static void request_server_thread_code(request_server_thread_args *args)
{
int id;
int connection_id;
ulapi_task_struct *request_connection_thread;
request_connection_thread_args *request_connection_args;
id = args->id;
while (true) {
if (debug) printf("waiting for a trajectory point connection...\n");
connection_id = ulapi_socket_get_connection_id(id);
if (connection_id < 0) {
fprintf(stderr, "can't get a trajectory point connecton\n");
break;
}
if (debug) printf("got a trajectory point connection on id %d\n", connection_id);
// spawn a connection thread
request_connection_thread = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*request_connection_thread)));
request_connection_args = reinterpret_cast<request_connection_thread_args *>(malloc(sizeof(*request_connection_args)));
ulapi_task_init(request_connection_thread);
request_connection_args->id = connection_id;
request_connection_args->thread = request_connection_thread;
ulapi_task_start(request_connection_thread, reinterpret_cast<ulapi_task_code>(request_connection_thread_code), reinterpret_cast<void *>(request_connection_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(id);
if (debug) printf("server on %d done\n", id);
return;
}
static void emove_client_write_task_code(emove_client_write_task_args *args)
{
ulapi_task_struct *task;
int id;
int period_nsecs;
enum {OUTBUF_SIZE = 1024};
char outbuf[OUTBUF_SIZE];
int nchars;
nist_kitting::emove_stat emove_stat;
task = args->task;
id = args->id;
period_nsecs = args->period_nsecs;
free(args);
while (true) {
ros::spinOnce();
ulapi_mutex_take(&emove_stat_mutex);
emove_stat = emove_stat_buf;
ulapi_mutex_give(&emove_stat_mutex);
/*
uint8 type
uint8 serial_number
uint8 state
uint8 status
uint8 heartbeat
float32 period
float32 cycle
float32 duration
extern char *kitting_cmd_to_string(int s);
extern char *rcs_state_to_string(int s);
extern char *rcs_status_to_string(int s);
*/
ulapi_snprintf(outbuf, sizeof(outbuf), "%s %d %s %s %d %s %s %s\n",
kitting_cmd_to_string(emove_stat.stat.type),
emove_stat.stat.serial_number,
rcs_state_to_string(emove_stat.stat.state),
rcs_status_to_string(emove_stat.stat.status),
emove_stat.stat.heartbeat,
emove_stat.name.c_str(), emove_stat.line.c_str(), emove_stat.crcl.c_str());
outbuf[sizeof(outbuf)-1] = 0;
nchars = ulapi_socket_write(id, outbuf, strlen(outbuf));
if (nchars <= 0) break;
ulapi_wait(period_nsecs);
}
ulapi_socket_close(id);
if (debug) printf("emove client write handler %d done\n", id);
ulapi_task_delete(task);
return;
}
static void ws_client_read_task_code(ws_client_read_task_args *args)
{
ulapi_task_struct *task;
int id;
enum {INBUF_SIZE = 1024};
char inbuf[INBUF_SIZE];
char *ptr;
char *endptr;
int nchars;
ros::NodeHandle nh;
ros::Publisher pub;
nist_kitting::ws_cmd ws_cmd;
int serial_number = 1;
task = args->task;
id = args->id;
free(args);
pub = nh.advertise<nist_kitting::ws_cmd>(KITTING_WS_CMD_TOPIC, TOPIC_QUEUE_LEN);
while (true) {
nchars = ulapi_socket_read(id, inbuf, sizeof(inbuf));
if (nchars <= 0) break;
if (nchars < sizeof(inbuf)) inbuf[nchars] = 0;
else inbuf[sizeof(inbuf)-1] = 0;
ptr = inbuf;
// strip off leading and trailing whitespace
while (isspace(*ptr)) ptr++;
endptr = ptr + strlen(ptr);
while (isspace(*endptr)) *endptr-- = 0;
if (0 == *ptr) continue;
ws_cmd.cmd.type = KITTING_WS_ASSEMBLE_KIT;
ws_cmd.assemble_kit.name = std::string(ptr);
ws_cmd.assemble_kit.quantity = 1;
ws_cmd.cmd.serial_number = serial_number++;
pub.publish(ws_cmd);
}
ulapi_socket_close(id);
if (debug) printf("ws client read handler %d done\n", id);
ulapi_task_delete(task);
return;
}
static void emove_server_task_code(emove_server_task_args *args)
{
ulapi_task_struct *task;
int id;
int period_nsecs;
