void TeamHandler::send()
{
if(!port)
return; // not started yet
if(!out.isEmpty())
{
OutBinarySize size;
size << out;
char* package = new char[size.getSize() + 4];
ASSERT(package);
OutBinaryMemory memory(package + 4);
memory << out;
((unsigned short*) package)[1] = size.getSize() + 4;
((unsigned short*) package)[0] = calcCRC16(package + 2, size.getSize() + 2);
sockaddr_in address;
address.sin_family = AF_INET;
address.sin_port = htons(port);
address.sin_addr.s_addr = INADDR_BROADCAST;
if(sendto(udpSocket, package, size.getSize() + 4, 0, (struct sockaddr *) &address, sizeof(address)) == (int)size.getSize() + 4)
out.clear();
delete [] package;
}
}
void TeamHandler::send()
{
if(!port || out.isEmpty())
return;
const int teamCommHeaderSize = localId ? 8 : 6;
char buffer[1400];
OutBinarySize sizeStream;
sizeStream << out;
int size = sizeStream.getSize() + teamCommHeaderSize;
if(size > int(sizeof(buffer)))
{
out.clear();
return;
}
OutBinaryMemory memory(buffer + teamCommHeaderSize);
memory << out;
// TeamComm header (remote)
// Byte | 0 1 2 3 | 4 5 |
// | timestamp | payload size |
// TeamComm header (local)
// Byte | 0 1 2 3 | 4 5 | 6 7 |
// | timestamp | payload size | local ID |
((unsigned int*)buffer)[0] = SystemCall::getCurrentSystemTime();
((unsigned short*)buffer)[2] = (unsigned short) size;
if(localId)
{
((unsigned short*)buffer)[3] = localId;
}
if(socket.write(buffer, size))
out.clear();
}
int RemoteRobot::main()
{
unsigned char* sendData = 0,
* receivedData;
int sendSize = 0,
receivedSize = 0;
MessageQueue temp;
{
// If there is something to send, prepare a package
if(!theDebugSender.isEmpty())
{
SYNC;
OutBinarySize size;
size << theDebugSender;
sendSize = size.getSize();
sendData = new unsigned char[sendSize];
OutBinaryMemory stream(sendData);
stream << theDebugSender;
// make backup
theDebugSender.moveAllMessages(temp);
}
}
// exchange data with the router
if(!sendAndReceive(sendData,sendSize,receivedData,receivedSize) && sendSize)
{ // sending failed, restore theDebugSender
SYNC;
// move all messages since cleared (if any)
theDebugSender.moveAllMessages(temp);
// restore
temp.moveAllMessages(theDebugSender);
}
// If a package was prepared, remove it
if(sendSize)
{
delete [] sendData;
sendSize = 0;
}
// If a package was received from the router program, add it to receiver queue
if(receivedSize > 0)
{
SYNC;
InBinaryMemory stream(receivedData,receivedSize);
stream >> theDebugReceiver;
delete [] receivedData;
}
std::size_t LogConverter::sizeofRepresentation(const Streamable& streamable)
{
OutBinarySize outSize;
outSize << streamable;
return outSize.getSize();
}