simpleServerExample.cpp

This is a simple example of an ArNetworking server. This server provides range sensor data to the client, and teleoperation controls.

For a more complete server, see serverDemo.cpp.

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

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


int main(int argc, char **argv)
{
  Aria::init();
  ArRobot robot;
  ArArgumentParser parser(&argc, argv);
  ArSimpleConnector simpleConnector(&parser);

  // The base server object, manages all connections to clients.
  ArServerBase server;

  // This object simplifies configuration and opening of the ArServerBase
  // object.
  ArServerSimpleOpener simpleOpener(&parser);

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

  // Use the ArSimpleOpener to open the server port
  if (!simpleOpener.open(&server))
  {
    ArLog::log(ArLog::Terse, "Error: Could not open server on port %d", simpleOpener.getPort());
    exit(1);
  }


  //
  // Create services attached to the base server:
  // 
  
  // Robot position etc.:
  ArServerInfoRobot serverInfoRobot(&server, &robot);

  // Robot control modes (only one mode can be active at once):
  ArServerModeStop modeStop(&server, &robot);    
  // old ArServerModeDrive modeDrive(&server, &robot); 
  ArServerModeRatioDrive modeRatioDrive(&server, &robot);
  ArServerModeWander modeWander(&server, &robot);
  modeStop.addAsDefaultMode();
  modeStop.activate();

  // This provides a simple way to add debugging commands, etc.
  ArServerHandlerCommands commands(&server);
  ArServerSimpleComUC uCCommands(&commands, &robot);  // Get information about the robot
  ArServerSimpleComMovementLogging loggingCommands(&commands, &robot);  // Control logging
  modeRatioDrive.addControlCommands(&commands);  // Drive mode diagnostics

  // This provides the client (e.g. MobileEyes) with a simple table of string values
  // (called an InfoGroup). An InfoGroup is kept globally by Aria.
  // The values in the table sent to clients are retrieved periodically by calling a 
  // functor.
  ArServerInfoStrings stringInfo(&server);
  Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());

  // Here are some example entries in the InfoGroup:
  Aria::getInfoGroup()->addStringInt(
          "Motor Packet Count", 10, 
          new ArConstRetFunctorC<int, ArRobot>(&robot, 
                                               &ArRobot::getMotorPacCount));

  //
  // Connect to the robot:
  // 
  
  if (!simpleConnector.connectRobot(&robot))
  {
    printf("Error: Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }


  robot.enableMotors();
  robot.runAsync(true);

  // The simple opener might have information to display right before starting 
  // the server thread:
  simpleOpener.checkAndLog();

  // now let the server base run in a new thread, accepting client connections.
  server.runAsync();

  ArLog::log(ArLog::Normal, "Server is now running... Press Ctrl-C to exit.");

  robot.waitForRunExit();
  Aria::shutdown();
  exit(0);  
}

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