void RobotController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
// 送信者がゴミ認識サービスの場合
char *all_msg = (char*)evt.getMsg();
std::string msg;
msg= evt.getMsg();
if(msg == "start" && m_state ==0)
{
m_state = 1; // initial settings
}
else if(msg == "kitchen" && m_state ==0)
{
m_state = 10; // move to the kitchen
}
else if(msg == "lobby" && m_state ==0)
{
m_state = 20; // move to the lobby
}
else if(msg == "bed room" && m_state ==0)
{
m_state = 30; // move to the bed room
}
else
{
broadcastMsgToSrv("Task finished\n");
}
}
void RobotController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
std::string msg;
msg= evt.getMsg();
std::stringstream ss;
ss << msg;
std::string header;
ss >> header;
if (msg == "Task_start" && m_state == 0)
{
m_state = 10;
Kinect_data_flag = false;
Record_Postures.clear();
}
if (msg == "Task_end")
{
initialize();
}
if ( header == "KINECT_DATA_Sensor" && Kinect_data_flag == true)
{
Record_Kinect_Data(msg);
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
// SimObj *stick = getObj("robot_test");
SimObj *stick = getObj("ArrowStick");
char *all_msg = (char*)evt.getMsg();
// std::string msg;
msg= evt.getMsg();
LOG_MSG((msg.c_str()));
char xPosStr[10]=" ";
char yPosStr[10]=" ";
int result=0;
result = sscanf(msg.c_str(), "%[^','],%[^',']", xPosStr, yPosStr );
xPos = atof(xPosStr);
yPos = atof(yPosStr);
// LOG_MSG((" Position Received by Controller : %f %f ", xPos, yPos));
//std::cout <<"xPos is" << xPos <<std::endl;
messageCount++;
std::cout << "The received mesage count is" << messageCount <<std::endl;
// stick->setPosition(pos.x() + xPos, pos.y(), pos.z() + yPos);
}
void RobotController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
// 送信者がゴミ認識サービスの場合
char *all_msg = (char*)evt.getMsg();
std::string msg;
msg= evt.getMsg();
if(msg == "go" && m_state ==20)
{
m_state = 0;
}
else if(msg == "take" && m_state == 7)
{
printf("Kinect is started on object\n");
m_pointedObject = getPointedObjectName(m_avatar);
m_state = 8;
}
else if(msg == "put" && m_state == 16)
{
printf("Kinect is started on trash \n");
m_pointedtrash = getPointedTrashName(m_avatar);
m_state = 17;
}
else
{
printf("Message is not accepted\n");
}
}
void KinectService::onRecvMsg(RecvMsgEvent &evt) {
std::string sender = evt.getSender();
std::string msg = evt.getMsg();
int strPos1 = 0;
int strPos2;
int strPos3;
std::string headss;
std::string ss = msg;
strPos2 = ss.find("_", strPos1);
headss.assign(ss, strPos1, strPos2-strPos1);
if (headss == "Send") {
Folder = "Motion_Data/";
// Contol of body movement by KINECT
File_ID = "";
strPos3 = ss.find(".", strPos2+1);
File_ID.assign(ss, strPos2+1, strPos3);
File_ID += "dat";
Folder += File_ID;
std::cout << "The File path " << Folder << std::endl;
}
if (msg == "Start_motion" && sender == "moderator_0" )
{
in_stream_motion.open(Folder.c_str());
std::string previousLine = "";
while(getline(in_stream_motion,line)) // To get you all the lines.
