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Network libraries of interest
Network communication protocol. Mode 1 : Physics server, controller client
Server : The physics engine
Server Socket 1 : Sends a packet with the following format:
| 1 double | pkt_size = total number of doubles in the packet (including the first pkt_size double) |
| 1 double | num_control_points (Eg. xyz control points set by a haptics device or by the keyboard) |
| n-dof doubles | q (generalized coords) |
| n-dof doubles | dq (generalized velocities) |
| n-dof doubles | ddq (generalized accelerations) |
| 3 doubles | Control point 1 |
| 3 doubles | Control point 2 |
| ... | |
| 3 doubles | Control point n |
Total packet size : { 2 + 3*n-dof + 3*n-control_points }
Max packet size : 1024 doubles
Server Socket 2 : Receives a packet with the following format
| 1 double | pkt_size = total number of doubles in the packet (including the first pkt_size double) |
| n-dof doubles | command torques/forces (in generalized coordinates) |
Total packet size : { 1 + n-dof }
Max packet size : 1024 doubles
Client : The controller
Client Socket 1 : Receives a packet with the following format:
| 1 double | pkt_size = total number of doubles in the packet (including the first pkt_size double) |
| 1 double | num_control_points (Eg. xyz control points set by a haptics device or by the keyboard) |
| n-dof doubles | q (generalized coords) |
| n-dof doubles | dq (generalized velocities) |
| n-dof doubles | ddq (generalized accelerations) |
| 3 doubles | Control point 1 |
| 3 doubles | Control point 2 |
| ... | |
| 3 doubles | Control point n |
Total packet size : { 2 + 3*n-dof + 3*n-control_points }
Max packet size : 1024 doubles
Client Socket 2 : Sends a packet with the following format
| 1 double | pkt_size = total number of doubles in the packet (including the first pkt_size double) |
| n-dof doubles | command torques/forces (in generalized coordinates) |
Total packet size : { 1 + n-dof }
Max packet size : 1024 doubles
Updated