C++ core::MSG类代码示例

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本文整理汇总了C++中aris::core::MSG类的典型用法代码示例。如果您正苦于以下问题：C++ MSG类的具体用法？C++ MSG怎么用？C++ MSG使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。

在下文中一共展示了MSG类的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: On_VS_DataReceived

int On_VS_DataReceived(Aris::Core::CONN *pConn, Aris::Core::MSG &data)
{
    cout<<"receive data from visual system"<<endl;

    double *map = new double [data.GetLength()/sizeof(double)];
    memcpy(map, data.GetDataAddress(), data.GetLength()  );

    static double currentH[6],nextH[6];

    memcpy(nextH,map,sizeof(nextH));

    HexIII.MotionPlanWithKinect(currentH,nextH,*Gait_Calculated_From_Map);

    memcpy(currentH,nextH,sizeof(nextH));

    delete[] map;

    for(int j=0;j<GAIT_ADAPTIVEWALK_LEN;j++)
    {
        for(int i=0;i<GAIT_WIDTH;i++)
        {
            CGait::GaitAdaptiveWalk[j][i]=-(int)(Gait_Calculated_From_Map[j][i]);
        }
    }

    Aris::Core::MSG controldata;
    controldata.SetMsgID(WALKADAPTIVE);
    cs.NRT_PostMsg(controldata);

    return 0;
}

开发者ID:chaixun，项目名称:robot，代码行数:31，代码来源:Server.cpp

示例2: if

Aris::Core::MSG parseSwing(const std::string &cmd, const map<std::string, std::string> &params)
{
    SWING_PARAM  param;

    for(auto &i:params)
    {
        if(i.first=="y")
        {
            param.centreP[1]=stod(i.second);
        }
        else if(i.first=="z")
        {
            param.centreP[2]=stod(i.second);
        }
        else if(i.first=="deg")
        {
            param.swingRad=stod(i.second)/180*PI;//计算身体摆动的弧度
        }
        else
        {
            std::cout<<"parse failed"<<std::endl;
            return MSG{};
        }
    }

    param.periodCount=3000;

    Aris::Core::MSG msg;
    msg.CopyStruct(param);

    std::cout<<"finished parse"<<std::endl;

    return msg;
}

开发者ID:liujimu，项目名称:RobotIII_Move，代码行数:34，代码来源:Move_Gait.cpp

示例3: On_VS_Connected

int On_VS_Connected(Aris::Core::MSG &msg)
{
    cout<<"Received Connection from Vision System:"<<endl;
    cout<<"   Remote IP is: "<<msg.GetDataAddress()+sizeof(int)<<endl;
    cout<<"   Port is     : "<<*((int*)msg.GetDataAddress()) << endl << endl;

    return 0;
}

开发者ID:chaixun，项目名称:robot，代码行数:8，代码来源:Server.cpp

示例4: show

int show(const Aris::Core::MSG &msg)
{
	cout << "Msg Length:" << msg.GetLength()<<endl;
	cout << "Msg MsgID :" << msg.GetMsgID()<<endl;
	//cout << "Msg Type  :" << msg.GetType()<<endl;
	cout << "Msg Data  :" << msg.GetDataAddress()<<endl<<endl;

	return 0;
}

开发者ID:Razofiter，项目名称:Aris，代码行数:9，代码来源:main.cpp

示例5: autoTurnRight

int autoTurnRight(Aris::Core::MSG &msg)
{
    EGAIT cmd=GAIT_TURN_RIGHT;
    Aris::Core::MSG data;
    data.SetLength(sizeof(cmd));
    data.Copy(&cmd,sizeof(cmd));
    cs.NRT_SendData(data);
    return 0;
}

开发者ID:chaixun，项目名称:HexIII，代码行数:9，代码来源:Control.cpp

示例6: autoEndDiscover

int autoEndDiscover(Aris::Core::MSG &msg)
{
    EGAIT cmd=GAIT_END_DISCOVER;
    Aris::Core::MSG data;
    data.SetLength(sizeof(cmd));
    data.Copy(&cmd,sizeof(cmd));
    cs.NRT_SendData(data);
    return 0;
}

开发者ID:chaixun，项目名称:HexIII，代码行数:9，代码来源:Control.cpp

示例7: autoMoveBack

int autoMoveBack(Aris::Core::MSG &msg)
{
    EGAIT cmd=GAIT_MOVE_BACK;
    Aris::Core::MSG data;
    data.SetLength(sizeof(cmd));
    data.Copy(&cmd,sizeof(cmd));
    cs.NRT_SendData(data);
    return 0;
}

