graspit: /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/graspitServer.h Source File

00001 //######################################################################
00002 //
00003 // GraspIt!
00004 // Copyright (C) 2002-2009  Columbia University in the City of New York.
00005 // All rights reserved.
00006 //
00007 // GraspIt! is free software: you can redistribute it and/or modify
00008 // it under the terms of the GNU General Public License as published by
00009 // the Free Software Foundation, either version 3 of the License, or
00010 // (at your option) any later version.
00011 //
00012 // GraspIt! is distributed in the hope that it will be useful,
00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015 // GNU General Public License for more details.
00016 //
00017 // You should have received a copy of the GNU General Public License
00018 // along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
00019 //
00020 // Author(s):  Andrew T. Miller 
00021 //
00022 // $Id: graspitServer.h,v 1.3 2009/03/25 22:10:23 cmatei Exp $
00023 //
00024 //######################################################################
00025 
00030 #ifndef GRASPITSERVER_HXX
00031 #include <q3serversocket.h>
00032 #include <q3socket.h>
00033 #include <qstringlist.h>
00034 #include <iostream>
00035 #include <vector>
00036 
00037 class Body;
00038 class Robot;
00039 
00041 
00071 class ClientSocket : public Q3Socket
00072 {
00073   Q_OBJECT
00074     
00075 public:
00076 
00082   ClientSocket( int sock, QObject *parent=0, const char *name=0 ) :
00083     Q3Socket( parent, name )
00084     {
00085       connect( this, SIGNAL(readyRead()), SLOT(readClient()) );
00086       connect( this, SIGNAL(connectionClosed()), SLOT(connectionClosed()) );
00087       setSocket( sock );
00088     }
00089   
00090   ~ClientSocket();
00091   
00092 private:
00093 
00095   QString line;
00096   
00098   QStringList lineStrList;
00099 
00101   QStringList::const_iterator strPtr;
00102 
00103   int readBodyIndList(std::vector<Body *> &bodyVec);
00104   int readRobotIndList(std::vector<Robot *> &robVec);
00105   void sendContacts(Body *bod,int numData);
00106   void sendAverageContacts(Body *bod);
00107   void sendBodyName(Body* bod);
00108   void computeNewVelocities(double ts);
00109   void moveDynamicBodies(double ts);
00110 
00111   void sendRobotName(Robot* rob);
00112   void sendDOFVals(Robot *rob);
00113 
00114   int readDOFVals();
00115   int readDOFForces(Robot *rob);
00116 
00117   // not finished yet:
00118   // void readTorques();
00119   // void moveBody(Body* bod); 
00120 
00121 private slots:
00122   void readClient();
00123 
00125   void connectionClosed() { delete this;}
00126 
00127 };
00128 
00130 
00135 class GraspItServer : public Q3ServerSocket
00136 {
00137   Q_OBJECT
00138   //  std::vector<SocketNotifier *> snVec;
00139 
00140  public:
00141   GraspItServer(Q_UINT16 port, int backlog = 1, QObject *parent = 0,
00142                 const char *name = 0);
00143 
00145   ~GraspItServer() {}
00146   void newConnection(int socket);
00147 };
00148 #define GRASPITSERVER_HXX
00149 #endif