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improve command call structure by function point + structs

master
philipp schoenberger 10 years ago
parent
246251b0fd
commit
bdfe27de8f
3 changed files with 233 additions and 190 deletions
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  1. 5
      lwrserv/SocketObject.cpp
  2. 301
      lwrserv/SvrHandling.cpp
  3. 109
      lwrserv/SvrHandling.h

5
lwrserv/SocketObject.cpp
View File

@ -170,7 +170,6 @@ bool SocketObject::Accept(SocketObject &skAcceptSocket)
#endif #endif
} }
bool SocketObject::Connect(const char* szServerAddress, unsigned short int iPort, bool nonblock) bool SocketObject::Connect(const char* szServerAddress, unsigned short int iPort, bool nonblock)
{ {
#if defined(__msdos__) || defined(WIN32) #if defined(__msdos__) || defined(WIN32)
@ -248,13 +247,11 @@ bool SocketObject::Connect(const char* szServerAddress, unsigned short int iPort
#endif #endif
} }
bool SocketObject::Connect(const string szServerAddress, unsigned short int iPort, bool nonblock) bool SocketObject::Connect(const string szServerAddress, unsigned short int iPort, bool nonblock)
{ {
return Connect((char*) szServerAddress.c_str(), iPort, nonblock); return Connect((char*) szServerAddress.c_str(), iPort, nonblock);
} }
void SocketObject::Disconnect() void SocketObject::Disconnect()
{ {
#if defined(__msdos__) || defined(WIN32) #if defined(__msdos__) || defined(WIN32)
@ -310,7 +307,6 @@ int SocketObject::Recv (string& s)
return status; return status;
} }
int SocketObject::receiveLine(char* array, int arraySize) int SocketObject::receiveLine(char* array, int arraySize)
{ {
//std::string ret; //std::string ret;
@ -384,7 +380,6 @@ int SocketObject::Send(const char *szBuffer, int iBufferLength, int iFlags)
return send(_skSocket,szBuffer,iBufferLength, iFlags); return send(_skSocket,szBuffer,iBufferLength, iFlags);
} }
int SocketObject::Send (const string s) int SocketObject::Send (const string s)
{ {
string str = s; string str = s;

301
lwrserv/SvrHandling.cpp
View File

@ -13,37 +13,16 @@
#include "LinearTrajectory.h" #include "LinearTrajectory.h"
#include <boost/thread/thread.hpp> #include <boost/thread/thread.hpp>
void printUsage(SocketObject& client)
void printUsage(SocketObject& client, std::string& arg)
{ {
client.Send(SVR_HELP_MSG);
}
void mattoabc(float M[3][4], float &a, float &b, float &c)
{
float norm;
float sa;
float ca;
norm = sqrt((M[0][0]*M[0][0])+(M[1][0]*M[1][0]));
if (norm>1e-5)
(void) arg;
for (unsigned int i = 0 ; i < commandCount; ++i)
{ {
sa = M[1][0]/norm;
ca = M[0][0]/norm;
a = atan2(sa,ca);
} else {
sa = 0;
ca = 1;
a = 0;
if(commands[i].printHelp != NULL)
commands[i].printHelp();
else
client.Send(commands[i].aberration+"\t-\t"+commands[i].longVersion);
} }
b = atan2(-M[2][0],ca*M[0][0]+sa*M[1][0]);
c = atan2(sa*M[0][2]-ca*M[1][2],-sa*M[0][1]+ca*M[1][1]);
}
void debugMat(Mat4f M)
{
cout << M << "\n\r" << endl;
} }
VecJoint kukaBackwardCalc(double M_[12], float arg[3]) VecJoint kukaBackwardCalc(double M_[12], float arg[3])
@ -316,6 +295,96 @@ Mat4f getTranslation(double tx, double ty, double tz)
SvrHandling::SvrHandling() SvrHandling::SvrHandling()
{ {
// add each command which is possible
commands = new ClientCommand[20];
int i = 0;
commands[i].aberration = "GPJ";
commands[i].longVersion = "GetPositionJoints";
commands[i].processCommand = &getPositionJoints;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "GPHRW";
commands[i].longVersion = "GetPositionHomRowWise";
commands[i].processCommand = &getPositionHomRowWise;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "GFT";
commands[i].longVersion = "GetForceTorqueTcp";
commands[i].processCommand = &getForceTorqueTcp;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "MPTPJ";
