static Poco::JSON::Array::Ptr getConnectedPortInfos(
const Poco::JSON::Object::Ptr &topObj,
const std::string &blockId,
const bool enbFilter,
const bool isInput)
{
const auto connsArray = topObj->getArray("connections");
const auto blocksObj = topObj->getObject("blocks");
const auto blockObj = blocksObj->getObject(blockId);
//grab the raw ports info
Poco::JSON::Array::Ptr portsInfo(new Poco::JSON::Array());
if (isInput and blockObj->has("inputs")) portsInfo = blockObj->getArray("inputs");
if (not isInput and blockObj->has("outputs")) portsInfo = blockObj->getArray("outputs");
//no filtering? return ASAP
if (not enbFilter) return portsInfo;
Poco::JSON::Array::Ptr filteredPortsInfo(new Poco::JSON::Array());
for (size_t i = 0; i < portsInfo->size(); i++)
{
const auto portInfo = portsInfo->getObject(i);
for (size_t c_i = 0; c_i < connsArray->size(); c_i++)
{
const auto conn = connsArray->getObject(c_i);
if (
(not isInput and blockId == conn->getValue<std::string>("srcId") and portInfo->getValue<std::string>("name") == conn->getValue<std::string>("srcName")) or
(isInput and blockId == conn->getValue<std::string>("dstId") and portInfo->getValue<std::string>("name") == conn->getValue<std::string>("dstName"))
)
{
filteredPortsInfo->add(portInfo);
break;
}
}
}
return filteredPortsInfo;
}
void Communicator::processIncomingMessage(QString const &message)
{
QString const dataLabel("data:");
QString const portsLabel("ports:");
if (message.startsWith(dataLabel)) {
SensorData data;
for (QString const &value : message.right(message.length() - dataLabel.length()).split(";")) {
if (value.startsWith("analog:")) {
QStringList sensors = value.right(value.length() - QString("analog:").length()).split(",");
for (QString const &sensor : sensors) {
QString port = sensor.split("=")[0];
QStringList values = sensor.split("=")[1].split(":");
data.analog[port] = values[0].toInt();
data.analogRaw[port] = values[1].toInt();
}
} else if (value.startsWith("digital:")) {
QStringList sensors = value.right(value.length() - QString("digital:").length()).split(",");
for (QString const &sensor : sensors) {
QString port = sensor.split("=")[0];
QStringList values = sensor.split("=")[1].split(":");
data.digital[port] = values[0].toInt();
data.digitalRaw[port] = values[1].toInt();
}
} else if (value.startsWith("special:")) {
QStringList sensors = value.right(value.length() - QString("special:").length()).split(",");
for (QString const &sensor : sensors) {
QString port = sensor.split("=")[0];
QStringList values = sensor.split("=")[1].split(":");
data.special[port] = values[0].toInt();
data.specialRaw[port] = values[1].toInt();
}
} else if (value.startsWith("encoders:")) {
QStringList sensors = value.right(value.length() - QString("encoders:").length()).split(",");
for (QString const &sensor : sensors) {
QString port = sensor.split("=")[0];
QStringList values = sensor.split("=")[1].split(":");
data.encoders[port] = values[0].toInt();
data.encodersRaw[port] = values[1].toInt();
}
} else if (value.startsWith("accelerometer:")) {
int const labelLength = QString("accelerometer:").length();
QStringList values = value.mid(labelLength + 1, value.length() - labelLength - 2).split(",");
data.accelerometer = QVector<int>({ values[0].toInt(), values[1].toInt(), values[2].toInt() });
} else if (value.startsWith("gyroscope:")) {
int const labelLength = QString("gyroscope:").length();
QStringList values = value.mid(labelLength + 1, value.length() - labelLength - 2).split(",");
data.gyroscope = QVector<int>({ values[0].toInt(), values[1].toInt(), values[2].toInt() });
}
}
emit newData(data);
} else if (message.startsWith(portsLabel)) {
QStringList types = message.right(message.length() - portsLabel.length()).split(";");
QStringList analog;
QStringList digital;
QStringList special;
QStringList encoders;
for (QString const &typeSection : types) {
if (typeSection.startsWith("analog:")) {
analog = typeSection.right(typeSection.length() - QString("analog:").length())
.split(",", QString::SkipEmptyParts);
} else if (typeSection.startsWith("digital:")) {
digital = typeSection.right(typeSection.length() - QString("digital:").length())
.split(",", QString::SkipEmptyParts);
} else if (typeSection.startsWith("special:")) {
special = typeSection.right(typeSection.length() - QString("special:").length())
.split(",", QString::SkipEmptyParts);
} else if (typeSection.startsWith("encoders:")) {
encoders = typeSection.right(typeSection.length() - QString("encoders:").length())
.split(",", QString::SkipEmptyParts);
}
}
emit portsInfo(analog, digital, special, encoders);
}
}
