void PlaybackActionClient::playbackDoneCallback(const actionlib::SimpleClientGoalState &goal,
const pumpkin_messages::PlaybackResultConstPtr &result) {
_running = false;
if (_scene)
Q_EMIT(blockOnScene(false));
else
Q_EMIT(blockOnPlayback(false));
switch (static_cast<pumpkin_messages::IOState>(result->state)) {
case pumpkin_messages::IOState::BadFile:
Q_EMIT(sendStatusMessage(QString("Error: BAD. The playback file should be corrupted."), 1000));
ROS_ERROR("BAD FILE");
break;
case pumpkin_messages::IOState::EndOfFile:
Q_EMIT(sendStatusMessage(QString("Error: EOF. Reached End Of File before finishing the playback. Maybe ocurred some problems in recording."), 1000));
ROS_ERROR("END OF FILE");
break;
case pumpkin_messages::IOState::ErrorOpening:
Q_EMIT(sendStatusMessage(QString("Error: OPEN. There was an error opening file."), 1000));
ROS_ERROR("ERROR OPENING FILE");
break;
case pumpkin_messages::IOState::OK:
Q_EMIT(sendStatusMessage(QString("Playback terminated successfully."), 1000));
ROS_INFO("Playback executed with success.");
break;
default:
Q_EMIT(sendStatusMessage(QString("Fatal: UNKNOWN ERROR!"), 1000));
ROS_FATAL("UNKNOWN ERROR");
}
if (_scene)
Q_EMIT(scenePercentage(0, 0, 0));
else
Q_EMIT(playbackPercentage(0));
Q_EMIT(playbackFinished(result->state));
}
bool ChatServer::processSigningInData(QTcpSocket * const connection, const QVariantMap &data)
{
QString peeraddr = connection->peerAddress().toString();
quint16 peerport = connection->peerPort();
if (findChatUser(connection)) {
// пользователь уже подключен
emit alert(tr("User %1:%2 is already logged").arg(peeraddr).arg(peerport));
sendStatusMessage(connection, "signin", MessageStatus::Error, tr("You are already logged"));
return false;
}
// if (!data.contains("name") || !data["name"].toString().length()) {
// emit alert(tr("SigningIn message from %1:%2 should have 'name' key").arg(peeraddr).arg(peerport));
// sendStatusMessage(connection, "signin", MessageStatus::Error, tr("Name was not provided"));
// connection->disconnectFromHost();
// return false;
// }
// if (!data.contains("password") || !data["name"].toString().length()) {
// emit alert(tr("SigningIn message from %1:%2 should have 'password' key").arg(peeraddr).arg(peerport));
// sendStatusMessage(connection, "signin", MessageStatus::Error, tr("Password was not provided"));
// connection->disconnectFromHost();
// return false;
// }
QString name = data["name"].toString();
QString password = data["password"].toString();
for(const ChatUserLogin& login: _chatUserLogins) {
if (login.name == name) {
emit alert(tr("User %1:%2 is already registered").arg(peeraddr).arg(peerport));
sendStatusMessage(connection, "signin", MessageStatus::Error, tr("Username is already registered"));
connection->disconnectFromHost();
return false;
}
}
ChatUserLogin newUserLogin(_chatUserLogins.length(), name, password);
_chatUserLogins << newUserLogin;
emit chatUserLoginsChanged();
ChatUser * newUser = new ChatUser(newUserLogin.id, name);
_chatUsers[newUser] = connection;
sendStatusMessage(connection, "signin", MessageStatus::OK);
// broadcastUsers(newUser); // TODO UPDATE USER LIST!
broadcastUsers(_chatUsers.uniqueKeys());
sendOfflineMessages(newUser);
return true;
}
void PlaybackActionClient::sceneActiveCallback()
{
_running = true;
_scene = true;
Q_EMIT(blockOnScene(true));
Q_EMIT(sendStatusMessage(QString("Start playing scene with %0 movements.").arg(_goal.filenames.size()), 0));
}
bool ChatServer::processLoggingOutData(QTcpSocket * const connection, const QVariantMap &data)
{
QString peeraddr = connection->peerAddress().toString();
quint16 peerport = connection->peerPort();
ChatUser * logoutUser = findChatUser(connection);
if (!logoutUser) {
// пользователь не подключен
emit alert(tr("User %1:%2 is not logged").arg(peeraddr).arg(peerport));
sendStatusMessage(connection, "logout", MessageStatus::Error, tr("You are not logged"));
return false;
}
sendStatusMessage(connection, "logout", MessageStatus::OK);
connection->disconnectFromHost();
return true;
}
//--------------------------------------------------------------
void DonutCop::update(int size) {
if (currentSecond() != lastSecond) {
sendStatusMessage(size);
if (id == 0) {
sendControlMessage();
removeExpiredIds();
}
lastSecond = currentSecond();
createdSprinkles = 0;
}
checkForMessages();
}
void TOPPASWidget::dropEvent(QDropEvent * event)
{
// TODO: test mime type/source? where?
