cleanup includes and StringTool

lwrserv/StringTool.cpp

@@ -1,9 +1,10 @@
-#include "header.h"
+#include <string>
+#include "StringTool.h"
 
-void StringTool::String2CmdArg(string s, string & cmd, string & arg)
+void StringTool::String2CmdArg(std::string s, std::string & cmd, std::string & arg)
 {
-    string message = stripWhiteSpace(s);
-    if (message.find_first_of(STRING_WHITESPACES, 1) != string::npos)
+    std::string message = stripWhiteSpace(s);
+    if (message.find_first_of(STRING_WHITESPACES, 1) != std::string::npos)
     {
         cmd = stripWhiteSpace(message.substr(0, message.find_first_of(STRING_WHITESPACES, 1)));
         arg = stripWhiteSpace(message.substr(message.find_first_of(STRING_WHITESPACES, 1)));
@@ -15,7 +16,7 @@ void StringTool::String2CmdArg(string s, string & cmd, string & arg)
     return;
 }
 
-string StringTool::stripWhiteSpace(string s)
+std::string StringTool::stripWhiteSpace(std::string s)
 {
     unsigned int i, j;
     if (s.length() > 0)
@@ -23,14 +24,14 @@ string StringTool::stripWhiteSpace(string s)
         i = s.find_first_not_of(STRING_WHITESPACES);
         j = s.find_last_not_of(STRING_WHITESPACES);
 
-        if (i == string::npos)
+        if (i == std::string::npos)
             i = 0;
-        if (j == string::npos)
+        if (j == std::string::npos)
             j = s.length()-1;
 
-        return string(s, i, j-i+1);
+        return std::string(s, i, j-i+1);
     }
-    return string("");
+    return std::string("");
 }
 
 

lwrserv/StringTool.h

@@ -1,13 +1,15 @@
+#ifndef STRING_TOOL
+#define STRING_TOOL
+
 #include <string>
 
-#ifndef STRING_TOOL
-#define STRING_TOOL 
+#define STRING_WHITESPACES  " \t\r\n"
 
 class StringTool
 {
 private:
 public:
-    void String2CmdArg(std::string s, std::string & cmd, std::string & arg);
-    std::string stripWhiteSpace(std::string s);
+    static void String2CmdArg(std::string s, std::string & cmd, std::string & arg);
+    static std::string stripWhiteSpace(std::string s);
 };
 #endif

lwrserv/SvrHandling.cpp

@@ -2,6 +2,11 @@
 #include <ctime>
 #include "global.h"
 #include "mat.h"
+#include <boost/lambda/lambda.hpp>
+#include "StringTool.h"
+#include <iostream>
+#include <iterator>
+#include <algorithm>
 
 Mat4f getProbeTrans(){
     Mat4f Transf;
@@ -409,7 +414,7 @@ bool SvrHandling::handshakeAccepted(SocketObject& client)
     {
         c_state = waiting;
         message = SVR_FAILED;
-        cout << timestamp() + "Handshake failed. " cout << "Invalid recv msg \'" << message <<"\'";
+        cout << timestamp() + "Handshake failed. " << "Invalid recv msg \'" << message <<"\'";
     }
     client.Send(message);
     return(c_state == accepted);
@@ -423,7 +428,7 @@ void SvrHandling::handle(SocketObject& client)
         if (client.Recv(message) > 0) 
         {
             cout<<message;
-            String2CmdArg((const string) message, cmd, arg);
+            StringTool::String2CmdArg((const string) message, cmd, arg);
 
             if (cmd == CMD_GetPositionJoints)
             {
@@ -471,7 +476,7 @@ void SvrHandling::handle(SocketObject& client)
             } else if (cmd == "") 
             {
                 continue;
-            } else if (cmd == CMD_QUIT)
+            } else if (cmd == CMD_QUIT || cmd == CMD_QUIT1 || cmd == CMD_QUIT2)
             {
                 quit(client);
             } else if (cmd == CMD_ISKUKA)

lwrserv/SvrHandling.h

@@ -7,6 +7,35 @@
 #define SVR_HANDLING
 
 // Serve status
+#define SVR_NAME			"lwrsvr 4.11d"
+#define SVR_DEFAULT_PORT	8000
+#define SVR_HANDSHAKE		"Hello Robot"
+#define SVR_HELLO_MSG		std::string("welcome to ") + SVR_NAME + ("!")
+#define SVR_ACCEPTED		std::string("accepted")
+#define SVR_FAILED			std::string("Failed.")
+#define SVR_TRUE_RSP		"true"
+#define SVR_FALSE_RSP		"false"
+
+//Begin SVR_COMMANDS
+#define CMD_GetPositionJoints			"GPJ"
+#define CMD_GetPositionHomRowWise		"GPHRW"
+#define CMD_GetForceTorqueTcp			"GFT"
+#define CMD_MovePTPJoints				"MPTPJ"
+#define CMD_MoveHomRowWiseStatus		"MHRWS"
+#define CMD_SetSpeed					"SS"
+#define CMD_SetAccel					"SA"
+#define CMD_StartPotFieldMode			"STPF"
+#define CMD_StopPotFieldMode			"SPPF"
+#define CMD_SetPos						"SP"
+#define CMD_SetJoints					"SJ"
+#define CMD_QUIT						"Quit"
+#define CMD_QUIT1						"quit"
+#define CMD_QUIT2						"exit"
+#define CMD_ISKUKA						"IsKukaLWR"
+#define CMD_MoveCartesian				"MC"
+#define CMD_DoUltrasound				"DU"
+//End SVR_COMMANDS
+
 typedef enum {waiting, handshake, accepted, done} svr_state;
 
 class SvrHandling : private StringTool

lwrserv/defines.h

@@ -2,37 +2,8 @@
 #ifndef __DEFINES_H__
 #define __DEFINES_H__
 
-#define SVR_NAME			"lwrsvr 4.11d"
-#define SVR_DEFAULT_PORT	8000
-#define SVR_HANDSHAKE		"Hello Robot"
-#define SVR_HELLO_MSG		std::string("welcome to ") + SVR_NAME + ("!")
-#define SVR_ACCEPTED		std::string("accepted")
-#define SVR_FAILED			std::string("Failed.")
-#define STRING_WHITESPACES  " \t\r\n"
-#define SVR_TRUE_RSP		"true"
-#define SVR_FALSE_RSP		"false"
 #define M_PI				3.141592654f
 
 
-
-
-//Begin SVR_COMMANDS
-#define CMD_GetPositionJoints			"GPJ"
-#define CMD_GetPositionHomRowWise		"GPHRW"
-#define CMD_GetForceTorqueTcp			"GFT"
-#define CMD_MovePTPJoints				"MPTPJ"
-#define CMD_MoveHomRowWiseStatus		"MHRWS"
-#define CMD_SetSpeed					"SS"
-#define CMD_SetAccel					"SA"
-#define CMD_StartPotFieldMode			"STPF"
-#define CMD_StopPotFieldMode			"SPPF"
-#define CMD_SetPos						"SP"
-#define CMD_SetJoints					"SJ"
-#define CMD_QUIT						"Quit"
-#define CMD_ISKUKA						"IsKukaLWR"
-#define CMD_MoveCartesian				"MC"
-#define CMD_DoUltrasound				"DU"
-//End SVR_COMMANDS
-
 #endif /* __DEFINES_H__ */