开发者ID:chaixun，项目名称:HexIII，代码行数:9，代码来源:Control.cpp

示例8: On_VS_ConnectionReceived

int On_VS_ConnectionReceived(Aris::Core::CONN *pConn, const char* addr,int port)
{
    Aris::Core::MSG msg;
    msg.SetMsgID(VS_Connected);
    msg.SetLength(sizeof(port));
    msg.Copy(&port,sizeof(port));
    msg.CopyMore(addr,strlen(addr));
    PostMsg(msg);
    return 0;
}

开发者ID:chaixun，项目名称:HexIII，代码行数:10，代码来源:Server.cpp

示例9: On_CS_Connected

//MSG call back functions
int On_CS_Connected(Aris::Core::MSG &msg)
{
    cout<<"Received Connection from Control System:"<<endl;
    cout<<"   Remote IP is: "<<msg.GetDataAddress()+sizeof(int)<<endl;
    cout<<"   Port is     : "<<*((int*)msg.GetDataAddress()) << endl << endl;

    Aris::Core::MSG data(0,0);
    ControlSystem.SendData(data);
    return 0;
}

开发者ID:bearves，项目名称:LegActiveComplianceTest，代码行数:11，代码来源:Server.cpp

示例10: On_CS_DataReceived

int On_CS_DataReceived(Aris::Core::CONN *pConn,Aris::Core::MSG &data)
{
    int cmd=data.GetMsgID()+100;
    Aris::Core::MSG CMD=CS_CMD_Received;
    CMD.SetLength(sizeof(int));
    bool IsCMDExecutable=true;
    CMD.Copy(&cmd,sizeof(int));
    cout<<"received CMD is"<<cmd<<endl;
    PostMsg(CMD);
    LastCMD=data.GetMsgID();
    return 0;
}

开发者ID:chaixun，项目名称:HexIII，代码行数:12，代码来源:Server.cpp

示例11: autoStart

int autoStart(Aris::Core::MSG &msg)
{

    EGAIT cmd=GAIT_HOME2START;
    Aris::Core::MSG data;

    data.SetLength(sizeof(cmd));
    data.Copy(&cmd,sizeof(cmd));
    cs.NRT_SendData(data);

    return 0;
}

开发者ID:chaixun，项目名称:HexIII，代码行数:12，代码来源:Control.cpp

示例12:

int Aris::RT_CONTROL::ACTUATION::NRT_PostMsg(Aris::Core::MSG &p_data)
{
	int ret;
	//printf("sizeof %d\n",sizeof(p_data));
	//p_data.SetMsgID((int)Aris::RT_CONTROL::CM_CUS_MESSAGE);
	ret=sysBase->NRT_SendDataRaw(p_data._pData,p_data.GetLength()+MSG_HEADER_LENGTH);
	//printf("NRT_SendData is me :%d\n",ret);
	return 0;
}//ok

开发者ID:mexyl，项目名称:Aris，代码行数:9，代码来源:Aris_Control.cpp

示例13: On_CS_DataReceived

int On_CS_DataReceived(Aris::Core::CONN *pConn, Aris::Core::MSG &data)
{
    int cmd=data.GetMsgID();
    MSG CMD=CS_CMD_Received;
    CMD.SetLength(sizeof(int));
    CMD.Copy(&cmd,sizeof(int));
    cout<<"received CMD is "<<cmd<<endl;
    PostMsg(CMD);
    return 0;
}

开发者ID:chaixun，项目名称:robot，代码行数:10，代码来源:Server.cpp

示例14: On_CS_CMD_Received

int On_CS_CMD_Received(Aris::Core::MSG &msg)
{
    int Command_Gait;
    msg.Paste(&Command_Gait,sizeof(int));
    Aris::Core::MSG Gait=Command_Gait;
    cout<<"Gait Needed is: "<<Gait.GetMsgID()<<endl;
    PostMsg(Gait);
    Aris::Core::MSG data(0,0);
    ControlSystem.SendData(data);
    return 0;
}

开发者ID:chaixun，项目名称:HexIII，代码行数:11，代码来源:Server.cpp

示例15: On_CS_DataReceived

int On_CS_DataReceived(Aris::Core::CONN *pConn, Aris::Core::MSG &data)
{
    int cmd_id=data.GetMsgID();
    Aris::Core::MSG CMD;
    CMD.SetMsgID(CS_CMD_Received);
    CMD.SetLength(sizeof(int));
    CMD.Copy(&cmd_id,sizeof(int));
    
    // if the cmd has data, it should be repost together
    CMD.CopyMore(data.GetDataAddress(), data.GetLength());

    cout<<"received CMD is "<<cmd_id<<endl;

