examples/jgrafchart/labcommTCPtest/client/TestClient.java

+package labcommTCPtest.client;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.net.Socket;
+import java.net.UnknownHostException;
+
+import se.lth.control.labcomm2014.DecoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
+import labcommTCPtest.gen.foo;
+import labcommTCPtest.gen.foo.Handler;
+
+public class TestClient implements Handler {
+
+
+	private OutputStream out;
+	private InputStream in;
+
+	public TestClient(Socket server) throws IOException {
+		out = server.getOutputStream();
+		in = server.getInputStream();
+	}
+
+	public void test() {
+		
+		try {
+			EncoderChannel e = new EncoderChannel(out );
+			foo.register(e);
+			foo sample = new foo();
+			sample.c = 17;
+			sample.d = 42;
+			sample.h = 1717;
+			sample.b = 0.42;
+			sample.e = "Testing";
+			printSample("Client sending", sample);
+			foo.encode(e, sample);
+
+			DecoderChannel c = new DecoderChannel(in);
+			foo.register(c,this);
+			c.run();
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+	}
+
+	public static void main(String... args) {
+		String server = "localhost";
+		int port = 9999;
+		try {
+			Socket s = new Socket(server, port);
+			TestClient c = new TestClient(s);
+			c.test();
+		} catch (UnknownHostException e) {
+			e.printStackTrace();
+		} catch (IOException e) {
+			e.printStackTrace();
+		}
+	}
+
+	private void printSample(String header, foo sample2) throws Exception {
+		System.out.println(header);
+		System.out.format("TestClient.invoke(%f, %d, %d, %d)\n", sample2.b, sample2.c, sample2.d, sample2.h);
+	}
+
+	public void handle_foo(foo sample2) throws Exception {
+		printSample("TestClient.handle_foo", sample2);
+
+	}
+}

examples/jgrafchart/labcommTCPtest/client/TestClientSingleshot.java

+package labcommTCPtest.client;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.net.Socket;
+import java.net.UnknownHostException;
+
+import se.lth.control.labcomm2014.DecoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
+import labcommTCPtest.gen.FooSample;
+import labcommTCPtest.gen.FooSample.Handler;
+
+public class TestClientSingleshot implements Handler {
+
+
+	private OutputStream out;
+	private InputStream in;
+
+	public TestClientSingleshot(Socket server) throws IOException {
+		out = server.getOutputStream();
+		in = server.getInputStream();
+	}
+
+	public void test() {
+		
+		try {
+			EncoderChannel e = new EncoderChannel(out );
+			FooSample.register(e);
+			FooSample sample = new FooSample();
+			sample.x = 17;
+			sample.y = 42;
+			sample.t = 1717;
+			sample.d = 0.42;
+			printSample("Client sending", sample);
+			FooSample.encode(e, sample);
+
+			DecoderChannel c = new DecoderChannel(in);
+			FooSample.register(c,this);
+			c.runOne();
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+	}
+
+	public static void main(String... args) {
+		String server = "localhost";
+		int port = 9999;
+		try {
+			Socket s = new Socket(server, port);
+			TestClientSingleshot c = new TestClientSingleshot(s);
+			c.test();
+		} catch (UnknownHostException e) {
+			e.printStackTrace();
+		} catch (IOException e) {
+			e.printStackTrace();
+		}
+	}
+
+	private void printSample(String header, FooSample sample2) throws Exception {
+		System.out.println(header);
+		System.out.format("TestClientSingleshot.invoke(%d, %d, %d, %f)\n", sample2.x, sample2.y, sample2.t, sample2.d);
+	}
+
+	public void handle_FooSample(FooSample sample2) throws Exception {
+		printSample("TestClientSingleshot.handle_FooSample", sample2);
+
+	}
+}

