static void request_server_thread_code(request_server_thread_args *args)
{
int id;
int connection_id;
ulapi_task_struct *request_connection_thread;
request_connection_thread_args *request_connection_args;
id = args->id;
while (true) {
if (debug) printf("waiting for a trajectory point connection...\n");
connection_id = ulapi_socket_get_connection_id(id);
if (connection_id < 0) {
fprintf(stderr, "can't get a trajectory point connecton\n");
break;
}
if (debug) printf("got a trajectory point connection on id %d\n", connection_id);
// spawn a connection thread
request_connection_thread = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*request_connection_thread)));
request_connection_args = reinterpret_cast<request_connection_thread_args *>(malloc(sizeof(*request_connection_args)));
ulapi_task_init(request_connection_thread);
request_connection_args->id = connection_id;
request_connection_args->thread = request_connection_thread;
ulapi_task_start(request_connection_thread, reinterpret_cast<ulapi_task_code>(request_connection_thread_code), reinterpret_cast<void *>(request_connection_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(id);
if (debug) printf("server on %d done\n", id);
return;
}
static void emove_server_task_code(emove_server_task_args *args)
{
ulapi_task_struct *task;
int id;
int period_nsecs;
ulapi_task_struct *emove_client_write_task;
emove_client_write_task_args *emove_client_write_args;
int emove_connection_id;
task = args->task;
id = args->id;
period_nsecs = args->period_nsecs;
bool done = false;
while (! done) {
if (debug) printf("waiting for an Emove HMI connection on %d...\n", id);
emove_connection_id = ulapi_socket_get_connection_id(id);
if (emove_connection_id < 0) {
fprintf(stderr, "can't get an Emove HMI connection\n");
break;
}
if (debug) printf("got an Emove HMI connection on id %d\n", emove_connection_id);
// spawn connection tasks for reading and writing
emove_client_write_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*emove_client_write_task)));
emove_client_write_args = reinterpret_cast<emove_client_write_task_args *>(malloc(sizeof(*emove_client_write_args)));
ulapi_task_init(emove_client_write_task);
emove_client_write_args->task = emove_client_write_task;
emove_client_write_args->id = emove_connection_id;
emove_client_write_args->period_nsecs = period_nsecs;
ulapi_task_start(emove_client_write_task, reinterpret_cast<ulapi_task_code>(emove_client_write_task_code), reinterpret_cast<void *>(emove_client_write_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(id);
if (debug) printf("server on %d done\n", id);
ulapi_task_delete(task);
return;
}
rtapi_result rtapi_task_init(rtapi_task_struct *task)
{
return ULAPI_OK == ulapi_task_init(task) ? RTAPI_OK : RTAPI_ERROR;
}
int main(int argc, char *argv[])
{
int ros_argc;
char **ros_argv;
std::string node_name(NODE_NAME_DEFAULT);
int option;
int ival;
double dval;
int ws_port = WS_PORT_DEFAULT;
int emove_port = EMOVE_PORT_DEFAULT;
double period = 1;
int ws_server_id;
int ws_connection_id;
ulapi_task_struct *ws_client_read_task;
ws_client_read_task_args *ws_client_read_args;
ulapi_task_struct *ws_client_write_task;
ws_client_write_task_args *ws_client_write_args;
int emove_server_id;
ulapi_task_struct emove_server_task;
emove_server_task_args emove_server_args;
enum {INBUF_LEN = 1024};
char inbuf[INBUF_LEN];
opterr = 0;
while (true) {
option = getopt(argc, argv, ":i:n:p:t:Whd");
if (option == -1) break;
switch (option) {
case 'i':
inifile_name = std::string(optarg);
break;
case 'n':
// first check for valid name
if (optarg[0] == '-') {
fprintf(stderr, "invalid node name: %s\n", optarg);
return 1;
}
node_name = std::string(optarg);
break;
case 'w':
ival = atoi(optarg);
ws_port = ival;
break;
case 'e':
ival = atoi(optarg);
emove_port = ival;
break;
case 't':
dval = atof(optarg);
if (dval < FLT_EPSILON) {
fprintf(stderr, "bad value for period: %s\n", optarg);
return 1;
}
period = dval;
break;
// FIXME -- ipad
case 'W':
ws_all = true;
break;
case 'h':
print_help();
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
if (ULAPI_OK != ulapi_init()) {
fprintf(stderr, "can't init ulapi\n");
return 1;
}
if (! inifile_name.empty()) {
if (0 != ini_load(inifile_name, &ws_port, &emove_port)) {
fprintf(stderr, "error reading ini file %s\n", inifile_name.c_str());
return 1;
}
}
ulapi_mutex_init(&ws_stat_mutex, 1);
ulapi_mutex_init(&emove_stat_mutex, 1);
// pass everything after a '--' separator to ROS
ros_argc = argc - optind;
ros_argv = &argv[optind];
ros::init(ros_argc, ros_argv, node_name);
ros::NodeHandle nh;
ros::Subscriber wssub;
ros::Subscriber emovesub;
wssub = nh.subscribe(KITTING_WS_STAT_TOPIC, TOPIC_QUEUE_LEN, ws_stat_callback);
emovesub = nh.subscribe(KITTING_EMOVE_STAT_TOPIC, TOPIC_QUEUE_LEN, emove_stat_callback);
/*
Run two processes, one that serves up the Workstation-level commands
and status, and the other that serves up the Emove status. This main
thread will handle the Workstation level.
