Colony

#define SERVER_REPORT_POSITION_TO_ROBOT 0x55

#define CLIENT_REQUEST_ROBOT_POSITIONS 0x56

/* End low-level robot commands */

using namespace std;

  connection_pool = connection_pool_temp;

}

Command::~Command() {}

    }

    break;

    break;

  default:

    printf("Sending %s\n", my_current_message);

    connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message));

    break;

int Command::parse_request_robot_positions(int pool_index) {

  printf("TODO - parse_request_robot_positions\n");

  return 0;

}

#include <sys/select.h>

#include <colonet_wireless.h>

#define MAX_TOKENS 15

#define MAX_TOKEN_SIZE 30

#define READ_BUFFER_SIZE 1024

#define WRITE_BUFFER_SIZE 4096

class ConnectionPool {

public:

  ~ConnectionPool();

  int add_client(int client_file_descriptor);

  int read_buffer_size[MAX_CONNECTIONS];

  char * write_buffer[MAX_CONNECTIONS];

  int write_buffer_size[MAX_CONNECTIONS];

  int read_data(int pool_index, int client_file_descriptor);

  int write_data(int pool_index, int client_file_descriptor);

#ifndef COLONETSERVER_H

#define COLONETSERVER_H

#include <ConnectionPool.h>

#include <PositionMonitor.h>

#include <Log.h>

  PositionMonitor* getPositionMonitor(void);

private:

  Log* logger;

  int listen_socket;

  PositionMonitor position_monitor;

  int startMonitoring(void);

  int stopMonitoring(void);

  int updatePositions(void);

  map<int, VisionPosition> getAllRobotPositions(void);

  int getRobotPosition(int robot_id, int* xbuf, int* ybuf);

#define COMMAND_H

#include <ConnectionPool.h>

#include <list>

class Command {

 public:

  ~Command();

  int parse_command(char* command, int pool_index);

  int parse_request_robot_positions(int pool_index);

  ConnectionPool * connection_pool;

};

/**

 * @brief The default constructor for ConnectionPool

 */

  max_file_descriptor = 0;

  next_available_slot = 0;

  number_clients_ready = 0;

        break;

      }

      if (command.parse_command(temporary_command_buffer, pool_index) != 0) {

        fprintf(stderr, "Error parsing command\n");

        break;

 */

ColonetServer::ColonetServer() {

  listen_socket = 0;

}

/**

 * @brief Destructor for ColonetServer

 */

ColonetServer::~ColonetServer() {

}

/**

 * @brief Starts the server running (starts an infinite loop)

 */

int ColonetServer::run_server() {

  int accept_socket = 0;

  struct sockaddr_in client_addr;

  }

  while(1) {

    //either no descriptors are ready or there was an error

      continue;

    }

      printf("Something is trying to connect...\n");

      if ((accept_socket = accept(listen_socket, (struct sockaddr*) &client_addr, &client_addr_size)) < 0) {

        if (errno == EMFILE) {

        logger->log_string(LOG_TYPE_CONNECT, log_buffer);

      }

        printf("\tThere was an error when trying to add a client to the connection pool.");

        continue;

      }

      }

    }

      printf("\tThere was an error trying to update the clients.");

      continue;

    }

* @param len - Length of the data param.

*/

int ColonetServer::process_received_wireless_message(int dest, char* data, int len) {

    printf("The robot wanted to pass the data to a client not in the pool.\n");

    return -1;

  }