public ArArgumentBuilder(ArArgumentBuilder builder) : this(AriaCSPINVOKE.new_ArArgumentBuilder__SWIG_5(ArArgumentBuilder.getCPtr(builder)), true)
{
if (AriaCSPINVOKE.SWIGPendingException.Pending)
{
throw AriaCSPINVOKE.SWIGPendingException.Retrieve();
}
}
public static ArMapObject createMapObject(ArArgumentBuilder arg)
{
global::System.IntPtr cPtr = AriaCSPINVOKE.ArMapObject_createMapObject(ArArgumentBuilder.getCPtr(arg));
ArMapObject ret = (cPtr == global::System.IntPtr.Zero) ? null : new ArMapObject(cPtr, false);
return(ret);
}
public override ArArgumentBuilder findMapObjectParams(string mapObjectName)
{
global::System.IntPtr cPtr = AriaCSPINVOKE.ArMap_findMapObjectParams(swigCPtr, mapObjectName);
ArArgumentBuilder ret = (cPtr == global::System.IntPtr.Zero) ? null : new ArArgumentBuilder(cPtr, false);
return(ret);
}
public ArArgumentBuilder getArgumentBuilder()
{
global::System.IntPtr cPtr = AriaCSPINVOKE.ArArgumentParser_getArgumentBuilder(swigCPtr);
ArArgumentBuilder ret = (cPtr == global::System.IntPtr.Zero) ? null : new ArArgumentBuilder(cPtr, false);
return(ret);
}
public bool parseSocket(ArArgumentBuilder args, string errorBuffer, uint errorBufferLen)
{
bool ret = AriaCSPINVOKE.ArConfigArg_parseSocket(swigCPtr, ArArgumentBuilder.getCPtr(args), errorBuffer, errorBufferLen);
if (AriaCSPINVOKE.SWIGPendingException.Pending)
{
throw AriaCSPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual bool invokeR(ArArgumentBuilder p1)
{
bool ret = AriaCSPINVOKE.ArRetFunctor1_Bool_ArgumentBuilder_invokeR__SWIG_1(swigCPtr, ArArgumentBuilder.getCPtr(p1));
if (AriaCSPINVOKE.SWIGPendingException.Pending)
{
throw AriaCSPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool parseUnknown(ArArgumentBuilder arg, string errorBuffer)
{
bool ret = AriaCSPINVOKE.ArConfig_parseUnknown__SWIG_1(swigCPtr, ArArgumentBuilder.getCPtr(arg), errorBuffer);
return(ret);
}
public bool parseListEnd(ArArgumentBuilder arg, string errorBuffer, uint errorBufferLen)
{
bool ret = AriaCSPINVOKE.ArConfig_parseListEnd(swigCPtr, ArArgumentBuilder.getCPtr(arg), errorBuffer, errorBufferLen);
return(ret);
}
public void writeResourceFile(ArArgumentBuilder builder)
{
AriaCSPINVOKE.ArConfig_writeResourceFile__SWIG_4(swigCPtr, ArArgumentBuilder.getCPtr(builder));
}
public void saveCopyArgs(ArArgumentBuilder ab)
{
AriaCSPINVOKE.ArDataLogger_saveCopyArgs(swigCPtr, ArArgumentBuilder.getCPtr(ab));
}
public static string parseResourceDescription(ArArgumentBuilder arg, string logPrefix)
{
string ret = AriaCSPINVOKE.ArConfigArg_parseResourceDescription__SWIG_0(ArArgumentBuilder.getCPtr(arg), logPrefix);
return(ret);
}
public override bool setMapObjectParams(string mapObjectName, ArArgumentBuilder arg1, SWIGTYPE_p_ArMapChangeDetails changeDetails)
{
bool ret = AriaCSPINVOKE.ArMap_setMapObjectParams__SWIG_0(swigCPtr, mapObjectName, ArArgumentBuilder.getCPtr(arg1), SWIGTYPE_p_ArMapChangeDetails.getCPtr(changeDetails));
return(ret);
}
public bool setArgWithFunctor(ArArgumentBuilder argument)
{
bool ret = AriaCSPINVOKE.ArArg_setArgWithFunctor(swigCPtr, ArArgumentBuilder.getCPtr(argument));
return(ret);
}
public static bool isResourceTopLevel(ArArgumentBuilder arg)
