A path planner reads a file containing a path. This file must contain several lines of setpoints for position, velocity, acceleration and jerk.

//time          //jerk          //acceleration  //velocity      //position
8.0000000e-02   0.0000000e+00   0.0000000e+00   0.0000000e+00   0.0000000e+00
2.4000000e-01   1.0000000e+04   0.0000000e+00   0.0000000e+00   0.0000000e+00
8.0000000e-02   0.0000000e+00   2.4000000e+03   2.8800000e+02   2.3040000e+01
2.4000000e-01  -1.0000000e+04   2.4000000e+03   4.8000000e+02   5.3760000e+01

A path planner block has four output signals - jerk, acceleration, velocity, and position.

When constructing a socket data block you can pass the ip-address, the port number, and the period of the internal thread as parameters. If you pass an empty string as ip-address, a socket server will be created. Setting the ip-address will cause a socket client to be created, which tries to connect to the given ip-address. The period of the internal thread determines the transceiver frequency.

SocketData<Matrix<10,2,double>, double> socket1("", 9876, 0.5);	

A socket server is established. Input and output signals will be transmitted twice per second. A remote client would have to connect to the ip-address of the machine running this application on port '9876'.

SocketData<Matrix<10,2,double>, double> socket2("146.136.36.102", 9876, 0.5);	

This creates a socket client. Input and output signals will be transmitted twice per second. The client connects to a server on the ip-address '146.136.36.102' with port number '9876'.

As soon as a client connects to a socket server a connection is up and running until either one of them stops. It is possible to stop the server or the client and restart it subsequently. In both cases a new connection will be established.
As long as the connection is not yet open the SocketData block will have output values being zero. As soon as the connection is broken the block will set its output values back to zero.