test-NavBot.C

00001 /*!@file Robots/NavBot/test-navBot.C Test the navbot robot*/
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/NavBot/test-NavBot.C $
00035 // $Id: test-NavBot.C 10794 2009-02-08 06:21:09Z itti $
00036 //
00037 
00038 #include "Component/ModelManager.H"
00039 #include "Robots/NavBot/NavBot.H"
00040 #include "Util/log.H"
00041 #include <unistd.h>
00042 #include <stdio.h>
00043 #include <signal.h>
00044 #include <curses.h>
00045 
00046 #define DOWN_KEY 258
00047 #define UP_KEY 259
00048 #define LEFT_KEY 260
00049 #define RIGHT_KEY 261
00050 
00051 nub::soft_ref<NavBot> navBot;
00052 
00053 void terminate(int s)
00054 {
00055         LINFO("*** INTERRUPT ***");
00056         navBot->stopAllMotors();
00057         exit(0);
00058 }
00059 
00060 
00061 void initScreen()
00062 {
00063   //init the ncurses
00064   (void) initscr();      /* initialize the curses library */
00065   keypad(stdscr, TRUE);  /* enable keyboard mapping */
00066   (void) nonl();         /* tell curses not to do NL->CR/NL on output */
00067   intrflush(stdscr, FALSE);
00068   (void) noecho;        /* don't echo characters */
00069   (void) cbreak;         /* don't wait for enter before accepting input */
00070   intrflush(stdscr, FALSE);
00071 }
00072 
00073 int getKey()
00074 {
00075   return getch();
00076 }
00077 
00078 
00079 
00080 int main(int argc, const char **argv)
00081 {
00082         // Instantiate a ModelManager:
00083         ModelManager manager("Navbot Controller");
00084 
00085   navBot = nub::soft_ref<NavBot>(new NavBot(manager));
00086   manager.addSubComponent(navBot);
00087 
00088         // catch signals and redirect them to terminate for clean exit:
00089         signal(SIGHUP, terminate); signal(SIGINT, terminate);
00090         signal(SIGQUIT, terminate); signal(SIGTERM, terminate);
00091         signal(SIGALRM, terminate);
00092 
00093   initScreen();
00094 
00095         // Parse command-line:
00096         if (manager.parseCommandLine(argc, argv, "", 0, 0) == false) return(1);
00097 
00098         // let's get all our ModelComponent instances started:
00099         manager.start();
00100 
00101   LINFO("Starting NavBot");
00102   int key = getKey();
00103   int speed = 30;
00104   while(key != 'Q')
00105   {
00106     switch (key)
00107     {
00108       case KEY_UP:
00109         mvprintw(0,0,"Moving forward speed %i R:(%i:%i)\n", speed,
00110             navBot->setMotor(NavBot::LEFT_WHEEL, speed),
00111             navBot->setMotor(NavBot::RIGHT_WHEEL, speed));
00112         break;
00113       case KEY_DOWN:
00114         mvprintw(0,0,"Moving Back speed %i R:(%i,%i)\n", speed,
00115             navBot->setMotor(NavBot::LEFT_WHEEL, -1*speed),
00116               navBot->setMotor(NavBot::RIGHT_WHEEL, -1*speed));
00117         break;
00118       case KEY_LEFT:
00119         mvprintw(0,0,"Moving Left speed %i R:(%i,%i)\n", speed,
00120           navBot->setMotor(NavBot::LEFT_WHEEL, speed),
00121             navBot->setMotor(NavBot::RIGHT_WHEEL, -1*speed));
00122         break;
00123       case KEY_RIGHT:
00124         mvprintw(0,0,"Moving Right speed %i R:(%i,%i)\n", speed,
00125           navBot->setMotor(NavBot::LEFT_WHEEL, -1*speed),
00126             navBot->setMotor(NavBot::RIGHT_WHEEL, speed));
00127         break;
00128       case ' ':
00129         mvprintw(0,0,"Stop!! %i\n",
00130           navBot->stopAllMotors());
00131         break;
00132 
00133       case 'b':
00134         mvprintw(1,0,"Battery voltage %0.2f\n",
00135             navBot->getBatteryVoltage());
00136         break;
00137 
00138       case '+':
00139         speed += 5;
00140         mvprintw(0,0,"Speed %i\n", speed);
00141         break;
00142       case '-':
00143         speed -= 5;
00144         mvprintw(0,0,"Speed %i\n", speed);
00145         break;
00146 
00147 
00148     }
00149     key = getKey();
00150   }
00151 
00152         // stop all our ModelComponents
00153         manager.stop();
00154 
00155         // all done!
00156         return 0;
00157 }
00158 
00159 
00160 // ######################################################################
00161 /* So things look consistent in everyone's emacs... */
00162 /* Local Variables: */
00163 /* indent-tabs-mode: nil */
00164 /* End: */
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