void FORTE_BL_IX::executeEvent(int pa_nEIID){
switch(pa_nEIID){
case scm_nEventINITID:
delete m_poGPIO;
m_poGPIO = NULL;
if(QI() == true){
char * pacBuffer = new char[PARAMS().length() + 3];
PARAMS().toString(pacBuffer, sizeof(char)*(PARAMS().length() + 3));
if (verifyInput(pacBuffer, PARAMS().length() + 2)){
STATUS() = "OK";
QO() = true;
}else{
STATUS() = "Input PARAM error";
QO() = false;
}
delete[] pacBuffer;
}else{
STATUS() = "INIT- OK";
QO() = false;
}
sendOutputEvent(scm_nEventINITOID);
break;
case scm_nEventREQID:
if(m_poGPIO != NULL){
IN() = m_poGPIO->isHigh();
STATUS() = "OK";
}else{
IN() = false;
STATUS() = "Not initialized";
}
sendOutputEvent(scm_nEventCNFID);
break;
}
}
int main(int argc, char **argv) {
char * operation;
char * output;
int * resultBinary;
char * finaloutput;
ArbitraryInt *firstNum;
ArbitraryInt *secondNum;
if (argc < 5) {
fprintf(stderr, "ERROR: Too Few Arguments.\n");
return 1;
}
operation = argv[1];
if (operation[0] != '+' && operation [0] != '-') {
fprintf(stderr, "ERROR: Unrecognized Arithmetic Operation. Please use only '+' or '-'.\n");
return 1;
}
firstNum = CreateInt(argv[2]);
secondNum = CreateInt(argv[3]);
if(firstNum->type == Invalid) {
fprintf(stderr, "ERROR: Unrecognized format type for First Number. Please use 'b' for Binary, 'd' for Decimal, 'x' for Hexadecimal, or 'o' for Octal.\n");
return 1;
}
if(secondNum->type == Invalid) {
fprintf(stderr, "ERROR: Unrecognized format type for Second Number. Please use 'b' for Binary, 'd' for Decimal, 'x' for Hexadecimal, or 'o' for Octal.\n");
return 1;
}
if(verifyInput(firstNum) == 1) {
fprintf(stderr, "ERROR: Invalid Numerical String in First Number. Please enter a valid number for that format type.\n");
return 1;
}
if(verifyInput(secondNum) == 1) {
fprintf(stderr, "ERROR: Invalid Numerical String in Second Number. Please enter a valid number for that format type.\n");
return 1;
}
output = argv[4];
if (output[0] != 'd' && output[0] != 'x' && output[0] != 'b' && output[0] != 'o') {
fprintf(stderr, "ERROR: Invalid Output type. Please use 'b' for Binary, 'd' for Decimal, 'x' for Hexadecimal, or 'o' for Octal.\n");
return 1;
}
formatNum(firstNum);
formatNum(secondNum);
evenBinary(firstNum, secondNum);
resultBinary = (int*) malloc((sizeof(int) * firstNum->size));
if(operation[0] == '+')
add(firstNum, secondNum, resultBinary);
else
subtract(firstNum, secondNum, resultBinary);
if (resultBinary[0] == 1)
printf("%c", '-');
if(output[0] == 'o') {
finaloutput = IntToOctASCII(resultBinary, firstNum->size);
}
else if(output[0] == 'b') {
finaloutput = IntToBinASCII(resultBinary, firstNum->size);
}
else if(output[0] == 'x') {
finaloutput = IntToHexASCII(resultBinary, firstNum->size);
}
else if(output[0] == 'd') {
finaloutput = IntToDecASCII(resultBinary, firstNum->size);
}
printf(output);
printf("%s\n", finaloutput);
return 0;
}
/*!
This is the main routine for parsing input on the clientSocket.
There should be one command for each line of input. This reads one
line, and looks at the first word (up to the first space character) to
determine the command. Then if there are body or robot indices to read,
it calls a support routine to read those and return a vector of bodies or
robots. These are then passed to the appropriate routine to carry out the
action and write out any necessary results.
