Colony

/* A simple server in the internet domain using TCP

   The port number is passed as an argument */

#include <stdio.h>

#include <stdlib.h>

#include <strings.h>

#include <string.h>

#include <unistd.h>

#include <sys/types.h> 

#include <sys/socket.h>

#include <netinet/in.h>

#include "netserv.h"

#include "robots.h"

#include "wireless.h"

void donothin()

{

     return;

}

int main(int argc, char *argv[])

{

     char buffer[256];

     int n, newsockfd;

     short int x,y,ir1,ir2,ir3,ir4,ir5;

     float theta;

     Packet *received;

     if (argc < 2) {

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

          exit(1);

     }

/*      newsockfd = make_sock(atoi(argv[1])); */

     printf("Made socket\n");

     make_listener();

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

     bzero(buffer,256);

     while (1)

     {

          bzero(buffer, 256);

          wl_do();

          received = dequeue();

          if (received)

          {

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

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

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

               buffer[3] = 0;

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

               memcpy(&x, buffer+4, 2);

               memcpy(&y, buffer+6, 2);

               memcpy(&theta, buffer+8, 4);

               memcpy(&ir1, buffer+12, 2);

               memcpy(&ir2, buffer+14, 2);

               memcpy(&ir3, buffer+16, 2);

               memcpy(&ir4, buffer+18, 2);

               memcpy(&ir5, buffer+20, 2);

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

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

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

               free(received);

               bzero(buffer, 256);

          }

     }

     return 0; 

}

void error(char *msg)

{

     printf(msg);

     exit(1);

}