ulapi_task_struct *emove_client_write_task;
emove_client_write_task_args *emove_client_write_args;
int emove_connection_id;
task = args->task;
id = args->id;
period_nsecs = args->period_nsecs;
bool done = false;
while (! done) {
if (debug) printf("waiting for an Emove HMI connection on %d...\n", id);
emove_connection_id = ulapi_socket_get_connection_id(id);
if (emove_connection_id < 0) {
fprintf(stderr, "can't get an Emove HMI connection\n");
break;
}
if (debug) printf("got an Emove HMI connection on id %d\n", emove_connection_id);
// spawn connection tasks for reading and writing
emove_client_write_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*emove_client_write_task)));
emove_client_write_args = reinterpret_cast<emove_client_write_task_args *>(malloc(sizeof(*emove_client_write_args)));
ulapi_task_init(emove_client_write_task);
emove_client_write_args->task = emove_client_write_task;
emove_client_write_args->id = emove_connection_id;
emove_client_write_args->period_nsecs = period_nsecs;
ulapi_task_start(emove_client_write_task, reinterpret_cast<ulapi_task_code>(emove_client_write_task_code), reinterpret_cast<void *>(emove_client_write_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(id);
if (debug) printf("server on %d done\n", id);
ulapi_task_delete(task);
return;
}
rtapi_result rtapi_socket_close(rtapi_integer id)
{
return ulapi_socket_close(id);
}
void client_code(void *args)
{
void *client_task;
ulapi_integer client_id;
client_db_struct *client_db_ptr;
ulapi_integer debug;
enum {BUFFERLEN = 256};
char inbuf[BUFFERLEN];
char outbuf[BUFFERLEN];
ulapi_integer nchars;
int number;
int lastnumber = 0;
client_task = ((client_args *) args)->client_task;
client_id = ((client_args *) args)->client_id;
client_db_ptr = ((client_args *) args)->client_db_ptr;
debug = ((client_args *) args)->debug;
free(args);
/*
The client thread asks for an update every second, blocks until
it gets a response, prints it, and loops again.
*/
for (;;) {
ulapi_mutex_take(client_db_ptr->mutex);
number = client_db_ptr->number;
ulapi_mutex_give(client_db_ptr->mutex);
if (number != lastnumber) {
ulapi_snprintf(outbuf, sizeof(outbuf), "write %d", number);
lastnumber = number;
} else {
ulapi_snprintf(outbuf, sizeof(outbuf), "read");
}
ulapi_socket_write(client_id, outbuf, strlen(outbuf)+1);
nchars = ulapi_socket_read(client_id, inbuf, sizeof(inbuf)-1);
if (-1 == nchars) {
if (debug) printf("connection closed\n");
break;
}
if (0 == nchars) {
if (debug) printf("end of file\n");
break;
}
inbuf[nchars] = 0;
/*
Parse and handle the message here as your application requires.
*/
printf("%s\n", inbuf);
ulapi_wait(1000000000);
}
ulapi_socket_close(client_id);
}
int main(int argc, char *argv[])
{
int option;
ulapi_integer port = SAMPLE_APP_DEFAULT_PORT;
enum {BUFFERLEN = 256};
char host[BUFFERLEN] = "localhost";
ulapi_integer debug = 0;
ulapi_integer client_id;
ulapi_task_struct *client_task;
client_args *client_args_ptr;
client_db_struct client_db;
char buffer[BUFFERLEN];
char *ptr;
int number;
ulapi_opterr = 0;
for (;;) {
option = ulapi_getopt(argc, argv, ":p:h:d");
if (option == -1)
break;
switch (option) {
case 'p':
port = atoi(ulapi_optarg);
break;
case 'h':
strncpy(host, ulapi_optarg, sizeof(host));
host[sizeof(host) - 1] = 0;
break;
case 'd':
debug = 1;
break;
case ':':
fprintf(stderr, "missing value for -%c\n", ulapi_optopt);
return 1;
break;
default: /* '?' */
fprintf(stderr, "unrecognized option -%c\n", ulapi_optopt);
return 1;
break;
}
}
if (ulapi_optind < argc) {
fprintf(stderr, "extra non-option characters: %s\n", argv[ulapi_optind]);
return 1;
}
if (ULAPI_OK != ulapi_init()) {
fprintf(stderr, "ulapi_init error\n");
return 1;
}
if (debug) ulapi_set_debug(ULAPI_DEBUG_ALL);
