public static void Main(String[] argv)
{
Console.WriteLine("Starting Test");
Aria.init();
Console.WriteLine("argumentparser...");
ArArgumentBuilder argBuilder = new ArArgumentBuilder();
ArArgumentParser parser = new ArArgumentParser(argBuilder);
parser.loadDefaultArguments();
Console.WriteLine("arrobot...");
ArRobot robot = new ArRobot();
ArRobotConnector conn = new ArRobotConnector(parser, robot);
Console.WriteLine("Connecting to robot...");
if (!conn.connectRobot())
{
Console.WriteLine("Error: Could not connect to robot, exiting.");
Aria.exit(1);
}
Console.WriteLine("Connected to robot.");
if (!Aria.parseArgs())
{
Aria.logOptions();
Aria.exit(2);
}
robot.runAsync(true);
robot.lockObj();
Console.WriteLine("Sending command to move forward 1 meter...");
robot.enableMotors();
robot.move(1000);
robot.unlockObj();
Console.WriteLine("Sleeping for 5 seconds...");
ArUtil.sleep(5000);
robot.lockObj();
Console.WriteLine("Sending command to rotate 90 degrees...");
robot.setHeading(90);
robot.unlockObj();
Console.WriteLine("Sleeping for 5 seconds...");
ArUtil.sleep(5000);
robot.lockObj();
Console.WriteLine("Robot coords: robot.getX()=" + robot.getX() + ", robot.getY()=" + robot.getY() + ", robot.getTh()=" + robot.getTh());
ArPose p = robot.getPose();
Console.WriteLine(" pose.getX()=" + p.getX() + ", pose.getY()=" + p.getY() + ", pose.getTh()=" + p.getTh());
robot.unlockObj();
robot.lockObj();
Console.WriteLine("exiting.");
robot.stopRunning(true);
robot.unlockObj();
robot.lockObj();
robot.disconnect();
robot.unlockObj();
robot.Dispose();
conn.Dispose();
}
public static global::System.Runtime.InteropServices.HandleRef getCPtr(ArUtil obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