{
list_motion.push_back(line);
}
in_stream_motion.close();
Data_Size = 0;
Start_motion = true;
}
if (msg == "Task_start" && sender == "moderator_0")
{
Data_Size = 0;
Start_t = clock();
list_motion.clear();
Send_Data = false;
}
if (msg == "Get_Data" && sender == "robot_000")
{
Send_Data = true;
}
if (msg == "Data_Off" && sender == "robot_000")
{
Send_Data = false;
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt) {
//取得したメッセージを表示します
string msg = evt.getMsg();
//LOG_MSG(("msg : %s", msg.c_str()));
SimObj *my = getObj(myname());
if(strstr(msg.c_str()," "))
{
// phi theta に分ける
int n = 0;
n = msg.find(" ");
string phi_s = msg.substr(0,n);
string theta_s = msg.substr(n+1);
double phi = atof(theta_s.c_str());
double theta = atof(phi_s.c_str());
// 目玉関節を回転させる
my->setJointAngle("LEYE_JOINT1",DEG2RAD(phi));
my->setJointAngle("REYE_JOINT1",DEG2RAD(phi));
my->setJointAngle("LEYE_JOINT0",DEG2RAD(theta));
my->setJointAngle("REYE_JOINT0",DEG2RAD(theta));
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
string msg = evt.getMsg();
if (msg == "point1"){
start = true;
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
std::string msg = evt.getMsg();
if(msg == "Task_start"){
if(trials==0){
m_state = 100;
}
else{
m_state = 1100;
}
broadcastMsg("get message: Task_start");
}
else if(msg == "Task_end"){
m_my->setWheelVelocity(0.0, 0.0);
m_state = 0;
broadcastMsg("get message: Task_end");
trials++;
}
else if(msg == "Time_over"){
m_my->setWheelVelocity(0.0, 0.0);
m_state = 0;
}
/*else if(m_state == 207 && msg == "leave the elevator"){
broadcastMsg("get message: leave the elevator");
m_state = 208;
}*/
}
void AvatarControllerByKinectV2::onRecvMsg(RecvMsgEvent &evt)
{
try
{
std::string allMsg = evt.getMsg();
// std::cout << "msg:" << allMsg << std::endl;
// Decode message to sensor data of kinect v2.
std::map<std::string, std::vector<std::string> > sensorDataMap = KinectV2SensorData::decodeSensorData(allMsg);
if (sensorDataMap.find(MSG_KEY_DEV_TYPE) == sensorDataMap.end()){ return; }
if(sensorDataMap[MSG_KEY_DEV_TYPE][0] !=this->kinectV2DeviceManager.deviceType ){ return; }
if(sensorDataMap[MSG_KEY_DEV_UNIQUE_ID][0]!=this->kinectV2DeviceManager.deviceUniqueID){ return; }
KinectV2SensorData sensorData;
sensorData.setSensorData(sensorDataMap);
ManNiiPosture posture = KinectV2DeviceManager::convertSensorData2ManNiiPosture(sensorData);
// Set SIGVerse quaternions and positions
SimObj *obj = getObj(myname());
this->kinectV2DeviceManager.setRootPosition(obj, sensorData.rootPosition);
KinectV2DeviceManager::setJointQuaternions2ManNii(obj, posture, sensorData);
}
catch(SimObj::Exception &err)
{
LOG_MSG(("Exception: %s", err.msg()));
}
catch(...)
{
std::cout << "some error occurred." << std::endl;
}
}
//メッセージ受信時に呼び出される関数
void RobotController::onRecvMsg(RecvMsgEvent &evt)
{
static int iImage = 0;
//取得したメッセージを表示します
std::string msg = evt.getMsg();
LOG_MSG(("msg : %s", msg.c_str()));
}
void UserController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
std::string msg = evt.getMsg();
//自分自身の取得
SimObj *my = getObj(myname());
if(msg == "Task_start" && sender == "moderator_0" && cycle < NUMBER_OF_REPETITION && Mission_complete == false) {
parseFile("command.txt");
message = ":"+ rooms[cycle] +";"+ objects[cycle]+".";
brodcast_msg = "Go to the "+ rooms[cycle] +", grasp the "+ objects[cycle]+" and come back here";
choice_movement(rooms[cycle]);
//broadcastMsgToSrv(brodcast_msg);
//sendMsg("moderator_0","init_time");
//broadcastMsg(message);
LOG_MSG((brodcast_msg.c_str()));
//LOG_MSG(("%s: %s",sender.c_str(), brodcast_msg.c_str()));
sendMsg("robot_000",brodcast_msg);
sendMsg("moderator_0",brodcast_msg);
sendMsg("SIGViewer",brodcast_msg);
// m_state = 0;
//broadcastMsg(brodcast_msg);
cycle = cycle+1;
}
if(msg == "Task_finished" && sender == "robot_000" && Mission_complete == false )
{
choice_movement("finish");
}
if(msg == "Task_end" && sender == "moderator_0" && Mission_complete == false ) {
sendMsg("moderator_0","init_time");
choice_movement("finish");
}
if(msg == "Mission_complete" && sender == "moderator_0" && Mission_complete == false ) {
Mission_complete = true;
choice_movement("finish");
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt) {
std::string msg = evt.getMsg();
if (msg == "Task_start"){
