195 lines
4.1 KiB
C++
195 lines
4.1 KiB
C++
/*
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* Copyright (C) 2019 AIRC 01
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A TCP communication to send and receive Pose informations of robot entities
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* Author: Zhang Shuai & Zeng Lei
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*/
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#ifndef _TCPCOMMUNICATION_HH_
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#define _TCPCOMMUNICATION_HH_
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#include <string>
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#include <errno.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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// #include <fcntl.h>
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#include <unistd.h>
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// #include <vector>
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// #include <sdf/sdf.hh>
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// #include "gazebo/physics/World.hh"
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#include "gazebo/util/system.hh"
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#include "gazebo/math/Pose.hh"
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#define QUEUE 1
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#define BUF_SIZE 8192
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namespace gazebo
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{
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namespace physics
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{
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/// \brief Structure of Pose information communicated with Tcp
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struct CommunicationData
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{
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uint32_t ID;
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char link_name[16];
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math::Pose link_pose;
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};
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/// \addtogroup gazebo_physics
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/// \{
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/// \class TcpServer TcpCommunication.hh physics/physics.hh
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/// \brief Send and receive Pose informations of robot entities
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///
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class GZ_PHYSICS_VISIBLE TcpServer
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{
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/// \brief Constructor.
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public:
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TcpServer();
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/// \brief Destructor.
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public:
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~TcpServer();
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/// \brief Start Tcp server waiting for the request of client.
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public:
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void StartServer();
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/// \brief Send the iterations of world.
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public:
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bool sendData(uint64_t nStep);
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/// \brief Receive the iterations of world.
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public:
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bool recvData(uint64_t &nStep);
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/// \brief Send Pose informations of robot entities.
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public:
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bool sendInfor(CommunicationData *_infor, unsigned int _simula_entity_num);
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/// \brief Receive Pose informations of robot entities.
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public:
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bool recvInfor(CommunicationData *_infor, unsigned int _shadow_entity_num);
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/// \brief Set port of network.
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public:
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void SetPort(int _port);
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/// \brief Close Tcp server.
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public:
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void Close();
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/// \brief Socket of server.
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private:
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int server_fd;
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/// \brief Socket of client.
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private:
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int client_fd;
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/// \brief Port of network.
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private:
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int port;
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/// \brief Structure of Server Network Address.
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private:
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struct sockaddr_in server_sockaddr;
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/// \brief Structure of Client Network Address.
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private:
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struct sockaddr_in client_sockaddr;
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/// \brief Buffer for data transfer.
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private:
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char buff[BUF_SIZE];
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};
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/// \class TcpClient TcpCommunication.hh physics/physics.hh
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/// \brief Send and receive Pose informations of robot entities
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///
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class GZ_PHYSICS_VISIBLE TcpClient
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{
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/// \brief Constructor.
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public:
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TcpClient();
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/// \brief Destructor.
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public:
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~TcpClient();
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/// \brief Connect to Tcp server.
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public:
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void ConnectServer();
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/// \brief Send the iterations of world.
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public:
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bool sendData(uint64_t nStep);
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/// \brief Receive the iterations of world.
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public:
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bool recvData(uint64_t &nStep);
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/// \brief Send Pose informations of robot entities.
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public:
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bool sendInfor(CommunicationData *_infor, unsigned int _simula_entity_num);
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/// \brief Receive Pose informations of robot entities.
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public:
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bool recvInfor(CommunicationData *_infor, unsigned int _shadow_entity_num);
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/// \brief Set IP of network.
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public:
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void SetIp(std::string _ip);
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/// \brief Set port of network.
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public:
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void SetPort(int _port);
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/// \brief Close Tcp server.
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public:
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void Close();
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/// \brief Socket of connection.
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private:
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int conn_fd;
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/// \brief IP of network.
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private:
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std::string ip;
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/// \brief Port of network.
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private:
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int port;
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/// \brief Structure of Server Network Address.
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private:
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struct sockaddr_in server_sockaddr;
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/// \brief Buffer for data transfer.
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private:
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char buff[BUF_SIZE];
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};
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/// \}
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} // namespace physics
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} // namespace gazebo
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#endif
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