void CulistGui::acceptServerConnection()
{
if(_tcpServerConnection == 0)
{
_tcpServerConnection = _tcpServer.nextPendingConnection();
connect(_tcpServerConnection, SIGNAL(readyRead()),
this, SLOT(processServerConnectionData()));
connect(_tcpServerConnection, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(processServerConnectionError(QAbstractSocket::SocketError)));
connect(_tcpServerConnection, SIGNAL(disconnected()),
this, SLOT(processServerConnectionClosed()));
ui->statusBar->showMessage( "Accepted connection" );
if( _actAsProxyServer )
{
connectToTcpServer();
}
}
else
{
ui->statusBar->showMessage( "Rejected 2nd connection" );
}
}
bool
connectToServer(NConnect_State &state) {
switch (state.type) {
case SAT_UNIX:
return connectToUnixServer(state.s_unix);
case SAT_TCP:
return connectToTcpServer(state.s_tcp);
default:
throw RuntimeException("Unknown address type");
}
}
int
connectToServer(const StaticString &address) {
TRACE_POINT();
switch (getSocketAddressType(address)) {
case SAT_UNIX:
return connectToUnixServer(parseUnixSocketAddress(address));
case SAT_TCP: {
string host;
unsigned short port;
parseTcpSocketAddress(address, host, port);
return connectToTcpServer(host, port);
}
default:
throw ArgumentException(string("Unknown address type for '") + address + "'");
}
}
RoboControllerSDK::RoboControllerSDK(QString serverAddr/*=QString("127.0.0.1")*/,
quint16 udpStatusPortSend/*=14550*/,
quint16 udpStatusPortListen/*=14555*/,
quint16 udpControlPort/*=14560*/,
quint16 tcpPort/*=14500*/) :
mTcpSocket(NULL),
mUdpStatusSocket(NULL),
mUdpControlSocket(NULL)
{
mStopped = true;
mWatchDogTimeMsec = 1000;
mMsgCounter = 0;
// Ping Timer
connect( &mPingTimer, SIGNAL(timeout()), this, SLOT(onPingTimerTimeout()));
// >>>>> TCP Socket
mTcpSocket = new QTcpSocket(this);
mServerAddr = serverAddr;
mTcpPort = tcpPort;
connect(mTcpSocket, SIGNAL(readyRead()),
this, SLOT(onTcpReadyRead()));
connect(mTcpSocket, SIGNAL(hostFound()),
this, SLOT(onTcpHostFound()));
connect(mTcpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(onTcpError(QAbstractSocket::SocketError)));
try
{
connectToTcpServer();
}
catch( RcException &e )
{
qDebug() << e.getExcMessage();
throw e;
}
// <<<<< TCP Socket
// >>>>> UDP Sockets
mUdpControlSocket = new QUdpSocket(this);
mUdpStatusSocket = new QUdpSocket(this);
mUdpControlPortSend = udpControlPort;
mUdpStatusPortSend = udpStatusPortSend;
mUdpStatusPortListen = udpStatusPortListen;
/*connect( mUdpControlSocket, SIGNAL(readyRead()),
this, SLOT(onUdpControlReadyRead()) ); // The control UDP Socket does not receive!*/
connect( mUdpStatusSocket, SIGNAL(readyRead()),
this, SLOT(onUdpStatusReadyRead()) );
connect( mUdpControlSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(onUdpControlError(QAbstractSocket::SocketError)) );
connect( mUdpStatusSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(onUdpStatusError(QAbstractSocket::SocketError)) );
try
{
connectToUdpServers();
}
catch( RcException &e )
{
qDebug() << e.getExcMessage();
throw e;
}
// <<<<< UDP Sockets
mMotorCtrlMode = mcPID; // RoboController is in PID mode by default
// Start thread
mStopped = false;
start();
}
