/*
* Write a message into the status file.
*/
static void
upstat(struct printer *pp, const char *msg, int notifyuser)
{
int fd;
char statfile[MAXPATHLEN];
status_file_name(pp, statfile, sizeof statfile);
umask(0);
seteuid(euid);
fd = open(statfile, O_WRONLY|O_CREAT|O_EXLOCK, STAT_FILE_MODE);
seteuid(uid);
if (fd < 0) {
printf("\tcannot create status file: %s\n", strerror(errno));
return;
}
(void) ftruncate(fd, 0);
if (msg == (char *)NULL)
(void) write(fd, "\n", 1);
else
(void) write(fd, msg, strlen(msg));
(void) close(fd);
if (notifyuser) {
if ((msg == (char *)NULL) || (strcmp(msg, "\n") == 0))
printf("\tstatus message is now set to nothing.\n");
else
printf("\tstatus message is now: %s", msg);
}
}
Socket* set_up_connection__gui( Robot_location& robot_location_a,
Robot_location& robot_location_b,
Targets_manager* target_configurations_manager_ptr)
{
int host_port_g = 1103;
int conenctions = 1;
std::cout <<"in main thread : " <<boost::this_thread::get_id()<<std::endl;
std::cout <<"before connecting to gui "<<std::endl<<std::endl;
Socket_server server_g(host_port_g, conenctions);
//here gui should be executed
Socket* socket_g=server_g.accept();
std::cout <<"connected to gui"<<std::endl;
std::stringstream initial_command;
initial_command << configuration.get_workspace_file_name()<<" "; //workspace filename
initial_command << configuration.get_robot_file_name_a()<<" "; //robot filename
initial_command << configuration.get_all_target_configurations_file_name()<<" "; //query filename
socket_g->send_line(initial_command.str().c_str());
//now send intial placements of each robot
double x_a = CGAL::to_double(robot_location_a.get().get_location().x());
double y_a = CGAL::to_double(robot_location_a.get().get_location().y());
double t_a = robot_location_a.get().get_rotation().to_angle();
double x_b = CGAL::to_double(robot_location_b.get().get_location().x());
double y_b = CGAL::to_double(robot_location_b.get().get_location().y());
double t_b = robot_location_b.get().get_rotation().to_angle();
std::string path_file_name("initial_location.txt");
ofstream path_os(path_file_name.c_str());
path_os << 2 <<std::endl;
//initial location
path_os << x_a <<" " << y_a <<" " << t_a <<" "
<< x_b <<" " << y_b <<" " << t_b <<std::endl;
//no movement
path_os << 0 <<" " << 0 <<" " << 0 <<" "
<< 0 <<" " << 0 <<" " << 0 <<" " << 0 <<" " << std::endl;
//get motion status and write to file
std::string status_file_name("initial_status.txt");
ofstream status_os(status_file_name.c_str());
//get status
Int_vec configuration_status;
target_configurations_manager_ptr->get_configuration_status(configuration_status);
//write status to file
status_os <<"2" <<std::endl; //one entry
status_os <<0<<std::endl; //before motion
for (unsigned int i(0); i < configuration_status.size(); ++i)
status_os <<configuration_status[i]<<" ";
status_os <<1<<std::endl; //after motion
for (unsigned int i(0); i < configuration_status.size(); ++i)
status_os <<configuration_status[i]<<" ";
status_os <<std::endl;
std::stringstream path_update;
path_update << path_file_name << " "; //path to draw filename
path_update << status_file_name << " "; //state to draw filename
socket_g->send_line(path_update.str().c_str());
return socket_g;
}
