Server Example: Synchronous Server Update

Overview

Runs the RaisimServer in a manual socket loop and updates sensors only when the client requests them. This shows how to drive synchronous visualization and sensor updates.

Target And Source

CMake target: synchronous_server_update.

Source file: examples/src/server/synchronous_server_update.cpp.

Run the build-tree example and connect with the packaged viewer:

./build-examples/examples/synchronous_server_update
./rayrai/bin/rayrai_raisim_tcp_viewer

Details

  • Runs RaisimServer in synchronous request/response mode.

  • Manually accepts a TCP connection and processes sensor update requests.

  • Configures RGB/depth cameras with MeasurementSource::MANUAL and gates request processing with needsSensorUpdate().

  • Uses setupSocket(), acceptConnection(), waitForMessageFromClient(), processRequests(), and closeConnection() instead of launchServer().