mykni.cpp

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// mykni.cpp
// demo program training 
#include "kniBase.h"
#include <iostream>
#include <cstdio>
#include <memory>
#include <vector>
#include <fstream>
#ifdef WIN32
#       include <conio.h>
#else //LINUX
#include "keyboard.h"
#endif
#define LEFT false
#define RIGHT true

//Katana structs:
struct TPoint {
        double X, Y, Z;
        double phi, theta, psi;
};
struct TCurrentMot {
        int idx;
        bool running;
        bool dir;
};
struct Tpos{
        static std::vector<int> x,y,z,u,v,w;
        static const int xArr[], yArr[], zArr[], uArr[], vArr[], wArr[];
};
//Katana obj.
std::unique_ptr<CLMBase> katana;
int retVal = 0;
const double PI = 3.14159265358979323846;
int main(int argc, char *argv[]) {
        if (argc != 3) {
                std::cout << "---------------------------------\n";
                std::cout << "usage for socket connection: socketcontrol CONFIGFILE IP_ADDR\n";
                std::cout << "---------------------------------\n";
                return 0;
        }
        std::cout << "--------------------------\n";
        std::cout << "SOCKETCONTROL DEMO STARTED\n";
        std::cout << "--------------------------\n";
        std::unique_ptr<CCdlSocket> device;
        std::unique_ptr<CCplSerialCRC> protocol;
        try {
                int port = 5566;
                device.reset(new CCdlSocket(argv[2], port));
                std::cout << "-------------------------------------------\n";
                std::cout << "success:  port " << port << " open\n";
                std::cout << "-------------------------------------------\n";
                protocol.reset(new CCplSerialCRC());
                std::cout << "-------------------------------------------\n";
                std::cout << "success: protocol class instantiated\n";
                std::cout << "-------------------------------------------\n";
                protocol->init(device.get()); //fails if no response from Katana
                std::cout << "-------------------------------------------\n";
                std::cout << "success: communication with Katana initialized\n";
                std::cout << "-------------------------------------------\n";
                katana.reset(new CLMBase());
                katana->create(argv[1], protocol.get());
        } catch(Exception &e) {
                std::cout << "ERROR: " << e.message() << std::endl;
                return -1;
        }
        std::cout << "-------------------------------------------\n";
        std::cout << "success: katana initialized\n";
        std::cout << "-------------------------------------------\n";
        std::vector<int> encoders(katana->getNumberOfMotors(), 0);
        TCurrentMot mot[6];
        for (int i = 0; i< 6; i++){
                mot[i].running = false;
                mot[i].idx = i;
                mot[i].dir = true;
                mot[i].dir = RIGHT;
        }
        //set linear velocity to 60
        try{
                katana->setMaximumLinearVelocity(60);
                katana->calibrate();
                //....continue here
        }
        catch(...){
                std::cout << "-------------------------------------------\n";
                std::cout << "An exception occurred while communicating with the Katana.\n";
                std::cout << "-------------------------------------------\n";
        }
        return 0;
}