Revision 466
fixed vision bug
| Command.cpp | ||
|---|---|---|
| 282 | 282 |
} |
| 283 | 283 |
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| 284 | 284 |
int Command::parse_request_robot_positions(int pool_index) {
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printf("parse_request_robot_positions\n");
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printf("*****parse_request_robot_positions\n");
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| 286 | 286 |
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| 287 | 287 |
map<int, VisionPosition> positions = colonet_server->getPositionMonitor()->getAllRobotPositions(); |
| 288 | 288 |
map<int, VisionPosition>::iterator iter; |
| 289 | 289 |
|
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char position_buffer[256] = ""; |
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char position_buffer[256]; |
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position_buffer[0] = 0; |
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sprintf(position_buffer, "%d %d", RESPONSE_TO_CLIENT_REQUEST, CLIENT_REQUEST_ROBOT_POSITIONS); |
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| 291 | 294 |
for (iter = positions.begin(); iter != positions.end(); iter++) {
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| 292 | 295 |
char tmpbuf[80]; |
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sprintf(tmpbuf, "%d %d %d ", iter->first, iter->second.x, iter->second.y);
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sprintf(tmpbuf, " %d %d %d", iter->first, iter->second.x, iter->second.y);
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| 294 | 297 |
strcat(position_buffer, tmpbuf); |
| 295 | 298 |
} |
| 296 | 299 |
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strcat(position_buffer, "\n"); |
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printf("position buffer is: %s\n", position_buffer);
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| 297 | 304 |
connection_pool->write_to_client(pool_index, position_buffer, strlen(position_buffer)); |
| 298 | 305 |
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| 299 | 306 |
return 0; |
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