examples/jgrafchart/labcommTCPtest/server/TestObject.java

+package labcommTCPtest.server;
+
+/**
+ * The service object to be accessed remotely via a LabComm channel
+ * 
+ */
+public class TestObject {
+
+	/**
+	 * A test method. The matching LabComm description is in test.lc
+	 * 
+	 * @param x
+	 * @param y
+	 * @param t
+	 * @param d
+	 */
+	public void foo(int x, int y, long t, double d) {
+		System.out.format("TestObject.foo(%d, %d, %d, %f)\n", x, y, t, d);
+	}
+
+}

examples/jgrafchart/labcommTCPtest/server/TestServer.java

+package labcommTCPtest.server;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.lang.reflect.Field;
+import java.lang.reflect.Method;
+import java.net.ServerSocket;
+import java.net.Socket;
+
+import se.lth.control.labcomm2014.DecoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
+import labcommTCPtest.gen.foo;
+import labcommTCPtest.gen.foo.Handler;
+
+public class TestServer implements Handler {
+
+	private OutputStream out;
+	private InputStream in;
+
+	public static void main(String a[]) {
+		try {
+			ServerSocket ss = new ServerSocket(9999);
+			Socket s = ss.accept();
+			
+			TestServer ts = new TestServer(s);
+			ts.runOne();
+		} catch (IOException e) {
+			e.printStackTrace();
+		}
+	}
+	
+	public TestServer(Socket s) throws IOException {
+		out = s.getOutputStream();
+		in = s.getInputStream();
+	}
+	
+	public void runOne() {
+		
+		try {
+			DecoderChannel c = new DecoderChannel(in);
+			foo.register(c,this);
+			c.runOne();
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+	}
+
+	public void handle_foo(foo sample) throws Exception {
+		EncoderChannel e = new EncoderChannel(out );
+		foo.register(e);
+		System.out.println("TestServer.handle_foo...");
+		sample.b *= 2;
+		sample.c *= 2;
+		sample.d *= 2;
+		sample.h *= 2;
+		foo.encode(e, sample);
+	}
+}

