void pushBufferEmpty(){
LoadCorePacket(& packetTemp);
packetTemp.use.head.Method=BOWLER_ASYN;
packetTemp.use.head.MessageID = 1;
packetTemp.use.head.RPC = GetRPCValue("_sli");
INT32_UNION tmp;
tmp.Val=lastPushedBufferSize;
packetTemp.use.data[0]=tmp.byte.FB;
packetTemp.use.data[1]=tmp.byte.TB;
packetTemp.use.data[2]=tmp.byte.SB;
packetTemp.use.data[3]=tmp.byte.LB;
packetTemp.use.head.DataLegnth=4+4;
asyncCallback(&packetTemp);
}
void checkPositionChange(){
int i;
float tmp[4];
updateCurrentPositions();
tmp[0]=xCurrent;
tmp[1]=yCurrent;
tmp[2]=zCurrent;
tmp[3] = getLinkAngle(3);
if( tmp[0]!=lastXYZE[0]||
tmp[1]!=lastXYZE[1]||
tmp[2]!=lastXYZE[2]||
tmp[3]!=lastXYZE[3]){
for(i=0;i<4;i++){
lastXYZE[i] =tmp[i];
}
// println_I("Current Voltage of sensor");p_fl_E(getAdcVoltage(mapHeaterIndex(HEATER0_INDEX),10));
// print_E(" Temp = ");p_fl_E(getHeaterTempreture(HEATER0_INDEX));
// print_E(" Raw ADC = ");p_int_E(getAdcRaw(mapHeaterIndex(HEATER0_INDEX),10));
// println_I("Current position X=");p_fl_E(lastXYZE[0]);
// print_E(" Y=");p_fl_E(lastXYZE[1]);
// print_E(" Z=");p_fl_E(lastXYZE[2]);
// print_E(" extr=");p_fl_E(lastXYZE[3]);
INT32_UNION PID_Temp;
LoadCorePacket(& packetTemp);
packetTemp.use.head.DataLegnth=4;
packetTemp.use.head.RPC = GetRPCValue("cpos");
int i;
for(i=0;i<4;i++){
PID_Temp.Val=lastXYZE[i];
packetTemp.use.data[0+(i*4)]=PID_Temp.byte.FB;
packetTemp.use.data[1+(i*4)]=PID_Temp.byte.TB;
packetTemp.use.data[2+(i*4)]=PID_Temp.byte.SB;
packetTemp.use.data[3+(i*4)]=PID_Temp.byte.LB;
packetTemp.use.head.DataLegnth+=4;
}
packetTemp.use.head.Method=BOWLER_ASYN;
FixPacket(&packetTemp);
asyncCallback(& packetTemp);
}
}
void GetServConfigHttpOperation::processOpertion()
{
module::TTConfig* pCfg = module::getSysConfigModule()->getSystemConfig();
std::string& phpAddr = pCfg->phpServerAddr;
std::string url = phpAddr + "/config/json";
GetServConfigParam* pPamram = new GetServConfigParam();
Http::HttpResponse response;
Http::HttpClient client;
Http::HttpRequest request("post", url);
if (!client.execute(&request, &response))
{
CString csTemp = util::stringToCString(url);
pPamram->result = GETSERV_CONFIT_FAIL;
LOG__(ERR,_T("GetServConfigHttpOperation failed %s"), csTemp);
asyncCallback(std::shared_ptr<void>(pPamram));
client.killSelf();
return;
}
std::string body = response.getBody();
client.killSelf();
//json½âÎö
try
{
Json::Reader reader;
Json::Value root;
if (!reader.parse(body, root))
{
CString csTemp = util::stringToCString(body);
LOG__(ERR, _T("GetServConfigHttpOperation parse data failed,%s"), csTemp);
pPamram->result = GETSERV_CONFIT_FAIL;
goto End;
}
std::string loginAddr = root.get("login", "").asString();
size_t startIndex = loginAddr.find(':');
if (startIndex == std::string::npos)
{
CString csTemp = util::stringToCString(body);
LOG__(ERR, _T("GetServConfigHttpOperation parse login IP failed,%s"), csTemp);
pPamram->result = GETSERV_CONFIT_FAIL;
goto End;
}
std::string loginIP = loginAddr.substr(0, startIndex);
std::string loginPort = loginAddr.substr(startIndex + 1
, loginAddr.length() - startIndex);
pCfg->loginServIP = util::stringToCString(loginIP);
pCfg->loginServPort = util::cstringToInt32(util::stringToCString(loginPort));
if (0 == pCfg->loginServPort)
{
CString csTemp = util::stringToCString(body);
LOG__(ERR, _T("GetServConfigHttpOperation parse login IP failed,%s"), csTemp);
pPamram->result = GETSERV_CONFIT_FAIL;
goto End;
}
std::string fileAddr = root.get("file", "").asString();
pCfg->fileSysAddr = _T("http://") + util::stringToCString(fileAddr) + _T("/");
pPamram->result = GETSERV_CONFIT_SUCC;
}
catch (...)