commands[i].longVersion = "MovePTPJoints";
commands[i].processCommand = &movePTPJoints;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "MHRWS";
commands[i].longVersion = "MoveHomRowWiseStatus";
commands[i].processCommand = &moveHomRowWiseStatus;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "SS";
commands[i].longVersion = "SetSpeed";
commands[i].processCommand = &setSpeed;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "SA";
commands[i].longVersion = "SetAccel";
commands[i].processCommand = &setAccel;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "STPF";
commands[i].longVersion = "StartPotFieldMode";
commands[i].processCommand = &startPotFieldMode;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "SPPF";
commands[i].longVersion = "StopPotFieldMode";
commands[i].processCommand = &stopPotFieldMode;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "SP";
commands[i].longVersion = "SetPos";
commands[i].processCommand = &setPos;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "SJ";
commands[i].longVersion = "SetJoints";
commands[i].processCommand = &setJoints;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "Q";
commands[i].longVersion = "Quit";
commands[i].processCommand = &quit;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "?";
commands[i].longVersion = "Help";
commands[i].processCommand = &printUsage;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "ISKUKA";
commands[i].longVersion = "IsKukaLWR";
commands[i].processCommand = NULL;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "MC";
commands[i].longVersion = "MoveCartesian";
commands[i].processCommand = &moveCartesian;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "GT";
commands[i].longVersion = "GetTrajectoryType";
commands[i].processCommand = &getTrajectoryType;
commands[i].printHelp = NULL;
i+=1;
commands[i].aberration = "ST";
commands[i].longVersion = "SetTrajectoryType";
commands[i].processCommand = &setTrajectoryType;
commands[i].printHelp = NULL;
commandCount = i;
} }
SvrHandling::~SvrHandling() SvrHandling::~SvrHandling()
@ -392,71 +461,35 @@ void SvrHandling::clientCommandLoop(SocketObject& client)
cout<<message; cout<<message;
StringTool::String2CmdArg((const string) message, cmd, arg); StringTool::String2CmdArg((const string) message, cmd, arg);
if (cmd == CMD_GetPositionJoints)
{
GetPositionJoints(client);
} else if (cmd == CMD_GetPositionHomRowWise)
{
GetPositionHomRowWise(client);
} else if (cmd == CMD_GetForceTorqueTcp)
{
GetForceTorqueTcp(client);
} else if (cmd == CMD_MovePTPJoints)
{
MovePTPJoints(client, arg);
} else if (cmd == CMD_MoveHomRowWiseStatus)
{
MoveHomRowWiseStatus(client, arg);
// TODO: MoveMinChangeHomRowWiseStatus
} else if (cmd == CMD_SetSpeed)
{
SetSpeed(client, arg);
} else if (cmd == CMD_SetAccel)
{
SetAccel(client, arg);
}else if (cmd == CMD_StartPotFieldMode)
{
StartPotFieldMode(client, arg);
}else if (cmd == CMD_StopPotFieldMode)
{
StopPotFieldMode(client, arg);
}else if (cmd == CMD_SetPos)
{
SetPos(client, arg);
}else if (cmd == CMD_SetJoints)
{
SetJoints(client, arg);
}else if (cmd == CMD_MoveCartesian)
{
MoveCartesian(client, arg);
} else if (cmd == "debug")
{
debug(client);
} else if (cmd == "")
{
// ignore blank lines // ignore blank lines
if (cmd == "")
continue; continue;
} else if (cmd == CMD_ISKUKA)
{
client.Send(SVR_TRUE_RSP);
} else if (cmd == CMD_SET_TRAJECTORY_TYPE)
// check command table for equivalence
bool match = false;
for (unsigned int i = 0 ; i < commandCount ; ++ i)
{ {
setTrajectoryType(client, arg);
} else if (cmd == CMD_GET_TRAJECTORY_TYPE)
if (cmd == commands[i].longVersion || cmd == commands[i].aberration)
{ {
getTrajectoryType(client);
} else if (cmd == CMD_HELP)
if (commands[i].processCommand != NULL)
{ {
printUsage(client);
