Changeset 86 in flair-src for branches/mavlink/tools/Controller/Mavlink

Timestamp:

Sep 28, 2016, 8:36:04 AM (8 years ago)

Author:

Thomas Fuhrmann

Message:

FlairSockets are working and used

Location:

branches/mavlink/tools/Controller/Mavlink/src

Files:

• Forwarder.cpp (modified) (2 diffs)
• GuiFlair.cpp (modified) (3 diffs)
• GuiFlair.h (modified) (1 diff)

branches/mavlink/tools/Controller/Mavlink/src/Forwarder.cpp

@@ -38 +38 @@
   // cout << "MavPlanner Forwarder output address : " << tmpOutput << endl;
 
-  cout << "input socket : " << inputAddress + ":" + to_string(inputPort) << endl;
-  cout << "output socket : " << outputAddress + ":" + to_string(outputPort) << endl;
+  // cout << "input socket : " << inputAddress + ":" + to_string(inputPort) << endl;
+  // cout << "output socket : " << outputAddress + ":" + to_string(outputPort) << endl;
 
-  inputSocket = new Socket((Thread *)this, "input socket", inputAddress + ":" + to_string(inputPort));
+  inputSocket = new Socket((Thread *)this, "input socket", inputPort);
   outputSocket = new Socket((Thread *)this, "output socket", outputAddress + ":" + to_string(outputPort));
 }
@@ -55 +55 @@
   }
   int recvDataSize = 0;
-  char* srcBuffer;
-  size_t srcSize;
+  char inputBuffer[200];
   while (!ToBeStopped()) {
-    // Thread::SleepMS(2000);
-    // TIME_NONBLOCK
-    recvDataSize = inputSocket->RecvMessage(inputBuffer, 200, 5000000000, srcBuffer, &srcSize);
-    cout << "Forwarder message received, size="<< recvDataSize << endl;
-        outputSocket->SendMessage(inputBuffer, recvDataSize);
+    recvDataSize = inputSocket->RecvMessage(inputBuffer, 200, 1000000000);
+          outputSocket->SendMessage(inputBuffer, recvDataSize);
   }
 }

branches/mavlink/tools/Controller/Mavlink/src/GuiFlair.cpp

@@ -35 +35 @@
         cout << "MavPlanner GuiFlair constructor" << endl;
 
-        // outputSocket = new Socket((Thread *)this, "output socket", "127.0.0.1:5036");
+        outputSocket = new Socket((Thread *)this, "output socket", "127.0.0.1:5036");
 
         // outputSocket = new Socket(parent, "output socket", "127.255.255.255:9001", true);
-        outputSocket = new Socket(parent, "output socket", 9001);
+        inputSocket = new Socket((Thread *)this, "input socket", 9001);
 }
 
@@ -49 +49 @@
 
         int received = 0;
-        char receiveFrameBuffer[50];
+        char receiveFrameBuffer[200];
 
         std::string message_to_send("Test of sending a message");
@@ -57 +57 @@
 
         do {
-                received=outputSocket->RecvMessage(receiveFrameBuffer,50, TIME_NONBLOCK);
+                // cout << "." << endl;
+                received=inputSocket->RecvMessage(receiveFrameBuffer,200, TIME_NONBLOCK);
+                // cout << "." << endl;
                 if (received > 0) {
-                   cout << "MavPlanner GuiFlair MissionStart data received !!!" << endl; 
+                   cout << "MavPlanner GuiFlair MissionStart data received : " << receiveFrameBuffer << endl;
+                   outputSocket->SendMessage(receiveFrameBuffer, received);
                 }
-        } while (received == 0);
+        } while (received != 0);
 }
 

branches/mavlink/tools/Controller/Mavlink/src/GuiFlair.h

@@ -45 +45 @@
 
 private:
+  flair::core::Socket *inputSocket;
   flair::core::Socket *outputSocket;
   std::string outputAddress;