//std::cerr << "Drop Event with data:\n " << String( event->mimeData()->formats().join("\n ")) << "\n\n";
if (event->mimeData()->hasUrls())
{
String filename = String(event->mimeData()->urls().front().toLocalFile());
emit sendStatusMessage("loading drop file '" + filename + "' (press CRTL while dropping to insert into current window)", 0);
// open pipeline in new window (or in current if CTRL is pressed)
emit pipelineDroppedOnWidget(filename, event->keyboardModifiers() != Qt::ControlModifier);
}
else
{
QPointF scene_pos = mapToScene(event->pos());
emit toolDroppedOnWidget(scene_pos.x(), scene_pos.y());
}
event->acceptProposedAction();
}
bool UFunctionSeq::handleCommand(UServerInMsg * msg, void * extra)
{ // extract parameters
bool result = true;
// decode vars
char attName[MAX_SML_NAME_LENGTH];
const int VAL_BUFF_LNG = 1000;
char attValue[VAL_BUFF_LNG];
// camera and source image variables
bool ask4help = false;
bool loadFile = false;
bool appendFile = false;
bool getMissions = false;
bool getStatus = false;
bool getPgm = false;
const char * label = NULL;
bool sendReply = false;
const int MNL = MAX_FILENAME_LENGTH;
char loadName[MNL];
FILE * errLog = NULL;
const char * errLogName = "loadPlanErr.log";
const int MELL = 300;
char se[MELL];
int i, n;
FILE * mf;
char * pMf;
const int MFL = 100;
char mfn[MFL];
USeqLine * line;
const int MRL = 300;
char reply[MRL];
char lineXml[MRL];
//
// extract parameters
while (msg->tag.getNextAttribute(attName, attValue, VAL_BUFF_LNG))
{ // camera device
if (strcasecmp(attName, "help") == 0)
ask4help = true;
else if (strcasecmp(attName, "load") == 0)
{
strncpy(loadName, attValue, MNL);
loadFile = true;
}
else if (strcasecmp(attName, "append") == 0)
{
strncpy(loadName, attValue, MNL);
appendFile = true;
}
else if (strcasecmp(attName, "add") == 0)
{ // new mission line
sendReply = addCmdLine(msg, attValue);
}
else if (strcasecmp(attName, "goto") == 0)
{ // new mission line
if (label == NULL)
label = seq->addLabel();
sendReply = addCmdLine(msg, attValue);
}
else if (strcasecmp(attName, "clear") == 0)
{ // clear current pgm
seq->clear();
}
else if (strcasecmp(attName, "sim") == 0)
{ // set simulation flag - if true, logfile must be set from cmd-line
seq->setSimulated(str2bool(attValue));
}
else if (strcasecmp(attName, "missions") == 0)
getMissions = true;
else if (strcasecmp(attName, "status") == 0)
getStatus = true;
else if (strcasecmp(attName, "pgm") == 0)
getPgm = true;
else if (strcasecmp(attName, "list") == 0)
getPgm = true;
else
// unknown attribute
result = false;
}
//
if (ask4help)
{
sendHelpStart(msg, "SEQ");
sendText(msg, "---- Available SEQ options:\n");
sendText(msg, "missions Get list of all mission files\n");
sendText(msg, "status Get plan sequencer status\n");
sendText(msg, "pgm | list Get list of all loaded statements\n");
sendText(msg, "goto=\"cmd\" Give a manual mission line (in quotes), and skip to this\n");
sendText(msg, "load=\"file\" Load a mission file, and skip to this\n");
sendText(msg, "append=\"file\" Append a mission file, and skip to this\n");
sendText(msg, "add=\"command\" Add a manual command line\n");
sendText(msg, "stop Stop current mission (goto end of mission)\n");
sendText(msg, "clear remove all mission lines\n");
sendText(msg, "sim=true | false Set simulation flag (not implemented yet)\n");
sendMsg(msg, "</help>\n");
sendHelpDone(msg);
}
else
{
if (loadFile or appendFile)
{
errLog = fopen(errLogName, "w");
if (seq->loadPlan(loadName, errLog, appendFile))
{ // loaded OK
sendInfo(msg, "Loaded without errors");
}
else
{
if (errLog != NULL)
{
fclose(errLog);
errLog = fopen(errLogName, "r");
if (errLog != NULL)
{ // there is a file
sendInfo(msg, "Load error list:");
