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;
}
int main(int argc, char *argv[])
{
double myJoints[ROBOT_DOF] = {1,2,3,4,5,6};
double jointsIn[ROBOT_DOF];
robotPose myPose, poseIn;
int kukaConnection;
RCS_TIMER *cycleBlock = new RCS_TIMER(KUKA_DEFAULT_CYCLE);
TiXmlDocument kukaStatus;
TiXmlHandle toSendHandle(&kukaStatus);
TiXmlElement *cartesianStatus;
TiXmlElement *cartesianUpdate;
TiXmlElement *jointStatus;
TiXmlElement *jointUpdate;
TiXmlElement *IPOCUpdate;
int nchars;
TiXmlElement *cartesian;
int debug = 0;
int option;
int counter = 0;
double jointMotorScale[ROBOT_DOF], cmdMotorScale[ROBOT_DOF];
jointMotorScale[0] = 80.;
jointMotorScale[1] = 100.;
jointMotorScale[2] = 80.;
jointMotorScale[3] = 80.;
jointMotorScale[4] = 80.;
jointMotorScale[5] = 40.5;
cmdMotorScale[0] = 1.4;
cmdMotorScale[1] = 1.74;
cmdMotorScale[2] = 1.4;
cmdMotorScale[3] = 1.4;
cmdMotorScale[4] = 1.4;
cmdMotorScale[5] = 0.87;
while (true)
{
option = getopt(argc, argv, ":d");
if (option == -1) break;
switch (option)
{
case 'd':
debug = 1;
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( !kukaStatus.LoadFile(DEFAULT_FROM_KUKA))
{
printf( "kukaRobot:: fatal error on load of %s\n", DEFAULT_FROM_KUKA);
exit(1);
}
kukaConnection = ulapi_socket_get_client_id(KUKA_PORT, "localhost");
if( kukaConnection < 0 )
return -1;
myPose.x = 0.1;
myPose.y = 0.2;
myPose.z = 0.3;
myPose.xrot = 0.4;
myPose.yrot = 0.5;
myPose.zrot = 0.6;
while(true)
{
TiXmlDocument kukaCorrections;
TiXmlHandle correctionsHandle(&kukaCorrections);
std::string str;
enum {INBUF_LEN = 2048};
char inbuf[INBUF_LEN];
std::ostringstream s;
cartesianStatus =
toSendHandle.FirstChild("Rob").FirstChild("Dat").Child(1).ToElement();
IPOCUpdate = toSendHandle.FirstChild("Rob").FirstChild("Dat").Child(9).
ToElement();
jointStatus =
toSendHandle.FirstChild("Rob").FirstChild("Dat").Child(3).ToElement();
cartesianStatus->SetDoubleAttribute("X", myPose.x);
cartesianStatus->SetDoubleAttribute ("Y", myPose.y);
cartesianStatus->SetDoubleAttribute ("Z", myPose.z);
cartesianStatus->SetDoubleAttribute ("A", myPose.xrot);
cartesianStatus->SetDoubleAttribute ("B", myPose.yrot);
cartesianStatus->SetDoubleAttribute ("C", myPose.zrot);
jointStatus->SetDoubleAttribute("A1", myJoints[0]);
jointStatus->SetDoubleAttribute("A2", myJoints[1]);
jointStatus->SetDoubleAttribute("A3", myJoints[2]);
jointStatus->SetDoubleAttribute("A4", myJoints[3]);
jointStatus->SetDoubleAttribute("A5", myJoints[4]);
jointStatus->SetDoubleAttribute("A6", myJoints[5]);
s << counter++;
s << '\0';
TiXmlText *text = new TiXmlText((s.str()).c_str());
IPOCUpdate->Clear();
IPOCUpdate->LinkEndChild(text);
// kukaStatus.Print();
str << kukaStatus;
ulapi_socket_write(kukaConnection, str.c_str(), str.length());
inbuf[0] = '\0';
nchars = ulapi_socket_read(kukaConnection, inbuf, sizeof(inbuf)-1);
if (nchars <= 0)
{
printf("kukaRobot::status client disconnected\n");
break;
}
else
{
inbuf[nchars] = '\0';
}
kukaCorrections.Parse(inbuf);
if(debug) kukaCorrections.Print();
cartesianUpdate =
correctionsHandle.FirstChild("Sen").FirstChild("Dat").
Child(1).ToElement();
jointUpdate =
correctionsHandle.FirstChild("Sen").FirstChild("Dat").
