// Adds AdItem to request queue and calls handleRequests
void RequestQueue::addToQueue(QObject *object)
{
// no need to add same object multipletimes
if (!m_adItemQueue.contains(object)) {
m_adItemQueue.enqueue(object);
QTimer::singleShot(0, this, SLOT(handleRequests()));
}
}
void GUIPlugin::process(const ed::WorldModel& world, ed::UpdateRequest& req)
{
world_model_ = &world;
handleRequests();
publishMapImage();
}
void FtpClient::request(QString request)
{
qDebug() << "FtpClient:: " << port << " request " << request;
//mRequests.append(request);
// If we are trandferring. we must add this to outbuffer
// but if we are not trnsferring, then we must not send older bytes
if (mTransferring)
mOutBuffer.append(request);
else
mOutBuffer= QByteArray(request.toLatin1());
handleRequests();
}
void RequestQueue::adRequestFinished(QNetworkReply *req)
{
if (!req)
return;
QObject *adItem = req->property("AdItem").value<QObject*>();
if (!adItem) {
req->deleteLater();
return;
}
QByteArray data = req->readAll();
m_requestRunning = false;
if (req->attribute(QNetworkRequest::HttpStatusCodeAttribute) != 200) {
QMetaObject::invokeMethod(adItem, "adError",
Q_ARG(QString,req->errorString()));
// When no connectivity -> UnknownNetworkError
if (req->error() == QNetworkReply::UnknownNetworkError) {
AdInterface *adI = qobject_cast<AdInterface*>(parent());
emit adI->networkNotAccessible();
}
req->deleteLater();
QTimer::singleShot(0, this, SLOT(handleRequests()));
return;
}
req->deleteLater();
// Update client ID
int idStart = data.indexOf("Client Id=\"")+11;
int idSize = data.indexOf("\"/>",data.indexOf("Id=\""))-idStart;
QMetaObject::invokeMethod(adItem, "__idUpdated", Qt::DirectConnection,
Q_ARG(QVariant, data.mid(idStart,idSize)));
adItem->setProperty("__xml", QString::fromUtf8(data));
QTimer::singleShot(0, this, SLOT(handleRequests()));
}
bool Application::run() {
while(!_myTerminate) {
if(!handleRequests())
goto fail;
if(!process())
goto fail;
usleep(_myInterval);
}
return true;
fail:
return false;
}
void FtpClient::handleBytesWritten( qint64 bytes )
{
qDebug() << "FtpClient:: " << port << " handleBytesWritten bytes " << bytes << "mOutBuffer.size() " << mOutBuffer.size();
if (bytes <= mOutBuffer.size())
mOutBuffer.remove(0,bytes);
else
mOutBuffer.clear();
if (mOutBuffer.size() == 0) {
mTransferring = false;
qDebug() << "FtpClient:: " << port << " handleBytesWritten mTransferring " << mTransferring;
emit deviceStateChanged(DeviceManager::WrittenState);
} else
{
handleRequests();
}
}
void FtpClient::handleStateChanged ( QAbstractSocket::SocketState socketState )
{
qDebug() << "FtpClient:: " << port << " handleStateChanged";
switch (socketState) {
case QAbstractSocket::UnconnectedState:
qDebug() << tr("UnconnectedState: The socket is not connected.");
emit deviceStateChanged(DeviceManager::UnconnectedState);
qDebug() << tr("UnconnectedState: handleRequests()");
mConnected = false;
mTransferring = false;
qDebug() << "FtpClient:: " << port << " handleStateChanged mTransferring " << mTransferring;
handleRequests(); // reconnect if we have something to send
break;
case QAbstractSocket::HostLookupState:
qDebug() << tr("HostLookupState: The socket is performing a host name lookup.");
emit deviceStateChanged(DeviceManager::UnconnectedState);
break;
case QAbstractSocket::ConnectingState:
qDebug() << tr("ConnectingState: The socket has started establishing a connection.");
emit deviceStateChanged(DeviceManager::ConnectingState);
break;
case QAbstractSocket::ConnectedState:
qDebug() << tr("ConnectedState: A connection is established.");
emit deviceStateChanged(DeviceManager::ConnectedState);
break;
case QAbstractSocket::BoundState:
qDebug() << tr("BoundState: The socket is bound to an address and port (for servers).");
break;
case QAbstractSocket::ClosingState:
qDebug() << tr("ClosingState: The socket is about to close (data may still be waiting to be written).");
emit deviceStateChanged(DeviceManager::ClosingState);
break;
case QAbstractSocket::ListeningState:
qDebug() << tr("ListeningState (For internal use only.)");
break;
default:
qDebug() << tr("Unknown socket state");
break;
}
}
void FtpClient::handleConnected()
{
emit deviceStateChanged(DeviceManager::ConnectedState);
mConnected = true;
mConnecting = false;
mTransferring = false;
qDebug() << "FtpClient:: " << port << " handleConnected mTransferring " << mTransferring;
//request(QString(REQUEST_WHO).arg(QString::number(mOutCommandNumber++)));
// ask picture if camera is on, and output buffer is empty
// test
//sendCommand(Command("", -1, Command::Stop));
if (mCameraOn && (mOutBuffer.size() == 0))
{
sendCommand(Command("", -1, Command::Picture));
} else // else handle requests we have
{
handleRequests();
}
}
int main(int argc, char *argv[])
{
ros::init(argc, argv, "coordination_server_info_fusion");
ros::NodeHandle n1, n2, n3, n4, n5;
vel_pub = n1.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
pos_sub = n2.subscribe("/position", 1, positionCallback);
pospub = n3.advertise<position_tracker::Position>("/position", 1); //SET QUEUE SIZE = 1!!! (keep only last msg)
bump_sub = n4.subscribe("/sensorPacket", 1, bumperCallback);
wifi_sub = n5.subscribe("/wifiNNs", 1, wifiCallback);
//loadMap();
//JUST FOR testing:
position_tracker::Position *tmp_pos = new position_tracker::Position();
tmp_pos->x = 9;
tmp_pos->y = 13;
tmp_pos->theta = 0;
cur_pos = *tmp_pos;
ros::spinOnce();
//ros::spin();
handleRequests();
}