} else if (cmd == CMD_QUIT || cmd == CMD_QUIT1 || cmd == CMD_QUIT2)
commands[i].processCommand(client,arg);
}else
{ {
quit(client);
} else
client.Send(SVR_UNIMPLEMENTED_COMMAND);
}
match = true;
match = true;
break;
}
}
// command not found
if (match == false)
{ {
message = "Error: Unknown command!";
client.Send(message);
printUsage(client);
client.Send(SVR_UNKNOWN_COMMAND);
printUsage(client, arg);
} }
}else }else
{ {
cout << timestamp() + "Connection to client lost..\n"; cout << timestamp() + "Connection to client lost..\n";
@ -465,7 +498,6 @@ void SvrHandling::clientCommandLoop(SocketObject& client)
} }
} }
string SvrHandling::timestamp() string SvrHandling::timestamp()
{ {
time_t rawtime; time_t rawtime;
@ -481,8 +513,11 @@ string SvrHandling::timestamp()
return output; return output;
} }
void SvrHandling::GetPositionJoints(SocketObject& client)
void getPositionJoints(SocketObject& client, std::string& arg)
{ {
// unused
(void) arg;
string out = ""; string out = "";
stringstream ss (stringstream::in | stringstream::out); stringstream ss (stringstream::in | stringstream::out);
@ -501,15 +536,18 @@ void SvrHandling::GetPositionJoints(SocketObject& client)
client.Send(out); client.Send(out);
} }
void SvrHandling::GetPositionHomRowWise(SocketObject& client)
void getPositionHomRowWise(SocketObject& client, std::string& arg)
{ {
// unused
(void) arg;
string out = ""; string out = "";
stringstream ss (stringstream::in | stringstream::out); stringstream ss (stringstream::in | stringstream::out);
// get current Cartesianpositions from database
// get current Cartesian positions from database
MatCarthesian cartPos = SvrData::getInstance()->getMessuredCartPos(); MatCarthesian cartPos = SvrData::getInstance()->getMessuredCartPos();
// assemble command feadback row wise
// assemble command feedback row wise
for (int i=0; i< FRI_CART_FRM_DIM; i++) for (int i=0; i< FRI_CART_FRM_DIM; i++)
{ {
int row = i % 4; int row = i % 4;
@ -524,8 +562,11 @@ void SvrHandling::GetPositionHomRowWise(SocketObject& client)
client.Send(out); client.Send(out);
} }
void SvrHandling::GetForceTorqueTcp(SocketObject& client)
void getForceTorqueTcp(SocketObject& client, std::string& arg)
{ {
// unused
(void) arg;
string out = ""; string out = "";
stringstream ss (stringstream::in | stringstream::out); stringstream ss (stringstream::in | stringstream::out);
@ -539,11 +580,11 @@ void SvrHandling::GetForceTorqueTcp(SocketObject& client)
client.Send(out); client.Send(out);
} }
void SvrHandling::MovePTPJoints(SocketObject& client, string& args)
void movePTPJoints(SocketObject& client, string& arg)
{ {
string buf; string buf;
stringstream ss(args);
stringstream ss(arg);
stringstream ss2f; stringstream ss2f;
// convert string to joint vector // convert string to joint vector
@ -604,11 +645,11 @@ void SvrHandling::MovePTPJoints(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::MoveHomRowWiseStatus(SocketObject& client, string& args)
void moveHomRowWiseStatus(SocketObject& client, string& arg)
{ {
string buf; string buf;
double temp[15]; double temp[15];
stringstream ss(args);
stringstream ss(arg);
stringstream ss2f; stringstream ss2f;
int argc = 0; int argc = 0;
@ -647,14 +688,14 @@ void SvrHandling::MoveHomRowWiseStatus(SocketObject& client, string& args)
} }
// extract elbow flip and hand parameter // extract elbow flip and hand parameter
float arg[3];
float configurationParameter[3];
for (int i=0;i<3;i++) for (int i=0;i<3;i++)
{ {
arg[i] = temp[12+i];
configurationParameter[i] = temp[12+i];
} }
//Backward Calculation //Backward Calculation
VecJoint newJointPos = kukaBackwardCalc(temp, arg);
VecJoint newJointPos = kukaBackwardCalc(temp, configurationParameter);
//Check for Joint Range //Check for Joint Range