sentMsg = false;
flag1 = false;
flag2 = false;
}
}
void WheelControllerByMyo::onRecvMsg(RecvMsgEvent &evt)
{
const std::string allMsg = evt.getMsg();
// std::cout << allMsg << std::endl;
std::map<std::string, std::vector<std::string> > sensorDataMap = MyoSensorData::decodeSensorData(allMsg);
if (sensorDataMap.find(MSG_KEY_DEV_TYPE) == sensorDataMap.end()){ return; }
if(sensorDataMap[MSG_KEY_DEV_TYPE][0] !=this->myoDeviceManager.deviceType ){ return; }
if(sensorDataMap[MSG_KEY_DEV_UNIQUE_ID][0]!=this->myoDeviceManager.deviceUniqueID){ return; }
MyoSensorData sensorData;
sensorData.setSensorData(sensorDataMap);
// std::cout << "roll=" << sensorData.roll << ",pitch=" << sensorData.pitch << ",yaw=" << sensorData.yaw << ",pose=" << sensorData.poseStr << std::endl;
// std::cout << "emg1=" << sensorData.emgData[0] << ",emg2=" << sensorData.emgData[1] << ", emg3=" << sensorData.emgData[2] << std::endl;
SimObj *obj = getObj(myname());
float vel = 0.0;
for(int i=0; i<MyoSensorData::EMG_SENSOR_NUM; i++)
{
vel += std::abs(sensorData.emgData[i]);
}
double rvel=0.0, lvel=0.0;
// Turn left.
if(sensorData.poseStr==MyoSensorData::mapPoseType2Str.at(MyoSensorData::WaveIn))
{
rvel = 3.0*vel;
lvel = 0.05*vel;
}
// Turn right.
if(sensorData.poseStr==MyoSensorData::mapPoseType2Str.at(MyoSensorData::WaveOut))
{
rvel = 0.05*vel;
lvel = 3.0*vel;
}
// Brake.
if(sensorData.poseStr==MyoSensorData::mapPoseType2Str.at(MyoSensorData::Fist))
{
rvel = -3.0*vel;
lvel = -3.0*vel;
}
// std::cout << "rvel=" << rvel << ",lvel=" << lvel << std::endl;
obj->setJointVelocity("JOINT_RWHEEL", rvel, 500.0);
obj->setJointVelocity("JOINT_LWHEEL", lvel, 500.0);
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
string msg = evt.getMsg();
if(msg == "check1"){
check1 = true;
}else if(msg == "elevator"){
elevator = true;
}else if(msg == "check3"){
check3 = true;
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
string msg = evt.getMsg();
if(msg == "walk"){
start = true;
}
if(msg == "Task_start"){
start = false;
my->setPosition(initPos);
count = 0;
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt) {
string msg = evt.getMsg();
if (msg == "checkpoint1"){
if(!check1_clear){
check1 = true;
LOG_MSG(("checkpoint1"));
}
}
else if (msg == "checkpoint1_clear"){
if(check1){
check1_clear = true;
LOG_MSG(("checkpoint1_clear"));
}
}
else if (msg == "elevator_clear"){
if(entered){
elevator_clear = true;
}
}
else if (msg == "Entered"){
if(!elevator_clear){
//elevator = true;
entered = true;
}
}
else if (msg == "crowd_clear"){
crowd_clear = true;
if(check1_clear && elevator_clear && crowd_clear){
all_clear = true;
}
}
/*else if (msg == "finish_line"){
if(check1_clear && elevator_clear && crowd_clear){
finish_line = true;
}
}*/
else if(msg == "Task_start"){
check1 = false;
check1_clear = false;
//elevator = false;
elevator_clear = false;
crowd_clear = false;
collision = false;
all_clear = false;
a = false;
b = false;
c = false;
d = false;
e = false;
}
}
void DemoRobotController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
std::string msg = evt.getMsg();
LOG_MSG(("%s: %s",sender.c_str(), msg.c_str()));
if(sender == "moderator_0"){
if(msg == "Task_start"){
m_task++;
m_time = 0.0;
m_state = 50;
if(m_task == 1) m_graspObjectName = m_trashName1;
else m_graspObjectName = m_trashName2;
}
if(msg == "Time_over"){
m_time = 0.0;
m_state = 0;
}
if(msg == "Task_end"){
m_time = 0.0;
m_state = 0;
}
}
}
void AvatarControllerByOculusCV1::onRecvMsg(RecvMsgEvent &evt)
{
const std::string allMsg = evt.getMsg();
//std::cout << allMsg << std::endl;
std::map<std::string, std::vector<std::string> > sensorDataMap = OculusRiftCV1SensorData::decodeSensorData(allMsg);
if (sensorDataMap.find(MSG_KEY_DEV_TYPE) == sensorDataMap.end()){ return; }
if(sensorDataMap[MSG_KEY_DEV_TYPE][0] !=this->oculusCV1DeviceManager.deviceType ){ return; }
if(sensorDataMap[MSG_KEY_DEV_UNIQUE_ID][0]!=this->oculusCV1DeviceManager.deviceUniqueID){ return; }
OculusRiftCV1SensorData sensorData;
sensorData.setSensorData(sensorDataMap);
ManNiiPosture posture = OculusCV1DeviceManager::convertQuaternion2ManNiiPosture(sensorData.getQuaternion());
SimObj *obj = getObj(myname());
OculusCV1DeviceManager::setJointQuaternions2ManNii(obj, posture);
}
///@brief Receive Message.
