add help and deailed help function

lwrserv/include/BangBangTrajectory.h

@@ -34,7 +34,6 @@
  * The slowest joint is defining the speed of the other joints.
  * By that all joints start and stop the movement synchronously
  */
-template <unsigned SIZE> 
 
 /**
  * Class for a Bang Bang Trajectory based on joint angles.
@@ -45,6 +44,7 @@ template <unsigned SIZE>
  *
  * @see Trajectory
  */
+template <unsigned SIZE>
 class BangBangJointTrajectory : public Trajectory<SIZE>
 {
     public:

lwrserv/include/SvrHandling.h

@@ -59,6 +59,6 @@ struct ClientCommand
     std::string aberration;
     std::string longVersion;
     void (*processCommand) ( SocketObject& client, std::string& argv);
-    void (*printHelp)      (void);
+    void (*printHelp)      ( SocketObject& client);
 };
 #endif

lwrserv/include/commandsHelp.h

@@ -12,31 +12,31 @@
  */
 
 //Handling request for current Joint Values
-void getPositionJointsHelp (SocketObject& client, std::string& arg);
+void getPositionJointsHelp (SocketObject& client);
 //Get Position as POSE Matrix
-void getPositionHomRowWiseHelp (SocketObject& client, std::string& arg);
+void getPositionHomRowWiseHelp (SocketObject& client);
 //Get Force/torque values from TCP
-void getForceTorqueTcpHelp (SocketObject& client, std::string& arg);
+void getForceTorqueTcpHelp (SocketObject& client);
 //Move to given Joint combination
-void movePTPJointsHelp (SocketObject& client, std::string& arg);
+void movePTPJointsHelp (SocketObject& client);
 //Move to given POSE position
-void moveHomRowWiseStatusHelp (SocketObject& client, std::string& arg);
+void moveHomRowWiseStatusHelp (SocketObject& client);
 //Set Velocity
-void setSpeedHelp (SocketObject& client, std::string& arg);
+void setSpeedHelp (SocketObject& client);
 //Set Acceleration
-void setAccelHelp (SocketObject& client, std::string& arg);
+void setAccelHelp (SocketObject& client);
 //Starting Potential Field Movement Mode
-void startPotFieldModeHelp (SocketObject& client, std::string& arg);
+void startPotFieldModeHelp (SocketObject& client);
 //Stopping Potential Field Movement Mode
-void stopPotFieldModeHelp (SocketObject& client, std::string& arg);
+void stopPotFieldModeHelp (SocketObject& client);
 // set the current trajectory type 
-void setTrajectoryTypeHelp (SocketObject& client, std::string& arg);
+void setTrajectoryTypeHelp (SocketObject& client);
 // get the current trajectory type 
-void getTrajectoryTypeHelp (SocketObject& client, std::string& arg);
+void getTrajectoryTypeHelp (SocketObject& client);
 //Quit
-void quitHelp (SocketObject& client, std::string& arg);
+void quitHelp (SocketObject& client);
 // check if we use a kuka
-void isKukaLwrHelp (SocketObject& client, std::string& arg);
+void isKukaLwrHelp (SocketObject& client);
 
 /**
  *  @}

lwrserv/src/SvrHandling.cpp

@@ -9,6 +9,7 @@
 #include "SvrHandling.h"
 #include "SvrData.h"
 #include "commands.h"
+#include "commandsHelp.h"
 #include "Trajectroy.h"
 #include "LinearTrajectory.h"
 
@@ -18,16 +19,32 @@
  * @param client The reference to the client socket Object to exchange messages
  * @param arg Unused parameter to match Signature of normal commands.
  */
-void printUsage(SocketObject& client,  std::string& arg)
+void printUsage(SocketObject& client,  std::string& cmd)
 {
-    (void) arg;
     for (unsigned int i = 0 ; i < commandCount; ++i)
     {
-        if(commands[i].printHelp != NULL)
-            commands[i].printHelp();
-        else
+        if (cmd == commands[i].longVersion || cmd == commands[i].aberration)
+        {
+            // print short version first 
             client.Send(commands[i].aberration+"\t-\t"+commands[i].longVersion);
+
+            // print detailed help text for this command
+            if(commands[i].printHelp != NULL)
+                commands[i].printHelp(client);
+
+            return;
+        }
+    }
+
+    // no command was specified.
+    // print only short versions of the commands
+    client.Send("List of Commands with aberration and long form\n For detailed help try \"help <commandname>\"\n");
+    client.Send("short version \t-\t long version\n");
+    for (unsigned int i = 0 ; i < commandCount; ++i)
+    {
+        client.Send(commands[i].aberration+"\t-\t"+commands[i].longVersion);
     }
+
 }
 
