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;
}
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);
}