{
bool ret = AriaCSPINVOKE.ArConfigArg_isResourceTopLevel__SWIG_1(ArArgumentBuilder.getCPtr(arg));
return(ret);
}
public static global::System.Runtime.InteropServices.HandleRef getCPtr(ArArgumentBuilder obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public static SWIGTYPE_p_std__listT_std__string_t parseResourceParentPath(ArArgumentBuilder arg, char separator, string logPrefix)
{
SWIGTYPE_p_std__listT_std__string_t ret = new SWIGTYPE_p_std__listT_std__string_t(AriaCSPINVOKE.ArConfigArg_parseResourceParentPath__SWIG_0(ArArgumentBuilder.getCPtr(arg), separator, logPrefix), true);
return(ret);
}
public void setDummyPositionFromArgs(ArArgumentBuilder args)
{
AriaCSPINVOKE.ArSimulatedGPS_setDummyPositionFromArgs(swigCPtr, ArArgumentBuilder.getCPtr(args));
}
public bool setArgWithFunctor(ArArgumentBuilder argument, string errorBuffer)
{
bool ret = AriaCSPINVOKE.ArConfigArg_setArgWithFunctor__SWIG_2(swigCPtr, ArArgumentBuilder.getCPtr(argument), errorBuffer);
return(ret);
}
public static string parseResourceExtra(ArArgumentBuilder arg)
{
string ret = AriaCSPINVOKE.ArConfigArg_parseResourceExtra__SWIG_1(ArArgumentBuilder.getCPtr(arg));
return(ret);
}
public bool parseUnknown(ArArgumentBuilder arg)
{
bool ret = AriaCSPINVOKE.ArConfig_parseUnknown__SWIG_2(swigCPtr, ArArgumentBuilder.getCPtr(arg));
return(ret);
}
public ArSimpleConnector(ArArgumentBuilder arguments) : this(AriaCSPINVOKE.new_ArSimpleConnector__SWIG_1(ArArgumentBuilder.getCPtr(arguments)), true)
{
}
public virtual bool invokeR(ArArgumentBuilder p1)
{
bool ret = AriaCSPINVOKE.ArRetFunctor1_Bool_ArgumentBuilderP_invokeR__SWIG_1(swigCPtr, ArArgumentBuilder.getCPtr(p1));
return(ret);
}
public static bool isResourceTopLevel(ArArgumentBuilder arg, string logPrefix)
{
bool ret = AriaCSPINVOKE.ArConfigArg_isResourceTopLevel__SWIG_0(ArArgumentBuilder.getCPtr(arg), logPrefix);
return(ret);
}
public static ArConfigArg.Type parseResourceType(ArArgumentBuilder arg)
{
ArConfigArg.Type ret = (ArConfigArg.Type)AriaCSPINVOKE.ArConfigArg_parseResourceType__SWIG_1(ArArgumentBuilder.getCPtr(arg));
return(ret);
}
public override bool setMapObjectParams(string mapObjectName, ArArgumentBuilder arg1)
{
bool ret = AriaCSPINVOKE.ArMap_setMapObjectParams__SWIG_1(swigCPtr, mapObjectName, ArArgumentBuilder.getCPtr(arg1));
return(ret);
}
public static SWIGTYPE_p_std__listT_std__string_t parseResourceParentPath(ArArgumentBuilder arg)
{
SWIGTYPE_p_std__listT_std__string_t ret = new SWIGTYPE_p_std__listT_std__string_t(AriaCSPINVOKE.ArConfigArg_parseResourceParentPath__SWIG_2(ArArgumentBuilder.getCPtr(arg)), true);
return(ret);
}
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 ArArgumentParser(ArArgumentBuilder builder) : this(AriaCSPINVOKE.new_ArArgumentParser__SWIG_1(ArArgumentBuilder.getCPtr(builder)), true)
{
}
public void parseCommandOnSocket(ArArgumentBuilder args, ArSocket socket)
{
AriaCSPINVOKE.ArNetServer_parseCommandOnSocket__SWIG_1(swigCPtr, ArArgumentBuilder.getCPtr(args), ArSocket.getCPtr(socket));
}
public void writeComment(ArArgumentBuilder ab)
{
AriaCSPINVOKE.ArDataLogger_writeComment__SWIG_1(swigCPtr, ArArgumentBuilder.getCPtr(ab));
}