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- package at.acdp.urweb.rtde;
- import org.slf4j.LoggerFactory;
- import java.io.*;
- import java.net.Socket;
- import java.nio.ByteBuffer;
- import java.nio.ByteOrder;
- import java.util.List;
- import static at.acdp.urweb.rtde.CommandType.RTDE_REQUEST_PROTOCOL_VERSION;
- public class RTDEClient implements Runnable {
- private final static org.slf4j.Logger logger = LoggerFactory.getLogger(RTDEClient.class);
- private final String ip;
- private final int port;
- private volatile boolean _running=true;
- private DataOutputStream dos;
- private DataInputStream dis;
- public static int RTDE_PROTOCOL_VERSION=2;
- public RTDEClient(String ip, int port) {
- this.ip=ip;
- this.port=port;
- }
- public void start() throws IOException {
- 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());
- negotiate_protocol_version();
- //Thread readThread = new Thread(this);
- //readThread.start();
- // send_output_setup(List.of(OutParams.timestamp), List.of(), 125);
- }
- }
- // Internal method that actually reads the data
- private void readSocket() throws IOException {
- while(true) {
- int length = dis.readInt();
- double[] rtm = new double[length];
- rtm[0] = length;
- // Calculate how much data is available from the length
- int data_available = (length - 4) / 8;
- for(int i=0; i<data_available; i++){
- rtm[i] = dis.readDouble();
- }
- }
- }
- private interface RtdeData<T> {
- public CommandType getType();
- public T read(DataInputStream di) throws IOException;
- public T send(DataOutputStream dos) throws IOException;
- }
- private class RtdeRequestProtocolVersion implements RtdeData{
- public int major, minor, bugfix, build;
- int size=5;
- @Override
- public CommandType getType() {
- return RTDE_REQUEST_PROTOCOL_VERSION;
- }
- @Override
- public RtdeRequestProtocolVersion read(DataInputStream d) throws IOException {
- major = d.readInt();
- minor = d.readInt();
- bugfix = d.readInt();
- build = d.readInt();
- return this;
- }
- @Override
- public RtdeRequestProtocolVersion send(DataOutputStream dos) throws IOException {
- dos.writeByte(5);
- dos.writeShort(getType().getVal());
- dos.writeShort(RTDE_PROTOCOL_VERSION);
- dos.flush();
- return this;
- }
- }
- private void receive(RtdeData cmd) throws IOException {
- logger.info(cmd.getType().toString());
- cmd.read(dis);
- }
- @Override
- public void run() {
- try {
- negotiate_protocol_version();
- } catch (IOException e) {
- e.printStackTrace();
- }
- while(_running) {
- try {
- readSocket();
- } catch (IOException e) {
- e.printStackTrace();
- }
- }
- }
- public void send_input_setup(List<String> variables, List<String> types) throws IOException {
- var cmd = CommandType.RTDE_CONTROL_PACKAGE_SETUP_INPUTS;
- var payload = String.join(",", variables);
- var rpv = new RtdeRequestProtocolVersion();
- }
- private void sendAndReceive(RtdeData cmd) throws IOException {
- cmd.send(dos);
- cmd.read(dis);
- }
- public void send_output_setup(List<String> variables, List<String> types, int frequency) throws IOException {
- var payload = String.join(",", variables);
- byte[] p= payload.getBytes();
- ByteBuffer bytes = ByteBuffer.allocate(8+p.length);
- bytes.putDouble(frequency);
- bytes.put(p);
- // sendAndReceive(rpv, bytes.array());
- }
- public void negotiate_protocol_version() throws IOException {
- var rpv = new RtdeRequestProtocolVersion();
- sendAndReceive(rpv);
- }
- }
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