Revision 444
colonet wireless position reporting
| trunk/code/projects/colonet/ColonetServer/colonet_wireless.cpp | ||
|---|---|---|
| 170 | 170 |
} |
| 171 | 171 |
|
| 172 | 172 |
static void handle_response(int frame, int received) {
|
| 173 |
//TODO: remove these assignments. they are just here to stop getting compile warnings for not being used |
|
| 174 |
frame = frame; |
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| 175 |
received =received; |
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| 176 |
|
|
| 177 | 173 |
//printf("got response.\n");
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| 178 | 174 |
} |
| 179 | 175 |
|
| 180 | 176 |
static void handle_receive(char type, int source, unsigned char* data, int len) {
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| 181 |
//TODO: remove this assignment. it is just here to stop getting compile warnings for not being used |
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type=type; |
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| 177 |
printf("handle receive\n");
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| 183 | 178 |
|
| 184 | 179 |
ColonetRobotServerPacket* pkt = (ColonetRobotServerPacket*)data; |
| 185 | 180 |
|
| ... | ... | |
| 187 | 182 |
log_packet(data, len); |
| 188 | 183 |
} |
| 189 | 184 |
|
| 190 |
char processed_data[80]; |
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| 191 |
sprintf(processed_data, "%d %d %d %s\n", RESPONSE_TO_CLIENT_REQUEST, pkt->msg_code, source, pkt->data); |
|
| 185 |
if (pkt->msg_code == ROBOT_REQUEST_POSITION_FROM_SERVER) {
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| 186 |
/* Robot has requested its position. */ |
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int robot_x, robot_y; |
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if (colonet_server.getPositionMonitor()->getRobotPosition(source, &robot_x, &robot_y) != 0) {
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fprintf(stderr, "Robot %d requested position, but its position is not known.\n", source); |
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| 190 |
} else {
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| 191 |
unsigned char response[80]; |
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response[0] = robot_x & 0xFF; |
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response[1] = (robot_x >> 8) & 0xFF; |
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response[2] = robot_y & 0xFF; |
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response[3] = (robot_y >> 8) & 0xFF; |
|
| 192 | 196 |
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colonet_server.process_received_wireless_message(pkt->client_id, processed_data, strlen(processed_data)); |
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| 197 |
if (colonet_wl_send(-1, source, COLONET_COMMAND, SERVER_REPORT_POSITION_TO_ROBOT, response) != 0) {
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| 198 |
fprintf(stderr, "colonet_wl_send failed!\n"); |
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exit(1); |
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| 200 |
} |
|
| 201 |
} |
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| 202 |
} else {
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char processed_data[80]; |
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sprintf(processed_data, "%d %d %d %s\n", RESPONSE_TO_CLIENT_REQUEST, pkt->msg_code, source, pkt->data); |
|
| 194 | 205 |
|
| 195 |
printf("handle receive\n");
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colonet_server.process_received_wireless_message(pkt->client_id, processed_data, strlen(processed_data)); |
|
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} |
|
| 196 | 208 |
} |
| 197 | 209 |
|
| 198 | 210 |
static void unregister(void) {
|
| ... | ... | |
| 209 | 221 |
* @return NULL |
| 210 | 222 |
*/ |
| 211 | 223 |
static void* listen(void* args) {
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| 212 |
//TODO: remove this assignment. it is just here to stop getting compile warnings for not being used |
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args = args; |
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| 214 |
|
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| 215 | 224 |
printf("Called listen.\n");
|
| 216 | 225 |
|
| 217 | 226 |
PacketGroupHandler pgh = {COLONET_PACKET_GROUP_ID,
|
| trunk/code/projects/colonet/ColonetServer/includes/ColonetServer.h | ||
|---|---|---|
| 19 | 19 |
int start_listening(void); |
| 20 | 20 |
int run_server(void); |
| 21 | 21 |
int process_received_wireless_message(int dest, char* data, int len); |
| 22 |
PositionMonitor getPositionMonitor(void); |
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| 22 |
PositionMonitor* getPositionMonitor(void);
|
|
| 23 | 23 |
|
| 24 | 24 |
private: |
| 25 | 25 |
ConnectionPool connection_pool; |
| trunk/code/projects/colonet/ColonetServer/ColonetServer.cpp | ||
|---|---|---|
| 246 | 246 |
return 0; |
| 247 | 247 |
} |
| 248 | 248 |
|
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PositionMonitor ColonetServer::getPositionMonitor() {
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| 250 |
return position_monitor; |
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PositionMonitor* ColonetServer::getPositionMonitor() {
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|
| 250 |
return &position_monitor;
|
|
| 251 | 251 |
} |
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