/*! 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.toStdString().c_str() << 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 == "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") { graspitCore->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 == "moveToContacts") { graspitCore->getWorld()->getCurrentHand()->approachToContact(30, true); } 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); } } }
/*! 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); } } }