grasp_utility.cpp
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 00033 #include <simple_message/smpl_msg_connection.h> 00034 #include <simple_message/simple_message.h> 00035 #include <armadillo/armadillo.h> 00036 #include <armadillo/messages/gripper_message.h> 00037 #include <iostream> 00038 using namespace std; 00039 using namespace industrial::smpl_msg_connection; 00040 using namespace industrial::simple_message; 00041 using namespace industrial::armadillo; 00042 using namespace industrial::gripper_message; 00043 00044 00045 00046 #include <simple_message/socket/tcp_client.h> 00047 00048 int main(int argc, char** argv) 00049 { 00050 industrial::tcp_client::TcpClient robot; 00051 robot.init("192.168.10.3", industrial::simple_socket::StandardSocketPorts::IO); 00052 robot.makeConnect(); 00053 00054 cout << "Grasp client connected" << endl;; 00055 00056 int i = 0; 00057 while (true) 00058 { 00059 cout << "Armadillo Grasp Utility" << endl 00060 << "1. INIT" << endl 00061 << "2. CLOSE" << endl 00062 << "3. OPEN" << endl; 00063 cin >> i; 00064 00065 GripperMessage gMsg; 00066 SimpleMessage request; 00067 SimpleMessage reply; 00068 00069 switch(i) 00070 { 00071 case 1: 00072 gMsg.init(GripperOperationTypes::INIT); 00073 gMsg.toRequest(request); 00074 robot.sendAndReceiveMsg(request, reply); 00075 cout << "Gripper initialized" << endl; 00076 break; 00077 00078 case 2: 00079 gMsg.init(GripperOperationTypes::CLOSE); 00080 gMsg.toRequest(request); 00081 robot.sendAndReceiveMsg(request, reply); 00082 cout << "Gripper closed" << endl; 00083 break; 00084 00085 case 3: 00086 gMsg.init(GripperOperationTypes::OPEN); 00087 gMsg.toRequest(request); 00088 robot.sendAndReceiveMsg(request, reply); 00089 cout << "Gripper opened" << endl; 00090 break; 00091 00092 default: 00093 return 0; 00094 } 00095 } 00096 return 0; 00097 } 00098 00099 00100 00101