void ClientSocket::readClient()
{
QDataStream in(this);
in.setVersion(QDataStream::Qt_4_7);
if (nextBlockSize == 0)
{
if (bytesAvailable() < sizeof(quint16))
return;
in >> nextBlockSize;
}
if (bytesAvailable() < nextBlockSize)
return;
quint8 requestType = 0;
in >> requestType;
if (requestType == 'O')
{
readOrder(in);
}
/* else if (requestType == 'R')
{
qDebug() << "register";
readRegistration(in);
}*/
close();
}
void sendOrder(int fdw,porder po)
{
data sbuf;
memset(&sbuf,0,sizeof(sbuf));
po->infolen = strlen(po->info);
readOrder(po->info,po->infolen,po);
//send order to server
sbuf.len = sizeof(*po);
memcpy(sbuf.buf,(char*)po,sbuf.len);
sendN(fdw,(char*)&sbuf,sbuf.len+sizeof(sbuf.len));
// printf("len = %d\nbuf = %s\n",sbuf.len,sbuf.buf);
}
void ClientInvade::readOrder(QTcpSocket * clientConnection) {
QDataStream in(clientConnection);
in.setVersion(QDataStream::Qt_4_0);
if (blockSize_ == 0) {
if (clientConnection->bytesAvailable() < (int)sizeof(quint16)) {
return;
}
in >> blockSize_;
}
if (clientConnection->bytesAvailable() < blockSize_) {
return;
}
blockSize_ = 0;
QByteArray block;
in >> block;
QJsonParseError error;
QJsonDocument d = QJsonDocument::fromJson(block, &error);
if( error.error != QJsonParseError::ParseError::NoError ) {
qDebug() << error.errorString();
return;
}
if( !d.isObject() ) {
qDebug() << "Le json recu n'est pas valide";
return;
}
receiveOrder( d.object() );
readOrder(clientConnection);
}
void CommunicationManager::update()
{
// On regarde si un socket envoie des données
if (m_selector.wait())
{
// On regarde si c'est une nouvelle connection
if (m_selector.isReady(m_listener))
{
Client *client = new Client("");
if (m_listener.accept(client->socket()) == sf::Socket::Done)
{
m_clients.push_back(client);
clientJoined(client);
//On ajoute le nouveau client au selector
m_selector.add(client->socket());
sf::Packet packet;
packet << "whoAreYou";
client->socket().send(packet);
}
}
else
{
// On test chaque socket pour récupérer les données
for (std::list<Client*>::iterator it = m_clients.begin(); it != m_clients.end(); ++it)
{
if (m_selector.isReady((*it)->socket()))
{
sf::Packet packet;
if ((*it)->socket().receive(packet) == sf::Socket::Done)
readOrder((*it), packet);
}
}
}
}
}
int main(void)
{
int cam_mode,cam_x1,cam_y1,cam_width,cam_heigth,cam_zx,cam_zy;
if(getSelector() == 0)
return;
char c;
int i;//buff_length;
//int wait_cam;
//defining the position of the several inputs and outputs (motors are outputs) in the respective SFR
//the SFR are programed as structures, so accessing to an input/output implies only acessing to the field of the structure corresponding to the SFR that was
//assigned to that input/output (see epuck_ports.h and p30f6014.h to understand the SFR assignment)
e_init_port();
e_init_motors();
//important to enable uart interface
e_init_uart1();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
//initial configuration of the camera
cam_x1=(ARRAY_WIDTH/Z_WIDTH-WIDTH)/2;
cam_y1=(ARRAY_HEIGHT/Z_HEIGHT-HEIGHT)/2;
cam_width=WIDTH;
cam_heigth=HEIGHT;
cam_zx=Z_WIDTH;
cam_zy=Z_HEIGHT;
cam_mode=MODE;
if(cam_mode==GREY_SCALE_MODE)
cam_size=cam_width*cam_heigth;
else
cam_size=cam_width*cam_heigth*2;
//not waiting for camera
wait_cam=0;
e_activate_agenda(updateFlag, 500);//500//1000
e_activate_agenda(readValues, 10);
e_start_agendas_processing();
keepFinding = 0;
e_set_led(4,1);
keepFinding = 1;
int s = getSelector();
while(s==getSelector());
/*while(1){
sprintf(b1,"%i\n",e_get_calibrated_prox(S_FRONT_LEFT));
e_send_uart1_char(b1,10);
while(e_uart1_sending());
}*/
while(1){
while(keepFinding) {
if(!cameraOn) {
startCamera();
correctRobot();
}
while(!captura());
//e_send_uart1_char(buffer,buff_length);
//while(e_uart1_sending());
if(cameraOn > 5)
processaImagem();
cameraOn++;
}
if(cameraOn)
stopCamera();
while(!flag);
flag = 0;
sendInputs();
readOrder();
readOrder();
e_set_speed_left(speedLeft);
e_set_speed_right(speedRight);
e_set_led(4,0);
}
return 0;
}
void ClientInvade::readyRead() {
readOrder(qobject_cast<QTcpSocket *>(sender()));
}