while (fgets(se, MELL, errLog) != NULL)
{ // return all filenames in separate frames
i = strlen(se);
if (i > 1)
{ // cut off the linefeed at end of line
se[i-1] = 0;
result = sendInfo(msg, se);
}
if (not result)
break;
}
}
else
result = sendWarning(msg, "Could not read error file");
if (errLog != NULL)
fclose(errLog);
}
else
sendWarning(msg, "There were errors, but could not create a logfile");
sendReply = true;
}
}
if (label != NULL)
{ // start execution from label
result = seq->skipToLabel(label, false);
}
}
if (getMissions)
{ // return a list of available missions
n = system("ls *.txt >missions.list");
if (n >= 0)
{ // there should be a file
mf = fopen("missions.list", "r");
n = -1;
if (mf != NULL)
{ // there is a file
while (true)
{ // return all filenames in separate frames
pMf = fgets(mfn, MFL, mf);
if (pMf == NULL)
break;
if (n < 0)
sendInfo(msg, "List of mission files:");
i = strlen(pMf);
if (i > 1)
{ // cut off the linefeed at end of line
pMf[i-1] = 0;
result = sendInfo(msg, pMf);
n++;
}
if (not result)
break;
}
if (n < 0)
result = sendWarning(msg, "No mission files in default dir");
}
else
result = sendWarning(msg, "Could not create listing of mission files");
if (mf != NULL)
fclose(mf);
sendReply = true;
}
}
if (getStatus)
{
sendStatusMessage(msg, msg->tag.getTagName());
sendReply = true;
}
// last if - if noone else has send a reply ...
if (getPgm)
{
if (seq->getLineCnt() > 0)
{ // make start tag for lines
snprintf(reply, MRL,
"<%s lineCnt=\"%d\" cmdLineNum=\"%d\" file=\"%s\">\n",
msg->tag.getTagName(),
seq->getLineCnt(),
seq->getActiveLine(),
seq->getPlanName());
sendMsg(msg, reply);
for (i = 0; i < seq->getLineCnt(); i++)
{
line = seq->getLine(i);
str2xml(lineXml, MRL, line->getCmdLine());
snprintf(reply, MRL,
"<seqLine ln=\"%d\" cmd=\"%s\"/>\n",
i, lineXml);
result = sendMsg(msg, reply);
if (not result)
// stop if line-buffers are full
break;
}
// and end tag (always try)
snprintf(reply, MRL, "</%s>\n", msg->tag.getTagName());
result = sendMsg(msg, reply);
}
else
{ // no plan lines - send status only
snprintf(reply, MRL,
"<%s lineCnt=\"%d\" cmdLineNum=\"%d\"/>\n",
msg->tag.getTagName(),
seq->getLineCnt(),
seq->getActiveLine());
sendMsg(msg, reply);
}
sendReply = true;
}
if (result and not sendReply)
sendInfo(msg, "done");
if (not result)
sendWarning(msg, "One or more attributes to SEQ is not used!");
return result;
}
void PlaybackActionClient::playbackActiveCallback() {
_running = true;
_scene = false;
Q_EMIT(blockOnPlayback(true));
Q_EMIT(sendStatusMessage(QString("Start playback file %0.").arg(QString::fromStdString(_goal.filenames[0])), 1000));
}
bool ChatServer::processSendingData(QTcpSocket * const connection, const QVariantMap &data)
{
QString peeraddr = connection->peerAddress().toString();
quint16 peerport = connection->peerPort();
ChatUser * sender = findChatUser(connection);
if (!sender) {
// пользователь не подключен
emit alert(tr("User %1:%2 has not logon").arg(peeraddr).arg(peerport));
sendStatusMessage(connection, "messagesent", MessageStatus::Error, tr("User has not logon"));
return false;
}
// if (!data.contains("messageId")) {
// emit alert(tr("Sending message from %1:%2 should have 'messageId' key").arg(peeraddr).arg(peerport));
// sendStatusMessage(connection, "messagesent", MessageStatus::Error, tr("'messageId' was not provided"));
// return false;
// }
// if (!data.contains("receiverId")) {
// emit alert(tr("Sending message from %1:%2 should have 'receiverId' key").arg(peeraddr).arg(peerport));
// sendStatusMessage(connection, "messagesent", MessageStatus::Error, tr("'receiverId' was not provided"));
// return false;
// }
// if (!data.contains("text") || !data["text"].toString().length()) {