if (0 != sample_app_init()) {
fprintf(stderr, "can't init the sample app\n");
return 1;
}
client_id = ulapi_socket_get_client_id(port, host);
if (client_id < 0) {
fprintf(stderr, "can't connect to port %d\n", (int) port);
ulapi_exit();
return 1;
}
if (debug) {
printf("serving port %d\n", (int) port);
}
client_db.mutex = ulapi_mutex_new(0);
client_db.number = 0;
client_task = ulapi_task_new();
client_args_ptr = reinterpret_cast<client_args *>(malloc(sizeof(client_args)));
client_args_ptr->client_task = client_task;
client_args_ptr->client_id = client_id;
client_args_ptr->client_db_ptr = &client_db;
client_args_ptr->debug = debug;
ulapi_task_start(client_task, client_code, client_args_ptr, ulapi_prio_lowest(), 0);
/* enter application main loop */
while (!feof(stdin)) {
if (NULL == fgets(buffer, sizeof(buffer), stdin)) {
break;
}
ptr = buffer;
while (isspace(*ptr)) ptr++;
if ('q' == *ptr) break;
if (0 == *ptr) {
ulapi_mutex_take(client_db.mutex);
number = client_db.number;
ulapi_mutex_give(client_db.mutex);
printf("%d\n", number);
continue;
}
if (1 == sscanf(ptr, "%d", &number)) {
ulapi_mutex_take(client_db.mutex);
client_db.number = number;
ulapi_mutex_give(client_db.mutex);
continue;
}
}
ulapi_socket_close(client_id);
ulapi_exit();
sample_app_exit();
return 0;
}
int main(int argc, char *argv[])
{
int ros_argc;
char **ros_argv;
std::string node_name(NODE_NAME_DEFAULT);
int option;
int ival;
double dval;
int ws_port = WS_PORT_DEFAULT;
int emove_port = EMOVE_PORT_DEFAULT;
double period = 1;
int ws_server_id;
int ws_connection_id;
ulapi_task_struct *ws_client_read_task;
ws_client_read_task_args *ws_client_read_args;
ulapi_task_struct *ws_client_write_task;
ws_client_write_task_args *ws_client_write_args;
int emove_server_id;
ulapi_task_struct emove_server_task;
emove_server_task_args emove_server_args;
enum {INBUF_LEN = 1024};
char inbuf[INBUF_LEN];
opterr = 0;
while (true) {
option = getopt(argc, argv, ":i:n:p:t:Whd");
if (option == -1) break;
switch (option) {
case 'i':
inifile_name = std::string(optarg);
break;
case 'n':
// first check for valid name
if (optarg[0] == '-') {
fprintf(stderr, "invalid node name: %s\n", optarg);
return 1;
}
node_name = std::string(optarg);
break;
case 'w':
ival = atoi(optarg);
ws_port = ival;
break;
case 'e':
ival = atoi(optarg);
emove_port = ival;
break;
case 't':
dval = atof(optarg);
if (dval < FLT_EPSILON) {
fprintf(stderr, "bad value for period: %s\n", optarg);
return 1;
}
period = dval;
break;
// FIXME -- ipad
case 'W':
ws_all = true;
break;
case 'h':
print_help();
break;
case 'd':
debug = true;
break;
case ':':
fprintf(stderr, "missing value for -%c\n", optopt);
return 1;
break;
default:
fprintf (stderr, "unrecognized option -%c\n", optopt);
return 1;
break;
} // switch (option)
} // while (true) for getopt
if (ULAPI_OK != ulapi_init()) {
fprintf(stderr, "can't init ulapi\n");
return 1;
}
if (! inifile_name.empty()) {
if (0 != ini_load(inifile_name, &ws_port, &emove_port)) {
fprintf(stderr, "error reading ini file %s\n", inifile_name.c_str());
return 1;
}
}
ulapi_mutex_init(&ws_stat_mutex, 1);
ulapi_mutex_init(&emove_stat_mutex, 1);
// pass everything after a '--' separator to ROS
ros_argc = argc - optind;
ros_argv = &argv[optind];
ros::init(ros_argc, ros_argv, node_name);
ros::NodeHandle nh;
ros::Subscriber wssub;
ros::Subscriber emovesub;
wssub = nh.subscribe(KITTING_WS_STAT_TOPIC, TOPIC_QUEUE_LEN, ws_stat_callback);
emovesub = nh.subscribe(KITTING_EMOVE_STAT_TOPIC, TOPIC_QUEUE_LEN, emove_stat_callback);
/*
Run two processes, one that serves up the Workstation-level commands
and status, and the other that serves up the Emove status. This main
thread will handle the Workstation level.