@ -691,17 +732,17 @@ void SvrHandling::MoveHomRowWiseStatus(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::SetSpeed(SocketObject& client, string& args)
void setSpeed(SocketObject& client, string& arg)
{ {
string buf; string buf;
float newVelocityPercentage; float newVelocityPercentage;
int argc = 0; int argc = 0;
stringstream ss(args);
stringstream ss(arg);
stringstream ss2f; stringstream ss2f;
vector<string> tokens; vector<string> tokens;
// no speed argument // no speed argument
if (args == "")
if (arg == "")
{ {
client.Send(SVR_FALSE_RSP); client.Send(SVR_FALSE_RSP);
return; return;
@ -737,16 +778,16 @@ void SvrHandling::SetSpeed(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::SetAccel(SocketObject& client, string& args)
void setAccel(SocketObject& client, string& arg)
{ {
string buf; string buf;
float newAccelerationPercentage; float newAccelerationPercentage;
stringstream ss(args);
stringstream ss(arg);
stringstream ss2f; stringstream ss2f;
int argc = 0; int argc = 0;
// need at least one argument // need at least one argument
if (args == "")
if (arg == "")
{ {
client.Send(SVR_FALSE_RSP); client.Send(SVR_FALSE_RSP);
return; return;
@ -782,8 +823,10 @@ void SvrHandling::SetAccel(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::StartPotFieldMode(SocketObject& client, string& args)
void startPotFieldMode(SocketObject& client, string& arg)
{ {
// unused
(void) arg;
#if 0 #if 0
__MSRSTARTPOTFIELD = false; __MSRSTARTPOTFIELD = false;
__MSRSTOPPOTFIELD = false; __MSRSTOPPOTFIELD = false;
@ -804,8 +847,10 @@ void SvrHandling::StartPotFieldMode(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::StopPotFieldMode(SocketObject& client, string& args)
void stopPotFieldMode(SocketObject& client, string& arg)
{ {
// unused
(void) arg;
#if 0 #if 0
__POTFIELDMODE = false; __POTFIELDMODE = false;
@ -820,11 +865,11 @@ void SvrHandling::StopPotFieldMode(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::SetPos(SocketObject& client, string& args)
void setPos(SocketObject& client, string& arg)
{ {
string buf; string buf;
double temp[15]; double temp[15];
stringstream ss(args);
stringstream ss(arg);
stringstream ss2f; stringstream ss2f;
int argc = 0; int argc = 0;
@ -864,14 +909,14 @@ void SvrHandling::SetPos(SocketObject& client, string& args)
} }
// extract elbow flip and hand parameter // extract elbow flip and hand parameter
float arg[3];
float configurationParameter[3];
for (int i=0;i<3;i++) for (int i=0;i<3;i++)
{ {
arg[i] = temp[12+i];
configurationParameter[i] = temp[12+i];
} }
//Backward Calculation of the position //Backward Calculation of the position
VecJoint CalcJoints = kukaBackwardCalc(temp, arg);
VecJoint CalcJoints = kukaBackwardCalc(temp, configurationParameter);
//Check for a valid joint range //Check for a valid joint range
if (!SvrData::getInstance()->checkJointRange(CalcJoints)) if (!SvrData::getInstance()->checkJointRange(CalcJoints))
@ -891,19 +936,19 @@ void SvrHandling::SetPos(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::SetJoints(SocketObject& client, string& args)
void setJoints(SocketObject& client, string& arg)
{ {
string buf; string buf;
VecJoint newJointPos(0.0f); VecJoint newJointPos(0.0f);
stringstream ss(args);
stringstream ss(arg);
stringstream ss2f; stringstream ss2f;
int i = 0;
int argc = 0;
// convert to Joint vector // convert to Joint vector
while (ss >> buf) while (ss >> buf)
{ {
// to many input arguments or Joints // to many input arguments or Joints
if (i>=JOINT_NUMBER)
if (argc>=JOINT_NUMBER)
{ {
client.Send(SVR_INVALID_ARGUMENT_COUNT); client.Send(SVR_INVALID_ARGUMENT_COUNT);
return; return;
@ -913,12 +958,12 @@ void SvrHandling::SetJoints(SocketObject& client, string& args)
ss2f.flush(); ss2f.flush();
ss2f.clear(); ss2f.clear();
ss2f << buf; ss2f << buf;
ss2f >> newJointPos(i);
i++;
ss2f >> newJointPos(argc);