examples/jgrafchart/server_jg.xml

+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<GCDocument color="-1" dimTicks="25" dpwsInterface="" dpwsPort="-1" height="600" horizontalScrollBar="1" modifiable="1" name="Server" saveVersion="7" scale="1.0" simulationMode="1" socketHost="" socketIsServer="0" socketPort="-1" socketSendMode="Changed" threadSpeed="1000" tokenLuminance="0" verticalScrollBar="1" viewPositionX="0" viewPositionY="0" width="434" x="0" y="0">
+  <LabCommObject height="60" isSocketServer="1" name="LabComm" socketHost="asdf" socketPort="9999" specification="sample struct {&#10;  double b;&#10;  int c;&#10;  int d;&#10;  string e;&#10;  boolean f;&#10;  short g;&#10;  long h;&#10;  float i;&#10;} foo;&#10;&#10;//sample int bar;&#10;" width="60" x="60" y="290"/>
+  <GCInitialStep actionBlockVisible="1" actionText="S LabComm.foo.b = LabComm.foo.b + 1.1;&#10;S LabComm.foo.c = 8;&#10;S LabComm.foo.d = 10;&#10;S LabComm.foo.e = &quot;hej&quot;;&#10;S LabComm.foo.f = !LabComm.foo.f;&#10;S LabComm.foo.g = 32767;&#10;S LabComm.foo.h = 12345678;&#10;S LabComm.foo.i = 2.4;" fileName="" height="70" id="ef14bcd4-aa1c-4970-9a6c-5e1269c53245" name="" useIcon="0" width="200" x="170" y="15"/>
+  <GCTransition actionText="1" conditionVisible="1" height="25" id="e580e2b4-4aa2-4311-bd7a-8dfe4d3e0cb8" width="30" x="185" y="200"/>
+  <GCStep actionBlockVisible="1" actionText="S lcSend(LabComm); // send all samples&#10;//S lcSend(LabComm, &quot;foo&quot;);" fileName="" height="70" id="bb65796a-2b87-4155-af9c-cb36439497d7" name="" useIcon="0" width="200" x="170" y="235"/>
+  <GCTransition actionText="0" conditionVisible="1" height="25" id="975b3011-87d6-4e75-9532-adb4153cad38" width="30" x="185" y="320"/>
+  <GCStep actionBlockVisible="1" actionText="S LabComm.foo.b = LabComm.foo.b + 1.1;&#10;S LabComm.foo.f = !LabComm.foo.f;" fileName="" height="70" id="7503a140-222a-477f-be8f-6b358e1ea6ae" name="" useIcon="0" width="200" x="170" y="125"/>
+  <GCTransition actionText="1" conditionVisible="1" height="25" id="26534603-8853-4a41-81ea-cb4d5cbd134a" width="30" x="185" y="90"/>
+  <GCLink fromObject="e580e2b4-4aa2-4311-bd7a-8dfe4d3e0cb8" manAdj="0" toObject="bb65796a-2b87-4155-af9c-cb36439497d7">
+    <Stroke x="200" y="226"/>
+    <Stroke x="200" y="236"/>
+    <Stroke x="200" y="236"/>
+    <Stroke x="200" y="224"/>
+    <Stroke x="200" y="224"/>
+    <Stroke x="200" y="234"/>
+  </GCLink>
+  <GCLink fromObject="bb65796a-2b87-4155-af9c-cb36439497d7" manAdj="0" toObject="975b3011-87d6-4e75-9532-adb4153cad38">
+    <Stroke x="200" y="306"/>
+    <Stroke x="200" y="316"/>
+    <Stroke x="200" y="316"/>
+    <Stroke x="200" y="309"/>
+    <Stroke x="200" y="309"/>
+    <Stroke x="200" y="319"/>
+  </GCLink>
+  <GCLink fromObject="7503a140-222a-477f-be8f-6b358e1ea6ae" manAdj="0" toObject="e580e2b4-4aa2-4311-bd7a-8dfe4d3e0cb8">
+    <Stroke x="200" y="196"/>
+    <Stroke x="200" y="206"/>
+    <Stroke x="200" y="206"/>
+    <Stroke x="200" y="189"/>
+    <Stroke x="200" y="189"/>
+    <Stroke x="200" y="199"/>
+  </GCLink>
+  <GCLink fromObject="ef14bcd4-aa1c-4970-9a6c-5e1269c53245" manAdj="0" toObject="26534603-8853-4a41-81ea-cb4d5cbd134a">
+    <Stroke x="200" y="86"/>
+    <Stroke x="200" y="96"/>
+    <Stroke x="200" y="96"/>
+    <Stroke x="200" y="79"/>
+    <Stroke x="200" y="79"/>
+    <Stroke x="200" y="89"/>
+  </GCLink>
+  <GCLink fromObject="26534603-8853-4a41-81ea-cb4d5cbd134a" manAdj="0" toObject="7503a140-222a-477f-be8f-6b358e1ea6ae">
+    <Stroke x="200" y="116"/>
+    <Stroke x="200" y="126"/>
+    <Stroke x="200" y="126"/>
+    <Stroke x="200" y="114"/>
+    <Stroke x="200" y="114"/>
+    <Stroke x="200" y="124"/>
+  </GCLink>
+  <GCLink fromObject="975b3011-87d6-4e75-9532-adb4153cad38" manAdj="1" toObject="7503a140-222a-477f-be8f-6b358e1ea6ae">
+    <Stroke x="200" y="346"/>
+    <Stroke x="200" y="356"/>
+    <Stroke x="134" y="356"/>
+    <Stroke x="134" y="114"/>
+    <Stroke x="200" y="114"/>
+    <Stroke x="200" y="124"/>
+  </GCLink>
+</GCDocument>