 
@@ -44,52 +61,52 @@ SvrHandling::SvrHandling()
     commands[i].aberration     = "GPJ";
     commands[i].longVersion    = "GetPositionJoints";
     commands[i].processCommand = &getPositionJoints;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &getPositionJointsHelp;
     i+=1;
     commands[i].aberration     = "GPHRW";
     commands[i].longVersion    = "GetPositionHomRowWise";
     commands[i].processCommand = &getPositionHomRowWise;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &getPositionHomRowWiseHelp;
     i+=1;
     commands[i].aberration     = "GFT";
     commands[i].longVersion    = "GetForceTorqueTcp";
     commands[i].processCommand = &getForceTorqueTcp;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &getForceTorqueTcpHelp;
     i+=1;
     commands[i].aberration     = "MPTPJ";
     commands[i].longVersion    = "MovePTPJoints";
     commands[i].processCommand = &movePTPJoints;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &movePTPJointsHelp;
     i+=1;
     commands[i].aberration     = "MHRWS";
     commands[i].longVersion    = "MoveHomRowWiseStatus";
     commands[i].processCommand = &moveHomRowWiseStatus;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &moveHomRowWiseStatusHelp;
     i+=1;
     commands[i].aberration     = "SS";
     commands[i].longVersion    = "SetSpeed";
     commands[i].processCommand = &setSpeed;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &setSpeedHelp;
     i+=1;
     commands[i].aberration     = "SA";
     commands[i].longVersion    = "SetAccel";
     commands[i].processCommand = &setAccel;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &setAccelHelp;
     i+=1;
     commands[i].aberration     = "STPF";
     commands[i].longVersion    = "StartPotFieldMode";
     commands[i].processCommand = &startPotFieldMode;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &startPotFieldModeHelp;
     i+=1;
     commands[i].aberration     = "SPPF";
     commands[i].longVersion    = "StopPotFieldMode";
     commands[i].processCommand = &stopPotFieldMode;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &stopPotFieldModeHelp;
     i+=1;
     commands[i].aberration     = "Q";
     commands[i].longVersion    = "Quit";
     commands[i].processCommand = &quit;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &quitHelp;
     i+=1;
     commands[i].aberration     = "?";
     commands[i].longVersion    = "Help";
@@ -99,17 +116,17 @@ SvrHandling::SvrHandling()
     commands[i].aberration     = "ISKUKA";
     commands[i].longVersion    = "IsKukaLWR";
     commands[i].processCommand = &isKukaLwr;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &isKukaLwrHelp;
     i+=1;
     commands[i].aberration     = "GT";
     commands[i].longVersion    = "GetTrajectoryType";
     commands[i].processCommand = &getTrajectoryType;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &getTrajectoryTypeHelp;
     i+=1;
     commands[i].aberration     = "ST";
     commands[i].longVersion    = "SetTrajectoryType";
     commands[i].processCommand = &setTrajectoryType;
-    commands[i].printHelp      = NULL;
+    commands[i].printHelp      = &setTrajectoryTypeHelp;
     i+=1;
 
     commandCount = i;
@@ -414,7 +431,7 @@ void SvrHandling::clientCommandLoop(SocketObject& client)
             {
                 // send returnvalue and print help
                 client.Send(SVR_UNKNOWN_COMMAND);
-                printUsage(client, arg);
+                printUsage(client, cmd);
             }
 
         }else 

lwrserv/src/commandsHelp.cpp

@@ -25,21 +25,18 @@
 #include <string>
 #include <iostream>
 #include "SocketObject.h"
+#include "Trajectroy.h"
 
 /**
  * This function returns the help information text to the client
  * for the getPositionJoints function.
  *
  * @param client connection to client which will receive the response
- * @param arg    unused but has to be there for matching the signature
  *
  * @see getPositionJoints
  */
-void getPositionJointsHelp(SocketObject& client, std::string& arg)
+void getPositionJointsHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
@@ -56,15 +53,11 @@ void getPositionJointsHelp(SocketObject& client, std::string& arg)
  * for the getPositionHomRowWise function.
  *
  * @param client connection to client which will receive the response
- * @param arg    unused but has to be there for matching the signature
  *
  * @see getPositionHomRowWise
  */
-void getPositionHomRowWiseHelp(SocketObject& client, std::string& arg)
+void getPositionHomRowWiseHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
@@ -91,15 +84,11 @@ void getPositionHomRowWiseHelp(SocketObject& client, std::string& arg)
  * for the getForceTorqueTcp function.
  *
  * @param client connection to client which will receive the response
- * @param arg    unused but has to be there for matching the signature
  *
  * @see getForceTorqueTcp
  */
-void getForceTorqueTcpHelp(SocketObject& client, std::string& arg)
+void getForceTorqueTcpHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
@@ -119,15 +108,11 @@ void getForceTorqueTcpHelp(SocketObject& client, std::string& arg)
  * for the movePTPJoints function.
  *
  * @param client connection to client which will receive the response
- * @param arg    unused but has to be there for matching the signature
  *
  * @see movePTPJoints
  */
-void movePTPJointsHelp(SocketObject& client, std::string& arg)
+void movePTPJointsHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
@@ -151,18 +136,17 @@ void movePTPJointsHelp(SocketObject& client, std::string& arg)
  * for the moveHomRowWiseStatus function.
  *
  * @param client connection to client which will receive the response
- * @param arg    unused but has to be there for matching the signature
  *
  * @see moveHomRowWiseStatus
  */
-void moveHomRowWiseStatusHelp(SocketObject& client, std::string& arg)
+void moveHomRowWiseStatusHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
+    // add the help text to the buffer
+    out += "\n";
+
     // send message to client
     client.Send(out);
 }
@@ -172,18 +156,21 @@ void moveHomRowWiseStatusHelp(SocketObject& client, std::string& arg)
  * for the setSpeed function.
  *
  * @param client connection to client which will receive the response
- * @param arg    unused but has to be there for matching the signature
  *
  * @see setSpeed
  */
-void setSpeedHelp(SocketObject& client, std::string& arg)
+void setSpeedHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
+    // add the help text to the buffer
+    out += "The velocity percentage of the robot.\n";
+    out += "The percentage value has to be positive and \n";
+    out += "within the interval of \"(0 100]\". If the new \n";
+    out += "value is a valid one the return string will be \"true\"\n";
+    out += "otherwise \"false\"\n";
+
     // send message to client
     client.Send(out);
 }
@@ -193,18 +180,21 @@ void setSpeedHelp(SocketObject& client, std::string& arg)
  * for the setAccel function.
  *
  * @param client connection to client which will receive the response
- * @param arg    unused but has to be there for matching the signature
  *
  * @see setAccel
  */
-void setAccelHelp(SocketObject& client, std::string& arg)
+void setAccelHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
     