*/
ws_server_id = ulapi_socket_get_server_id(ws_port);
if (ws_server_id < 0) {
fprintf(stderr, "can't serve WS port %d\n", ws_port);
return 1;
}
emove_server_id = ulapi_socket_get_server_id(emove_port);
if (emove_server_id < 0) {
fprintf(stderr, "can't serve Emove port %d\n", emove_port);
return 1;
}
ulapi_task_init(&emove_server_task);
emove_server_args.task = &emove_server_task;
emove_server_args.id = emove_server_id;
emove_server_args.period_nsecs = (int) (period * 1.0e9);
ulapi_task_start(&emove_server_task, reinterpret_cast<ulapi_task_code>(emove_server_task_code), reinterpret_cast<void *>(&emove_server_args), ulapi_prio_highest(), 0);
bool done = false;
while (! done) {
if (debug) printf("waiting for a WS HMI connection on %d...\n", ws_server_id);
ws_connection_id = ulapi_socket_get_connection_id(ws_server_id);
if (ws_connection_id < 0) {
fprintf(stderr, "can't get a WS HMI connection\n");
break;
}
if (debug) printf("got a WS HMI connection on id %d\n", ws_connection_id);
// spawn connection tasks for reading and writing
ws_client_read_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*ws_client_read_task)));
ws_client_read_args = reinterpret_cast<ws_client_read_task_args *>(malloc(sizeof(*ws_client_read_args)));
ulapi_task_init(ws_client_read_task);
ws_client_read_args->task = ws_client_read_task;
ws_client_read_args->id = ws_connection_id;
ulapi_task_start(ws_client_read_task, reinterpret_cast<ulapi_task_code>(ws_client_read_task_code), reinterpret_cast<void *>(ws_client_read_args), ulapi_prio_highest(), 0);
ws_client_write_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*ws_client_write_task)));
ws_client_write_args = reinterpret_cast<ws_client_write_task_args *>(malloc(sizeof(*ws_client_write_args)));
ulapi_task_init(ws_client_write_task);
ws_client_write_args->task = ws_client_write_task;
ws_client_write_args->id = ws_connection_id;
ws_client_write_args->period_nsecs = (int) (period * 1.0e9);
ulapi_task_start(ws_client_write_task, reinterpret_cast<ulapi_task_code>(ws_client_write_task_code), reinterpret_cast<void *>(ws_client_write_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(ws_server_id);
if (debug) printf("server on %d done\n", ws_server_id);
return 0;
}
int main(int argc, char *argv[])
{
bool done;
int option;
int cmdConnection;
int script = 1;
char msgOut[buffSize];
RCS_TIMER *cycleBlock = new RCS_TIMER(KUKA_DEFAULT_CYCLE);
CRCLStatus status;
ulapi_task_struct statusTask;
RobotStatus robotStatus;
GripperStatus gripperStatus;
bool useFile = false;
char *fileName;
std::ifstream inFile;
std::istream *inputSource;
float counter = 0;
debug = 1;
while (true)
{
option = getopt(argc, argv, ":cdf:");
if (option == -1) break;
switch (option)
{
case 'd':
debug = 1;
break;
case 'c':
script = 0;
break;
case 'f':
script = 0;
useFile = true;
fileName = optarg;
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
// this code uses the ULAPI library to provide portability
// between different operating systems and architectures
if (ULAPI_OK != ulapi_init())
{
printf ("crclClient:: can't initialize ulapi");
return 1;
}
cmdConnection = ulapi_socket_get_client_id(CRCL_CMD_PORT_DEFAULT,
"localhost");
if(cmdConnection < 0)
return -1;
// start status thread
ulapi_task_init(&statusTask);
ulapi_task_start(&statusTask,
