Revision 932 trunk/code/projects/mapping/python/server.c

server.c (revision 932)
22 22 
int main(int argc, char *argv[])
23 23 
{
24 24 
     char buffer[256];
25 
     int tmp = 0;
26 
     char outbuf[256];
27 
     int n, newsockfd, len;
28 
     short int tprint;
25 
     int n, newsockfd;
26 
     short int x,y,ir1,ir2,ir3,ir4,ir5;
27 
     float theta;
29 28 
     Packet *received;
30 29 
     if (argc < 2) {
31 30 
	  fprintf(stderr,"usage: %s <port number>\n", argv[0]);
32 31 
	  exit(1);
33 32 
     }
34 
     newsockfd = make_sock(atoi(argv[1]));
33 
/*      newsockfd = make_sock(atoi(argv[1])); */
35 34 
     printf("Made socket\n");
36 35 
     make_listener();
37 36 
     printf("Robot listener created.\n");
......
53 52 
	       buffer[3] = 0;
54 53 
	       memcpy(buffer+4, received->packet, received->length);
55 54
56 
	       memcpy(&tprint, buffer+4, 2);
55 
	       memcpy(&x, buffer+4, 2);
56 
	       memcpy(&y, buffer+6, 2);
57 
	       memcpy(&theta, buffer+8, 4);
58 
	       memcpy(&ir1, buffer+12, 2);
59 
	       memcpy(&ir2, buffer+14, 2);
60 
	       memcpy(&ir3, buffer+16, 2);
61 
	       memcpy(&ir4, buffer+18, 2);
62 
	       memcpy(&ir5, buffer+20, 2);
57 63 

  		
  




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


  		
  




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


  		
  




  
  64
    
    
	       printf("(%d, %d, %f, %d, %d, %d, %d, %d)\n",


  		
  




  
  65
    
    
		      x, y, theta, ir1, ir2, ir3, ir4, ir5);


  		
  




  
  66
    
    

  		
  




  
  67
    
    
/* 	       n = write(newsockfd, buffer, 22); */


  		
  




  60
  68
    
    
	       free(received);


  		
  




  61
  69
    
    
	       bzero(buffer, 256);


  		
  




  62
  70
    
    
	  }


  		
  












Also available in:
	Unified diff