Revision 661
virtual wall reported to robots
ColonetServer.cpp | ||
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27 | 27 |
#define LISTEN_BACKLOG 5 |
28 | 28 |
#define LOG_BUFFER_LENGTH 128 |
29 | 29 |
#define MAX_MSG_BUFFER_LENGTH 128 |
30 |
#define REFRESH_VIRTUAL_WALL_PERIOD 400 |
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30 | 31 |
|
31 | 32 |
#define u_int32_t unsigned |
32 | 33 |
|
... | ... | |
128 | 129 |
logger->log_message("Server initialized. About to start listening for connections"); |
129 | 130 |
} |
130 | 131 |
|
132 |
int refresh_virtual_wall_count = 0; |
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|
131 | 134 |
while(1) { |
132 | 135 |
//sleep for a little bit so this program doesn't hog cpu |
133 | 136 |
usleep(10000); |
134 | 137 |
|
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/* Refresh virtual wall. */ |
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if (refresh_virtual_wall_count == REFRESH_VIRTUAL_WALL_PERIOD) { |
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fprintf(stderr, "Sending virtual wall info to robots.\n"); |
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refresh_virtual_wall_count = 0; |
|
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virtual_wall.send_to_robots(); |
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} |
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refresh_virtual_wall_count++; |
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135 | 146 |
//tell the connection pool to look at the file descriptors and see which ones are ready |
136 | 147 |
connection_pool->perform_select(listen_socket); |
137 | 148 |
|
... | ... | |
179 | 190 |
//check all the clients in the connection pool |
180 | 191 |
if (connection_pool->check_clients() < 0) { |
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printf("\tThere was an error trying to update the clients."); |
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continue; |
|
183 | 193 |
} |
184 | 194 |
} |
185 | 195 |
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