java4cpp/src/test/resources/use_crcl.cpp at java4cpp-1.2 · wshackle/java4cpp · GitHub

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#include "crclj.h"

#include <iostream>

using namespace crclj;

using namespace crclj::crcl::base;

using namespace crclj::crcl::utils;

using namespace crclj::java::math;

using namespace crclj::java::util;

using namespace std;

int main(int argc, const char **argv) {

try {

// Connect to the server

CRCLSocket s("localhost", 64444);

// Create an instance to wrap all commands.

CRCLCommandInstanceType instance;

// Create and send init command.

InitCanonType initCmd;

initCmd.setCommandID(BigInteger::valueOf(7));

instance.setCRCLCommand(initCmd);

s.writeCommand(instance, JNI_FALSE);

// Create and send MoveTo command.

MoveToType moveTo;

moveTo.setCommandID(BigInteger::valueOf(8));

PoseType pose;

PointType pt;

pt.setX(BigDecimal::valueOf(1.1));

pt.setY(BigDecimal::valueOf(0.0));

pt.setZ(BigDecimal::valueOf(0.1));

pose.setPoint(pt);

VectorType xAxis;

xAxis.setI(BigDecimal::getONE());

xAxis.setI(BigDecimal::getZERO());

pose.setXAxis(xAxis);

VectorType zAxis;

zAxis.setI(BigDecimal::getZERO());

pose.setXAxis(zAxis);

moveTo.setEndPosition(pose);

moveTo.setMoveStraight(false);

s.writeCommand(instance, false);

GetStatusType getStat;

getStat.setCommandID(BigInteger::valueOf(9));

instance.setCRCLCommand(getStat);

s.writeCommand(instance, JNI_FALSE);

CRCLStatusType stat = s.readStatus(JNI_FALSE);

CommandStatusType cmdStat = stat.getCommandStatus();

BigInteger IDback = cmdStat.getCommandID();

PrintObject("Command ID=", IDback);

PrintObject("stat=",stat);

pose = stat.getPose();

PrintObject("pose=",pose);

pt = pose.getPoint();

PrintObject("X:",pt.getX());

PrintObject("Y:",pt.getY());

PrintObject("Z:",pt.getZ());

JointStatusesType jst = stat.getJointStatuses();

List l = jst.getJointStatus();

for (int i = 0; i < l.size(); i++) {

JointStatusType elem;

elem = JointStatusType::cast(l.get(i));

PrintObject("Joint Number :",elem.getJointNumber());

PrintObject("Joint Position :",elem.getJointPosition());

}

cout << " End of C++ main() reached. " << endl;

} catch (jthrowable t) {

PrintJThrowable("Exception Thrown : ", t);

}

java4cpp/src/test/resources/use_crcl.cpp at java4cpp-1.2 · wshackle/java4cpp · GitHub

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