argc++;
} }
// to less joint values // to less joint values
if (i != JOINT_NUMBER)
if (argc != JOINT_NUMBER)
{ {
client.Send(SVR_INVALID_ARGUMENT_COUNT); client.Send(SVR_INVALID_ARGUMENT_COUNT);
return; return;
@ -946,11 +991,11 @@ void SvrHandling::SetJoints(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::MoveCartesian(SocketObject& client, string& args)
void moveCartesian(SocketObject& client, string& arg)
{ {
string buf; string buf;
float temp[15]; float temp[15];
stringstream ss(args);
stringstream ss(arg);
stringstream ss2f; stringstream ss2f;
int argc = 0; int argc = 0;
@ -977,10 +1022,10 @@ void SvrHandling::MoveCartesian(SocketObject& client, string& args)
return ; return ;
} }
float arg[3];
float configurationParameter[3];
for (int i=0;i<3;i++) for (int i=0;i<3;i++)
{ {
arg[i] = temp[12+i];
configurationParameter[i] = temp[12+i];
} }
//Calculating end-effector position for target "TRobot" //Calculating end-effector position for target "TRobot"
@ -1005,12 +1050,16 @@ void SvrHandling::MoveCartesian(SocketObject& client, string& args)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::quit(SocketObject& client)
void quit(SocketObject& client , std::string& arg)
{ {
//unused
(void) arg;
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
client.Disconnect(); client.Disconnect();
} }
void SvrHandling::setTrajectoryType(SocketObject& client, string& arg)
void setTrajectoryType(SocketObject& client, std::string& arg)
{ {
string buf; string buf;
enum TrajectoryType newType = TrajectoryDefault; enum TrajectoryType newType = TrajectoryDefault;
@ -1021,7 +1070,7 @@ void SvrHandling::setTrajectoryType(SocketObject& client, string& arg)
client.Send(SVR_TRUE_RSP); client.Send(SVR_TRUE_RSP);
} }
void SvrHandling::getTrajectoryType(SocketObject& client)
void getTrajectoryType(SocketObject& client, std::string& arg)
{ {
enum TrajectoryType currType = SvrData::getInstance()->getTrajectoryType(); enum TrajectoryType currType = SvrData::getInstance()->getTrajectoryType();
cout << "curr trajectory type : "<< toString(currType) << "\n"; cout << "curr trajectory type : "<< toString(currType) << "\n";
@ -1029,7 +1078,7 @@ void SvrHandling::getTrajectoryType(SocketObject& client)
client.Send("current trajectory: " + toString(currType)); client.Send("current trajectory: " + toString(currType));
} }
void SvrHandling::debug(SocketObject& client)
void debug(SocketObject& client, std::string& arg)
{ {
//check = true; //check = true;

109
lwrserv/SvrHandling.h
View File

@ -10,38 +10,19 @@
#define SVR_NAME "lwrsvr 4.11d" #define SVR_NAME "lwrsvr 4.11d"
#define SVR_DEFAULT_PORT 8000 #define SVR_DEFAULT_PORT 8000
#define SVR_HANDSHAKE "Hello Robot" #define SVR_HANDSHAKE "Hello Robot"
#define SVR_HELLO_MSG std::string("welcome to ") + SVR_NAME + ("!") + (" Type \"")+ SVR_HANDSHAKE + ("\" to establish the connection") #define SVR_HELLO_MSG std::string("welcome to ") + SVR_NAME + ("!") + (" Type \"")+ SVR_HANDSHAKE + ("\" to establish the connection")
#define SVR_ACCEPTED std::string("accepted") #define SVR_ACCEPTED std::string("accepted")
#define SVR_FAILED std::string("Failed.") #define SVR_FAILED std::string("Failed.")
#define SVR_TRUE_RSP "true" #define SVR_TRUE_RSP "true"
#define SVR_FALSE_RSP "false" #define SVR_FALSE_RSP "false"
// server error messages // server error messages
#define SVR_INVALID_ARGUMENT "ERROR: The argument is not correct." #define SVR_INVALID_ARGUMENT "ERROR: The argument is not correct."
#define SVR_UNIMPLEMENTED_COMMAND "ERROR: This command is jet not implemented."
#define SVR_UNKNOWN_COMMAND "ERROR: This command is not correct."
#define SVR_INVALID_ARGUMENT_COUNT "ERROR: The argument count is not correct." #define SVR_INVALID_ARGUMENT_COUNT "ERROR: The argument count is not correct."
