Add new simulator
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software/simulateur/main.cpp
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298
software/simulateur/main.cpp
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#include <unistd.h>
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#include <stdio.h>
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#include <sys/socket.h>
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#include <stdlib.h>
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#include <netinet/in.h>
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#include <string.h>
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#include <iostream>
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#include <time.h>
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using namespace std;
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const char LABEL_ROBOT_PING = 'p';
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const char LABEL_ROBOT_RESET = 'r';
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const char LABEL_ROBOT_START_WITH_WD = 'W';
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const char LABEL_ROBOT_START_WITHOUT_WD = 'u';
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const char LABEL_ROBOT_RELOAD_WD = 'w';
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const char LABEL_ROBOT_MOVE = 'M';
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const char LABEL_ROBOT_TURN = 'T';
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const char LABEL_ROBOT_GET_BATTERY = 'v';
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const char LABEL_ROBOT_GET_STATE = 'b';
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const char LABEL_ROBOT_POWEROFF = 'z';
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const char LABEL_ROBOT_OK = 'O';
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const char LABEL_ROBOT_ERROR = 'E';
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const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C';
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const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
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const char LABEL_ROBOT_ENDING_CHAR = 0x0D;
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int server_fd, new_socket, valread;
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struct sockaddr_in address;
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int addrlen;
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#define PORT 6699
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int status = 0;
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int noerr = 0;
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int isWD = 0;
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long int ellapse(struct timespec ref, struct timespec cur) {
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long int e;
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e = cur.tv_sec - ref.tv_sec;
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e *= 1000000000;
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e += cur.tv_nsec - ref.tv_nsec;
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return e;
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}
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void print_time(struct timespec start_time) {
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struct timespec t;
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clock_gettime(CLOCK_REALTIME, &t);
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long int e = ellapse(start_time, t);
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fprintf(stdout, "%9ld", e / 1000000);
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}
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int simulate_error() {
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int r = rand() % 1000;
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if (r > 950) {
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printf("[I don't understand what you said (-1)]\n");
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return -1;
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} else if (r > 900) {
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printf("[I'm mute, because I never got your message (-2)]\n");
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return -2;
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}
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printf("[WILCO (0)] ");
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return 0;
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}
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void simulate_transmission_time() {
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usleep((rand() % 30) * 1000);
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}
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void open_server() {
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int opt = 1;
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// Creating socket file descriptor
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if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
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perror("socket failed");
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exit(EXIT_FAILURE);
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}
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// Forcefully attaching socket to the port 8080
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if (setsockopt(server_fd, SOL_SOCKET, SO_REUSEADDR | SO_REUSEPORT,
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&opt, sizeof (opt))) {
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perror("setsockopt");
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exit(EXIT_FAILURE);
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}
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cout << "<<< simulator >>>" << endl;
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cout << ">>> Hello, I'm Mr " ;
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if (noerr) cout << "perfect ";
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cout << "Robot" << endl;
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// Forcefully attaching socket to the port 8080
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if (bind(server_fd, (struct sockaddr *) &address,
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sizeof (address)) < 0) {
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perror("bind failed");
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exit(EXIT_FAILURE);
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}
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cout << ">>> I create a server" << endl;
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cout << ">>> ..." << endl;
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}
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void wait_connection() {
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if (listen(server_fd, 3) < 0) {
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perror("listen");
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exit(EXIT_FAILURE);
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}
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cout << ">>> I'm waiting a client" << endl;
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if ((new_socket = accept(server_fd, (struct sockaddr *) &address,
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(socklen_t*) & addrlen)) < 0) {
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perror("accept");
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exit(EXIT_FAILURE);
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}
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}
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void reset(){
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isWD = 0;
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status = 0;
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cout << ">>> XX I stop XX" << endl;
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}
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int main(int argc, char const *argv[]) {
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if (argc != 1){
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if (argv[1] == std::string("noerror")){
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noerr = 1;
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}
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}
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char buffer[1024] = {0};
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addrlen = sizeof (address);
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address.sin_family = AF_INET;
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address.sin_addr.s_addr = INADDR_ANY;
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address.sin_port = htons(PORT);
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srand(time(NULL));
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open_server();
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wait_connection();
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cout << ">>> I'm ready to receive something" << endl;
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struct timespec start_time;
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clock_gettime(CLOCK_REALTIME, &start_time);
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struct timespec start_wd;
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struct timespec t;
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long int e;
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struct timespec last_call;
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clock_gettime(CLOCK_REALTIME, &last_call);
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isWD = 0;
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while (status < 3) {
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if (isWD) {
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clock_gettime(CLOCK_REALTIME, &t);
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e = ellapse(last_call, t);
