prog

def driverProg():
  HOSTNAME = "10.0.2.97"
  MSG_OUT = 1
  MSG_QUIT = 2
  MSG_JOINT_STATES = 3
  MULT_jointstate = 1000

  def send_out(msg):
    enter_critical
    socket_send_int(1)
    socket_send_string(msg)
    socket_send_string("~")
    exit_critical
  end
    
  
  thread statePublisherThread():
    def send_joint_state():
      q = get_joint_positions()
      qdot = get_joint_speeds()
      tau = get_joint_torques()
      enter_critical
      socket_send_int(MSG_JOINT_STATES)
      socket_send_int(floor(MULT_jointstate * q[0]))
      socket_send_int(floor(MULT_jointstate * q[1]))
      socket_send_int(floor(MULT_jointstate * q[2]))
      socket_send_int(floor(MULT_jointstate * q[3]))
      socket_send_int(floor(MULT_jointstate * q[4]))
      socket_send_int(floor(MULT_jointstate * q[5]))
      socket_send_int(floor(MULT_jointstate * qdot[0]))
      socket_send_int(floor(MULT_jointstate * qdot[1]))
      socket_send_int(floor(MULT_jointstate * qdot[2]))
      socket_send_int(floor(MULT_jointstate * qdot[3]))
      socket_send_int(floor(MULT_jointstate * qdot[4]))
      socket_send_int(floor(MULT_jointstate * qdot[5]))
      socket_send_int(floor(MULT_jointstate * tau[0]))
      socket_send_int(floor(MULT_jointstate * tau[1]))
      socket_send_int(floor(MULT_jointstate * tau[2]))
      socket_send_int(floor(MULT_jointstate * tau[3]))
      socket_send_int(floor(MULT_jointstate * tau[4]))
      socket_send_int(floor(MULT_jointstate * tau[5]))
      #socket_send_int(7895160)  # Recognizable  ".xxx" or 00787878
      exit_critical
    end
    #socket_open(HOSTNAME, 50002)
    send_joint_state()
    while True:
      send_joint_state()
      sync()
    end
    sync()
  end

  socket_open(HOSTNAME, 50001)
  socket_send_int(1)
  socket_send_string("hello~")

  thread_state = run statePublisherThread()
  
  movej([2.2,0,-1.57,0,0,0],2)
  movej([1.5,0,-1.57,0,0,0],2)
  
  i = 0
  while i < 5:
    send_out("Listening")
    ll = socket_read_binary_integer(1)

    if ll[0] == 0:
      send_out("Received nothing")
    elif ll[0] > 1:
      send_out("Received too many things")
    else:
      mtype = ll[1]
      if mtype == MSG_QUIT:
        send_out("Received QUIT")
        break
      else:
        send_out("Received unknown message type")
      end
    end
    #movej([2.2,0,-1.57,0,0,0],2)
    #movej([1.5,0,-1.57,0,0,0],2)
    i = i + 1
  end

  #sleep(1)
  kill thread_state
  socket_send_int(2)
end
driverProg()