void ServerW::readClient(int socketClient)
{
int ret;
char buf[4096];
WSABUF buff;
DWORD RecvBytes, Flags;
TrameTcp trame;
buff.buf = buf;
buff.len = 4096;
Flags = 0;
ret = WSARecv(socketClient, &buff, 1, &RecvBytes, &Flags, NULL, NULL);
if (ret == SOCKET_ERROR || RecvBytes == 0)
{
std::cout << "Client [" << socketClient << "] disconnected." << std::endl;
_fdType[socketClient] = FD_FREE;
closesocket(socketClient);
}
else
{
buff.buf[RecvBytes - 1] = 0;
memcpy(&trame, buff.buf, sizeof(TrameTcp));
std::cout << "MESSAGE RECEIVED FROM [" << socketClient << "]" << std::endl;
std::cout << trame.code << std::endl;
std::cout << trame.dest << std::endl;
std::cout << trame.data << std::endl;
sendInstruction(socketClient, 201, "Galdan", "Salut");
}
}
void IsimControl::setDxlPosition(float leftAngle, float rightAngle){
float dxlPosition[2];
dxlPosition[0] = leftAngle;
dxlPosition[1] = rightAngle;
this->ldxlValue = leftAngle;
this->rdxlValue = rightAngle;
sendInstruction(0x02, 0x04, dxlPosition);
return;
}
void IsimControl::setWheelSpeed(float leftSpeed, float rightSpeed){
float wheelSpeed[2];
wheelSpeed[0] = leftSpeed;
wheelSpeed[1] = rightSpeed;
this->lmotorValue = leftSpeed;
this->rmotorValue = rightSpeed;
sendInstruction(0x02, 0x01, wheelSpeed);
return;
}
void IsimControl::setMagnetPower(float leftMagnet, float rightManget){
float magnetPower[2];
magnetPower[0] = leftMagnet;
magnetPower[1] = rightManget;
this->lmagnetValue = leftMagnet;
this->rmagnetValue = rightManget;
sendInstruction(0x02, 0x03, magnetPower);
return;
}
void clearOneCharacter() {
sendInstruction(0x04); //zmieniamy kierunek wpisywania na odwrotny
sendData(32); //wpisujemy spacje
sendInstruction(0x06); //zmieniamy na pierwotny kierunek
}
void IsimControl::updateSwitchPressed(){
float SWaddress = 2.0f;
sendInstruction(0x01, 0x06, &SWaddress);
}
void IsimControl::updateYaw(){
float GYaddress = 1.0f;
sendInstruction(0x01, 0x06, &GYaddress);
}
void IsimControl::updateGyroscopeData(){
float GYaddress = 1.0f;
sendInstruction(0x01, 0x06, &GYaddress);
}