#define SVR_OUT_OF_RANGE "ERROR: At least one argument is out of Range." #define SVR_OUT_OF_RANGE "ERROR: At least one argument is out of Range."
#define SVR_HELP_MSG "GPJ - GetPositionJoints "
//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_HELP "help"
#define CMD_ISKUKA "IsKukaLWR"
#define CMD_MoveCartesian "MC"
#define CMD_SET_TRAJECTORY_TYPE "STRAJ"
#define CMD_GET_TRAJECTORY_TYPE "GTRAJ"
//End SVR_COMMANDS
typedef enum {waiting, handshake, accepted, done} svr_state; typedef enum {waiting, handshake, accepted, done} svr_state;
@ -53,38 +34,11 @@ private:
bool handshakeAccepted(SocketObject& client); bool handshakeAccepted(SocketObject& client);
//handle client commands he is disconected //handle client commands he is disconected
void clientCommandLoop(SocketObject& client); void clientCommandLoop(SocketObject& client);
//Handling request for current Joint Values
void GetPositionJoints(SocketObject& client);
//Get Position as POSE Matrix
void GetPositionHomRowWise(SocketObject& client);
//Get Force/torque values from TCP
void GetForceTorqueTcp(SocketObject& client);
//Move to given Joint combination
void MovePTPJoints(SocketObject& client, std::string& args);
//Move to given POSE position
void MoveHomRowWiseStatus(SocketObject& client, std::string& args);
//Set Velocity
void SetSpeed(SocketObject& client, std::string& args);
//Set Acceleration
void SetAccel(SocketObject& client, std::string& args);
//Starting Potential Field Movement Mode
void StartPotFieldMode(SocketObject& client, std::string& args);
//Stopping Potential Field Movement Mode
void StopPotFieldMode(SocketObject& client, std::string& args);
//Setting Target Position HomRowWise for Potential Move
void SetPos(SocketObject& client, std::string& args);
//Setting Target Position as Joints for Potential Move
void SetJoints(SocketObject& client, std::string& args);
//Cartesian Movement
//Move to given POSE position
void MoveCartesian(SocketObject& client, std::string& args);
// set a specific trajectory type
void setTrajectoryType(SocketObject& client, std::string& arg);
void getTrajectoryType(SocketObject& client);
//Quit
void quit(SocketObject& client);
//DEBUGGING
void debug(SocketObject& client);
public: public:
//Constructor //Constructor
SvrHandling(); SvrHandling();
@ -96,5 +50,50 @@ public:
void run(int port); void run(int port);
//Get current timestamp //Get current timestamp
std::string timestamp(); std::string timestamp();
};
struct ClientCommand
{
std::string aberration;
std::string longVersion;
void (*processCommand) ( SocketObject& client, std::string& argv);
void (*printHelp) (void);
}; };
static struct ClientCommand* commands;
static unsigned int commandCount;
void printUsage(SocketObject& client, std::string& arg);
//Handling request for current Joint Values
void getPositionJoints(SocketObject& client, std::string& arg);
//Get Position as POSE Matrix
void getPositionHomRowWise(SocketObject& client, std::string& arg);
//Get Force/torque values from TCP
void getForceTorqueTcp(SocketObject& client, std::string& arg);
//Move to given Joint combination
void movePTPJoints(SocketObject& client, std::string& arg);
//Move to given POSE position
void moveHomRowWiseStatus(SocketObject& client, std::string& arg);
//Set Velocity
void setSpeed(SocketObject& client, std::string& arg);
//Set Acceleration
void setAccel(SocketObject& client, std::string& arg);
//Starting Potential Field Movement Mode
void startPotFieldMode(SocketObject& client, std::string& arg);
//Stopping Potential Field Movement Mode
void stopPotFieldMode(SocketObject& client, std::string& arg);
//Setting Target Position HomRowWise for Potential Move
void setPos(SocketObject& client, std::string& arg);
//Setting Target Position as Joints for Potential Move
void setJoints(SocketObject& client, std::string& arg);
//Cartesian Movement
//Move to given POSE position
void moveCartesian(SocketObject& client, std::string& arg);
// set a specific trajectory type
void setTrajectoryType(SocketObject& client, std::string& arg);
void getTrajectoryType(SocketObject& client, std::string& arg);
//Quit
void quit(SocketObject& client, std::string& arg);
//DEBUGGING
void debug(SocketObject& client, std::string& arg);
#endif #endif
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