Add the TCP/IP port in the curl calls

SCHUNK-SE-Co-KG · Jul 10, 2024 · 9116e12 · 9116e12
1 parent 70409aa
commit 9116e12
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Showing 4 changed files with 12 additions and 16 deletions.
diff --git a/schunk_egu_egk_gripper_dummy/src/dummy.py b/schunk_egu_egk_gripper_dummy/src/dummy.py
@@ -31,7 +31,7 @@ def process_get(self, path: str, query: dict[str, list[str]]) -> dict | list | N
         print(f"query: {query}")
 
         if path == "info.json":
-            return {}
+            return {"dataformat": 0}  # 0: Little endian, 1: Big endian
         if path == "enum.json":
             return []
         if path == "data.json":

diff --git a/schunk_egu_egk_gripper_dummy/tests/test_dummy.py b/schunk_egu_egk_gripper_dummy/tests/test_dummy.py
@@ -25,7 +25,7 @@ def test_dummy_responds_correctly_to_info_requests():
     dummy = Dummy()
     path = "info.json"
     query = ""
-    expected = {}
+    expected = {"dataformat": 0}
     assert dummy.process_get(path, query) == expected
 
 

diff --git a/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/communication.hpp b/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/communication.hpp
@@ -171,6 +171,7 @@ class AnybusCom
         void initAddresses();
 
         std::string ip;                                                                             //IP to the connected gripper
+        int port = 80;                                                                              //TCP/IP Port of the gripper
 
         uint8_t endian_format;                                                                      //Flag for big/little Endian
         bool not_double_word;                                                                       //Flag if double word is requested (double words are always big Endian)
@@ -266,6 +267,7 @@ inline void AnybusCom::getWithInstance(const char inst[7], paramtype *param, con
         curl_easy_setopt(curl, CURLOPT_HTTPGET, 1);
         curl_easy_setopt(curl, CURLOPT_WRITEDATA, &response);
         curl_easy_setopt(curl, CURLOPT_TIMEOUT, 1L);
+        curl_easy_setopt(curl, CURLOPT_PORT, port);
         res = curl_easy_perform(curl);
 
         if (res != CURLE_OK)
@@ -302,6 +304,7 @@ inline void AnybusCom::getWithOffset(const std::string &offset, const size_t & c
             curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, writeCallback);
             curl_easy_setopt(curl, CURLOPT_WRITEDATA, &response);
             curl_easy_setopt(curl, CURLOPT_TIMEOUT, 1);
+            curl_easy_setopt(curl, CURLOPT_PORT, port);
 
             res = curl_easy_perform(curl);
 

diff --git a/schunk_egu_egk_gripper_library/src/communication.cpp b/schunk_egu_egk_gripper_library/src/communication.cpp
@@ -37,7 +37,7 @@ size_t writeCallback(void* contents, size_t size, size_t nmemb, void* userp)
 }
 
 //Initialize the plcs and Addresses
-AnybusCom::AnybusCom(const std::string &ip, int port) : ip(ip)
+AnybusCom::AnybusCom(const std::string &ip, int port) : ip(ip), port(port)
 {
         initAddresses();  // for post and get
         curl = curl_easy_init();
@@ -172,20 +172,12 @@ void AnybusCom::postParameter(std::string inst, std::string value)
 //Inits used Addresses with the ip
 void AnybusCom::initAddresses()
 {
-    data_address = "http:///adi/data.json?";
-    update_address = "http:///adi/update.json";
-    enum_address = "http:///adi/enum.json?";
-    info_address = "http:///adi/info.json";
-    metadata_address = "http:///adi/metadata.json?";
-
     if(ip.size() >= 100) ip = "0.0.0.0";
-
-    data_address.insert(7, ip);
-    update_address.insert(7, ip);
-    enum_address.insert(7,ip);
-    info_address.insert(7,ip);
-    metadata_address.insert(7,ip);
-
+    data_address = "http://" + ip + ":" + std::to_string(port) + "/adi/data.json?";
+    update_address = "http://" + ip + ":" + std::to_string(port) + "/adi/update.json";
+    enum_address = "http://" + ip + ":" + std::to_string(port) + "/adi/enum.json?";
+    info_address = "http://" + ip + ":" + std::to_string(port) + "/adi/info.json";
+    metadata_address = "http://" + ip + ":" + std::to_string(port) + "/adi/metadata.json?";
 }
 
 //Translates the received string of double_word to an integer[4] an saves it in plc_sync_input
@@ -271,6 +263,7 @@ void AnybusCom::getEnums(const char inst[7], const uint16_t &enumNum)
         curl_easy_setopt(curl, CURLOPT_HTTPGET, 1);
         curl_easy_setopt(curl, CURLOPT_WRITEDATA, &response);
         curl_easy_setopt(curl, CURLOPT_TIMEOUT, 1L);
+        curl_easy_setopt(curl, CURLOPT_PORT, port);
 
         res = curl_easy_perform(curl);