cmd_server.hpp File Reference

CMD Server for Marty, enabling execution of CMDs remotely. More...

#include <sys/socket.h>
#include <netinet/in.h>
#include <fcntl.h>
#include <signal.h>
#include "marty_msgs/Command.h"
#include "marty_msgs/ServoMsg.h"
#include "marty_msgs/ServoMsgArray.h"
#include "ros_marty/marty_core.hpp"
#include "ros_marty/trajectory.hpp"
#include "std_msgs/Float32.h"
#include "geometry_msgs/Pose2D.h"
#include "marty_msgs/GPIOs.h"
#include "marty_msgs/Accelerometer.h"
#include "marty_msgs/MotorCurrents.h"

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Classes
class	CmdServer

Macros
#define	PORT   1569
#define	stop_wait   150

Enumerations
enum	Axis { AXES_X = 0, AXES_Y, AXES_Z }
enum	Commands {   CMD_HELLO = 0, CMD_MOVEJOINT, CMD_LEAN, CMD_WALK,   CMD_EYES, CMD_KICK, CMD_LIFTLEG, CMD_LOWERLEG,   CMD_CELEBRATE, CMD_DANCE, CMD_ROLLERSKATE, CMD_ARMS,   CMD_DEMO, CMD_GET, CMD_SIDESTEP, CMD_STRAIGHT,   CMD_SOUND, CMD_STOP }
enum	Direction { CMD_LEFT = 0, CMD_RIGHT, CMD_FORW, CMD_BACK }
	Add new commands here for the server to receive. More...
enum	Joint {   J_HIP = 0, J_TWIST, J_KNEE, J_LEG,   J_ARM, J_EYES }
enum	Sensors {   GET_GPIO = 0, GET_ACCEL, GET_BATT, GET_CURR,   GET_BALL }

Detailed Description

CMD Server for Marty, enabling execution of CMDs remotely.

Author

Alejandro Bordallo alex..nosp@m.bord.nosp@m.allo@.nosp@m.robo.nosp@m.tical.nosp@m..io

Date

2016-02-06

Copyright

(Apache) 2016 Robotical Ltd.

Definition in file cmd_server.hpp.

Macro Definition Documentation

#define PORT   1569

Definition at line 32 of file cmd_server.hpp.

#define stop_wait   150

Definition at line 35 of file cmd_server.hpp.

Enumeration Type Documentation

enum Axis

Enumerator
AXES_X
AXES_Y
AXES_Z

Definition at line 47 of file cmd_server.hpp.

enum Commands

Enumerator
CMD_HELLO
CMD_MOVEJOINT
CMD_LEAN
CMD_WALK
CMD_EYES
CMD_KICK
CMD_LIFTLEG
CMD_LOWERLEG
CMD_CELEBRATE
CMD_DANCE
CMD_ROLLERSKATE
CMD_ARMS
CMD_DEMO
CMD_GET
CMD_SIDESTEP
CMD_STRAIGHT
CMD_SOUND
CMD_STOP

Definition at line 62 of file cmd_server.hpp.

enum Direction

Add new commands here for the server to receive.

Enumerator
CMD_LEFT
CMD_RIGHT
CMD_FORW
CMD_BACK

Definition at line 40 of file cmd_server.hpp.

enum Joint

Enumerator
J_HIP
J_TWIST
J_KNEE
J_LEG
J_ARM
J_EYES

Definition at line 53 of file cmd_server.hpp.

enum Sensors

Enumerator
GET_GPIO
GET_ACCEL
GET_BATT
GET_CURR
GET_BALL

Definition at line 83 of file cmd_server.hpp.