Child(2).ToElement();
cartesianUpdate->QueryDoubleAttribute("X", &(poseIn.x));
cartesianUpdate->QueryDoubleAttribute("Y", &(poseIn.y));
cartesianUpdate->QueryDoubleAttribute("Z", &(poseIn.z));
cartesianUpdate->QueryDoubleAttribute("A", &(poseIn.xrot));
cartesianUpdate->QueryDoubleAttribute("B", &(poseIn.yrot));
cartesianUpdate->QueryDoubleAttribute("C", &(poseIn.zrot));
jointUpdate->QueryDoubleAttribute("A1", &(jointsIn[0]));
jointUpdate->QueryDoubleAttribute("A2", &(jointsIn[1]));
jointUpdate->QueryDoubleAttribute("A3", &(jointsIn[2]));
jointUpdate->QueryDoubleAttribute("A4", &(jointsIn[3]));
jointUpdate->QueryDoubleAttribute("A5", &(jointsIn[4]));
jointUpdate->QueryDoubleAttribute("A6", &(jointsIn[5]));
myPose.x += poseIn.x;
myPose.y += poseIn.y;
myPose.z += poseIn.z;
myPose.xrot += poseIn.xrot;
myPose.yrot += poseIn.yrot;
myPose.zrot += poseIn.zrot;
for( int i=0; i<ROBOT_DOF; i++ )
{
myJoints[i] += jointsIn[i] * cmdMotorScale[i] / jointMotorScale[i];
if( debug )
printf( "J%d <%lf %lf> ", i+1, myJoints[i], jointsIn[i] );
}
if(debug)
printf( "\nkukaRobot Status: <%4.2f, %4.2f, %4.2f> <%4.2f, %4.2f, %4.2f>\n\n",
myPose.x,
myPose.y,
myPose.z,
myPose.xrot,
myPose.yrot,
myPose.zrot);
cycleBlock->wait();
}
}
rtapi_integer rtapi_socket_read(rtapi_integer id,
char *buf,
rtapi_integer len)
{
return ulapi_socket_read(id, buf, len);
}
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[])
{
enum {HOST_LEN = 256};
char host[HOST_LEN] = "localhost";
int state_port = STATE_PORT_DEFAULT;
int cognex_port = COGNEX_PORT_DEFAULT;
const double confidence = 0.95;
double period = 1;
int option;
int ival;
double dval;
int state_client_id;
ulapi_task_struct cognex_client_thread;
cognex_object_info_db db;
ulapi_task_struct *server_task;
ulapi_integer retval;
opterr = 0;
while (true) {
option = getopt(argc, argv, ":h:s:p:t:d");
if (option == -1) break;
switch (option) {
case 'h':
strncpy(host, optarg, sizeof(host));
host[sizeof(host)-1] = 0;
break;
case 's':
ival = atoi(optarg);
state_port = ival;
break;
case 'p':
ival = atoi(optarg);
cognex_port = ival;
break;
case 't':
dval = atof(optarg);
period = dval;
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
// set up mapping of integer ids with object names
object_names[1] = std::string("small_gear");
object_names[2] = std::string("medium_gear");
object_names[3] = std::string("large_gear");
object_names[4] = std::string("bottom_cover");
object_names[5] = std::string("top_cover");
// connect to state server
state_client_id = ulapi_socket_get_client_id(state_port, host);
if (state_client_id < 0) {
fprintf(stderr, "can't connect to %s on port %d\n", host, state_port);
return 1;
}
server_task = db.serve(cognex_port, period * 1e9);
if (server_task == NULL) {
fprintf(stderr, "can't serve port %d\n", cognex_port);
return 1;
}
while (true) {
enum {INBUF_LEN = 1024};
char inbuf[INBUF_LEN];
char *ptr;
int nchars;
int nleft;
int length;
int message_type;
object_state_message obj_state;
nchars = ulapi_socket_read(state_client_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_ROBOT_STATUS:
case MESSAGE_JOINT_POSITION:
break;
case MESSAGE_OBJECT_STATE:
if (0 == obj_state.read_object_state(ptr)) {
if (debug) obj_state.print_object_state();
for (int t = 0; t < obj_state.number; t++) {
db.add(obj_state.objects[t].id, cognex_object_info(object_names[obj_state.objects[t].id].c_str(), 2*atan2(obj_state.objects[t].qz, obj_state.objects[t].qw), obj_state.objects[t].x, obj_state.objects[t].y, confidence));
}
}
break;
default:
// unknown message
break;
} // switch (message type)
nleft -= (sizeof(length) + length);
ptr += (sizeof(length) + length);
} // while (nleft)
} // while (true)
ulapi_task_join(server_task, &retval);
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;
}