examples/jgrafchart/testserver.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h> 
+
+#include "jg.h"
+#include "dec.h"
+#include "enc.h"
+
+void error(const char *msg)
+{
+    perror(msg);
+    exit(0);
+}
+
+void do_labcomm(int sockfd, jg_foo *v)
+{
+    void *enc = enc_init(sockfd);
+    int i;
+    for(i=0; i<10;i++) {
+        enc_run(enc, v);
+    }
+    enc_cleanup(enc);
+}
+
+int main(int argc, char *argv[])
+{
+    int sockfd, portno, n;
+    int newsockfd, clilen;
+    struct sockaddr_in serv_addr, cli_addr;
+    struct hostent *server;
+
+    char buffer[256];
+    if (argc < 2) {
+       fprintf(stderr,"usage %s port\n", argv[0]);
+       exit(0);
+    }
+    portno = atoi(argv[1]);
+    sockfd = socket(AF_INET, SOCK_STREAM, 0);
+    if (sockfd < 0) 
+        error("ERROR opening socket");
+
+    int so_reuseaddr = 1; //TRUE;
+    if(setsockopt(sockfd,SOL_SOCKET,SO_REUSEADDR, &so_reuseaddr, sizeof so_reuseaddr)) {
+        error("ERROR setting socket options");
+    }
+
+    bzero((char *) &serv_addr, sizeof(serv_addr));
+
+    serv_addr.sin_addr.s_addr = INADDR_ANY;
+    serv_addr.sin_port = htons(portno);
+
+    if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0) {
+        perror("ERROR on binding");
+        exit(1);
+    }
+
+    listen(sockfd,2);
+    clilen = sizeof(cli_addr);
+
+   /* Accept actual connection from the client */
+    newsockfd = accept(sockfd, (struct sockaddr *)&cli_addr, &clilen);
+    if (newsockfd < 0) {
+        perror("ERROR on accept");
+       exit(1);
+    }
+    
+    jg_foo v;
+
+    v.b = 17.17;
+    v.c = 1742;
+    v.d = 4217;
+    v.e = "hello";
+    v.f = 17;
+    v.g = 42;
+    v.h = 2;
+    v.i = 42.42;
+
+    do_labcomm(newsockfd, &v);
+
+    close(newsockfd);
+    close(sockfd);
+    return 0;
+}

examples/jgrafchart/turtle1.lc

+/* Topic types */
+sample struct {
+	string turtle_name;
+	float linear;
+	float angular;
+} velocity;
+
+sample struct {
+	string turtle_name;
+	float x;
+	float y;
+	float theta;
+	float linear_velocity;
+	float angular_velocity;
+} pose;
+
+sample struct {
+	string turtle_name;
+	float r;
+	float g;
+	float b;
+} color;
+
+/* Srv types */
+sample void clear;		/* Empty. */
+sample void clear_resp;		/* Empty. */
+
+sample void reset;		/* Empty. */
+sample void reset_resp;		/* Empty. */
+
+sample string kill;		/* Name of turtle. */
+sample void kill_resp;		/* Empty. */
+
+sample struct {
+	string name;
+	float x;
+	float y;
+	float theta;
+} spawn;			/* Coordinates and direction. */
+sample string spawn_resp;	/* Returns name of turtle */
+
+sample struct {
+	string turtle_name;
+	byte r;
+	byte g;
+	byte b;
+	byte width;
+	byte off;
+} set_pen;			/* Pen properties. */
+sample void set_pen_resp;	/* Empty. */
+
+/* TODO: The following two are duplicates. Change to typedefs when working. */
+
+sample struct {
+	string turtle_name;
+	float x;
+	float y;
+	float theta;
+} teleport_absolute;		/* Coordinates and direction. */
+sample void teleport_absolute_resp; /* Empty. */
+
+sample struct {
+	string turtle_name;
+	float linear;
+	float angular;
+} teleport_relative;		/* Similar to velocity but instant. */
+sample void teleport_relative_resp; /* Empty. */

