ServerConnection::ServerConnection(QTcpSocket *connection, QObject *parent)
: QObject(parent),
m_connection(connection)
{
m_messageList = new QStringList();
m_connected = true;
m_hostIp = m_connection->peerAddress().toString();
m_port = m_connection->peerPort();
m_active = true;
m_activeTimer = startTimer(2*60000);
kDebug() << m_port;
connect( m_connection, SIGNAL(readyRead()), this, SLOT(gotNewData()) );
// let's see if we already got some data
gotNewData();
}
void ULaserDevice::callGotNewDataWithObject()
{
if (pushData != NULL)
{
pushData->lock();
// start the push handling
gotNewData(pushData);
// finished with the data structure, so release.
pushData->unlock();
}
}
void UResPoly::handleNewData(USmlTag * tag)
{ // handle poly message
const int MSL = 200;
char att[MAX_SML_NAME_LENGTH];
char val[MSL];
USmlTag nTag;
int cntItems = 0;
const int MNL = 32;
char name[MNL];
UPolyItem * pi;
//
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, "cnt") == 0)
// {
// cnt = strtol(val, NULL, 10);
// }
}
if (tag->isAStartTag())
{ // there is nested structures
while (tag->getNextTag(&nTag, 200))
{
if (nTag.isTagA("polygon"))
{ // get all support data
pi = NULL;
if (nTag.getAttValue("name", name, MNL))
{ // must have a name
// get polygon item to unpack to
pi = getItem(name);
if (pi == NULL)
pi = add(name);
}
if (pi != NULL)
{ // optional coordinate system
nTag.getAttBool("valid", &pi->valid, true);
if (pi->valid)
{
nTag.getAttInteger("cooSys", &pi->cooSys, 1);
nTag.getAttDouble("x", &pi->relPose.x, 0.0);
nTag.getAttDouble("y", &pi->relPose.y, 0.0);
nTag.getAttDouble("h", &pi->relPose.h, 0.0);
nTag.getAttBool("relPoseUse", &pi->relPoseUse, false);
// get rest of polygon
nTag.getPolygon(pi, NULL);
}
pi->updateTime.now();
cntItems++;
}
}
else if (nTag.isAStartTag())
// is an unwanted tag goup - skip
nTag.skipToEndTag(1000);
// remember to test for endflag too
else if (nTag.isTagAnEnd(tag->getTagName()))
break;
}
}
if (cntItems > 0)
{
/* if (polysCnt != cnt)
printf("Has %d polyItems (%d updated), but sender has %d!\n", polysCnt, cntItems, cnt);*/
varPolyCnt->setInt(polysCnt);
gotNewData();
}
}
bool UResPoly::methodCallV(const char * name, const char * paramOrder,
UVariable * params[],
UDataBase ** returnStruct,
int * returnStructCnt)
{
bool result = true;
UPolyItem * pi;
UPolygon * poly;
UDataBase * db;
int i;
UPosition pos;
UVariable buffer;
UVariable * returnVar = NULL;
bool isOK;
UPose po1, po2;
// evaluate standard functions
if (returnStruct[0]->isA("var"))
{
returnVar = (UVariable*)returnStruct[0];
*returnStructCnt = 1;
}
else
returnVar = &buffer;
//
// test available methods
if ((strcasecmp(name, "addPoint") == 0) and (strcmp(paramOrder, "sc") == 0))
{
pos = params[1]->get3D();
pi = add(params[0]->getValues(), pos.x, pos.y, pos.z);
isOK = pi != NULL;
returnVar->setBool(isOK);
gotNewData();
}
else if ((strcasecmp(name, "del") == 0) and (strcmp(paramOrder, "s") == 0))
{
isOK = del(params[0]->getValues());
returnVar->setBool(isOK);
gotNewData();
}
else if ((strcasecmp(name, "delPoint") == 0) and (strcmp(paramOrder, "sd") == 0))
{
pi = getItem(params[0]->getValues());
isOK = pi != NULL;
if (isOK)
pi->remove(params[1]->getInt());
returnVar->setBool(isOK);
gotNewData();
}
else if ((strcasecmp(name, "getPoint") == 0) and (strcmp(paramOrder, "sd") == 0))
{
isOK = false;
pi = getItem(params[0]->getValues());
if (pi != NULL)
{ // item is found, so get position
i = roundi(params[1]->getInt());
if (i < pi->getPointsCnt() and i >= 0)
{
isOK = true;
pos = pi->getPoint(i);
}
}
if (not isOK)
pos.clear();
returnVar->set3D(&pos);
}
else if ((strcasecmp(name, "isInside") == 0) and (strcmp(paramOrder, "sc") == 0))
{
isOK = false;
pos = params[1]->get3D();
pi = getItem(params[0]->getValues());
if (pi != NULL)
{ // item is found, test
isOK = pi->isInsideConvex(pos.x, pos.y, 0.0);
}
returnVar->setBool(isOK);
}
else if ((strcasecmp(name, "isInside") == 0) and (strcmp(paramOrder, "scc") == 0))
{
isOK = false;
po1 = params[1]->getPose(); // pose of robot
po2 = params[2]->getPose(); // position relative to robot
po1 = po1 + po2;
pi = getItem(params[0]->getValues());
if (pi != NULL)
{ // item is found, test
isOK = pi->isInsideConvex(po1.x, po1.y, 0.0);
}
returnVar->setBool(isOK);
}
else if ((strcasecmp(name, "defined") == 0) and (strcmp(paramOrder, "s") == 0))
{
pi = getItem(params[0]->getValues());
isOK = (pi != NULL);
returnVar->setBool(isOK);
}
else if ((strcasecmp(name, "setRefCoord") == 0) and (strcmp(paramOrder, "sd") == 0))
{
pi = getItem(params[0]->getValues());
isOK = pi != NULL;
if (isOK)
pi->cooSys = params[1]->getInt();
returnVar->setBool(isOK);
}
else if ((strcasecmp(name, "setOpen") == 0) and (strcmp(paramOrder, "s") == 0))
{
pi = getItem(params[0]->getValues());
isOK = pi != NULL;
if (isOK)
pi->setAsPolyline();
returnVar->setBool(isOK);
gotNewData();
}
else if ((strcasecmp(name, "setClosed") == 0) and (strcmp(paramOrder, "s") == 0))
{
pi = getItem(params[0]->getValues());
isOK = pi != NULL;
if (isOK)
pi->setAsPolygon();
returnVar->setBool(isOK);
gotNewData();
}
else if ((strcasecmp(name, "setPolygon") == 0) and
(strcmp(paramOrder, "sc") == 0 or
strcmp(paramOrder, "scd") == 0))
{
isOK = false;
pi = getItem(params[0]->getValues());
db = params[1];
if (db->isAlsoA("polygon"))
poly = (UPolygon*) db;
else
poly = NULL;
isOK = poly != NULL;
if (isOK and pi == NULL)
{ // item is found, so get position
pi = add(params[0]->getValues());
isOK = pi != NULL;
}
if (isOK)
{
isOK = poly->copyTo(pi);
if (strlen(paramOrder) >= 3)
// get also coordinate system reference
pi->cooSys = params[2]->getInt();
pi->setUpdated();
}
returnVar->setBool(isOK);
gotNewData();
}
else
// call name is unknown
result = false;
// set result if just a boolean
if (result)
{ // set return struct value to isOK
if (returnStruct != NULL and returnStructCnt != NULL)
*returnStructCnt = 1;
}
return result;
}
