//Receive from module
void Connection::receive(os::smart_ptr<crypto::message> msg, os::smart_ptr<MessageType> type)
{
if(!type || !msg)
return;
//IP address case
if(type->getID() == ipAddressMess.getID())
{
std::string str = msg->popString();
while(str!="")
{
manager->getLocalIP()->insert(IPAddress(str));
str = msg->popString();
}
return;
}
//String case
if(type->isString())
{
std::string str = msg->popString();
while(str!="")
{
tnetout<<"Message from "<<getName()<<": "<<str<<std::endl;
str = msg->popString();
}
return;
}
//Attempt to process messages
manager->getMaster()->receiveMessage(msg,type,this);
}
//Receive a message
//Triggered anytime a message is received
void Controller::receiveMessage(os::smart_ptr<crypto::message> msg, os::smart_ptr<tnet::MessageType> type, os::smart_ptr<tnet::Connection> con)
{
if(!msg || !type || !con)
return;
if(type->getID()!=motorControlMessageType.getID() && type->getID()!=connectionListMessage.getID())
return;
//Pull from data
os::smart_ptr<siblingData> tempDat(new siblingData(con),os::shared_type);
auto fnd=connectionData.search(tempDat);
if(!fnd) connectionData.insert(tempDat);
else tempDat=&fnd;
//Connection list case
if(type->getID()==connectionListMessage.getID())
{
std::string strGroup,strName;
strName=msg->popString();
strGroup=msg->popString();
while(strName!="" && strGroup!="")
{
auto temp=network()->find(strGroup,strName);
if(temp)
tempDat->eligibleConnections.insert(temp);
strName=msg->popString();
strGroup=msg->popString();
}
return;
}
tempDat->remoteType=msg->data()[1];
//Joystick case
if(tempDat->remoteType==RemoteController::JOYSTICK)
{
tempDat->xVal=(float)msg->data()[2]/256.0f;
tempDat->yVal=(float)msg->data()[3]/256.0f;
//Default settings
tempDat->rightWheel=0;
tempDat->leftWheel=0;
tempDat->strMaster[0]="";
tempDat->strMaster[1]="";
tempDat->strConnection[0]="";
tempDat->strConnection[1]="";
}
//Bot case
else if(tempDat->remoteType==RemoteController::BOT)
{
tempDat->rightWheel=(float)msg->data()[2]/128.0f-1.0f;
tempDat->leftWheel=(float)msg->data()[3]/128.0f-1.0f;
char* strm;
int arrSize;
if(crypto::size::GROUP_SIZE>crypto::size::NAME_SIZE) arrSize=crypto::size::GROUP_SIZE;
else arrSize=crypto::size::NAME_SIZE;
strm=new char[arrSize+1];
//Master name
memset(strm,0,arrSize+1);
memcpy(strm,msg->data()+4,crypto::size::GROUP_SIZE);
tempDat->strMaster[0]=std::string(strm);
memset(strm,0,arrSize+1);
memcpy(strm,msg->data()+4+crypto::size::GROUP_SIZE,crypto::size::NAME_SIZE);
tempDat->strMaster[1]=std::string(strm);
//Connection name
memset(strm,0,arrSize+1);
memcpy(strm,msg->data()+4+crypto::size::GROUP_SIZE+crypto::size::NAME_SIZE,crypto::size::GROUP_SIZE);
tempDat->strConnection[0]=std::string(strm);
memset(strm,0,arrSize+1);
memcpy(strm,msg->data()+4+2*crypto::size::GROUP_SIZE+crypto::size::NAME_SIZE,crypto::size::NAME_SIZE);
tempDat->strConnection[1]=std::string(strm);
delete [] strm;
//Default settings
tempDat->xVal=.5;
tempDat->yVal=.5;
}
else tempDat->resetData();
}
