aswi2021virtual-surreality-gitlab/deltarobot/curvedataserver.h @ f06d5ae1

#ifndef CURVEDATASERVER_H
#define CURVEDATASERVER_H

#include <QObject>
#include <QTcpServer>
#include <QTcpSocket>
#include <map>
#include <mutex>


#include "../element/trajectory.hpp" //obsahuje MAX_CURVE_SIZE kterou se ridi sendNewCurve 4D

class CurveDataServer : QObject
{
    Q_OBJECT

public:
    struct Client {
        static const size_t BUF_SIZE = 32;
        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

        char buf[BUF_SIZE];
        size_t bufUsed;

        Client(QTcpSocket* socket);
    };

    explicit CurveDataServer();
    ~CurveDataServer();

    void sendActuatorPosition(float x, float y, float z);
    void sendActualDirection(float x, float y, float z);
    void sendTargetDirection(float x, float y, float z);
    void sendNewCurve(QList<QVector4D> points);
    void sendNewCurve(QList<QVector3D> points);

public slots:
    void onNewConnection();
    void onSocketStateChanged(QAbstractSocket::SocketState socketState);
    void onReadyRead();

private:
    QList<Client>::iterator clientOf(QTcpSocket *socket);

    void handleMessage(Client& client, uint16_t messageId, void* content);

    void sendPreamble(QTcpSocket *socket);
    void sendProtocolMagic(QTcpSocket *socket);
    void sendVersion(QTcpSocket *socket);
    void sendEot(QTcpSocket *socket, std::string&& message);

    QTcpServer _server;

    std::recursive_mutex _socketsLock;
    QList<Client> _sockets;
};

#endif // CURVEDATASERVER_H