//Connection protocol handler
void *connection_handler(void *arg) {
int value;
int len = 8*10;
char *buff = (char*)malloc(len); //Command buffer
//send_policy_file(data_child);
while(client_connected) {
freenect_network_read(buff, &len);
//If command length is multiple of 6
if(len > 0 && len % 6 == 0){
//Get the number of commands received
int max = len / 6;
int i;
//For each command received
for(i = 0; i < max; i++){
memcpy(&value, &buff[2 + (i*6)], sizeof(int));
value = ntohl(value);
//The BIG switch (Communication protocol)
switch(buff[0 + (i*6)]){
case 0: //CAMERA
switch(buff[1 + (i*6)]){
case 0: //GET DEPTH
sendDepth();
break;
case 1: //GET RAW DEPTH
sendRawDepth();
break;
case 2: //GET RGB
sendVideo();
break;
case 3: //Mirror depth
_depth_mirrored = value;
break;
case 4: //Mirror video
_video_mirrored = value;
break;
case 5: //Min depth
_min_depth = value;
break;
case 6: //Max depth
_max_depth = value;
break;
case 7: //Depth compression
_depth_compression = value;
break;
case 8: //Video compression
_video_compression = value;
break;
}
break;
case 1: //MOTOR
switch(buff[1 + (i*6)]){
case 0: //MOVE
freenect_sync_set_tilt_degs(value, 0);
break;
case 1: //LED COLOR
freenect_sync_set_led((freenect_led_options) value, 0);
break;
case 2: //Accelerometer
sendAccelerometers();
break;
}
break;
}
}
} else { //Command was not multiple of 6 (we received an invalid command)
if(!die) printf("got bad command (%d)\n", len );
client_connected = 0;
}
}
if(!die) {
printf("Disconecting client...\n");
freenect_network_wait();
//waiting for client led status
freenect_sync_set_led((freenect_led_options) 4, 0);
}
return NULL;
}
//Connection protocol handler
void *connection_handler(void *arg) {
int n, value;
//send_policy_file(data_child);
while(client_connected) {
char buff[8*10]; //Command buffer
#ifdef WIN32 //Listen for data (Winsock)
n = recv(data_client_socket, (char*)buff, sizeof(buff), 0);
#else //Listen for data (UNIX)
n = read(data_child, buff, sizeof(buff));
#endif
//If command length is multiple of 6
if(n > 0 && n % 6 == 0){
//Get the number of commands received
int max = n / 6;
int i;
//For each command received
for(i = 0; i < max; i++){
memcpy(&value, &buff[2 + (i*6)], sizeof(int));
value = ntohl(value);
//The BIG switch (Communication protocol)
switch(buff[0 + (i*6)]){
case 0: //CAMERA
switch(buff[1 + (i*6)]){
case 0: //GET DEPTH
sendDepth();
break;
case 1: //GET RGB
sendVideo();
break;
case 2: //Mirror depth
_depth_mirrored = value;
break;
case 3: //Mirror video
_video_mirrored = value;
break;
case 4: //Min depth
_min_depth = value;
break;
case 5: //Max depth
_max_depth = value;
break;
}
break;
case 1: //MOTOR
switch(buff[1 + (i*6)]){
case 0: //MOVE
freenect_sync_set_tilt_degs(value, 0);
break;
case 1: //LED COLOR
freenect_sync_set_led((freenect_led_options) value, 0);
break;
case 2: //Accelerometer
sendAccelerometers();
break;
}
break;
}
}
} else { //Command was not multiple of 6 (we received an invalid command)
printf("got bad command (%d)\n", n);
client_connected = 0;
}
}
printf("Disconecting client...\n");
//waiting for client led status
freenect_sync_set_led((freenect_led_options) 4, 0);
return NULL;
}
