Revision 918 trunk/code/projects/mapping/python/server.c

server.c (revision 918)
22 22 
int main(int argc, char *argv[])
23 23 
{
24 24 
     char buffer[256];
25 
     int tmp = 0;
25 26 
     char outbuf[256];
26 27 
     int n, newsockfd, len;
28 
     short int tprint;
27 29 
     Packet *received;
28 

  		
  




  29
  
    
    
  


  		
  




  30
  30
    
    
     if (argc < 2) {


  		
  




  31
  31
    
    
	  fprintf(stderr,"usage: %s <port number>\n", argv[0]);


  		
  




  32
  32
    
    
	  exit(1);


  		
  




  33
  33
    
    
     }


  		
  




  34
  34
    
    
     newsockfd = make_sock(atoi(argv[1]));


  		
  




  35
  
    
    

  		
  




  
  35
    
    
     printf("Made socket\n");


  		
  




  36
  36
    
    
     make_listener();


  		
  




  37
  37
    
    
     printf("Robot listener created.\n");


  		
  




  38
  38
    
    

  		
  




......




  40
  40
    
    

  		
  




  41
  41
    
    
     while (1)


  		
  




  42
  42
    
    
     {


  		
  




  
  43
    
    
	  bzero(buffer, 256);


  		
  




  43
  44
    
    
	  wl_do();


  		
  




  44
  45
    
    
	  


  		
  




  45
  
    
    
	  /* this is a completely useless queue, since wl_do only reads one packet at a time */


  		
  




  46
  46
    
    
	  received = dequeue();


  		
  




  47
  
    
    
	  /* oh well */


  		
  




  48
  47
    
    

  		
  




  49
  48
    
    
	  if (received)


  		
  




  50
  49
    
    
	  {


  		
  




  51
  
    
    
	       fprintf(stdout, "len: %d\n", buffer[1]);


  		
  




  52
  50
    
    
	       buffer[0] = (char) received->source;


  		
  




  53
  
    
    
	       buffer[1] = (char) received->length-2;


  		
  




  
  51
    
    
	       buffer[1] = (char) received->length;


  		
  




  54
  52
    
    
	       buffer[2] = (char) received->type;


  		
  




  55
  
    
    
	       memcpy(buffer+3, received->packet, received->length);


  		
  




  
  53
    
    
	       buffer[3] = 0;


  		
  




  
  54
    
    
	       memcpy(buffer+4, received->packet, received->length);


  		
  




  56
  55
    
    
	       


  		
  




  57
  
    
    
	       n = write(newsockfd, buffer, 200);


  		
  




  
  56
    
    
	       memcpy(&tprint, buffer+4, 2);


  		
  




  
  57
    
    

  		
  




  
  58
    
    
	       printf("%d\n", tprint);


  		
  




  
  59
    
    
	       n = write(newsockfd, buffer, 22);


  		
  




  58
  60
    
    
	       free(received);


  		
  




  59
  61
    
    
	       bzero(buffer, 256);


  		
  




  60
  62
    
    
	  }


  		
  












Also available in:
	Unified diff