void iProtoServiceServer::processInternal() {
wrappers::net::util::ServerPacketHandler packetHandler;
while (m_running) {
m_server.update(packetHandler);
const ServerPacketHandler::tPacketList packets = packetHandler.getPackets();
std::vector<ProcessRunner> runners;
runners.reserve(packets.size());
for (ServerPacketHandler::tPacketList::const_iterator packet = packets.begin(); packet != packets.end(); ++packet) {
runners.push_back(ProcessRunner(m_server, packet->first, packet->second, ProcessRunner::tProc::from_method<iProtoServiceServer, &iProtoServiceServer::process>(this)));
}
for (u32 idx = 0; idx < packets.size(); ++idx) {
m_workerPool.execute(&runners[idx]);
}
m_workerPool.wait();
core::thread::thisthread::yield();
}
}
bool ChangeWirelessCmd::ChangeWirelessTask::execute()
{
std::string ip = robot->getBestIP();
context().printLine(robot->name + ": changing wpa_supplicant config to " + toString(config));
std::string command = remoteCommand("setprofile " + toString(config), ip);
ProcessRunner r(context(), fromString(command));
r = ProcessRunner(context(), fromString(command));
r.run();
if(r.error())
{
context().errorLine(robot->name + ": change wireless failed.");
return false;
}
context().printLine(robot->name + ": change wireless finished.");
return true;
}
bool RestartCmd::RestartTask::execute()
{
std::string ip = robot->getBestIP(context());
context().printLine("restart: using ip " + ip + " for " + robot->name + ".");
if(type < SINGLE_COMMANDS)
{
if(type == BHUMAND)
{
std::string command = remoteCommand("bhumand restart", ip);
ProcessRunner r(context(), command);
r.run();
reportStatus(r);
}
else if(type == NAOQID)
{
std::string command = remoteCommand("sudo /etc/init.d/naoqi restart", ip);
ProcessRunner r(context(), command);
r.run();
if(r.error())
{
context().errorLine(robot->name + ": Could not restart Naoqi.");
return false;
}
else context().printLine(robot->name + ": restarted Naoqi.");
}
else if(type == ROBOT)
{
std::string command = remoteCommand("reboot", ip);
ProcessRunner r(context(), command);
r.run();
reportStatus(r);
}
else
{
context().errorLine("Unkown restart command.");
return false;
}
}
else if(type == BHUMAND_AND_NAOQID)
{
std::string command = remoteCommand("bhumand stop", ip);
ProcessRunner r(context(), command);
r.run();
if(r.error())
{
context().errorLine(robot->name + ": Failed to stop bhumand.");
return false;
}
else
{
context().printLine(robot->name + ": bhumand stopped");
}
context().printLine(robot->name + ": waiting 2 seconds");
Sleeper::msleep(2000);
command = remoteCommand("sudo /etc/init.d/naoqi restart", ip);
r = ProcessRunner(context(), command);
r.run();
if(r.error())
{
context().errorLine(robot->name + ": Failed to restart naoqid.");
return false;
}
else context().printLine(robot->name + ": naoqid restarted");
context().printLine(robot->name + ": waiting 2 seconds");
Sleeper::msleep(2000);
command = remoteCommand("bhumand start", ip);
r = ProcessRunner(context(), command);
r.run();
if(r.error())
{
context().errorLine(robot->name + ": Failed to start bhumand.");
return false;
}
else context().printLine(robot->name + ": bhumand started");
context().printLine(robot->name + ": waiting 2 seconds");
Sleeper::msleep(2000);
context().printLine(robot->name + ": Done");
}
else
{
context().errorLine("Unkown restart command.");
return false;
}
return true;
}