*/
ws_server_id = ulapi_socket_get_server_id(ws_port);
if (ws_server_id < 0) {
fprintf(stderr, "can't serve WS port %d\n", ws_port);
return 1;
}
emove_server_id = ulapi_socket_get_server_id(emove_port);
if (emove_server_id < 0) {
fprintf(stderr, "can't serve Emove port %d\n", emove_port);
return 1;
}
ulapi_task_init(&emove_server_task);
emove_server_args.task = &emove_server_task;
emove_server_args.id = emove_server_id;
emove_server_args.period_nsecs = (int) (period * 1.0e9);
ulapi_task_start(&emove_server_task, reinterpret_cast<ulapi_task_code>(emove_server_task_code), reinterpret_cast<void *>(&emove_server_args), ulapi_prio_highest(), 0);
bool done = false;
while (! done) {
if (debug) printf("waiting for a WS HMI connection on %d...\n", ws_server_id);
ws_connection_id = ulapi_socket_get_connection_id(ws_server_id);
if (ws_connection_id < 0) {
fprintf(stderr, "can't get a WS HMI connection\n");
break;
}
if (debug) printf("got a WS HMI connection on id %d\n", ws_connection_id);
// spawn connection tasks for reading and writing
ws_client_read_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*ws_client_read_task)));
ws_client_read_args = reinterpret_cast<ws_client_read_task_args *>(malloc(sizeof(*ws_client_read_args)));
ulapi_task_init(ws_client_read_task);
ws_client_read_args->task = ws_client_read_task;
ws_client_read_args->id = ws_connection_id;
ulapi_task_start(ws_client_read_task, reinterpret_cast<ulapi_task_code>(ws_client_read_task_code), reinterpret_cast<void *>(ws_client_read_args), ulapi_prio_highest(), 0);
ws_client_write_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*ws_client_write_task)));
ws_client_write_args = reinterpret_cast<ws_client_write_task_args *>(malloc(sizeof(*ws_client_write_args)));
ulapi_task_init(ws_client_write_task);
ws_client_write_args->task = ws_client_write_task;
ws_client_write_args->id = ws_connection_id;
ws_client_write_args->period_nsecs = (int) (period * 1.0e9);
ulapi_task_start(ws_client_write_task, reinterpret_cast<ulapi_task_code>(ws_client_write_task_code), reinterpret_cast<void *>(ws_client_write_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(ws_server_id);
if (debug) printf("server on %d done\n", ws_server_id);
return 0;
}
static void request_connection_thread_code(request_connection_thread_args *args)
{
void *thread;
int id;
enum {INBUF_LEN = 1024};
char inbuf[INBUF_LEN];
enum {OUTBUF_LEN = 1024};
char outbuf[OUTBUF_LEN];
char *ptr;
int nchars;
int nleft;
int length;
int message_type;
ping_reply_message pingrep;
joint_traj_pt_request_message jtreq;
joint_traj_pt_reply_message jtrep;
joint_info jinfo;
cart_traj_pt_request_message ctreq;
cart_traj_pt_reply_message ctrep;
float f1, f2, f3, f4, f5, f6, f7;
thread = args->thread;
id = args->id;
free(args);
bool done = false;
while (! done) {
nchars = ulapi_socket_read(id, inbuf, sizeof(inbuf));
if (nchars <= 0) break;
inbuf[sizeof(inbuf)-1] = 0;
ptr = inbuf;
nleft = nchars;
while (nleft > 0) {
// get the length and type of the message
memcpy(&length, ptr, sizeof(length));
memcpy(&message_type, ptr + sizeof(length), sizeof(message_type));
// switch on the message type and handle it
switch (message_type) {
case MESSAGE_PING:
nchars = ulapi_socket_write(id, reinterpret_cast<char *>(&pingrep), sizeof(pingrep));
if (nchars < 0) done = true;
break;
case MESSAGE_JOINT_TRAJ_PT:
jtreq.read_joint_traj_pt_request(ptr);
if (debug) {
printf("connection %d requested:\n", id);
jtreq.print_joint_traj_pt_request();
}
ulapi_mutex_take(&robot_mutex);
