char DoCommand()
{
switch(rxbuffer[0])
{
case CMD_EMPTY:
return 1;
case CMD_READ_BATTERY_VOLTAGE:
SendWord(BatteryValue);
return 1;
case CMD_SET_ACCELERATION_VAR:
Acceleration = rxbuffer[4];
return 1;
case CMD_SET_PWM_ENABLED:
TMR2ON = rxbuffer[4] > 0;
return 1;
case CMD_SET_MOTORS_ENABLED:
Enable1pin = rxbuffer[4] > 0;
Enable2pin = rxbuffer[4] > 0;
return 1;
case CMD_SET_PWMSPEED_A_VAR:
PWMSpeedA.hi = rxbuffer[3];
PWMSpeedA.lo = rxbuffer[4];
return 1;
case CMD_SET_PWMSPEED_B_VAR:
PWMSpeedB.hi = rxbuffer[3];
PWMSpeedB.lo = rxbuffer[4];
return 1;
case CMD_GET_TOTALTICKS_A:
SendLong(AbsolutTickCountA);
return 1;
case CMD_GET_TOTALTICKS_B:
SendLong(AbsolutTickCountB);
return 1;
case CMD_GET_TICKSPEED_A:
SendWord(CurrentTickSpeedA);
return 1;
case CMD_GET_TICKSPEED_B:
SendWord(CurrentTickSpeedB);
return 1;
case CMD_GET_CURRENT_A:
SendWord(SenseValueA);
return 1;
case CMD_GET_CURRENT_B:
SendWord(SenseValueB);
return 1;
case CMD_SET_SERVOA_POS:
ServoAPos = rxbuffer[4];
return 1;
case CMD_SET_SERVOB_POS:
ServoBPos = rxbuffer[4];
return 1;
case CMD_SET_SERVOC_POS:
ServoCPos = rxbuffer[4];
return 1;
default:
return 0;
}
}
bool s13WXWServer::SendLongToAll (long lLong, std::vector<unsigned int> aryExcept)
{
unsigned int uiSocketsLength = aryClientSockets.size ();
for (unsigned int uiIdx = 0; uiIdx < uiSocketsLength; uiIdx++)
{
bool bContinue = false;
for (unsigned int uiJdx = 0; uiJdx < aryExcept.size (); uiJdx++)
{
if (uiIdx == aryExcept.at (uiJdx))
{
bContinue = true;
break;
}
}
if (bContinue == true)
continue;
if (SendLong (aryClientSockets.at (uiIdx), lLong) == false)
continue;
}
return (true);
}
bool NetSocket::SendPacket(NetAddress *to, const void *data, int length)
{
struct sockaddr addr;
int ret;
if (m_Network->m_FakeLoss && RandomFloat(0, 1) < m_Network->m_FakeLoss) {
return true;
}
if (length <= 0 || !data || !to) {
return true;
}
to->ToSockadr(&addr);
if (length > MAX_ROUTEABLE_PACKET)
{
ret = SendLong((const char *)data, length, 0, &addr, sizeof(addr));
}
else
{
if (length < sizeof(addr))
ret = SendShort((const char *)data, length, 0, &addr, sizeof(addr));
else
ret = sendto(m_Socket, (const char *)data, length, 0, &addr, sizeof(addr));
}
if (ret == -1)
{
int err = m_Network->GetLastErrorCode();
// wouldblock is silent
if (err == WSAEWOULDBLOCK)
return true;
if (err == WSAECONNREFUSED || err == WSAECONNRESET)
return true;
// some PPP links dont allow broadcasts
if (err == WSAEADDRNOTAVAIL)
return true;
m_System->Printf("WARNING! NetSocket::SendPacket: %s\n", m_Network->GetErrorText(err));
return false;
}
m_BytesOut += ret + UDP_HEADER_SIZE;
return true;
}
