client/client.cpp

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// gluicli.cpp : Defines the entry point for the console application.
//

#include <unistd.h>
#include "../trucknet/trucknet.h"
#include "../trucknet/unp.h"
#include "../trucknet/TCPmsg.h"
#include "../trucknet/msg.h"
#include <string>
using std::string;

#define BUFLEN 10


int quit = 0;

int processNET(TCPmsg &m);
int processSTDIN(TCPmsg &m);

void usage(void) {
        printf("(F)orward, (B)ackward, (L)eft, (R)ight, (S)top, Start\n");
        printf("encoder (T)icks, (M)ove\n");
        printf("(C)ontroller, (K)ill Controller, (Q)uit\n");
}

int main(int argc, char* argv[])
{       
        //unsigned char buf[BUFLEN];

        //messaging system setup
        TCPmsg m(HOST_IP, GUI_PORT);
        //      set_assigns(m);

        int STDIN = fileno(stdin);      
        int netFD = m.getFD();
        int maxFD = STDIN > netFD ? STDIN : netFD;
        fd_set readSet, tmpSet;
        FD_ZERO(&readSet);
        FD_SET(netFD, &readSet);
        FD_SET(STDIN, &readSet);

        usage();

        //user interface loop
        while(!quit) {

                tmpSet = readSet; //have to reset 'set' on each loop
                int result = ::select(maxFD+1, &tmpSet, NULL, NULL, NULL);                              

                // check for timeout
                if (result == 0) {
                        cerr << "main - select timed-out, but no timeout was given" << endl;
                        return -1;
                }

                // check for error
                else if (result == -1) {
                        cerr << "select() - err with select : " << strerror(errno) << endl;
                        return -1;
                }

                // one or more files are ready - try each
                else {                          
                        if (FD_ISSET(STDIN, &tmpSet))
                                processSTDIN(m);

                        if (FD_ISSET(netFD, &tmpSet))
                                processNET(m);
                }                       
        }
}

int processNET(TCPmsg &m) {
        if (m.recv() < 0) {
                cerr << "processNET() : error with TCPmsg.recv()" << endl;
                exit(EXIT_FAILURE);
                //return -1;
        }

        if(m.dispatch())
        {       
                cout << "Recieved messge : '" << m.type();
                while(m) 
                {       
                        cout << ' ' << m;
                }
                cout << '\'' << endl;
        }
        return 0;
}

int processSTDIN(TCPmsg &m) {
        int c, trash;
        c = getchar();
        while ( (trash = getchar()) != '\n' && trash != EOF);
                        
        switch(c) {     
        case 'f':
        case 'F': 
                cout << "Sending forward..." << endl;
                m << startmsg("forward") << endmsg; break;
        case 'b':
        case 'B': 
                cout << "Sending back..." << endl;
                m << startmsg("back") << endmsg; break;
        case 'l':
        case 'L': 
                cout << "Sending left..." << endl;
                m << startmsg("left") << endmsg;break;
        case 'r':
        case 'R': 
                cout << "Sending right..." << endl;
                m << startmsg("right") << endmsg;break;
        case 's':
        case 'S': 
                cout << "Sending stop..." << endl;
                m << startmsg("stop") << endmsg;break;
        case 'c':
        case 'C': 
                cout << "Starting controller..." << endl;
                m << startmsg("run") << endmsg;break;
        case 'k':
        case 'K': 
                cout << "Killing controller..." << endl;
                m << startmsg("kill") << endmsg;break;
        case 't':
        case 'T': cout << "Asking for Ticks..." << endl; 
                m << startmsg("ticks") << endmsg;break;
                return 0;
        case 'm':
        case 'M': cout << "Sending 'move 1.0'..." << endl; 
                m << startmsg("move") << 1.0f << endmsg; break;
                return 0;               
        case 'q':
        case 'Q': cout << "Quiting..." << endl; 
                quit = 1;
                return 0;               
        default: cout << "Invalid command: \"" << (char)c \
                                                                << "\" (" << c << ")" << endl;
                usage();
        }

        return 1;
}
        

        

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