void AvatarControllerByPerceptionNeuron::onRecvMsg(RecvMsgEvent &evt)
{
try
{
std::string allMsg = evt.getMsg();
// std::cout << "msg:" << allMsg << std::endl;
// Decode message to sensor data of Perception Neuron.
std::map<std::string, std::vector<std::string> > sensorDataMap = PerceptionNeuronSensorData::decodeSensorData(allMsg);
if (sensorDataMap.find(MSG_KEY_DEV_TYPE) == sensorDataMap.end()){ return; }
if(sensorDataMap[MSG_KEY_DEV_TYPE][0] !=this->perceptionNeuronDeviceManager.deviceType ){ return; }
if(sensorDataMap[MSG_KEY_DEV_UNIQUE_ID][0]!=this->perceptionNeuronDeviceManager.deviceUniqueID){ return; }
// Make sensor data.
PerceptionNeuronSensorData sensorData;
sensorData.setSensorData(sensorDataMap);
ManBvhPosture posture = this->perceptionNeuronDeviceManager.convertSensorData2ManBvhPosture(sensorData);
// Set the posture to avatar.
SimObj *obj = getObj(myname());
this->perceptionNeuronDeviceManager.setPosture2ManBvhYXZ(obj, posture);
}
catch(SimObj::Exception &err)
{
LOG_MSG(("Exception: %s", err.msg()));
}
catch(std::string &err)
{
LOG_MSG(("Exception: %s", err.c_str()));
}
catch(...)
{
std::cout << "some error occurred." << std::endl;
}
}
void CameraController::onRecvMsg(RecvMsgEvent &evt) {
std::string msg = evt.getMsg();
std::vector<MoveData> moves = buildMoveData(msg);
if (!moves.empty()) { // seg fault if task is not started
MoveData move = moves[0]; // only one move needed for this operation
if (move.releasedButtons & Btn_MOVE) {
if (! configuringPath) {
rotateTowardGround();
std::cout << "starting path definition" << std::endl;
configuringPath = true;
}
else {
// save path --> write path to file
if (!path.empty()) {
std::ofstream output;
std::stringstream filename;
time_t now = time(0);
struct tm tstruct;
char buf[80];
tstruct = *localtime(&now);
strftime(buf, sizeof(buf), "%Y-%m-%d.%X", &tstruct);
filename << "nodes/"
<< buf
<< ".txt";
output.open(filename.str().c_str());
std::vector<Vector3d>::iterator node;
for (node = path.begin(); node != path.end(); ++node) {
std::cout << "Node : " << node->x() << ", " << node->y() << ", " << node->z() << std::endl;
output << node->x() << "," << node->y() << "," << node->z() << "," << "0" << std::endl;
}
output.close();
std::stringstream msg;
msg << "new path wrote to " << filename.str();
std::cout << msg << std::endl;
broadcastMsg(msg.str());
}
path.clear();
configuringPath = false;
}
}
else if (configuringPath) {
// update the position of the cursor.
