// Message passing routine, used to send and receive a typed message
// Useful for checking the packing and unpacking of message data.
void fakeMessagePassing(TypedMessage &send, TypedMessage &recv)
{
const int tcpPort = TEST_PORT_BASE+401;
char ipAddr[] = "127.0.0.1";
TcpClient tcpClient;
TcpServer tcpServer;
SimpleMessage msgSend, msgRecv;
send.toTopic(msgSend);
// Construct server
tcpServer.init(tcpPort);
// Construct a client
tcpClient.init(&ipAddr[0], tcpPort);
tcpClient.makeConnect(); // make tcp client connection
tcpServer.makeConnect(); // make tcp server connection
tcpClient.sendMsg(msgSend); // send message
tcpServer.receiveMsg(msgRecv); // physically receive message
recv.init(msgRecv); // copy received message into reference
}
int main(int argc, char** argv)
{
const unsigned int IP_ARG_IDX = 1;
TcpClient connection;
ros::init(argc, argv, "state_interface");
if (argc != 1) //Only one argument, the robot IP address is accepted
{
ROS_INFO("Robot state connecting to IP address: %s", argv[IP_ARG_IDX]);
connection.init(argv[IP_ARG_IDX], StandardSocketPorts::STATE);
std::vector<std::string> joint_names;
joint_names.push_back("joint_s");
joint_names.push_back("joint_l");
joint_names.push_back("joint_e");
joint_names.push_back("joint_u");
joint_names.push_back("joint_r");
joint_names.push_back("joint_b");
joint_names.push_back("joint_t");
RobotStateInterface rsi;
if (rsi.init(&connection, joint_names))
{
rsi.run();
}
}
else
{
ROS_ERROR("Missing command line arguments, usage: robot_state <robot ip address>");
}
return 0;
}
//===直接导出到lua里的方法===
void Net::initialize(std::string server_ip, int server_port)
{
initialize_profile();
tcp_client.init(server_ip, server_port);
tcp_client.connect();
cocos2d::Director::getInstance()->set_battle_irrelevant_update(battle_irrelevant_update);
}
int main(int argc, char** argv)
{
char ip[1024] = "192.168.0.50"; // Robot IP address
TcpClient connection;
MessageManager manager;
ros::init(argc, argv, "state_interface");
ros::NodeHandle n;
JointRelayHandler jr_handler(n);
ROS_INFO("Setting up client");
connection.init(ip, StandardSocketPorts::STATE);
connection.makeConnect();
jr_handler.init(&connection);
manager.init(&connection);
manager.add(&jr_handler);
manager.spin();
}
void startTcpClient(const Uint16 port)
{
cout << "TCP Client[" << LOCATION_ADRR << ":" << port << "] Thread[" <<CurrentThread::info.tid() << "] Start!" << endl;
sleep(1);
TcpClient *pTcpClient = new TcpClient();
CHECK_NULLPTR_NORET(pTcpClient);
CHECK_RETURN_VAL_NORET(pTcpClient->init(LOCATION_ADRR, port));
CHECK_RETURN_VAL_NORET(pTcpClient->sockConn(LOCATION_ADRR, UDPSERVER_PORT));
Int32 count(0);
char buf[TEST_BUF_SIZE];
while (count < 5)
{
// 发送
count++;
bzero(buf, sizeof(buf));
memcpy(buf, &count, sizeof(count));
Int32 nByte = pTcpClient->sendData(buf, TEST_BUF_SIZE);
CHECK_RETURN_VAL_NORET(nByte);
// 接收
sleep(1);
bzero(buf, sizeof(buf));
nByte = pTcpClient->recvData(buf, TEST_BUF_SIZE);
CHECK_RETURN_VAL_NORET(nByte);
count = *(Int32*)buf;
}
bzero(buf, sizeof(buf));
count = END_FLAGS;
memcpy(buf, &count, sizeof(count));
Int32 nByte = pTcpClient->sendData(buf, TEST_BUF_SIZE);
CHECK_RETURN_VAL_NORET(nByte);
sleep(1);
delete pTcpClient;
cout << "TCP Client[" << LOCATION_ADRR << ":" << port << "] Thread[" <<CurrentThread::info.tid() << "] End!" << endl;
}