{
CString csTemp = util::stringToCString(body);
LOG__(ERR,_T("GetServConfigHttpOperation parse json execption,%s"), csTemp);
pPamram->result = GETSERV_CONFIT_FAIL;
}
End:
asyncCallback(std::shared_ptr<void>(pPamram));
}
void LoginOperation::processOpertion()
{
LOG__(APP,_T("login start,uname:%s,status:%d"), m_loginParam.csUserName
, m_loginParam.mySelectedStatus);
LoginParam* pParam = new LoginParam;
pParam->csUserName = m_loginParam.csUserName;
pParam->mySelectedStatus = m_loginParam.mySelectedStatus;
//连接消息服务器
module::TTConfig* pCfg = module::getSysConfigModule()->getSystemConfig();
CString server = util::stringToCString(pCfg->msgSevPriorIP);
LOG__(APP, _T("MsgServeIp:%s,Port:%d"), server, pCfg->msgServPort);
IM::Login::IMLoginRes* pImLoginResp = (IM::Login::IMLoginRes*)module::getTcpClientModule()
->doLogin(server, pCfg->msgServPort,m_loginParam.csUserName,m_loginParam.password);
if (0 == pImLoginResp || pImLoginResp->result_code() != IM::BaseDefine::REFUSE_REASON_NONE
|| !pImLoginResp->has_user_info())
{
//TODO,若失败，尝试备用IP
LOG__(ERR,_T("add:%s:%d,uname:%s,login for msg server failed"),server,pCfg->msgServPort, m_loginParam.csUserName);
if (pImLoginResp)
{
CString errInfo = util::stringToCString(pImLoginResp->result_string());
pParam->errInfo = errInfo;
pParam->result = LOGIN_FAIL;
pParam->server_result = pImLoginResp->result_code();
LOG__(ERR, _T("error code :%d,error info:%s"), pImLoginResp->result_code(), errInfo);
}
else
{
pParam->result = IM::BaseDefine::REFUSE_REASON_NO_MSG_SERVER;
LOG__(ERR, _T("login msg server faild！"));
}
asyncCallback(std::shared_ptr<void>(pParam));
return;
}
pParam->result = LOGIN_OK;
pParam->serverTime = pImLoginResp->server_time();
pParam->mySelectedStatus = pImLoginResp->online_status();
//存储服务器端返回的userId
IM::BaseDefine::UserInfo userInfo = pImLoginResp->user_info();
pCfg->userId = util::uint32ToString(userInfo.user_id());
pCfg->csUserId = util::stringToCString(pCfg->userId);
//登陆成功，创建自己的信息
module::UserInfoEntity myInfo;
myInfo.sId = pCfg->userId;
myInfo.csName = m_loginParam.csUserName;
myInfo.onlineState = IM::BaseDefine::USER_STATUS_ONLINE;
myInfo.csNickName = util::stringToCString(userInfo.user_nick_name());
myInfo.avatarUrl = userInfo.avatar_url();
myInfo.dId = util::uint32ToString(userInfo.department_id());
myInfo.department = myInfo.dId;
myInfo.email = userInfo.email();
myInfo.gender = userInfo.user_gender();
myInfo.user_domain = userInfo.user_domain();
myInfo.telephone = userInfo.user_tel();
myInfo.status = userInfo.status();
myInfo.signature = userInfo.sign_info();
module::getUserListModule()->createUserInfo(myInfo);
asyncCallback(std::shared_ptr<void>(pParam));
LOG__(APP, _T("login succeed! Name = %s Nickname = %s sId = %s status = %d")
, m_loginParam.csUserName
, util::stringToCString(userInfo.user_nick_name())
, module::getSysConfigModule()->UserID()
, m_loginParam.mySelectedStatus);
//开始发送心跳包
module::getTcpClientModule()->startHeartbeat();
}
