TOPP-RA service server for ZMQ

Instructions:

Build the image with:

docker build -t zmq-toppra:1 .

Create a container, exposing port 22505 (can be changed in the Dockerfile)

docker create --name zmq-toppra --publish 22505:22505 zmq-toppra:1

Start the container:

docker start zmq-toppra

Usage with CoppeliaSim:

local context=simZMQ.ctx_new()
local socket=simZMQ.socket(context,simZMQ.REQ)
local result=simZMQ.connect(socket,'tcp://localhost:22505')
if result==-1 then
    local err=simZMQ.errnum()
    error('connect failed: '..err..': '..simZMQ.strerror(err))
end
local json=require'dkjson'
print('sending request...')
local result=simZMQ.send(socket,json.encode{
    samples=100,
    ss_waypoints={0,0.5,1},
    waypoints={{0,0},{0,1},{1,1}},
    velocity_limits={{-0.5,0.5},{-0.5,0.5}},
    acceleration_limits={{-0.05,0.05},{-0.05,0.05}}
},0)
if result==-1 then
    local err=simZMQ.errnum()
    error('send failed: '..err..': '..simZMQ.strerror(err))
end
print('waiting response...')
local msg=simZMQ.msg_new()
simZMQ.msg_init(msg)
local result=simZMQ.msg_recv(msg,socket,0)
if result==-1 then
    local err=simZMQ.errnum()
    error('msg_recv failed: '..err..': '..simZMQ.strerror(err))
end
local data=simZMQ.msg_data(msg)
if not data then
    error('msg_data failed')
end
simZMQ.msg_close(msg)
simZMQ.msg_destroy(msg)
print('received:')
local r=json.decode(data)
print(r.ts)
print(r.qs)
print(r.qds)
print(r.qdds)
simZMQ.close(socket)
simZMQ.ctx_term(context)

Troubleshooting:

Instead of docker create ... and docker start ... you can use a single docker run ... command, which will run an instance of the container in foreground showing the output messages.

docker run --name zmq-toppra -p 22505:22505 -it zmq-toppra:1 python3 ./toppra_server.py