for (int t = 0; t < JOINT_MAX; t++) {
if (! jtreq.get_pos(&f1, t)) break;
the_robot.set_robot_joint_pos(f1, t);
}
// FIXME -- testing with a delay, should thread this off
ulapi_sleep(3);
ulapi_mutex_give(&robot_mutex);
jtrep.set_joint_traj_pt_reply(REPLY_SUCCESS);
nchars = ulapi_socket_write(id, reinterpret_cast<char *>(&jtrep), sizeof(jtrep));
if (debug) {
printf("replied to connection %d:\n", id);
jtrep.print_joint_traj_pt_reply();
}
if (nchars < 0) done = true;
break;
case MESSAGE_CART_TRAJ_PT:
ctreq.read_cart_traj_pt_request(ptr);
if (debug) {
printf("connection %d requested:\n", id);
ctreq.print_cart_traj_pt_request();
}
// FIXME -- ditto
ulapi_sleep(3);
ulapi_mutex_take(&robot_mutex);
if (! ctreq.get_pos(&f1, &f2, &f3, &f4, &f5, &f6, &f7)) break;
the_robot.set_robot_cart_pos(f1, f2, f3, f4, f5, f6, f7);
ulapi_mutex_give(&robot_mutex);
ctrep.set_seq_number(ctreq.get_seq_number());
ctrep.set_cart_traj_pt_reply(REPLY_SUCCESS);
nchars = ulapi_socket_write(id, reinterpret_cast<char *>(&ctrep), sizeof(ctrep));
if (debug) {
printf("replied to connection %d:\n", id);
ctrep.print_cart_traj_pt_reply();
}
if (nchars < 0) done = true;
break;
default:
// unknown message
if (debug) printf("unknown message type: %d\n", message_type);
break;
} // switch (message type)
nleft -= (sizeof(length) + length);
ptr += (sizeof(length) + length);
} // while (nleft)
} // while (true)
ulapi_socket_close(id);
if (debug) printf("simple message connection handler %d done\n", id);
free(thread);
return;
}
static void state_connection_thread_code(state_connection_thread_args *args)
{
void *thread;
int id;
double period;
joint_traj_pt_state_message jsmsg;
robot_status_message rsmsg;
object_state_message obj_state(3);
enum {OUTBUF_LEN = 1024};
char outbuf[OUTBUF_LEN];
int nchars, len;
int which = 0;
thread = args->thread;
id = args->id;
period = args->period;
free(args);
for (int t = 0; t < obj_state.object_number(); t++) {
obj_state.objects[t].id = t + 1;
obj_state.objects[t].x = t + 1.2;
obj_state.objects[t].y = t - 3.4;
obj_state.objects[t].z = t + 5.6;
obj_state.objects[t].qx = 0;
obj_state.objects[t].qy = 0;
obj_state.objects[t].qz = sin(0.1*t);
obj_state.objects[t].qw = cos(0.1*t);
}
while (true) {
float p;
int i;
switch (which) {
case 0:
ulapi_mutex_take(&robot_mutex);
for (int t = 0; t < JOINT_MAX; t++) {
if (the_robot.get_robot_joint_pos(&p, t)) jsmsg.set_pos(p, t);
}
ulapi_mutex_give(&robot_mutex);
nchars = ulapi_socket_write(id, reinterpret_cast<char *>(&jsmsg), sizeof(jsmsg));
if (nchars < 0) break;
break;
case 1:
ulapi_mutex_take(&robot_mutex);
the_robot.get_drives_powered(&i);
rsmsg.set_drives_powered(i);
the_robot.get_e_stopped(&i);
rsmsg.set_e_stopped(i);
the_robot.get_in_error(&i);
rsmsg.set_in_error(i);
the_robot.get_in_motion(&i);
rsmsg.set_in_motion(i);
the_robot.get_mode(&i);
rsmsg.set_mode(i);
the_robot.get_motion_possible(&i);
rsmsg.set_motion_possible(i);
ulapi_mutex_give(&robot_mutex);
nchars = ulapi_socket_write(id, reinterpret_cast<char *>(&rsmsg), sizeof(rsmsg));
if (nchars < 0) break;
break;
case 2:
#undef DO_OBJECTS
#ifdef DO_OBJECTS
len = obj_state.size();
if (len <= sizeof(outbuf)) {
obj_state.write_object_state(outbuf, sizeof(outbuf));
nchars = ulapi_socket_write(id, outbuf, len);
}
#endif // DO_OBJECTS
break;
} // switch (which)
if (++which > 2) which = 0;
ulapi_wait(period * 1e9);
} // while (true)
ulapi_socket_close(id);
if (debug) printf("joint state connection handler %d done\n", id);
free(thread);
return;
}
