Zora++

Zora++ is a simple add-on for the Carmen Framework. It provides C++ wrapper classes for Carmen messages, and C++ handler classes that send/receive those messages via IPC and logfile streams. A set of macros is defined that can be used to easily create new messages (and their corresponding handler) classes.

Zora++ is part of the AISSVN repository. Issue

svn checkout https://aissvn.informatik.uni-freiburg.de/svn/projects-carmen-freiburg

to check out the latest version. For doing so, you will need an AISSVN account.

Zora++ depends on:

• Carmen
• wxGTK

Sure. The following demo application shows the main benefits of using the Zora++. The application connects to a local central-server where it waits for messages of a (simulated) manipulator. By overwriting the OnStatusAllMessage()-method (defined in the MessageDispatcher-interface). It prints a dot (”.”) for every incoming manipulator status message, and sends every now and then a JointRotateMessage. Note that the message's parameters can both be set via its constructor, as well as via its Getters/Setters.

#include <wx/wx.h>
#include "zora++.h"

class ZoraDemoApp : public wxApp, MessageDispatcher
{
	public:
		StatusAllHandler allStatusHandler;
		JointRotateHandler jointRotateHandler;
	
		void OnStatusAllMessage(StatusAllMessage &msg) {
			printf(".");

			if(rand() % 30 == 0) {			
				JointRotateMessage msg(rand() % 4,rand() % 180 - 90,20.0,0.0);
				msg.Send();
				printf("\nRotating joint %d to position %f\n",msg.GetModule(),msg.GetPosition());
			}
			
		};
		
		bool OnInit() {
			IPC::GetInstance()->ConnectTo("localhost");
			return true;
		}
};

IMPLEMENT_APP(ZoraDemoApp)

• How to install Zora++ on your computer
• How to use Zora++ in your own project