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- package at.acdp.urweb.rtde;
- import at.acdp.urweb.rtde.packets.*;
- import org.slf4j.LoggerFactory;
- import java.io.DataInputStream;
- import java.io.DataOutputStream;
- import java.io.IOException;
- import java.net.Socket;
- import java.util.HashMap;
- import java.util.concurrent.Semaphore;
- import static at.acdp.urweb.rtde.CommandType.*;
- public class RTDEClient implements Runnable {
- private final static org.slf4j.Logger logger = LoggerFactory.getLogger(RTDEClient.class);
- private final Semaphore waitingRequestSem = new Semaphore(0);
- private final Semaphore socketOpen = new Semaphore(0);
- private volatile IRtdeData waitingRequest=null;
- public static int RTDE_PROTOCOL_VERSION = 2;
- private final String ip;
- private final int port;
- private final boolean _running = true;
- private DataOutputStream dos;
- private DataInputStream dis;
- private Thread readThread;
- private RtdeSetupOutputs outputs;
- private HashMap<String, String> lastData;
- public RTDEClient(String ip, int port) {
- this.ip = ip;
- this.port = port;
- }
- public void start() throws IOException, InterruptedException {
- readThread = new Thread(this);
- readThread.start();
- socketOpen.acquire();
- init();
- }
- public HashMap<String, String> getLastData() {
- return lastData;
- }
- public void request(IRtdeData data) throws IOException, InterruptedException {
- if(readThread.getId()==Thread.currentThread().getId()) {
- logger.error("request() must not be called from readThread.");
- }
- waitingRequest=data;
- data.send(dos);
- waitingRequestSem.acquire();
- waitingRequest=null;
- return;
- }
- // Internal method that actually reads the data
- private void readSocket() throws IOException, InterruptedException {
- int length = dis.readShort();
- int type=dis.readByte();
- var wreq=waitingRequest;
- if(wreq != null && type==wreq.getType()) {
- waitingRequest.read(dis, length-3);
- if(type== RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS) {
- outputs= (RtdeSetupOutputs) waitingRequest;
- }
- waitingRequestSem.release();
- } else switch(type) {
- case RTDE_TEXT_MESSAGE:
- var rpv = new RtdeTextMessage();
- rpv.read(dis, length-3);
- logger.info(String.format("RTDE_TEXT_MESSAGE: %s", rpv.text));
- break;
- case RTDE_DATA_PACKAGE:
- var p = new RtdeDataPackage(outputs);
- p.read(dis, length-3);
- lastData=p.getPdata();
- lastData.entrySet().forEach(entry->{
- System.out.println(entry.getKey() + " " + entry.getValue());
- });
- break;
- default: {
- logger.warn(String.format("Unexpected package type: %d", type));
- byte[] buf=new byte[length];
- dis.readFully(buf);
- }
- }
- }
- @Override
- public void run() {
- try {
- Socket rt = new Socket(ip, port);
- rt.setSoTimeout(0);
- rt.setReuseAddress(true);
- rt.setTcpNoDelay(true);
- if (rt.isConnected()) {
- System.out.println("Connected to UR Realtime Client");
- }
- dos = new DataOutputStream(rt.getOutputStream());
- dis = new DataInputStream(rt.getInputStream());
- socketOpen.release();
- while (_running) {
- try {
- readSocket();
- } catch (IOException | InterruptedException e) {
- e.printStackTrace();
- }
- }
- } catch (IOException e) {
- logger.warn("run",e);
- }
- }
- public void init() throws IOException, InterruptedException {
- var rpv = new RtdeRequestProtocolVersion();
- request(rpv);
- logger.info("RtdeRequestProtocolVersion succes:" + rpv.success);
- var ruv = new RtdeRequestURVersion();
- request(ruv);
- logger.info(String.format("RtdeRequestURVersion: %d.%d.%d.%d",ruv.major, ruv.minor, ruv.build, ruv.bugfix));
- }
- }
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