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94 lines
3.3 KiB
94 lines
3.3 KiB
#include "defines.h"
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#include "StringTool.h"
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#include <string>
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#include "friremote.h"
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#ifndef SVR_HANDLING
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#define SVR_HANDLING
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// Serve status
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#define SVR_NAME "lwrsvr 4.11d"
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#define SVR_DEFAULT_PORT 8000
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#define SVR_HANDSHAKE "Hello Robot"
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#define SVR_HELLO_MSG std::string("welcome to ") + SVR_NAME + ("!")
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#define SVR_ACCEPTED std::string("accepted")
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#define SVR_FAILED std::string("Failed.")
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#define SVR_TRUE_RSP "true"
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#define SVR_FALSE_RSP "false"
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// server error messages
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#define SVR_INVALID_ARGUMENT_COUNT "The argument count is not correct."
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#define SVR_OUT_OF_RANGE "At least one argument is out of Range."
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#define SVR_HELP_MSG "GPJ - GetPositionJoints \n"
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//Begin SVR_COMMANDS
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#define CMD_GetPositionJoints "GPJ"
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#define CMD_GetPositionHomRowWise "GPHRW"
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#define CMD_GetForceTorqueTcp "GFT"
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#define CMD_MovePTPJoints "MPTPJ"
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#define CMD_MoveHomRowWiseStatus "MHRWS"
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#define CMD_SetSpeed "SS"
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#define CMD_SetAccel "SA"
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#define CMD_StartPotFieldMode "STPF"
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#define CMD_StopPotFieldMode "SPPF"
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#define CMD_SetPos "SP"
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#define CMD_SetJoints "SJ"
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#define CMD_QUIT "Quit"
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#define CMD_QUIT1 "quit"
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#define CMD_QUIT2 "exit"
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#define CMD_HELP "help"
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#define CMD_ISKUKA "IsKukaLWR"
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#define CMD_MoveCartesian "MC"
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//End SVR_COMMANDS
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typedef enum {waiting, handshake, accepted, done} svr_state;
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class SvrHandling : private StringTool
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{
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private:
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svr_state c_state;
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//Handshake
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bool handshakeAccepted(SocketObject& client);
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//handle client commands he is disconected
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void clientCommandLoop(SocketObject& client);
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//Handling request for current Joint Values
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void GetPositionJoints(SocketObject& client);
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//Get Position as POSE Matrix
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void GetPositionHomRowWise(SocketObject& client);
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//Get Force/torque values from TCP
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void GetForceTorqueTcp(SocketObject& client);
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//Move to given Joint combination
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void MovePTPJoints(SocketObject& client, std::string& args);
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//Move to given POSE position
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void MoveHomRowWiseStatus(SocketObject& client, std::string& args);
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//Set Velocity
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void SetSpeed(SocketObject& client, std::string& args);
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//Set Acceleration
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void SetAccel(SocketObject& client, std::string& args);
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//Starting Potential Field Movement Mode
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void StartPotFieldMode(SocketObject& client, std::string& args);
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//Stopping Potential Field Movement Mode
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void StopPotFieldMode(SocketObject& client, std::string& args);
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//Setting Target Position HomRowWise for Potential Move
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void SetPos(SocketObject& client, std::string& args);
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//Setting Target Position as Joints for Potential Move
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void SetJoints(SocketObject& client, std::string& args);
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//Cartesian Movement
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//Move to given POSE position
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void MoveCartesian(SocketObject& client, std::string& args);
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//Quit
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void quit(SocketObject& client);
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//DEBUGGING
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void debug(SocketObject& client);
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public:
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//Constructor
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SvrHandling();
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//Destructor
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virtual ~SvrHandling();
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///Run server with default port
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void run();
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///Run server special port
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void run(int port);
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//Get current timestamp
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std::string timestamp();
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};
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#endif
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