reinterpret_cast<ulapi_task_code>(statusThread),
reinterpret_cast<void*>(&status),
ulapi_prio_lowest(), 0);
if(!script)
{
if( useFile )
{
inFile.open(fileName);
inputSource = &inFile;
if( !inputSource->good() )
{
printf( "unable to open %s\n", fileName );
exit(1);
}
}
else
inputSource = &std::cin;
while(inputSource->good())
{
inputSource->getline(msgOut, buffSize);
if( msgOut[0] == ' ' || msgOut[0] == '/' )
continue;
ulapi_socket_write(cmdConnection, msgOut, strlen(msgOut));
printf( "Sent: %s\n", msgOut);
done = false;
if(useFile)
{
for(int ii=0; ii<5; ii++)
cycleBlock->wait();
}
while( !done )
{
cycleBlock->wait();
gripperStatus = status.getGripperStatus();
robotStatus = status.getRobotStatus();
if( !useFile || status.getCurrentStatus()==CRCL_DONE )
done = true;
// printf( "Fmod: %f\n", fmod(counter, 100.));
if( fmod(counter++, 100.)==0 || done )
{
printf( "Status Cmd: %s Status: %s\n",
getCRCLCmdString((status.getCurrentCmd()).cmd).c_str(),
getCRCLStatusString(status.getCurrentStatus()).c_str());
printf( "\x1b[32mCart Status: <%3.4f, %3.4f, %3.4f> <%3.4f, %3.4f, %3.4f>\x1b[0m\n",
robotStatus.pose.x, robotStatus.pose.y,
robotStatus.pose.z,
robotStatus.pose.xrot, robotStatus.pose.yrot,
robotStatus.pose.zrot);
printf( "\x1b[32mJoint Status: <%4.2f %4.2f %4.2f %4.2f %4.2f %4.2f>\x1b[0m\n",
robotStatus.joint[0],
robotStatus.joint[1],
robotStatus.joint[2],
robotStatus.joint[3],
robotStatus.joint[4],
robotStatus.joint[5]);
}
}
}
}
for(int i=0; i<1; i++ )
{
ulapi_strncpy(msgOut, "InitCanon", strlen("InitCanon"));
ulapi_socket_write(cmdConnection, msgOut, strlen(msgOut));
/*
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "MoveTo 1. 2. 3. 4. 5. 6.";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "Dwell 1";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "MoveTo 7. 8. 9. 10. 11. 12.";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "Dwell 4";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "EndCanon";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
*/
cycleBlock->wait();
}
}
int main(int argc, char *argv[])
{
int option;
int ival;
double dval;
int message_port = MESSAGE_PORT_DEFAULT;
int state_port = STATE_PORT_DEFAULT;
int request_server_id;
int state_server_id;
ulapi_task_struct request_server_thread;
ulapi_task_struct state_server_thread;
request_server_thread_args request_server_args;
state_server_thread_args state_server_args;
double period = 0.2; // ROS recommends 2 Hz at least
enum {INBUF_LEN = 1024};
char inbuf[INBUF_LEN];
opterr = 0;
while (true) {
option = getopt(argc, argv, ":m:s:t:d?");
if (option == -1) break;
switch (option) {
case 'm':
ival = atoi(optarg);
message_port = ival;
break;
case 's':
ival = atoi(optarg);
state_port = ival;
break;
case 't':
dval = atof(optarg);
period = dval;
break;
case 'd':
debug = true;
break;
case '?':
print_help();
return 0;
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
ulapi_mutex_init(&robot_mutex, 1);
the_robot.print_robot_status();
request_server_id = ulapi_socket_get_server_id(message_port);
if (request_server_id < 0) {
fprintf(stderr, "can't serve port %d\n", message_port);
return 1;
}
ulapi_task_init(&request_server_thread);
request_server_args.id = request_server_id;
ulapi_task_start(&request_server_thread, reinterpret_cast<ulapi_task_code>(request_server_thread_code), reinterpret_cast<void *>(&request_server_args), ulapi_prio_highest(), 0);
