]);
    Aria::exit(6);
  }

  // Warn if there is no map
  if (map.getFileName() == NULL || strlen(map.getFileName()) <= 0)
  {
    ArLog::log(ArLog::Normal, "");
    ArLog::log(ArLog::Normal, "### No map file is set up, you can make a map with the following procedure");
    ArLog::log(ArLog::Normal, "   0) You can find this information in README.txt or docs/SonarMapping.txt");
    ArLog::log(ArLog::Normal, "   1) Start up Mapper3Basic");
    ArLog::log(ArLog::Normal, "   2) Go to File->New");
    ArLog::log(ArLog::Normal, "   3) Draw a line map of your area (make sure it is to scale)");
    ArLog::log(ArLog::Normal, "   4) Go to File->Save on Robot");
    ArLog::log(ArLog::Normal, "   5) In MobileEyes, go to Tools->Robot Config");
    ArLog::log(ArLog::Normal, "   6) Choose the Files section");
    ArLog::log(ArLog::Normal, "   7) Enter the path and name of your new .map file for the value of the Map parameter.");
    ArLog::log(ArLog::Normal, "   8) Press OK and your new map should become the map used");
    ArLog::log(ArLog::Normal, "");    
  }

  // Print a log message notifying user of the directory for map files
  ArLog::log(ArLog::Normal, "");
  ArLog::log(ArLog::Normal, 
         "Directory for maps and file serving: %s", fileDir);
  
  ArLog::log(ArLog::Normal, "See the ARNL README.txt for more information");
  ArLog::log(ArLog::Normal, "");

  // Do an initial localization of the robot. It tries all the home points
  // in the map, as well as the robot's current odometric position, as possible
  // places the robot is likely to be at startup.   If successful, it will
  // also save the position it found to be the best localized position as the
  // "Home" position, which can be obtained from the localization task (and is
  // used by the "Go to home" network request).
  locTask.localizeRobotAtHomeBlocking();
  

  // Start the networking server's thread
  server.runAsync();


  // Add a key handler so that you can exit by pressing
  // escape. Note that this key handler, however, prevents this program from
  // running in the background (e.g. as a system daemon or run from 
  // the shell with "&") -- it will lock up trying to read the keys; 
  // remove this if you wish to be able to run this program in the background.
  ArKeyHandler *keyHandler;
  if ((keyHandler = Aria::getKeyHandler()) == NULL)
  {
    keyHandler = new ArKeyHandler;
    Aria::setKeyHandler(keyHandler);
    robot.lock();
    robot.attachKeyHandler(keyHandler);
    robot.unlock();
    puts("Server running. To exit, press escape.");
  }

  // Enable the motors and wait until the robot exits (disconnection, etc.) or this program is
  // canceled.
  robot.enableMotors();
  robot.waitForRunExit();
  Aria::exit(0);
}