59 lines
1.4 KiB
C++
59 lines
1.4 KiB
C++
|
#include "../src/serial.h"
|
||
|
|
#include "../src/tcpServer.h"
|
||
|
|
#include "../src/imagerie.h"
|
||
|
|
#include <unistd.h>
|
||
|
|
#include <pthread.h>
|
||
|
|
|
||
|
|
|
||
|
|
int main() {
|
||
|
|
//startTrace();
|
||
|
|
runNodejs("/usr/bin/nodejs", "/home/pehladik/Interface-TP-RT/interface.js");
|
||
|
|
|
||
|
|
printf("Lancement serveur ... \n");
|
||
|
|
serverOpen();
|
||
|
|
//stopTrace();
|
||
|
|
printf("Serveur lancé ... \n");
|
||
|
|
robotOpenCom();
|
||
|
|
|
||
|
|
char header[4];
|
||
|
|
char data[20];
|
||
|
|
memset(data, '\0',20);
|
||
|
|
memset(header,'\0',4);
|
||
|
|
int res;
|
||
|
|
do
|
||
|
|
{
|
||
|
|
res = receptionFromUI(header,data);
|
||
|
|
printf ("res : %d\n", res);
|
||
|
|
if(strcmp(header, DMB) == 0)
|
||
|
|
{
|
||
|
|
printf("EVENEMENT DUMBER DETECTE AVEC LE MESSAGE :%s \n",data);
|
||
|
|
int a = sendCmdToRobot(data[0]);
|
||
|
|
printf("Resultat CMD : %d \n", a);
|
||
|
|
if(data[0] == 'u' && a == 0)
|
||
|
|
{
|
||
|
|
sendToUI(ACK);
|
||
|
|
}
|
||
|
|
if(data[0] == 'r' && a == 0)
|
||
|
|
{
|
||
|
|
sendToUI(ACK);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if(strcmp(header, MES) == 0)
|
||
|
|
{
|
||
|
|
printf("EVENEMENT MESSAGE DETECTE AVEC LE MESSAGE :%s \n",data);
|
||
|
|
}
|
||
|
|
|
||
|
|
if(strcmp(header,POS)==0)
|
||
|
|
{
|
||
|
|
printf("EVENEMENT POSITION DETECTE AVEC LE MESSAGE :%s \n",data);
|
||
|
|
}
|
||
|
|
}while((strcmp(header,MES)!=0) || (data[0] != 'C'));
|
||
|
|
killNodejs();
|
||
|
|
|
||
|
|
robotCloseCom();
|
||
|
|
serverClose();
|
||
|
|
pause();
|
||
|
|
return 0;
|
||
|
|
}
|