Revize 6d9543aa

Re #8899 - Server data reception

deltarobot/curvedataserver.h

@@ -6 +6 @@
 #include <QTcpSocket>
 #include <map>
 #include <mutex>
-
-
-#include "../element/trajectory.hpp" //obsahuje MAX_CURVE_SIZE kterou se ridi sendNewCurve 4D
+#include <thread>
 
 class CurveDataServer : QObject
 {
@@ -16 +14 @@
 
 public:
     struct Client {
-        static const size_t BUF_SIZE = 32;
+        static const size_t BUF_SIZE = 4096;
         static const size_t MESSAGE_ID_SIZE = 2;
 
         QTcpSocket* socket;
-        std::map<long, long> ping;  ///< key: ping ID;  value: ping timestamp (msec);
-        long latency;               ///< client's latency
-        long lastPong;              ///< timestamp of last pong
+        std::map<uint64_t, uint64_t> ping;  ///< key: ping ID;  value: ping timestamp (msec);
+        uint64_t latency;               ///< client's latency
+        uint64_t lastPong;              ///< timestamp of last pong
 
         char buf[BUF_SIZE];
         size_t bufUsed;
 
+        bool magic = false;
+        bool version = false;
+        bool initialized = false;
+
         Client(QTcpSocket* socket);
     };
 
@@ -38 +40 @@
     void sendTargetDirection(float x, float y, float z);
     void sendNewCurve(QList<QVector4D> &points);
     void sendNewCurve(QList<QVector3D> &points);
+    void sendCurve(Client &client);
+
+    void processPings();            ///< send pings, check timeouts
 
 public slots:
     void onNewConnection();
@@ -48 +53 @@
     QList<Client>::iterator clientOf(QTcpSocket *socket);
 
     void handleMessage(Client& client, uint16_t messageId, void* content);
+    void handleProtocolMagic(Client& client, char* content);
+    void handleVersion(Client& client, uint8_t content);
+    void handlePong(Client& client, uint64_t* content);
+    void handleEOT(Client& client, char* content);
+
+    void validPreamble(Client& client);
+    void removeSocket(QTcpSocket *socket);
+    void terminateConnection(Client& client, std::string&& reason);
+    void sendPing(Client& client);
 
     void sendPreamble(QTcpSocket *socket);
     void sendProtocolMagic(QTcpSocket *socket);
     void sendVersion(QTcpSocket *socket);
     void sendEot(QTcpSocket *socket, std::string&& message);
 
+    void sendMessageToAllConnected(QByteArray &message);
+
+    void threadFunction();
+
     QTcpServer _server;
+    std::thread _pingThread;
+
+    volatile bool _threadIsRunning = true;
 
     std::recursive_mutex _socketsLock;
     QList<Client> _sockets;
+
+    std::recursive_mutex _currentCurveLock;
+    QList<QVector3D> _currentCurve;
 };
 
 #endif // CURVEDATASERVER_H