*/
void
ClientSocket::readClient()
{
int i,numData,numBodies,numRobots;
double time;
std::vector<Body *> bodyVec;
std::vector<Robot *> robVec;
bool ok;
while ( canReadLine() ) {
line = readLine();
line.truncate(line.length()-1); //strip newline character
lineStrList =
QStringList::split(' ',line);
strPtr = lineStrList.begin();
#ifdef GRASPITDBG
std::cout <<"Command parser line: "<<line << std::endl;
#endif
if (*strPtr == "getContacts") {
strPtr++; if (strPtr == lineStrList.end()) continue;
numData = (*strPtr).toInt(&ok); strPtr++;
if (!ok) continue;
#ifdef GRASPITDBG
std::cout << "Num data: "<<numData<<std::endl;
#endif
if (readBodyIndList(bodyVec)) continue;
numBodies = bodyVec.size();
for (i=0;i<numBodies;i++)
sendContacts(bodyVec[i],numData);
}
else if (*strPtr == "getAverageContacts") {
strPtr++;
if (readBodyIndList(bodyVec)) continue;
numBodies = bodyVec.size();
for (i=0;i<numBodies;i++)
sendAverageContacts(bodyVec[i]);
}
else if (*strPtr == "getBodyName") {
strPtr++;
if (readBodyIndList(bodyVec)) continue;
numBodies = bodyVec.size();
for (i=0;i<numBodies;i++)
sendBodyName(bodyVec[i]);
}
else if(*strPtr == "setBodyName") {
strPtr++;
int body_index;
if(strPtr != lineStrList.end()){
body_index = strPtr->toInt(&ok);
strPtr++;
if(strPtr == lineStrList.end())
return;
if (body_index == -1 || body_index >= graspItGUI->getIVmgr()->getWorld()->getNumBodies())
{
body_index = graspItGUI->getIVmgr()->getWorld()->getNumBodies() - 1;
}
graspItGUI->getIVmgr()->getWorld()->getBody(body_index)->setName(*strPtr);
}
}
else if (*strPtr == "getRobotName") {
strPtr++;
if (readRobotIndList(robVec)) continue;
numRobots = robVec.size();
for (i=0;i<numRobots;i++)
sendRobotName(robVec[i]);
}
else if (*strPtr == "getDOFVals") {
strPtr++;
if (readRobotIndList(robVec)) continue;
numRobots = robVec.size();
for (i=0;i<numRobots;i++)
sendDOFVals(robVec[i]);
}
else if (*strPtr == "moveDOFs") {
strPtr++;
readDOFVals();
}
else if (*strPtr == "render")
graspItGUI->getIVmgr()->getViewer()->render();
else if (*strPtr == "setDOFForces") {
strPtr++;
if (readRobotIndList(robVec)) continue;
numRobots = robVec.size();
for (i=0;i<numRobots;i++)
if (readDOFForces(robVec[i])==FAILURE) continue;
}
else if ((*strPtr) == "moveDynamicBodies") {
strPtr++;
if (strPtr == lineStrList.end()) ok = FALSE;
else {
time = (*strPtr).toDouble(&ok); strPtr++;
}
if (!ok)
moveDynamicBodies(-1);
else
moveDynamicBodies(time);
}
else if (*strPtr == "computeNewVelocities") {
#ifdef GRASPITDBG
std::cout << "cnv" << std::endl;
#endif
strPtr++; if (strPtr == lineStrList.end()) continue;
time = (*strPtr).toDouble(&ok); strPtr++;
if (!ok) continue;
#ifdef GRASPITDBG
std::cout << time <<std::endl;
#endif
computeNewVelocities(time);
}
else if ((*strPtr) == "outputPlannerResults"){
strPtr++;
outputPlannerResults(0);
}
else if ((*strPtr) == "outputCurrentGrasp"){
strPtr++;
outputCurrentGrasp();
}
else if ((*strPtr) == "sendBodyTransf"){
strPtr++;
verifyInput(1);
sendBodyTransf();
}
else if ((*strPtr) == "setBodyTransf"){
strPtr++;
verifyInput(7);
setBodyTransf();
}
else if ((*strPtr) == "addObstacle"){
strPtr++;
verifyInput(1);
addObstacle(*(strPtr+1));
strPtr+=2;
}
else if ((*strPtr) == "addObject"){
verifyInput(2);
addGraspableBody(*(strPtr+1), *(strPtr+2));
strPtr+=3;
verifyInput(7);
transf object_pose;
readTransf(&object_pose);
World * w = graspItGUI->getIVmgr()->getWorld();
w->getGB(w->getNumGB() - 1)->setTran(object_pose);
}
else if ((*strPtr) == "getCurrentHandTran"){
strPtr++;
getCurrentHandTran();
}
else if ((*strPtr) == "signalGraspUnreachable"){
strPtr+=4;
std::cout << line.toStdString() << std::endl;
graspItGUI->getIVmgr()->blinkBackground();
}
else if ((*strPtr) == "getPlannerTarget"){
strPtr+=1;
QTextStream os (this) ;
os << graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->getGrasp()->getObject()->getName() << "\n";
}
else if ((*strPtr) == "setPlannerTarget"){
QTextStream os(this);
os << setPlannerTarget(*(strPtr+1)) << "\n";
strPtr+=2;
}
else if ((*strPtr) == "rotateHandLat"){
strPtr+=1;
rotateHandLat();
}
else if ((*strPtr) == "rotateHandLong"){
strPtr+=1;
rotateHandLong();
}
else if ((*strPtr) == "exec"){
strPtr+=1;
exec();
}
else if ((*strPtr) == "next"){
strPtr+=1;
next();
}
else if ((*strPtr) == "addPointCloud")
{
strPtr += 1;
addPointCloud();
//QTextStream os(this);
//os << addPointCloud() <<" \n";
}
else if ((*strPtr) == "setCameraOrigin")
{
strPtr += 1;
setCameraOrigin();
}
else if ((*strPtr) == "removeBodies"){
strPtr += 1;
removeBodies();
}
else if ((*strPtr) == "clearGraspableBodies"){
strPtr += 1;
removeBodies(true);
}
}
}
