bool CommRemote::run(Messages & messages, Feedback & feedback) {
// Delete all the previous remote messages to the robot
messages.clearRemoteMessagesToRobot();
pthread_mutex_lock(&dataMutex);
// Add all the received remote messages to the robot
std::vector<RemoteMessageToRobot const *>::iterator toIter;
for (toIter = messagesToRobot.begin();
toIter != messagesToRobot.end();
toIter++) {
messages.addRemoteMessageToRobot(*toIter);
}
messagesToRobot.clear();
// Take ownership of all the remote messages to be sent from the robot
messagesFromRobot.insert(messagesFromRobot.end(),
messages.getRemoteMessagesToSend().begin(),
messages.getRemoteMessagesToSend().end());
messages.clearRemoteMessagesFromRobot();
pthread_mutex_unlock(&dataMutex);
// Are we connected to a client now?
bool isConnectedToClient = (clientSocket >= 0);
if (isConnectedToClient != wasConnectedToClient) {
feedback.setConnectedToClient(isConnectedToClient);
wasConnectedToClient = isConnectedToClient;
}
return false;
}