// emit alert(tr("Sending message from %1:%2 should have 'text' key").arg(peeraddr).arg(peerport));
// sendStatusMessage(connection, "messagesent", MessageStatus::Error, tr("'text' was not provided"));
// return false;
// }
int messageId = data["messageId"].toInt();
int receiverId = data["receiverId"].toInt();
QString text = data["text"].toString();
ChatUser* receiver = findChatUser(receiverId);
if (!receiver) {
emit alert(tr("No such receiverId %1").arg(receiverId));
return false;
}
QTcpSocket* receiverConnection = _chatUsers[receiver];
// формируем сообщение о доставке
QJsonObject rObj;
rObj["type"] = QString("receivemessage");
rObj["messageId"] = messageId;
rObj["senderId"] = sender->id();
rObj["text"] = text;
QJsonDocument rDoc(rObj);
QByteArray rData = rDoc.toBinaryData();
if (receiverConnection) {
// получатель в сети, отправляем ему
receiverConnection->write(rData);
} else {
// получатель не в сети, ставим в очередь
_offlineMessages[receiver].append(rData);
}
// отчитываемся отправителю
QJsonObject sObj;
sObj["status"] = static_cast<int>(MessageStatus::OK);
sObj["type"] = QString("messagesent");
sObj["messageId"] = messageId;
QJsonDocument sDoc(sObj);
connection->write(sDoc.toBinaryData());
return true;
}
bool ChatServer::processLoggingInData(QTcpSocket * const connection, const QVariantMap &data)
{
QString peeraddr = connection->peerAddress().toString();
quint16 peerport = connection->peerPort();
// if (!data.contains("name")) {
// emit alert(tr("LoggingIn message from %1:%2 should have 'name' key").arg(peeraddr).arg(peerport));
// sendStatusMessage(connection, "login", MessageStatus::Error, tr("Name was not provided"));
// connection->disconnectFromHost();
// return false;
// }
// if (!data.contains("password")) {
// emit alert(tr("LoggingIn message from %1:%2 should have 'password' key").arg(peeraddr).arg(peerport));
// sendStatusMessage(connection, "login", MessageStatus::Error, tr("Password was not provided"));
// connection->disconnectFromHost();
// return false;
// }
QString name = data["name"].toString();
QString password = data["password"].toString();
ChatUser * loggingUser = findChatUser(name);
ChatUserLogin userLogin;
bool userFound = false;
for(const ChatUserLogin& login: _chatUserLogins) {
if (login.name == name) {
if (login.password != password) {
emit alert(tr("User %1:%2 bad password").arg(peeraddr).arg(peerport));
sendStatusMessage(connection, "login", MessageStatus::Error, tr("Bad username or password"));
connection->disconnectFromHost();
return false;
}
userLogin = login;
userFound = true;
break;
}
}
if (loggingUser) {
// пользователь существует в списке, а значит уже подключен, отключим старого пользователя
emit alert(tr("User %1:%2 is already logged, disconnect old").arg(peeraddr).arg(peerport));
if (_chatUsers[loggingUser])
_chatUsers[loggingUser]->disconnectFromHost();
}
if (!userFound) {
emit alert(tr("User %1:%2 is not registered").arg(peeraddr).arg(peerport));
sendStatusMessage(connection, "login", MessageStatus::Error, tr("You are not registered"));
connection->disconnectFromHost();
return false;
}
if (!loggingUser) {
emit alert(tr("User %1:%2 exists in logins, but not in chat users. WTF?!").arg(peeraddr).arg(peerport));
sendStatusMessage(connection, "login", MessageStatus::Error, tr("Other server error"));
connection->disconnectFromHost();
return false;
}
loggingUser->setIsOnline(true);
_chatUsers[loggingUser] = connection;
sendStatusMessage(connection, "login", MessageStatus::OK);
// broadcastUsers(loggingUser); // шлем список всех пользователей, кроме себя самого
broadcastUsers(_chatUsers.uniqueKeys()); // , loggingUser
sendOfflineMessages(loggingUser);
return true;
}