+    // add the help text to the buffer
+    out += "The acceleration percentage of the robot.\n";
+    out += "The percentage value has to be positive and \n";
+    out += "within the interval of \"(0 100]\". If the new \n";
+    out += "value is a valid one the return string will be \"true\"\n";
+    out += "otherwise \"false\"\n";
+
     // send message to client
     client.Send(out);
 }
@@ -214,18 +204,21 @@ void setAccelHelp(SocketObject& client, std::string& arg)
  * for the startPotFieldMode function.
  *
  * @param client connection to client which will receive the response
- * @param arg    unused but has to be there for matching the signature
  *
  * @see startPotFieldMode
  */
-void startPotFieldModeHelp(SocketObject& client, std::string& arg)
+void startPotFieldModeHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
+    // add the help text to the buffer
+    out += "This command starts the PotFieldMode and deactivate the TrajectoryType\n";
+    out += "The PotFieldMode is a mode with no trajectory planing\n";
+    out += "The entered joint movements are directly executed by \n";
+    out += "the robot. The Robot itself might stop and block motors\n";
+    out += "if the Acceleration and Velocity is to high\n";
+
     // send message to client
     client.Send(out);
 }
@@ -239,14 +232,18 @@ void startPotFieldModeHelp(SocketObject& client, std::string& arg)
  *
  * @see stopPotFieldMode
  */
-void stopPotFieldModeHelp(SocketObject& client, std::string& arg)
+void stopPotFieldModeHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
+    // add the help text to the buffer
+    out += "This command stops the PotFieldMode and activates the TrajectoryType again\n";
+    out += "The PotFieldMode is a mode with no trajectory planing\n";
+    out += "The entered joint movements are directly executed by \n";
+    out += "the robot. The Robot itself might stop and block motors\n";
+    out += "if the Acceleration and Velocity is to high\n";
+
     // send message to client
     client.Send(out);
 }
@@ -260,14 +257,15 @@ void stopPotFieldModeHelp(SocketObject& client, std::string& arg)
  *
  * @see quit
  */
-void quitHelp(SocketObject& client , std::string& arg)
+void quitHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
+    // add the help text to the buffer
+    out += "This command stops the communication so an other user might\n";
+    out += "be able to connect.\n";
+
     // send message to client
     client.Send(out);
 }
@@ -281,14 +279,23 @@ void quitHelp(SocketObject& client , std::string& arg)
  *
  * @see quit
  */
-void setTrajectoryTypeHelp(SocketObject& client, std::string& arg)
+void setTrajectoryTypeHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
+    // add the help text to the buffer
+    out += "This command sets the type of the Trajectory for all kind of\n";
+    out += "movements.\n";
+    out += "The possible Trajectory types are:\n";
+
+    initTrajectoryType();
+    int items = __TrajectoryCount;
+    for (int i = 0 ; i < items ; ++i)
+    {
+        out += "\t " + trajectoryTypeStr[i].str + "\n";
+    }
+
     // send message to client
     client.Send(out);
 }
@@ -302,11 +309,8 @@ void setTrajectoryTypeHelp(SocketObject& client, std::string& arg)
  *
  * @see getTrajectoryType
  */
-void getTrajectoryTypeHelp(SocketObject& client, std::string& arg)
+void getTrajectoryTypeHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
@@ -323,14 +327,15 @@ void getTrajectoryTypeHelp(SocketObject& client, std::string& arg)
  *
  * @see isKukaLwr
  */
-void isKukaLwrHelp(SocketObject& client, std::string& arg)
+void isKukaLwrHelp(SocketObject& client)
 {
-    // unused
-    (void) arg;
-
     // set up the string buffers
     std::string out = "";
 
+    // assemble the help text for the client
+    out += "Returns \"true if the server is handling with a Kuka LWR Robot\n";
+    out += "\"false\" otherwise \n";
+
     // send message to client
     client.Send(out);
 }