/**
* Receives a packet from the GameController.
* Packets are only accepted when the team number is know (nonzero) and
* they are addressed to this team.
*/
bool receive()
{
bool received = false;
int size;
RoboCupGameControlData buffer;
struct sockaddr_in from;
while(udp && (size = udp->read((char*) &buffer, sizeof(buffer), from)) > 0)
{
if(size == sizeof(buffer) &&
!std::memcmp(&buffer, GAMECONTROLLER_STRUCT_HEADER, 4) &&
buffer.version == GAMECONTROLLER_STRUCT_VERSION &&
teamNumber &&
(buffer.teams[0].teamNumber == teamNumber ||
buffer.teams[1].teamNumber == teamNumber))
{
gameCtrlData = buffer;
if(memcmp(&gameControllerAddress, &from.sin_addr, sizeof(in_addr)))
{
memcpy(&gameControllerAddress, &from.sin_addr, sizeof(in_addr));
udp->setTarget(inet_ntoa(gameControllerAddress), GAMECONTROLLER_RETURN_PORT);
}
received = true;
}
}
return received;
}
/**
* Sends the return packet to the GameController.
* @param message The message contained in the packet (GAMECONTROLLER_RETURN_MSG_ALIVE).
*/
bool send(uint8_t message)
{
RoboCupGameControlReturnData returnPacket;
returnPacket.team = (uint8_t) teamNumber;
returnPacket.player = (uint8_t) *playerNumber;
returnPacket.message = message;
return !udp || udp->write((const char*) &returnPacket, sizeof(returnPacket));
}
/**
* Receives a packet from the GameController.
* Packets are only accepted when the team number is know (nonzero) and
* they are addressed to this team.
*/
bool receive()
{
bool received = false;
int size;
RoboCupGameControlData buffer;
while(udp && (size = udp->read((char*) &buffer, sizeof(buffer))) > 0)
{
if(size == sizeof(buffer) &&
!std::memcmp(&buffer, GAMECONTROLLER_STRUCT_HEADER, 4) &&
buffer.version == GAMECONTROLLER_STRUCT_VERSION &&
teamNumber &&
(buffer.teams[0].teamNumber == teamNumber ||
buffer.teams[1].teamNumber == teamNumber))
{
gameCtrlData = buffer;
received = true;
}
}
return received;
}
/**
* The constructor sets up the structures required to communicate with NAOqi.
* @param pBroker A NAOqi broker that allows accessing other NAOqi modules.
*/
GameCtrl(boost::shared_ptr<AL::ALBroker> pBroker)
: ALModule(pBroker, "GameCtrl"),
proxy(0),
memory(0),
udp(0),
teamNumber(0)
{
setModuleDescription("A module that provides packets from the GameController.");
assert(numOfButtons == sizeof(buttonNames) / sizeof(*buttonNames));
assert(numOfLEDs == sizeof(ledNames) / sizeof(*ledNames));
init();
try
{
memory = new AL::ALMemoryProxy(pBroker);
proxy = new AL::DCMProxy(pBroker);
AL::ALValue params;
AL::ALValue result;
params.arraySetSize(1);
params.arraySetSize(2);
params[0] = std::string("leds");
params[1].arraySetSize(numOfLEDs);
for(int i = 0; i < numOfLEDs; ++i)
params[1][i] = std::string(ledNames[i]);
result = proxy->createAlias(params);
assert(result == params);
ledRequest.arraySetSize(6);
ledRequest[0] = std::string("leds");
ledRequest[1] = std::string("ClearAll");
ledRequest[2] = std::string("time-separate");
ledRequest[3] = 0;
ledRequest[4].arraySetSize(1);
ledRequest[5].arraySetSize(numOfLEDs);
for(int i = 0; i < numOfLEDs; ++i)
ledRequest[5][i].arraySetSize(1);
for(int i = 0; i < numOfButtons; ++i)
buttons[i] = (float*) memory->getDataPtr(buttonNames[i]);
// If no color was set, set it to black (no LED).
// This actually has a race condition.
if(memory->getDataList("GameCtrl/teamColour").empty())
memory->insertData("GameCtrl/teamColour", TEAM_BLACK);
playerNumber = (int*) memory->getDataPtr("GameCtrl/playerNumber");
teamNumberPtr = (int*) memory->getDataPtr("GameCtrl/teamNumber");
defaultTeamColour = (int*) memory->getDataPtr("GameCtrl/teamColour");
// register "onPreProcess" and "onPostProcess" callbacks
theInstance = this;
proxy->getGenericProxy()->getModule()->atPreProcess(&onPreProcess);
proxy->getGenericProxy()->getModule()->atPostProcess(&onPostProcess);
udp = new UdpComm();
if(!udp->setBlocking(false) ||
!udp->setBroadcast(true) ||
!udp->bind("0.0.0.0", GAMECONTROLLER_DATA_PORT) ||
!udp->setLoopback(false))
{
fprintf(stderr, "libgamectrl: Could not open UDP port\n");
delete udp;
udp = 0;
// continue, because button interface will still work
}
publish();
}
catch(AL::ALError& e)
{
fprintf(stderr, "libgamectrl: %s\n", e.what());
close();
}
}