Platform/Aperios1.3.2/BroadCastStatusHandler.cpp

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/*******************************************************************
 * Broadcast Status Handler                                        *
 * @Author: Matthias Meyer (robocup@ja-me.de)                      *
 ******************************************************************/

#include "BroadCastStatusHandler.h"
#include <stdio.h>
#include <iostream.h>

BroadCastStatusHandler::BroadCastStatusHandler() :
UDPEndpoint(2048,2048)
{
  // Add new DebugDataPackages here
  thePackage[0] = new DebugDataControlerWorldStateMessage();
  thePackage[1] = new DebugDataControlerBallStateMessage();
  thePackage[2] = new DebugDataControlerStatusStateMessage();
  thePackage[3] = new DebugDataControlerDebugStateMessage();
  thePackage[4] = new DebugDataControlerRunTimeMessage();
}

BroadCastStatusHandler::~BroadCastStatusHandler() {
  // Delete new DebugDataPackages here
  delete thePackage[0];
  delete thePackage[1];
  delete thePackage[2];
  delete thePackage[3];
  delete thePackage[4];
}

void BroadCastStatusHandler::sendStatusPackage()
{
  int sizeOfMessage = 0;

#ifdef NDEBUG
  // send only worldstate
  sizeOfMessage += thePackage[0]->getHeaderSize() + thePackage[0]->getSize();
#else
  // send all Messages
  for (int i = 0; i < DebugDataControlerBase::nrOfDebugTypes; i++) {
    sizeOfMessage += thePackage[i]->getHeaderSize() + thePackage[i]->getSize();
  }
#endif

  char* tmpPackage = new char[sizeOfMessage];
  int tmpBeginMessage = 0;

#ifdef NDEBUG
  tmpBeginMessage += thePackage[0]->write(tmpPackage,tmpBeginMessage);
#else
  for (int i = 0; i < DebugDataControlerBase::nrOfDebugTypes; i++) {
    tmpBeginMessage += thePackage[i]->write(tmpPackage,tmpBeginMessage);
  }
#endif

  send(tmpPackage,sizeOfMessage,IP_ADDR_BROADCAST,STATUSBROADCASTPORT);

  delete tmpPackage;
}

void BroadCastStatusHandler::initBroadCastStatusHandler()
{
//  bind(0xC1B0); 
  bind(STATUSBROADCASTPORT); 
  cout << "BroadCastStatusHandler bind(STATUSBROADCASTPORT" << endl << flush;
}

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