void* stopKeeperThread(void * args){
Robot *rb = (Robot*) args;
int socket_fd = rb->socket_robo;
if(socket_fd){
int recvbytes = 0;
int BUFFER_SIZE = 2048;
char read_buff[BUFFER_SIZE];
while(1){
bzero(read_buff, sizeof(read_buff));
if(-1 == (recvbytes = recv(socket_fd,read_buff,BUFFER_SIZE, 0))){
printf("read data fail \n");
}
else
{
string recvCmd(read_buff);
if(recvCmd == "stopKeeper"){
printf("receive scan\n");
//do something
rb->abort = true;
char tmp[BUFFER_SIZE];
strcpy(tmp, "stopKeeper_ack");
if (send(socket_fd, tmp, (int)strlen(tmp), 0) < 0){
printf("send stopKeeper_ack fail\n");
}
else{
printf("send stopKeeper_ack success\n");
}
return NULL;
}//if
}//else
}//while
}
return NULL;
}
//FIXME Apparently XPutFile exists so use that instead.
//FIXME hardcoded ad-hid format for dag.
void putFile(int sock, char *ad, char*hid, const char *fin, const char *fout)
{
char cmd[512];
sprintf(cmd, "put %s %s %s %s ", ad,hid,fin,fout);
sendCmd(sock, cmd);
recvCmd((void *)&sock);
say("done with put file\n");
}
void Robot::listenAndAct(){
int socket_fd = socket_robo;
if(socket_fd){
int recvbytes = 0;
int BUFFER_SIZE = 2048;
char read_buff[BUFFER_SIZE];
while(1){
bzero(read_buff, sizeof(read_buff));
if(-1 == (recvbytes = recv(socket_fd,read_buff,BUFFER_SIZE, 0))){
printf("read data fail \n");
}
else
{
string recvCmd(read_buff);
if(recvCmd == "scan"){
printf("receive scan\n");
//do something
drawMap();
char tmp[BUFFER_SIZE];
strcpy(tmp, "scan_ack");
if (send(socket_fd, tmp, (int)strlen(tmp), 0) < 0){
printf("send scan_ack fail\n");
}
else{
printf("send scan_ack success\n");
}
}
else if(recvCmd == "keeper"){
printf("receive keeper\n");
//do something
pthread_t t1;
pthread_create(&t1, NULL, stopKeeperThread, this);
keepGoal();
char tmp[BUFFER_SIZE];
strcpy(tmp, "keeper_ack");
if (send(socket_fd, tmp, (int)strlen(tmp), 0) < 0){
printf("send keeper_ack fail\n");
}
else{
printf("send keeper_ack success\n");
}
}
else if(recvCmd == "shoot"){
printf("receive shoot\n");
//do something
shoot();
char tmp[BUFFER_SIZE];
strcpy(tmp, "shoot_ack");
if (send(socket_fd, tmp, (int)strlen(tmp), 0) < 0){
printf("send shoot_ack fail\n");
}
else{
printf("send shoot_ack success\n");
}
}
else if(recvCmd == "spin"){
printf("receive spin\n");
//do something
spin();
char tmp[BUFFER_SIZE];
strcpy(tmp, "spin_ack");
if (send(socket_fd, tmp, (int)strlen(tmp), 0) < 0){
printf("send spin_ack fail\n");
}
else{
printf("send spin_ack success\n");
}
}
else if(recvCmd == "exit"){
printf("receive exit\n");
close(socket_fd);
break;
}
else if(recvCmd == "pic"){
char cmd[200];
bzero(cmd, sizeof(cmd));
strcpy(cmd, "sendpicstart");
if(send(socket_fd, cmd, (int)strlen(cmd), 0) < 0){
printf("send start cmd fail\n");
continue;
}
if(-1 == (recvbytes = recv(socket_fd,read_buff,BUFFER_SIZE, 0))){
printf("receive start cmd ack fail\n");
continue;
}
if(strcmp(read_buff, "fileack") != 0){
printf("receive not fileack\n");
continue;
}
int sendContent = 1;
int width = 128, height = 128;
IplImage* src = cvLoadImage("Radar.png");
if(src == NULL){
printf("no Radar.png\n");
continue;
}
int dst_width = 128, dst_height = 128;
IplImage* img = cvCreateImage(cvSize(dst_width, dst_height), src->depth, 3);
cvResize(src, img, CV_INTER_LINEAR);
uchar* img_data = (uchar *)img->imageData;
int sendRgbSize = 128*3;
int dataCharSize = width*height*3*3;
int sendCharSize = 128*3*3;
int sendTime = dataCharSize/sendCharSize;
printf("sendTime: %d\n", sendTime);
uchar sendChardata[sendCharSize];
for(int i = 0; i < sendTime; i++){
bzero(sendChardata, sendCharSize);
for(int j = 0; j < sendRgbSize; j++){
int x = (int)img_data[i*sendRgbSize+j];
sendChardata[j*3+0] = x/100+'0';
sendChardata[j*3+1] = (x%100)/10+'0';
sendChardata[j*3+2] = (x%10)+'0';
}
//cout << i << endl;
if(send(socket_fd, sendChardata, sendCharSize, 0) < 0){
printf("%d send rgb_data fail\n", i);
sendContent = 0;
break;
}
//cout << i << " send rgb_data success" << endl;
if(-1 == (recvbytes = recv(socket_fd,read_buff,BUFFER_SIZE, 0))){
printf("%d receive data ack fail\n", i);
sendContent = 0;
break;
}
if(strcmp(read_buff, "fileack") != 0){
printf("%d receive not ackfile\n", i);
sendContent = 0;
break;
}
}
if(sendContent == 0){
printf("sendContent = false\n");
continue;
}
bzero(cmd, sizeof(cmd));
strcpy(cmd, "sendpicfinish");
if(send(socket_fd, cmd, (int)strlen(cmd), 0) < 0){
printf("send file finish fail\n");
continue;
}
printf("data all send\n");
cvReleaseImage(&src);
cvReleaseImage(&img);
}//else if
}//else
}
}
}
