void TNotificationClient::run(){
if(serverHostname.isEmpty()){
return;
}
if(sock==0){
getSocket();
if(sock->isValid()){
connect(sock,SIGNAL(disconnected()),this,SLOT(socketClosed()));
connect(sock,SIGNAL(readyRead()),this,SLOT(newDataAvailable()));
}
}
exec();
}
void CGlw::refresh()
{
static int k=0;
rotation += 4;
getMessage();
int i,n=100000;
for(i=0;i<n;i++)
{
updateEq(0.016/n);
}
emit newDataAvailable();
//printf("%1.2f \n",(++k)*0.016);
//fflush(stdout);
updateGL();
}
// incoming data from external socket:
void KSocketTransactionHandler::processReadyReadData()
{
qDebug() << " ---------------------------------------------------------------------";
qDebug() << "KSocketTransactionHandler::processReadyReadData()";
qint64 bytesAvail = tcpSocket->bytesAvailable();
qDebug() << bytesAvail;
QByteArray temp = tcpSocket->read(bytesAvail);
qDebug() << QString(temp.toHex());
qDebug() << QString(temp);
qDebug() << " ---------------------------------------------------------------------";
emit newDataAvailable(temp, this);
return;
}
void UResLaserIfObst::handleObst(USmlTag * tag)
{ // handle block with all obstacles in one update
const int MSL = 200;
char att[MAX_SML_NAME_LENGTH];
char val[MSL];
USmlTag nTag;
// bool gotTime = false;
ULineSegment lineSeg;
bool gotData = false;
/* format sample:
<obst cnt="2" tod="1148031884.497858">
<obstGrp cnt="3" serial="11" update="true">
<poset name="first">
<pose x="1162.565" y="1201.157" h="0.822"/>
<timeofday tod="1148031884.497858"/>
</poset>
<poset name="last">
<pose x="1163.969" y="1202.649" h="0.833"/>
<timeofday tod="1148031886.772080"/>
</poset>
<obst serial="0" noChange="true"/>
<obst hits="8" valid="true" serial="1">
.........
</obst>
<obst hits="4" valid="true" serial="4">
............
</obst>
</obstGrp>
<obstGrp cnt="12" serial="10" update="true">
.........
</obstGrp>
</obst>
*/
if (tag->cnnVerbose())
printf("%s ...\n", tag->getTagStart());
if (varOLog->getBool() != olog.isOpen())
olog.openLog(varOLog->getBool());
//
while (tag->getNextAttribute(att, val, MSL))
{
if ((strcasecmp(att, "warning") == 0) or
(strcasecmp(att, "info") == 0))
{
// no data printf("*** failed: %s\n", val);
break;
}
else if (strcasecmp(att, "tod") == 0)
{
updTime.setTimeTod(val);
// gotTime = true;
}
}
if (tag->isAStartTag())
{
if (ogLock.tryLock())
{
while (tag->getNextTag(&nTag, 200))
{
if (nTag.isTagA("obstGrp"))
{ //
handleObstGrp(&nTag);
gotData = true;
}
else if (nTag.isAStartTag())
// is an unwanted tag goup - skip
nTag.skipToEndTag(200);
// remember to test for endflag too
else if (nTag.isTagAnEnd(tag->getTagName()))
break;
}
ogLock.unlock();
}
else
{
//printf("The obstacle resource is locked -- postponding update\n");
if (tag->isAStartTag())
tag->skipToEndTag(200);
}
}
/* if (not gotTime)
// use current time
updTime.now();*/
if (gotData)
{
varUpdate->add(1);
varGroups->setInt(groupsCnt);
varTime->setTime(updTime);
varSerial->setInt(latestSerial, 0);
newDataAvailable();
}
}
void UClientFuncPath::handlePathPolygonData(USmlTag * iTag)
{
bool result;
USmlTag tag;
const int MSL = 100;
char att[MAX_SML_NAME_LENGTH];
char val[MSL];
int n, cnt = 0;
//bool hasEdge = false;
UPosition * pos;
UTime t;
bool * isObst;
//
iTag->getNextTag(&tag, 200);
result = tag.isTagA("UProbPoly");
if (not result)
{ // unknown tag
printReply(&tag, "UClientFuncPath::handlePathPolygonData: not mine?");
// skip the rest until endtag.
if (tag.isAStartTag())
tag.skipToEndTag(200);
}
if (result and not tag.isAStartTag())
{ // is just a message or a false
result = false;
tag.print("");
}
if (result)
{ // read size
while (tag.getNextAttribute(att, val, MSL))
{
if (strcasecmp(att, "count") == 0)
n = sscanf(val, "%d", &cnt);
else if (strcasecmp(att, "obstFlags") == 0)
; //hasEdge = str2bool(val);
}
result = (cnt > 0);
}
if (result)
{ // now get the guts of the message
// that is either time or polygon data
pos = poly->getPoints();
isObst = poly->getIsObst();
n = 0;
while (iTag->getNextTag(&tag, 200))
{
if (tag.isTagA("pos2db"))
{
pos->z=0.0;
while (tag.getNextAttribute(att, val, MSL))
{ // read 2d position with obstacle flag
if (strcasecmp(att, "x") == 0)
sscanf(val, "%le", &pos->x);
if (strcasecmp(att, "y") == 0)
sscanf(val, "%le", &pos->y);
if (strcasecmp(att, "obst") == 0)
*isObst = str2bool(val);
}
// debug
//if (verboseMessages)
// printf("Got %d pos2db at %f,%f obst(%s)\n",
// n, pos->x, pos->y, bool2str(*isObst));
// debug
if (n < poly->getPointsMax())
{ // advance --- if space
n++;
pos++;
isObst++;
}
}
else if (tag.isTagA("time"))
{
tag.getTime(&t);
poly->setTime(t);
// debug
//if (verboseMessages)
// printf("Got time\n");
// debug end
}
else
{ // either an unknown extra information or an end tag
if (tag.isAnEndTag())
break;
if (tag.isAStartTag())
// extra grouped info
tag.skipToEndTag(200);
}
}
poly->setPointsCnt(n);
result = n > 0;
// debug
//if (verboseMessages)
// printf("Got %d positions in polygon\n", n);
// debug end
}
if (result)
newDataAvailable(poly);
}
void serialPort::readyRead(){
emit newDataAvailable();
}
