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lwr_server
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cleanup includes and StringTool

master
philipp schoenberger 10 years ago
parent
5f0c9254ea
commit
87e6295098
5 changed files with 53 additions and 45 deletions
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  1. 19
      lwrserv/StringTool.cpp
  2. 10
      lwrserv/StringTool.h
  3. 11
      lwrserv/SvrHandling.cpp
  4. 29
      lwrserv/SvrHandling.h
  5. 29
      lwrserv/defines.h

19
lwrserv/StringTool.cpp
View File

@ -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("");
}

10
lwrserv/StringTool.h
View File

@ -1,13 +1,15 @@
#include <string>
#ifndef STRING_TOOL
#define STRING_TOOL
#include <string>
#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

11
lwrserv/SvrHandling.cpp
View File

@ -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)

29
lwrserv/SvrHandling.h
View File

@ -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

29
lwrserv/defines.h
View File

@ -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__ */
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