state_server_id = ulapi_socket_get_server_id(state_port);
if (state_server_id < 0) {
fprintf(stderr, "can't serve port %d\n", state_port);
return 1;
}
ulapi_task_init(&state_server_thread);
state_server_args.id = state_server_id;
state_server_args.period = period;
ulapi_task_start(&state_server_thread, reinterpret_cast<ulapi_task_code>(state_server_thread_code), reinterpret_cast<void *>(&state_server_args), ulapi_prio_highest(), 0);
bool done = false;
bool print_robot_info = true;
while (! done) {
char *ptr;
char *endptr;
int ival;
float fval;
int ret;
int joint;
// print prompt
printf("> ");
fflush(stdout);
// get input line
if (NULL == fgets(inbuf, sizeof(inbuf), stdin)) break;
// skip leading whitespace
ptr = inbuf;
while (isspace(*ptr)) ptr++;
// strip off trailing whitespace
endptr = inbuf + strlen(inbuf);
while ((isspace(*endptr) || 0 == *endptr) && endptr >= ptr) *endptr-- = 0;
while (endptr >= ptr) *endptr = tolower(*endptr--);
// now 'ptr' is the stripped input string
do {
if (0 == *ptr) { // blank line, print state
ulapi_mutex_take(&robot_mutex);
if (print_robot_info) {
the_robot.print_robot_info();
} else {
the_robot.print_robot_status();
}
ulapi_mutex_give(&robot_mutex);
break;
}
if ('q' == *ptr) { // quit
done = true;
break;
}
if ('d' == *ptr) { // quit
debug = ! debug;
break;
}
if ('i' == *ptr) {
print_robot_info = true;
}
if ('s' == *ptr) {
print_robot_info = false;
}
if ('?' == *ptr) { // help
print_help();
break;
}
if (! strncmp(ptr, "set", strlen("set"))) {
ptr += strlen("set");
if (! isspace(*ptr)) {
printf("need a joint and value to set\n");
break;
}
ival = strtol(ptr, &endptr, 0);
if (endptr == ptr || isgraph(*endptr)) {
printf("need a joint to set\n");
break;
}
joint = ival;
ptr = endptr;
while (isspace(*ptr)) ptr++;
if (! strncmp(ptr, "pos", strlen("pos"))) {
ptr += strlen("pos");
if (! isspace(*ptr)) {
printf("missing position value\n");
break;
}
fval = strtod(ptr, &endptr);
if (endptr == ptr || isgraph(*endptr)) {
printf("bad position value\n");
break;
}
ulapi_mutex_take(&robot_mutex);
ret = the_robot.set_robot_joint_pos(fval, joint-1);
ulapi_mutex_give(&robot_mutex);
if (! ret) {
printf("can't set joint %d position to %f\n", joint, dval);
}
break;
}
if (! strncmp(ptr, "pmin", strlen("pmin"))) {
ptr += strlen("pmin");
if (! isspace(*ptr)) {
printf("missing min value\n");
break;
}
fval = strtod(ptr, &endptr);
if (endptr == ptr || isgraph(*endptr)) {
printf("bad min value\n");
break;
}
ulapi_mutex_take(&robot_mutex);
ret = the_robot.set_robot_joint_min(fval, joint-1);
ulapi_mutex_give(&robot_mutex);
if (! ret) {
printf("can't set joint %d min value to %f\n", joint, dval);
}
break;
}
if (! strncmp(ptr, "pmax", strlen("pmax"))) {
ptr += strlen("pmax");
if (! isspace(*ptr)) {
printf("missing max value\n");
break;
}
fval = strtod(ptr, &endptr);
if (endptr == ptr || isgraph(*endptr)) {
printf("bad max value\n");
break;
}
ulapi_mutex_take(&robot_mutex);
ret = the_robot.set_robot_joint_max(fval, joint-1);
ulapi_mutex_give(&robot_mutex);
if (! ret) {
printf("can't set joint %d max value to %f\n", joint, dval);
}
break;
}
printf("need 'pos', 'pmin', or 'pmax' to set\n");
break;
} // matches "set"
printf("?\n");
} while (false); // do ... wrapper
} // while (! done)
return 0;
}
