1 package de.dlr.bt.stc.source.rsi.util;
2
3 import java.io.IOException;
4 import java.net.InetSocketAddress;
5 import java.net.SocketAddress;
6 import java.nio.ByteBuffer;
7 import java.nio.channels.DatagramChannel;
8
9 public class RSISender {
10 public static final String TESTMESSAGE = """
11 <Rob TYPE="KUKA">
12 <RIst X="0.0" Y="1.0" Z="2.0" A="3.0" B="4.0" C="5.5" />
13 <AIPos A1="0.0" A2="0.0" A3="0.0" A4="0.0" A5="0.0" A6="0.0" />
14 <IPOC>123645634563</IPOC>
15 <Mode>1</Mode>
16 <Offset>0</Offset>
17 </Rob>""";
18
19 public static void main(String[] args) throws IOException {
20 sendMessage(TESTMESSAGE, 12345, 2);
21 }
22
23 static void sendMessage(String message, int port, int repetitions) throws IOException {
24 try (DatagramChannel dc = DatagramChannel.open()) {
25 SocketAddress sa = new InetSocketAddress("127.0.0.1", port);
26 ByteBuffer bb = ByteBuffer.wrap(message.getBytes());
27
28 for (int i = 0; i < repetitions; i++)
29 dc.send(bb, sa);
30 }
31 }
32 }