examples/jgrafchart/turtle_dec.c

+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <labcomm_fd_reader.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include <stdio.h>
+#include "turtle1.h"
+
+static struct labcomm_encoder *encoder;
+
+static void handle_pose(turtle1_pose *v, void *context) {
+#if 1
+	printf("got pose\n");
+#else
+	turtle1_velocity vel;
+	sleep(1);
+
+	labcomm_encode_turtle1_velocity(encoder, vel);
+	vel.angular = -1;
+	sleep(1);
+
+	labcomm_encode_turtle1_velocity(encoder, vel);
+	sleep(1);
+
+	vel.angular = -1;
+	labcomm_encode_turtle1_velocity(encoder, vel);
+#endif
+}
+
+struct labcomm_decoder *turtle_dec_init(int fd, struct labcomm_encoder *e) {
+  struct labcomm_decoder *decoder;
+  encoder = e;
+  void  *context = NULL;
+
+  decoder = labcomm_decoder_new(labcomm_fd_reader_new(
+				  labcomm_default_memory, fd, 1), 
+				labcomm_default_error_handler, 
+				labcomm_default_memory,
+				labcomm_default_scheduler);
+  if (!decoder) { 
+    printf("Failed to allocate decoder %s:%d\n", __FUNCTION__, __LINE__);
+    return (void *)0;
+  }
+
+  labcomm_decoder_register_turtle1_pose(decoder, handle_pose, context);
+
+  return decoder;
+}
+
+
+void turtle_dec_run(struct labcomm_decoder *decoder) {
+  printf("Decoding:\n");
+  labcomm_decoder_run(decoder);
+  printf("--- End Of File ---:\n");
+}
+
+void turtle_dec_cleanup(struct labcomm_decoder *decoder) {
+  labcomm_decoder_free(decoder);
+}

examples/jgrafchart/turtle_dec.h

+#include <labcomm_fd_reader.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include <stdio.h>
+
+struct labcomm_decoder * turtle_dec_init(int fd, struct labcomm_encoder *e) ;
+void turtle_dec_run(struct labcomm_decoder *decoder) ;
+void turtle_dec_cleanup(struct labcomm_decoder *decoder) ;

examples/jgrafchart/turtle_enc.c

+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <labcomm_fd_writer.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include "turtle1.h"
+#include <stdio.h>
+
+struct labcomm_encoder *turtle_enc_init( int fd) {
+  struct labcomm_encoder *encoder;
+
+  encoder = labcomm_encoder_new(labcomm_fd_writer_new(
+				  labcomm_default_memory, fd, 1), 
+				labcomm_default_error_handler, 
+				labcomm_default_memory,
+				labcomm_default_scheduler);
+  labcomm_encoder_register_turtle1_velocity(encoder);
+  return encoder;
+}
+
+void turtle_enc_run(struct labcomm_encoder *encoder, turtle1_velocity *v) {
+#if 0
+	jg_foo v;
+
+	v.b = 17.17;
+	v.c = 1742;
+	v.d = 4217;
+	v.e = "hello";
+	v.f = 17;
+	v.g = 42;
+	v.h = 2;
+	v.i = 42.42;
+#endif
+ 	printf("Encoding for turtle1\n");
+	v->turtle_name="/turtlesim1/turtle1";
+	labcomm_encode_turtle1_velocity(encoder, v);
+	sleep(1);
+ 	printf("Encoding for turtle1\n");
+	v->angular *= -1;
+	labcomm_encode_turtle1_velocity(encoder, v);
+	sleep(1);
+	v->angular *= -1;
+	//v->h += 42000000;
+	labcomm_encode_turtle1_velocity(encoder, v);
+}
+
+void turtle_enc_cleanup(struct labcomm_encoder *encoder) {
+	labcomm_encoder_free(encoder);
+}

examples/jgrafchart/turtle_enc.h

+#include <labcomm_fd_writer.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+
+#include "turtle1.h"
+
+struct labcomm_encoder *turtle_enc_init(int fd) ;
+void turtle_enc_run(struct labcomm_encoder *encoder, turtle1_velocity *v) ;
+void turtle_enc_cleanup(struct labcomm_encoder *encoder) ;

