/***********************************Callback**************************************************/
void goalCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr &goal) {
std::vector<std::string> jointNames = goal->trajectory.joint_names;
if (checkIfValid(jointNames)) {
size_t commandSize = goal->trajectory.points.size();
for (int i = 0; i < commandSize - 1; ++i) {
sensor_msgs::JointState command;
command.name = goal->trajectory.joint_names;
command.position = goal->trajectory.points[i].positions;
command.velocity = goal->trajectory.points[i].velocities;
command.effort = goal->trajectory.points[i].effort;
_jointCommand.publish(command);
ROS_INFO_STREAM(goal->trajectory.points[i]);
clrFeedback();
_feedback.joint_names = jointNames;
_feedback.desired.effort = goal->trajectory.points[i].effort;
_feedback.desired.velocities = goal->trajectory.points[i].velocities;
_feedback.desired.positions = goal->trajectory.points[i].positions;
waitForExecution();
}
sensor_msgs::JointState command;
command.name = goal->trajectory.joint_names;
command.position = goal->trajectory.points[commandSize - 1].positions;
for(int i = 0; i < command.name.size(); ++i)
{
command.velocity.push_back(0.2);
}
command.effort = goal->trajectory.points[commandSize - 1].effort;
rosInfo("Last");
_jointCommand.publish(command);
clrFeedback();
_feedback.joint_names = jointNames;
_feedback.desired.effort = goal->trajectory.points[commandSize - 1].effort;
_feedback.desired.velocities = goal->trajectory.points[commandSize - 1].velocities;
_feedback.desired.positions = goal->trajectory.points[commandSize - 1].positions;
waitForExecution();
_result.error_code = control_msgs::FollowJointTrajectoryResult::SUCCESSFUL;
_result.error_string = "Cool";
_actionServer.setSucceeded(_result);
}
else {
_result.error_code = control_msgs::FollowJointTrajectoryResult::INVALID_JOINTS;
_result.error_string = "Not cool";
_actionServer.setAborted(_result);
}
}
void main(void)
{
char twoDimArray[9][9];
char characterArray[81];
int row,col;
int c,numChars, inputRecord,inputCharacters;
int i,j,k;
i = j = k= 0;
row = col = numChars = 0;
inputCharacters = 1;
inputRecord = 1;
int x = checkIfValid(characterArray,twoDimArray, inputCharacters);
}
QDBusAbstractInterfacePrivate::QDBusAbstractInterfacePrivate(const QString &serv,
const QString &p,
const QString &iface,
const QDBusConnection& con,
bool isDynamic)
: connection(con), service(serv), path(p), interface(iface),
lastError(checkIfValid(serv, p, iface, isDynamic)),
isValid(!lastError.isValid())
{
if (!isValid)
return;
if (!connection.isConnected()) {
lastError = QDBusError(QDBusError::Disconnected,
QLatin1String("Not connected to D-Bus server"));
} else if (!service.isEmpty()) {
currentOwner = connectionPrivate()->getNameOwner(service); // verify the name owner
if (currentOwner.isEmpty()) {
lastError = connectionPrivate()->lastError;
}
}
}
/**********************************
* Reference: http://www.programminglogic.com/example-of-client-server-program-in-c-using-sockets-and-tcp/
* Reference: http://www-scf.usc.edu/~bagde/networksproject/multiserver.c
* Reference: http://stackoverflow.com/questions/8777055/using-select-in-client-server-acknowledgement-in-c
* Reference: http://stackoverflow.com/questions/5660393/c-socket-client
* Reference: http://codereview.stackexchange.com/questions/41748/small-one-time-pad-encryption-program
* Reference: http://www.binarytides.com/server-client-example-c-sockets-linux/
* Reference: http://www.tutorialspoint.com/unix_sockets/socket_server_example.htm
* Reference: http://beej.us/guide/bgnet/output/html/multipage/clientserver.html
* Reference: http://www.binarytides.com/socket-programming-c-linux-tutorial/
***********************************/
int main(int argc, char** argv)
{
char cipher[BUFF_SIZE];
char key[BUFF_SIZE];
char acknowledge[1];
int fd;
int i;
int port;
int keyLength;
int numSent;
int textLength;
int sockfd;
int isValid;
struct sockaddr_in serv_addr;
struct hostent *server;
if (argc < 4) //check for the correct number of arguments
{
printf("Error in otp_enc: not enough arguments\n");
exit(1);
}
port = atoi(argv[3]); //get port
if (port < 0 || port > 65535)
{
printf("Error in otp_enc: Not a valid port\n");
exit(1);
}
fd = open(argv[1], O_RDONLY);
if (fd < 0) //check if the file can be read
{
printf("Error in otp_enc: cannot open plaintext file %s\n", argv[1]);
exit(1);
}
textLength = read(fd, cipher, BUFF_SIZE); //get the context of the file and the number of bytes
isValid = checkIfValid(textLength, cipher); //check if file is valid
if (isValid == 0)
{
printf("Error in otp_enc: ciphertext contains bad characters\n");
exit(1);
}
close(fd);
fd = open(argv[2], O_RDONLY); //check if key is valid key
if (fd < 0)
{
printf("Error in otp_enc: cannot open key file %s\n", argv[2]);
exit(1);
}
keyLength = read(fd, key, BUFF_SIZE); //get the context of the key and the number of bytes
isValid = checkIfValid(keyLength, key); //check if context of key is valid
if (isValid == 0)
{
printf("Error in otp_enc: key contains bad characters\n");
exit(1);
}
close(fd);
if (keyLength < textLength) //error out if the key to smaller than the file
{
printf("Error in otp_enc: key '%s' is too small\n", argv[2]);
}
sockfd = socket(AF_INET, SOCK_STREAM, 0); //create socket
if (sockfd < 0)
{
printf("Error in otp_enc: could not contact otp_enc_d on port %d\n", port);
exit(2);
}
bzero((char *)&serv_addr, sizeof(serv_addr)); //clear address
server = gethostbyname("localhost");
if (server == NULL)
{
printf("Error in otp_enc: could not connect to otp_enc_d\n");
exit(2);
}
serv_addr.sin_family = AF_INET;
bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length);
serv_addr.sin_port = htons(port);
if (connect(sockfd, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) //connect to otp_enc_d
{
printf("Error in otp_enc: could not connect to otp_enc_d on port %d\n", port);
exit(2);
}
numSent = write(sockfd, cipher, textLength - 1); //send text to otp_enc_d
if (numSent < textLength - 1)
{
printf("Error in otp_enc: could not send plaintext to otp_enc_d on port %d\n", port);
exit(2);
}
int receivedNum;
bzero(acknowledge, sizeof(acknowledge));
receivedNum = read(sockfd, acknowledge, 1);
if (receivedNum < 0)
{
printf("Error in otp_enc: could not receive acknowledgement from otp_enc_d\n");
exit(2);
}
numSent = write(sockfd, key, keyLength - 1); //send key to otp_enc_d
if (numSent < keyLength - 1)
{
printf("Error in otp_enc: could not send key to otp_enc_d on port %d\n", port);
exit(2);
}
bzero(cipher, sizeof(cipher)); //zero cipher
while (receivedNum > 0)
{
receivedNum = read(sockfd, cipher, textLength - 1); //get text from otp_enc_d
}
for (i = 0; i < textLength - 1; i++) //print text
{
printf("%c", cipher[i]);
}
printf("\n");
close(sockfd);
return 0;
}