    PostMsg(CMD);
    return 0;
}

开发者ID:bearves，项目名称:LegActiveComplianceTest，代码行数:16，代码来源:Server.cpp

示例16: OnVisualSystemDataNeeded

int OnVisualSystemDataNeeded(Aris::Core::MSG &msg)
{
    static int i = 0;

    cout<<"Capture "<<i<<" begin!!!"<<endl;

    visionsensor.capture(&i);

    while(1)
    {
        if(i>40)
        {
            Kinect::ControlCommand = NoValidCommand;
            Aris::Core::MSG data;
            data.SetLength(1 * sizeof(int));
            memset(data.GetDataAddress(), 0, data.GetLength());
            data.Copy(&Kinect::ControlCommand, sizeof(i));
            pVisualSystem->SendData(data);
            break;
        }
        else
        {
            if(Kinect::IsCaptureEnd == true)
            {
                Kinect::IsCaptureEnd = false;
                Aris::Core::MSG data;
                data.SetLength(1 * sizeof(int));
                memset(data.GetDataAddress(), 0, data.GetLength());
                data.Copy(&Kinect::ControlCommand, sizeof(i));
                pVisualSystem->SendData(data);
                break;
            }
        }
    }
    return 0;
}

开发者ID:chaixun，项目名称:robot，代码行数:36，代码来源:Vision_Client.cpp

示例17: if

Aris::Core::MSG parseCWF(const std::string &cmd, const std::map<std::string, std::string> &params)
{
    Robots::WALK_PARAM  param;

    for (auto &i : params)
    {
        if (i.first == "totalCount")
        {
            param.totalCount = std::stoi(i.second);
        }
        else if (i.first == "walkDirection")
        {
            param.walkDirection = std::stoi(i.second);
        }
        else if (i.first == "upDirection")
        {
            param.upDirection = std::stoi(i.second);
        }
        else if (i.first == "distance")
        {
            param.d = std::stod(i.second);
        }
        else if (i.first == "height")
        {
            param.h = std::stod(i.second);
        }
    }

    isStoppingCWF=false;

    Aris::Core::MSG msg;

    msg.CopyStruct(param);

    return msg;
}

开发者ID:liujimu，项目名称:RobotGaits，代码行数:36，代码来源:continuous_walk_with_force.cpp

示例18: OnGetControlCommand

int OnGetControlCommand(MSG &msg)
{
    int CommandID;
    msg.Paste(&CommandID,sizeof(int));
    Aris::Core::MSG data;

    switch(CommandID)
    {
    case 1:
        data.SetMsgID(POWEROFF);
        cs.NRT_PostMsg(data);
        break;
    case 2:
        data.SetMsgID(STOP);
        cs.NRT_PostMsg(data);
        break;
    case 3:
        data.SetMsgID(ENABLE);
        cs.NRT_PostMsg(data);
        break;
    case 4:
        data.SetMsgID(RUNNING);
        cs.NRT_PostMsg(data);
        break;
    case 5:
        data.SetMsgID(GOHOME_1);
        cs.NRT_PostMsg(data);
        break;
    case 6:
        data.SetMsgID(GOHOME_2);
        cs.NRT_PostMsg(data);
        break;
    case 7:
        data.SetMsgID(HOME2START_1);
        cs.NRT_PostMsg(data);
        break;
    case 8:
        data.SetMsgID(HOME2START_2);
        cs.NRT_PostMsg(data);
        break;
    case 9:
        data.SetMsgID(FORWARD);
        cs.NRT_PostMsg(data);
        break;
    case 10:
        data.SetMsgID(BACKWARD);
        cs.NRT_PostMsg(data);
        break;
    case 11:
        data.SetMsgID(TURNLEFT);
        cs.NRT_PostMsg(data);
        break;
    case 12:
        data.SetMsgID(TURNRIGHT);
        cs.NRT_PostMsg(data);
        break;
    case 13:
        data.SetMsgID(LEGUP);
        cs.NRT_PostMsg(data);
        break;
    case 14:
        data.SetMsgID(BEGINDISCOVER);
        cs.NRT_PostMsg(data);
        break;
    case 15:
        data.SetMsgID(ENDDISCOVER);
        cs.NRT_PostMsg(data);
        break;
    case 16:
        Aris::Core::PostMsg(Aris::Core::MSG(VS_Capture));
        CGait::IsWalkAdaptiveRegistered=true;
        break;
    default:
        cout<<"Do Not Get Validate CMD"<<endl;
        break;
    }
    return CommandID;
}

开发者ID:chaixun，项目名称:robot，代码行数:78，代码来源:Server.cpp

示例19: SendRequest

	int SendRequest(int argc, char *argv[], const char *xmlFileName)
	{
		/*需要去除命令名的路径和扩展名*/
		std::string cmdName(argv[0]);
		
#ifdef PLATFORM_IS_WINDOWS
		if (cmdName.rfind('\\'))
		{
			cmdName = cmdName.substr(cmdName.rfind('\\') + 1, cmdName.npos);
		}
#endif
#ifdef PLATFORM_IS_LINUX
		if (cmdName.rfind('/'))
		{
			cmdName = cmdName.substr(cmdName.rfind('/') + 1, cmdName.npos);
		}
#endif
		
		if (cmdName.rfind('.'))
		{
			cmdName = cmdName.substr(0, cmdName.rfind('.'));
		}

