void JointSliders::UDPReceiverWorker() {
double *data = new double[m_TotNumLinks];
UDPSocket sockfd(12345);
cout << "\nListening in port 12345...\n";
cout << flush;
string sourceAddress; // Address of datagram source
unsigned short sourcePort; // Port of datagram source
while (m_Running) {
int rc = sockfd.recvFrom((char *)data, 8*m_TotNumLinks, sourceAddress, sourcePort);
size_t k = 0;
for (size_t h = 0; h < m_Robots->size(); h ++) {
Robot *robot = m_Robots->at(h);
size_t n = robot->GetLinks().size();
for (size_t i = 0; i < n; i++) {
robot->ActuateJoint((int) i, data[k]);
k = k + 1;
}
robot->Update(m_Verbose);
}
} //while (m_Running)
delete [] data;
}
void JointSliders::SliderCBWorker() {
size_t k = 0;
for (size_t h = 0; h < m_Robots->size(); h ++) {
Robot *robot = m_Robots->at(h);
size_t n = robot->GetLinks().size();
for (size_t i = 0; i < n; i++) {
robot->ActuateJoint((int) i, m_Sliders.at(k)->value());
k = k + 1;
}
robot->Update(m_Verbose);
}
}