examples/jgrafchart/turtleclient.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h> 
+
+#include "turtle_dec.h"
+#include "turtle_enc.h"
+
+void error(const char *msg)
+{
+    perror(msg);
+    exit(0);
+}
+
+void do_labcomm(int sockfd)
+{
+    void *turtle_enc = turtle_enc_init(sockfd);
+//    void *turtle_dec = turtle_dec_init(sockfd, turtle_enc);
+    turtle1_velocity v;
+    v.linear=4;
+    v.angular=0.4;
+    turtle_enc_run(turtle_enc, &v);
+//    turtle_dec_run(turtle_dec);
+//    turtle_dec_cleanup(turtle_dec);
+    turtle_enc_cleanup(turtle_enc);
+}
+
+int main(int argc, char *argv[])
+{
+    int sockfd, portno, n;
+    struct sockaddr_in serv_addr;
+    struct hostent *server;
+
+    char buffer[256];
+    if (argc < 3) {
+       fprintf(stderr,"usage %s hostname port\n", argv[0]);
+       exit(0);
+    }
+    portno = atoi(argv[2]);
+    sockfd = socket(AF_INET, SOCK_STREAM, 0);
+    if (sockfd < 0) 
+        error("ERROR opening socket");
+    server = gethostbyname(argv[1]);
+    if (server == NULL) {
+        fprintf(stderr,"ERROR, no such host\n");
+        exit(0);
+    }
+    bzero((char *) &serv_addr, sizeof(serv_addr));
+    serv_addr.sin_family = AF_INET;
+    bcopy((char *)server->h_addr, 
+         (char *)&serv_addr.sin_addr.s_addr,
+         server->h_length);
+    serv_addr.sin_port = htons(portno);
+    if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0) 
+        error("ERROR connecting");
+
+    do_labcomm(sockfd);
+
+    close(sockfd);
+    return 0;
+}

examples/robot/App.config

+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
+    </startup>
+</configuration>

examples/robot/Follow.mod

+MODULE Follow
+    PROC LCjt2jt(VAR LCRobot_jointtarget a, VAR jointtarget b)
+        b.robax.rax_1 := a.robax.rax_1;
+        b.robax.rax_2 := a.robax.rax_2;
+        b.robax.rax_3 := a.robax.rax_3;
+        b.robax.rax_4 := a.robax.rax_4;
+        b.robax.rax_5 := a.robax.rax_5;
+        b.robax.rax_6 := a.robax.rax_6;
+        
+        b.extax.eax_a := a.extax.eax_a;
+        b.extax.eax_b := a.extax.eax_b;
+        b.extax.eax_c := a.extax.eax_c;
+        b.extax.eax_d := a.extax.eax_d;
+        b.extax.eax_e := a.extax.eax_e;
+        b.extax.eax_f := a.extax.eax_f;
+    ENDPROC
+    
+    PROC handle_jointtarget(LCRobot_jointtarget val)
+        VAR jointtarget jt;
+        LCjt2jt val, jt;
+        MoveAbsJ jt, v100, z1, tool0, \WObj:=wobj0;
+    ENDPROC
+    
+    PROC main()
+        VAR LabComm_Stream st;
+        VAR socketdev srv;
+        SocketCreate srv;
+        SocketBind srv, "127.0.0.1", 51337;
+        SocketListen srv;
+        WHILE TRUE DO
+            SocketAccept srv, st.soc;
+            Receive_targets st;
+        ENDWHILE
+    ENDPROC
+    
+    PROC Receive_targets(VAR LabComm_Stream st)
+        VAR Decoder d;
+        VAR LabComm_Decoder_Sample s{1};
+        Init_Decoder d, st;
+        % "LCRobot:Dec_Reg_jointtarget" % s{1}, "handle_jointtarget";
+        WHILE TRUE DO
+            Decode_One d, st, s;
+        ENDWHILE
+    ERROR
+        SocketClose st.soc;
+        RETURN;
+    ENDPROC
+    
+ENDMODULE

