/**
* 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;
}
/**
* 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;
}