void fill_message(const std::shared_ptr<FrameObject>& fo,
FrameObjectMsg* msg) {
CHECK_NOTNULL(msg);
msg->set_uuid(rslam::uuid::uuid_begin(fo->id),
rslam::uuid::uuid_size(fo->id));
switch (fo->type) {
case FrameObject::Type::Cube:
msg->set_type(FrameObjectMsg::Cube);
fill_message(std::static_pointer_cast<CubeObject>(fo),
msg->MutableExtension(CubeObjectMsg::object));
break;
case FrameObject::Type::Teapot:
msg->set_type(FrameObjectMsg::Teapot);
fill_message(std::static_pointer_cast<TeapotObject>(fo),
msg->MutableExtension(TeapotObjectMsg::object));
break;
case FrameObject::Type::Text:
msg->set_type(FrameObjectMsg::Text);
fill_message(std::static_pointer_cast<TextObject>(fo),
msg->MutableExtension(TextObjectMsg::object));
break;
default:
LOG(FATAL) << "Unkown FrameObject type being serialized";
}
}
void fill_message(const std::shared_ptr<TextObject>& fo,
TextObjectMsg* msg) {
CHECK_NOTNULL(msg);
WritePoseSE3(fo->t_po, msg->mutable_t_po());
fill_message(fo->scale, msg->mutable_scale());
msg->set_text(fo->text);
fill_message(fo->color, msg->mutable_color());
}
void run_main_loop(SOCKET *socket_server)
{
broadcast_message_t previous_message = { 0 };
char buffer[BUFFER_LENGTH] = { 0 };
while (1)
{
broadcast_message_t message = { 0 };
if (fill_message(socket_server, &message, &buffer) < 0) {
break;
}
if (parse_msg_json(buffer, strlen(buffer), &message) != 0) {
fprintf(stderr, "Fail parse json\n");
}
else {
if (!are_same_messages(&previous_message, &message))
{
/*
print_message(&previous_message);
print_message(&message);
*/
interpret_message(&message);
}
}
previous_message = message;
}
}
void fill_message(const std::shared_ptr<CubeObject>& fo,
CubeObjectMsg* msg) {
CHECK_NOTNULL(msg);
WritePoseSE3(fo->t_po, msg->mutable_t_po());
fill_message(fo->scale, msg->mutable_scale());
}
//size_t handleChunk(char* nid,char* csn,long tag,size_t left_edge, size_t segment_size,void* buffer)
size_t handleChunk(char* nid,unsigned long long csn,long tag,unsigned long long chunk_size,void* buffer)
{
size_t writtenBytes,fileNameSize;
char* fileName;
char csnToDelete[64];
FILE *fp;
UT_string* folderName;
utstring_new(folderName);
UT_string* tempHexCsn;
utstring_new(tempHexCsn);
UT_string* filename; utstring_new(filename);
//variables for cache table
CacheEntry_t *entry, *tmp_entry;
CacheEntry_t *entryToDelete=NULL;
UT_string *utnid, *filenameToDelete;
// long csnlong;
//folderName=NULL;
if(CONET_DEBUG) fprintf(stderr,"\n[cacheEngine.c:%d]New segment nid=%s, csn=%llu received.\n",
__LINE__,nid,csn);
calculate_filename(nid,csn,filename);
utstring_printf(folderName,CONTAINING_FOLDER);
utstring_printf(folderName,nid);
mkdir(utstring_body(folderName));
fp = fopen(utstring_body(filename) , "w+b");
if (fp == NULL) {
fprintf(stderr, "Error: Failed to open the file %s for writing;\n\n", fileName);
if (CONET_SEVERE_DEBUG) exit(-863);
return ( (size_t) - 1);
}
writtenBytes = fwrite(buffer, 1,chunk_size, fp);
fclose(fp);
if (writtenBytes!=chunk_size) {
fprintf(stderr, "Error in writing %s: writtenBytes=%d, while chunk_size=%d\n",
fileName,writtenBytes,chunk_size);
if (CONET_SEVERE_DEBUG) exit(-8763);
return ( (size_t) - 1);
}
utstring_new(utnid); utstring_printf(utnid,nid);
//utstring_printf(tempHexCsn,"0x");utstring_printf(tempHexCsn,csn);
ADD_TO_CACHE_TABLE(cache_table,entry,tmp_entry,tag,utnid,csn,chunk_size,0,entryToDelete);
//creates json message with nid and of type "stored", and store it to msg_to_controller_buffer;
fill_message(tag, "stored", nid, csn, msg_to_controller_buffer);
//BUFFERLEN is defined in c_json.h
int bytesSentToController=send(socket_to_controller, msg_to_controller_buffer, BUFFERLEN, 0);
if(CONET_DEBUG )
fprintf(stderr,"[cacheEngine.c:%d]Message sent to controller = %s\n",__LINE__,msg_to_controller_buffer);
if (bytesSentToController <=strlen(msg_to_controller_buffer) )
{
fprintf(stderr,"[cacheEngine.c: %d] bytes sent to controller=%d\n",__LINE__, bytesSentToController);
if (CONET_SEVERE_DEBUG) exit(-982);
}
if (entryToDelete!=NULL)
{
sprintf(csnToDelete,"%x",(unsigned int) entryToDelete->csn);
CALCULATE_UTSTRING_FILE_NAME(entryToDelete->nid,csnToDelete,filenameToDelete);
if (remove(utstring_body(filenameToDelete) )==0)
fprintf(stderr,"File %s deleted.\n",utstring_body(filenameToDelete));
else
fprintf(stderr,"Error deleting file %s,\n",utstring_body(filenameToDelete));
//creates json message with nid and of type "stored", and store it to msg_to_controller_buffer;
fill_message(entryToDelete->tag, "deleted", entryToDelete->nid, entryToDelete->csn, msg_to_controller_buffer);
//BUFFERLEN is defined in c_json.h
if (send(socket_to_controller, msg_to_controller_buffer, BUFFERLEN, 0) !=
strlen(msg_to_controller_buffer)
)
fprintf(stderr,"send() sent a different number of bytes than expected\n");
}
fprintf(stderr,"[cacheEngine.c:%d]New chunk added: nid=%s, csn=%llu, tag=%ld\n",__LINE__,nid,csn,tag);
// utstring_free(utnid); utstring_free(filenameToDelete);
utstring_free(filename);
return writtenBytes;
}
