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99 lines
3.3 KiB
99 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 + ("!") + (" Type \"")+ SVR_HANDSHAKE + ("\" to establish the connection")
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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 "ERROR: The argument is not correct."
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#define SVR_UNIMPLEMENTED_COMMAND "ERROR: This command is jet not implemented."
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#define SVR_UNKNOWN_COMMAND "ERROR: This command is not correct."
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#define SVR_INVALID_ARGUMENT_COUNT "ERROR: The argument count is not correct."
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#define SVR_OUT_OF_RANGE "ERROR: At least one argument is out of Range."
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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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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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struct ClientCommand
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{
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std::string aberration;
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std::string longVersion;
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void (*processCommand) ( SocketObject& client, std::string& argv);
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void (*printHelp) (void);
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};
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static struct ClientCommand* commands;
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static unsigned int commandCount;
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void printUsage(SocketObject& client, std::string& arg);
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//Handling request for current Joint Values
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void getPositionJoints(SocketObject& client, std::string& arg);
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//Get Position as POSE Matrix
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void getPositionHomRowWise(SocketObject& client, std::string& arg);
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//Get Force/torque values from TCP
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void getForceTorqueTcp(SocketObject& client, std::string& arg);
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//Move to given Joint combination
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void movePTPJoints(SocketObject& client, std::string& arg);
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//Move to given POSE position
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void moveHomRowWiseStatus(SocketObject& client, std::string& arg);
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//Set Velocity
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void setSpeed(SocketObject& client, std::string& arg);
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//Set Acceleration
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void setAccel(SocketObject& client, std::string& arg);
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//Starting Potential Field Movement Mode
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void startPotFieldMode(SocketObject& client, std::string& arg);
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//Stopping Potential Field Movement Mode
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void stopPotFieldMode(SocketObject& client, std::string& arg);
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//Setting Target Position HomRowWise for Potential Move
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void setPos(SocketObject& client, std::string& arg);
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//Setting Target Position as Joints for Potential Move
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void setJoints(SocketObject& client, std::string& arg);
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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& arg);
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// set a specific trajectory type
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void setTrajectoryType(SocketObject& client, std::string& arg);
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void getTrajectoryType(SocketObject& client, std::string& arg);
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//Quit
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void quit(SocketObject& client, std::string& arg);
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//DEBUGGING
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void debug(SocketObject& client, std::string& arg);
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#endif
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