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if ((e / 1000000000) > 3) {
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cout << ">>> You break my heart, you never talk at the right time." << endl;
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break;
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}
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}
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valread = read(new_socket, buffer, 1024);
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if (valread <= 0) {
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if (errno == EAGAIN) {
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status = 3;
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cout << ">>> You break my heart, I've been waiting too long for you." << endl;
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break;
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} else {
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cout << ">>> Why did you hang up? Please, contact me again." << endl;
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reset();
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wait_connection();
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clock_gettime(CLOCK_REALTIME, &last_call);
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}
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}
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string s = "";
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int error = 0;
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if (!noerr) error = simulate_error();
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if (error == 0) {
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print_time(start_time);
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printf(": I received a message %s\n", buffer);
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switch (buffer[0]) {
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case LABEL_ROBOT_START_WITHOUT_WD:
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cout << ">>> I start without watchdog" << endl;
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s += LABEL_ROBOT_OK;
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break;
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case LABEL_ROBOT_PING:
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cout << ">>> ...Pong" << endl;
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s += LABEL_ROBOT_OK;
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break;
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case LABEL_ROBOT_START_WITH_WD:
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clock_gettime(CLOCK_REALTIME, &start_wd);
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clock_gettime(CLOCK_REALTIME, &last_call);
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struct timeval tv;
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tv.tv_sec = 3;
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tv.tv_usec = 0;
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setsockopt(new_socket, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
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cout << ">>> I start with watchdog" << endl;
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s += LABEL_ROBOT_OK;
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isWD = 1;
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break;
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case LABEL_ROBOT_MOVE:
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switch (buffer[2]) {
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case '0':
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cout << ">>> XX I stop XX" << endl;
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break;
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case '-':
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cout << ">>> \\/ I move backward \\/" << endl;
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break;
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default:
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cout << ">>> /\\ I move forward /\\" << endl;
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break;
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}
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s += LABEL_ROBOT_OK;
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break;
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case LABEL_ROBOT_TURN:
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switch (buffer[2]) {
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case '-':
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cout << ">>> << I turn to the left <<" << endl;
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break;
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default:
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cout << ">>> >> I turn to the right >>" << endl;
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break;
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}
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s += LABEL_ROBOT_OK;
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break;
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case LABEL_ROBOT_GET_BATTERY:
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cout << ">>> I give you my battery level :-o" << endl;
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clock_gettime(CLOCK_REALTIME, &t);
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e = ellapse(start_time, t);
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if (e > 20000000000) {
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s += '0';
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} else {
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if (e > 10000000000) {
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s += '1';
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} else {
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s += '2';
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}
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}
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break;
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case LABEL_ROBOT_RELOAD_WD:
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clock_gettime(CLOCK_REALTIME, &t);
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e = ellapse(start_wd, t);
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e = (e / 1000000) % 1000;
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if (isWD) {
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if ((e < 50) || (e > 950)) {
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cout << ">>> Just in time for a reload " << e << "ms" << endl;
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last_call = t;
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status = 0;
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s += LABEL_ROBOT_OK;
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} else {
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status++;
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cout << ">>> You missed the date, -1 point " << e << "ms (" << status << ")" << endl;
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s += LABEL_ROBOT_UNKNOWN_COMMAND;
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}
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} else {
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cout << "Why you said that, I do nothing" << endl;
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}
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break;
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case LABEL_ROBOT_POWEROFF:
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cout << ">>> Bye bye, see you soon" << endl;
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s += LABEL_ROBOT_OK;
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status = 10;
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break;
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case LABEL_ROBOT_RESET:
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cout << ">>> I reset" << endl;
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s += LABEL_ROBOT_OK;
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reset();
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break;
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case LABEL_ROBOT_GET_STATE:
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cout << ">>> I'm fine, thank you" << endl;
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s += LABEL_ROBOT_OK;
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break;
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default:
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//msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
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cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << buffer << ")" << endl << flush;
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}
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simulate_transmission_time();
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send(new_socket, s.c_str(), s.length(), 0);
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} else if (error == -1) {
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s += LABEL_ROBOT_UNKNOWN_COMMAND;
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simulate_transmission_time();
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send(new_socket, s.c_str(), s.length(), 0);
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} else if (error == -2) {
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/* Do nothing */
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}
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}
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cout << "The robot is out. End of story. " << endl;
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cout << " /\\_/\\" << endl << "( o.o )" << endl << " > ^ <" << endl;
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return 0;
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}
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