netServerExample.cpp

Shows how to use ArNetServer, a simple text command receiver

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"

// To use the net server, start this program, then use the 'telnet' program to connect to localhost
// on TCP port 7171 by running this command:
//   telnet localhost 7171
// When connected and prompted for a password, type in:
//   password
// and press enter.  Then you can enter a command. Use the 'help' command to print available commands.
// For this program, try "test" and "test2" with and without additional arguments.
// ArNetServer is a simple way to provide a quick remote control interface for a robot control 
// program running on the robot's onboard computer over wireless networking, if you don't want to 
// use the ArNetworking library and MobileEyes. (You can provide both options in a program however, 
// ArNetworking and ArNetServer use different TCP ports and will both run fine in the same program.)

// This function just prints out what the client entered and then sends some 
// data back. You could modify it to, for example, control the robot with
// different commands.
void test(char **argv, int argc, ArSocket *socket)
{
  int i;
  printf("Client said: ");
  for (i = 0; i < argc; ++i)
    printf("\t%s\n", argv[i]);
  printf("\n");
  socket->writeString("Thank you, command received.");
}


int main(int argc, char **argv)
{
  // Initialize Aria
  Aria::init();
  // we need a server
  ArNetServer server;
  // a callback for our test function
  ArGlobalFunctor3<char **, int, ArSocket *> testCB(&test);

  // start the server up without a robot on port 7171 with a password
  // of password and allow multiple clients
  if (!server.open(NULL, 7171, "password", true))
  {
    printf("Could not open server.\n");
    Aria::exit(1);
    return 1;
  }
  
  // add our test command
  server.addCommand("test", &testCB, "this simply prints out the command given on the server");
  server.addCommand("test2", &testCB, "this simply prints out the command given on the server");
  
  //server.setLoggingDataSent(true);
  //server.setLoggingDataReceived(true);
  // run while the server is running
  while (server.isOpen() && Aria::getRunning())
  {
    server.runOnce();
    ArUtil::sleep(1);
  }
  server.close();
  Aria::exit(0);
  return 0;  
}