examples/robot/LCRobot.lc

+sample struct {
+	struct {
+		float x;
+		float y;
+		float z;
+	} trans;
+	struct {
+		float q1;
+		float q2;
+		float q3;
+		float q4;
+	} rot;
+	struct {
+		short cf1;
+		short cf4;
+		short cf6;
+		short cfx;
+	} robconfig;
+} robtarget;
+
+sample struct {
+	struct {
+		float rax_1;
+		float rax_2;
+		float rax_3;
+		float rax_4;
+		float rax_5;
+		float rax_6;
+	} robax;
+	struct {
+		float eax_a;
+		float eax_b;
+		float eax_C;
+		float eax_d;
+		float eax_e;
+		float eax_f;
+	} extax;
+} jointtarget;

examples/robot/Makefile

+all:
+
+clean:
+
+distclean:

examples/robot/Program.cs

+using se.lth.control.labcomm2014;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace RobotCtrl
+{
+    class Specification
+    {
+
+        public static string IP_ADDRESS = "127.0.0.1";
+        public static int PORT = 51337;
+
+        static void Main(string[] args)
+        {
+            jointtarget val = new jointtarget { robax = new jointtarget.struct_robax(), extax = new jointtarget.struct_extax() };
+            TcpClient client = new TcpClient();
+            IPEndPoint serverEndPoint = new IPEndPoint(IPAddress.Parse(Specification.IP_ADDRESS), Specification.PORT);
+            try
+            {
+                client.Connect(serverEndPoint);
+                Encoder enc = new EncoderChannel(client.GetStream(), true);
+                jointtarget.register(enc);
+                jointtarget.encode(enc, val);
+                for (int i = 0; i < 10; i++)
+                {
+                    val.robax.rax_2 += 2;
+                    jointtarget.encode(enc, val);
+                }
+                for (int i = 0; i < 20; i++)
+                {
+                    val.robax.rax_2 -= 2;
+                    jointtarget.encode(enc, val);
+                }
+                for (int i = 0; i < 10; i++)
+                {
+                    val.robax.rax_2 += 2;
+                    jointtarget.encode(enc, val);
+                }
+            }
+            finally
+            {
+                client.Close();
+            }
+        }
+    }
+}

examples/robot/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("RobotCtrl")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("RobotCtrl")]
+[assembly: AssemblyCopyright("Copyright ©  2013")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("bd5ee6d6-1dff-4043-8ca9-b56a29116e61")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers 
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

examples/robot/RobotCtrl.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{F0051A25-4FFF-4421-A5CB-01B512D6CEC5}</ProjectGuid>
+    <OutputType>Exe</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>RobotCtrl</RootNamespace>
+    <AssemblyName>RobotCtrl</AssemblyName>
+    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="LCRobot.cs" />
+    <Compile Include="Specification.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="App.config" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\..\lib\csharp\LabComm.csproj">
+      <Project>{755cd5a6-c48e-4d35-b0be-8ec0fde1a2a1}</Project>
+      <Name>LabComm</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
+       Other similar extension points exist, see Microsoft.Common.targets.
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  -->
+</Project>

examples/robot/RobotCtrl.sln

+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2012
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotCtrl", "RobotCtrl.csproj", "{F0051A25-4FFF-4421-A5CB-01B512D6CEC5}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LabComm", "..\..\lib\csharp\LabComm.csproj", "{755CD5A6-C48E-4D35-B0BE-8EC0FDE1A2A1}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{F0051A25-4FFF-4421-A5CB-01B512D6CEC5}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{F0051A25-4FFF-4421-A5CB-01B512D6CEC5}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{F0051A25-4FFF-4421-A5CB-01B512D6CEC5}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{F0051A25-4FFF-4421-A5CB-01B512D6CEC5}.Release|Any CPU.Build.0 = Release|Any CPU
+		{755CD5A6-C48E-4D35-B0BE-8EC0FDE1A2A1}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{755CD5A6-C48E-4D35-B0BE-8EC0FDE1A2A1}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{755CD5A6-C48E-4D35-B0BE-8EC0FDE1A2A1}.Release|Any CPU.ActiveCfg = Debug|Any CPU
+		{755CD5A6-C48E-4D35-B0BE-8EC0FDE1A2A1}.Release|Any CPU.Build.0 = Debug|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal