void NetMobile::update(double delta, double time)
{
if (NetMobile::interp)
{
updateInterp(delta, time);
}
else
{
updateNoInterp(delta, time);
}
}
void QApplicationStatus::statusMessageReceived(const QList<QByteArray> &messageList)
{
QByteArray topic;
topic = messageList.at(0);
m_rx.ParseFromArray(messageList.at(1).data(), messageList.at(1).size());
#ifdef QT_DEBUG
std::string s;
gpb::TextFormat::PrintToString(m_rx, &s);
DEBUG_TAG(3, "status", "update" << topic << QString::fromStdString(s))
#endif
if ((m_rx.type() == pb::MT_EMCSTAT_FULL_UPDATE)
|| (m_rx.type() == pb::MT_EMCSTAT_INCREMENTAL_UPDATE))
{
if ((topic == "motion") && m_rx.has_emc_status_motion()) {
updateMotion(m_rx.emc_status_motion());
if (m_rx.type() == pb::MT_EMCSTAT_FULL_UPDATE) {
updateSync(MotionChannel);
}
}
if ((topic == "config") && m_rx.has_emc_status_config()) {
updateConfig(m_rx.emc_status_config());
if (m_rx.type() == pb::MT_EMCSTAT_FULL_UPDATE) {
updateSync(ConfigChannel);
}
}
if ((topic == "io") && m_rx.has_emc_status_io()) {
updateIo(m_rx.emc_status_io());
if (m_rx.type() == pb::MT_EMCSTAT_FULL_UPDATE) {
updateSync(IoChannel);
}
}
if ((topic == "task") && m_rx.has_emc_status_task()) {
updateTask(m_rx.emc_status_task());
if (m_rx.type() == pb::MT_EMCSTAT_FULL_UPDATE) {
updateSync(TaskChannel);
}
}
if ((topic == "interp") && m_rx.has_emc_status_interp()) {
updateInterp(m_rx.emc_status_interp());
if (m_rx.type() == pb::MT_EMCSTAT_FULL_UPDATE) {
updateSync(InterpChannel);
}
}
if (m_rx.type() == pb::MT_EMCSTAT_FULL_UPDATE)
{
if (m_statusSocketState != Up)
{
m_statusSocketState = Up;
updateState(Connected);
}
if (m_rx.has_pparams())
{
pb::ProtocolParameters pparams = m_rx.pparams();
startStatusHeartbeat(pparams.keepalive_timer() * 2); // wait double the time of the hearbeat interval
}
}
else
{
refreshStatusHeartbeat();
}
return;
}
else if (m_rx.type() == pb::MT_PING)
{
if (m_statusSocketState == Up)
{
refreshStatusHeartbeat();
}
else
{
updateState(Connecting);
unsubscribe(); // clean up previous subscription
subscribe(); // trigger a fresh subscribe
}
return;
}
#ifdef QT_DEBUG
gpb::TextFormat::PrintToString(m_rx, &s);
DEBUG_TAG(1, "status", "update: unknown message type: " << QString::fromStdString(s))
#endif
}