SimObj* cursor = getObj("pointer1");
double xPosition = -300*move.tracker.y;
double yPosition = 100;
double zPosition = -300*move.tracker.x;
cursor->setPosition(xPosition, yPosition, zPosition);
if (move.releasedButtons & Btn_CROSS) {
// add a step to the current path
path.push_back(Vector3d(xPosition, yPosition, zPosition));
}
else if (move.releasedButtons & Btn_CIRCLE) {
// remove the last step of the path
if (! path.empty()) {
path.pop_back();
}
}
}
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
// 送信者取得
std::string sender = evt.getSender();
std::cout << "sender: " << sender << std::endl;
char *all_msg = (char*)evt.getMsg();
printf("all_msg: %s \n", all_msg);
char *delim = (char *)(" ");
char *ctx;
char *header = strtok_r(all_msg, delim, &ctx);
if (strcmp(header, "RESET") == 0) {
printf("Received RESET \n");
setRobotPosition(0, -50);
setRobotHeadingAngle(0);
setCameraPosition(0, 3);
printf("Reseted RobotPosition \n");
//char* replyMsg = sendSceneInfo();
sendSceneInfo("Start");
m_executed = true;
return;
}
// 送信者がゴミ認識サービスの場合
if(sender == "RecogTrash") {
/*char *all_msg = (char*)evt.getMsg();
//printf("all_msg: %s \n", all_msg);
char *delim = (char *)(" ");
char *ctx;
char *header = strtok_r(all_msg, delim, &ctx);*/
double x = 0, y = 0, z = 0; // range = 0;
if(strcmp(header, "ObjDir") == 0) {
// 次に移動する座標を位置を取り出す
x = atof(strtok_r(NULL, delim, &ctx));
y = atof(strtok_r(NULL, delim, &ctx));
z = atof(strtok_r(NULL, delim, &ctx));
m_range = atof(strtok_r(NULL, delim, &ctx));
nextPos.set(x, y, z);
//printf("m_range = %lf \n", m_range);
printf("[ClientMess] ObjDir %lf %lf %lf range: %lf\n", nextPos.x(), nextPos.y(), nextPos.z(), m_range);
// ロボットのステートを更新
m_state = 20;
m_executed = false;
return;
}
// 物体のある場所に到着し、アームを伸ばし、物体を掴む
if(strcmp(header, "grab") == 0) {
printf("grab \n");
// 回転を止める
m_my->setWheelVelocity(0.0, 0.0);
m_state = 30;
m_executed = false;
return;
}
if(strcmp(header, "TrashBoxDir") == 0) {
printf("TrashBoxDir \n");
// 次に移動する座標を位置を取り出す
x = atof(strtok_r(NULL, delim, &ctx));
y = atof(strtok_r(NULL, delim, &ctx));
z = atof(strtok_r(NULL, delim, &ctx));
m_range = atof(strtok_r(NULL, delim, &ctx));
//printf("range = %lf \n", m_range);
nextPos.set(x, y, z);
printf("[ClientMess] TrashBoxDir %lf %lf %lf range: %lf\n", nextPos.x(), nextPos.y(), nextPos.z(), m_range);
m_state = 40;
m_executed = false;
return;
}
if(strcmp(header, "ThrowTrash") == 0) {
m_state = 50;
m_executed = false;
return;
}
if(strcmp(header, "Finish") == 0) {
m_state = 100;
m_executed = false;
return;
}
if(strcmp(header, "RandomRouteStart") == 0) {
m_state = 800;
m_executed = false;
return;
}
if(strcmp(header, "RandomRouteArrived") == 0) {
//printf("onRecv RandomRouteArrived \n");
m_state = 800;
m_executed = false;
return;
}
if(strcmp(header, "RandomRoute") == 0) {
x = atof(strtok_r(NULL, delim, &ctx));
z = atof(strtok_r(NULL, delim, &ctx));
m_range = atof(strtok_r(NULL, delim, &ctx));
nextPos.set(x, y, z);
double lookingX = atof(strtok_r(NULL, delim, &ctx));
double lookingZ = atof(strtok_r(NULL, delim, &ctx));
m_lookingPos.set(lookingX, 0, lookingZ);
m_state = 805;
m_executed = false;
return;
}
if(strcmp(header, "GoForwardVelocity") == 0) {
double wheelVel = atof(strtok_r(NULL, delim, &ctx));
printf("GoForwardVelocity coef: %lf \n", wheelVel);
wheelVel *= m_vel;
m_my->setWheelVelocity(wheelVel * 10., wheelVel * 10.);
//sendSceneInfo();
return;
}
if(strcmp(header, "RotateVelocity") == 0) {
