forked from mhernando/Apolo
/
apoloPort.cpp
207 lines (175 loc) · 4.73 KB
/
apoloPort.cpp
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#include "apoloPort.h"
#include "apoloMessage.h"
ApoloPort::ApoloPort(int port,vector<SimulatedWorld*>*listWorlds)
{
world=listWorlds;
sock=new Socket();
sock->initServer(port);
Thid.Start(&ApoloPort::handleConnections,this,sock);
}
PositionableEntity *ApoloPort::getElement(char *nworld,char *name,int *worldindex)
{
//if nworld=0 busca en todos los mundos
PositionableEntity *elem=0;
*worldindex=-1;
if(nworld==0){
if(name==0)return 0;
for(int i=0; i<world->size();i++){
elem=(*world)[i]->getWorld()->getObjectByName(name);
if(elem){
*worldindex=i;
return elem;
}
}
}
else
{
if(name==0)return 0;
for(int i=0; i<world->size();i++){
if((*world)[i]->getName().compare(nworld)==0)
{
*worldindex=i;
return ((*world)[i]->getWorld()->getObjectByName(name));
}
}
}
//world & element not found
return 0;
}
void *ApoloPort::handleConnections(void *server)
{
Socket *aux_sock= (Socket*) server;
Socket socket=*aux_sock;
PositionableEntity *pos;
RobotSim *robot;
WheeledBaseSim *wb;
static int valid=0, total=0;
while(1)
{
Socket *temp=socket.acceptConnection();
while(temp->IsConnected())
{
char buffer[10000];
int size=0;
if(0<(size=temp->Receive(buffer,10000,-1)))
{
ApoloMessage *m=0;
char *pbuffer=buffer;//recorrepbuffer
while(m=ApoloMessage::getApoloMessage(&pbuffer,size))
{
size-=m->getSize();
total++;
char *nworld=m->getWorld();
char *name=m->getObjectName();
int worldindex=0;
PositionableEntity *element=getElement(nworld,name,&worldindex);
switch(m->getType())
{
case AP_CHECKJOINTS:
case AP_SETJOINTS:
if(element){
robot=dynamic_cast<RobotSim*>(element);
int numJoints=m->getCharAt(0);
for(int i=0;i<numJoints;i++)
if(robot)robot->setJointValue(i,m->getDoubleAt(1+8*i));
if(m->getType()==AP_CHECKJOINTS){
bool res=false;
if(robot){
res=robot->checkRobotColision();
}
char resp[50];
int tam=ApoloMessage::writeBOOL(resp,res);
temp->Send(resp,tam);
}
valid++;
}
break;
case AP_GETLOCATION:
case AP_GETLOCATION_WB:
if(element){
double d[6];
Vector3D p=element->getRelativePosition();
double o[3];
element->getRelativeOrientation(d[3],d[4],d[5]);
for(int i=0;i<3;i++)d[i]=p[i];
char resp[70];
int tam;
if(m->getType()==AP_GETLOCATION)tam=ApoloMessage::writeDoubleVector(resp,6,d);
else {
d[3]=d[5];
tam=ApoloMessage::writeDoubleVector(resp,4,d);
}
temp->Send(resp,tam);
valid++;
}
break;
case AP_PLACE:
if(element){
double d[6];
for(int i=0;i<6;i++)d[i]=m->getDoubleAt(8*i);
element->setAbsoluteT3D(Transformation3D(d[0],d[1],d[2],d[3],d[4],d[5]));
valid++;
}
break;
case AP_PLACE_WB: //place a wheeled based robot. computes the grounded location and collision
if(element){
wb=dynamic_cast<WheeledBaseSim *>(element);
bool res=false;
double d[4];
for(int i=0;i<4;i++)d[i]=m->getDoubleAt(8*i);
Transformation3D taux(d[0],d[1],d[2],mr::Z_AXIS,d[3]);
if(wb)res=wb->dropWheeledBase(taux);
if(res){
res=!(wb->getWorld()->checkCollisionWith(*wb));
}
char resp[50];
int tam=ApoloMessage::writeBOOL(resp,res);
temp->Send(resp,tam);
valid++;
}
break;
case AP_MOVE_WB:
if(element){
wb=dynamic_cast<WheeledBaseSim *>(element);
double d[3];
for(int i=0;i<3;i++)d[i]=m->getDoubleAt(8*i);
wb->move(d[0],d[1]);
wb->simulate(d[2]);
wb->move(0,0);
valid++;
}
break;
case AP_UPDATEWORLD:
if(worldindex>=0){//updates one world
(*world)[worldindex]->getChild()->RefreshChild();
}else //updates all worlds
{
for(int i=0; i<world->size();i++)
(*world)[i]->getChild()->RefreshChild();
}
valid++;
break;
case AP_LINK_TO_ROBOT_TCP:
if(element){
robot=dynamic_cast<RobotSim*>(element);
char *objectname=m->getStringAt(0);
PositionableEntity *target=getElement(nworld,objectname,&worldindex);
if(target&&robot){
target->LinkTo(robot->getTcp());
}
valid++;
}
break;
}
delete m;//aseguro limpieza
}
char messageLog[150];
sprintf(messageLog,"Commands Executed: %d/%d",valid,total);
wxLogStatus(messageLog);
//temp->Send(request,50);
}
}
temp->close();
delete temp;
}
}