void ZMQActor::readTasks()
{
while(_isReading)
{
ZMQMessage message;
ZMQSocket::Error error;
std::string id;
std::string address;
if (_actor.receive(message, error))
{
if (message.data() == "ZMQActor::stopPerformingTasks")
{
break;
}
if (_taskCallBack)
if (!_taskCallBack(message))
break;
}
else
{
break;
}
}
ZMQ_LOG_INFO("ZMQActor::readTasks ENDED");
_isReading = false;
}
bool ZMQActor::readReactorTasks(const std::string& id, const std::string& address, ZMQMessage& message)
{
std::ostringstream task;
task << id << " " << address << " " << message.data();
ZMQMessage reactorMessage(task.str());
putTask(reactorMessage);
return true;
}
bool rx(ZMQSubscribeSocket &socket)
{
ZMQMessage msg;
if (msg.recv(socket) == 0) return false;
ZMQServoMessage *data = (ZMQServoMessage *)msg.data();
Servos::iterator j = servos.find(data->servoId);
if (j != servos.end()) {
switch(data->messageId) {
case ZMQServoMessage::GET_ANGLE:
j->second->presentAngle=data->value; break;
case ZMQServoMessage::GET_TEMP:
j->second->temp(data->value); break;
}
}
return true;
}