		/*添加命令的所有参数*/
		for (int i = 1; i < argc; ++i)
		{
			cmdName = cmdName + " " + argv[i];
		}



		/*构造msg，这里需要先copy命令名称，然后依次copy各个参数*/
		Aris::Core::MSG msg;
		msg.Copy(cmdName.c_str());
		


		/*连接并发送msg*/
		Aris::Core::DOCUMENT doc;

		if (doc.LoadFile(xmlFileName) != 0)
			throw std::logic_error("failed to read configuration xml file");

		std::string ip = doc.RootElement()->FirstChildElement("Server")->FirstChildElement("Connection")->Attribute("IP");
		std::string port = doc.RootElement()->FirstChildElement("Server")->FirstChildElement("Connection")->Attribute("Port");

		Aris::Core::CONN conn;

		while (true)
		{
			try 
			{
				conn.Connect(ip.c_str(), port.c_str());
				break;
			}
			catch (std::exception &)
			{
				std::cout << "failed to connect server, will retry in 1 second" << std::endl;
				Aris::Core::Sleep(1000);
			}
			
		}
		
		Aris::Core::MSG ret = conn.SendRequest(msg);

		/*错误处理*/
		if (ret.GetLength() > 0)
		{
			std::cout << "cmd has fault, please regard to following information:" << std::endl;
			std::cout << "    " << ret.GetDataAddress() << std::endl;
		}
		else
		{
			std::cout << "send command successful" << std::endl;
		}

		return 0;
	}

开发者ID:chaixun，项目名称:Robots，代码行数:78，代码来源:Robot_Client.cpp

示例20: tg

int tg(CMachineData& machineData,RT_MSG& msg)
{
    const int MapAbsToPhy[18]=
    {
        10,	11,	9,
        12,	14,	13,
        17,	15,	16,
        6,	8,	7,
        3,	5,	4,
        0,	2,	1
    };
    const int MapPhyToAbs[18]=
    {
        15,	17,	16,
        12,	14,	13,
        9,	11,	10,
        2,	0,	1,
        3,	5,	4,
        7,	8,	6
    };

    int CommandID;
    CommandID=msg.GetMsgID();

    switch(CommandID)
    {
    case NOCMD:
        for(int i=0;i<18;i++)
        {
            machineData.motorsCommands[i]=EMCMD_NONE;
        }
        rt_printf("NONE Command Get in NRT\n" );
        break;
    case ENABLE:
        for(int i=0;i<18;i++)
        {
            machineData.motorsCommands[i]=EMCMD_ENABLE;
        }
        rt_printf("ENABLE Command Get in NRT\n" );
        break;
    case POWEROFF:
        for(int i=0;i<18;i++)
        {
            machineData.motorsCommands[i]=EMCMD_POWEROFF;
            gait.IfReadytoSetGait(false,i);
        }
        rt_printf("POWEROFF Command Get in NRT\n" );
        break;
    case STOP:
        for(int i=0;i<18;i++)
        {
            machineData.motorsCommands[i]=EMCMD_STOP;
        }
        rt_printf("STOP Command Get in NRT\n" );
        break;
    case RUNNING:
        for(int i=0;i<18;i++)
        {
            machineData.motorsCommands[i]=EMCMD_RUNNING;
            gait.IfReadytoSetGait(true,i);
        }
        rt_printf("RUNNING Command Get in NRT\n" );
        break;
    case GOHOME_1:
        machineData.motorsCommands[MapAbsToPhy[0]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[1]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[2]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[6]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[7]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[8]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[12]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[13]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[14]]=EMCMD_GOHOME;

        gaitcmd[MapAbsToPhy[0]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[1]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[2]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[6]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[7]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[8]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[12]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[13]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[14]]=EGAIT::GAIT_HOME;

        rt_printf("GOHOME_1 Command Get in NRT\n" );
        break;
    case GOHOME_2:
        machineData.motorsCommands[MapAbsToPhy[3]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[4]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[5]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[9]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[10]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[11]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[15]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[16]]=EMCMD_GOHOME;
        machineData.motorsCommands[MapAbsToPhy[17]]=EMCMD_GOHOME;

        gaitcmd[MapAbsToPhy[3]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[4]]=EGAIT::GAIT_HOME;
        gaitcmd[MapAbsToPhy[5]]=EGAIT::GAIT_HOME;
//.........这里部分代码省略.........

开发者ID:chaixun，项目名称:robot，代码行数:101，代码来源:Control.cpp

注：本文中的aris::core::MSG类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。