double wheelVel = atof(strtok_r(NULL, delim, &ctx));
printf("RotateVelocity coef: %lf \n", wheelVel);
wheelVel *= m_vel;
m_my->setWheelVelocity(-wheelVel, wheelVel);
//sendSceneInfo();
return;
}
if(strcmp(header, "Stop") == 0) {
printf("Stop joyStick \n");
m_my->setWheelVelocity(0.0, 0.0);
sendSceneInfo();
return;
}
if (strcmp(header, "CamID") == 0) {
printf("Setting CameraID \n");
m_CamID = atoi(strtok_r(NULL, delim, &ctx));
return;
}
if (strcmp(header, "CaptureData") == 0) {
printf("SetRobotPosition \n");
double x = atof(strtok_r(NULL, delim, &ctx));
double z = atof(strtok_r(NULL, delim, &ctx));
setRobotPosition(x, z);
double angle = atof(strtok_r(NULL, delim, &ctx));
printf("setRobotHeadingAngle: %lf \n", angle);
setRobotHeadingAngle(angle);
char* replyMsg = sendSceneInfo();
//m_srv->sendMsgToSrv(replyMsg);
m_executed = true;
return;
}
} else if (sender == "SIGViewer") {
printf("mess from SIGViewer \n");
if(strcmp(header, "CameraAngle") == 0) {
double angle = atof(strtok_r(NULL, delim, &ctx));
printf("CameraAngle: %lf \n", angle);
setCameraPosition(angle, 3);
char* replyMsg = sendSceneInfo();
m_executed = true;
return;
} else if (strcmp(header, "RobotAngle") == 0) {
printf("rorate robor start \n");
double angle = atof(strtok_r(NULL, delim, &ctx));
printf("RobotHeadingAngle: %lf \n", angle);
setRobotHeadingAngle(angle);
char* replyMsg = sendSceneInfo();
//m_srv->sendMsgToSrv(replyMsg);
m_executed = true;
return;
} else if (strcmp(header, "RotateDir") == 0) {
// 次に移動する座標を位置を取り出す
double x = atof(strtok_r(NULL, delim, &ctx));
double z = atof(strtok_r(NULL, delim, &ctx));
nextPos.set(x, 0, z);
printf("RotateDir %lf %lf \n", nextPos.x(), nextPos.z());
// ロボットのステートを更新
m_state = 920;
m_executed = false;
return;
} else if(strcmp(header, "RobotPosition") == 0) {
double x = atof(strtok_r(NULL, delim, &ctx));
double z = atof(strtok_r(NULL, delim, &ctx));
setRobotPosition(x, z);
return;
}
}
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
char *all_msg = (char*)evt.getMsg();
std::string ss = all_msg;
int strPos1 = 0;
int strPos2,strPos3;
std::string headss,cmd;
std::string tmpss;
std::cout<<"the massage is :"<< ss <<std::endl;
std::cout<<"the sender is :"<< sender <<std::endl;
strPos2 = ss.find(" ", strPos1);
headss.assign(ss, strPos1, strPos2-strPos1);
int jj = ss.size();
cmd.assign(ss, strPos2+1,jj);
strPos3 = cmd.find("|", strPos1);
id.assign(cmd, strPos1, strPos3-strPos1+1);
//std::cout<<"The ID is : "<< id <<std::endl;
bool aff = true;
if (headss == "MultiUsersMenu")
{
bool available = checkService(ss);
if (!available && m_ref != NULL) m_ref = NULL;
else if (available && m_ref == NULL){
m_ref = connectToService(ss);
}
int nn = 0;
for (int j = 0; j< list.size();j++) {
if (id != list[j].ID) {
nn++;
}
else {
sendMsg(list[j].name,list[j].ID);
m_state = 0;
ind = j;
current_avatar = list[j].name;
}
}
if (nn == list.size()) {
for (int i = 0; i< list.size();i++) {
if (list[i].ID == "" && aff == true ) {
list[i].ID = id;
sendMsg(list[i].name,list[i].ID);
m_state = 0;
ind = i;
current_avatar = list[i].name;
aff = false;
}
}
}
}
if (ss == "Info") {
std::cout<<"Sending info to:"<< sender <<std::endl;
std::string mess = "";
mess += "AvatarInformation/" ;
mess += avatars_number;
mess += "/" ;
for (int j = 0; j< list.size();j++) {
mess += list[j].name ;
mess += "/" ;
}
std::cout<<"The message is :"<< mess <<std::endl;
sendMsg(sender,mess);
}
}