C++ RecvMsgEvent::getSender方法代码示例

void RobotController::onRecvMsg(RecvMsgEvent &evt)
{
  std::string sender = evt.getSender();

  // 送信者がゴミ認識サービスの場合
  char *all_msg = (char*)evt.getMsg();
  std::string msg;
  msg= evt.getMsg();

  if(msg == "go" && m_state ==20)
  {
        m_state = 0;
  }
  else if(msg == "take" && m_state == 7)
  {
        printf("Kinect is started on object\n");
        m_pointedObject = getPointedObjectName(m_avatar);
        m_state = 8;
  }
  else if(msg == "put" && m_state == 16)
  {
        printf("Kinect is started on trash \n");
        m_pointedtrash = getPointedTrashName(m_avatar);
        m_state = 17;
  }
  else
  {
        printf("Message is not accepted\n");
  }
}

void RobotController::onRecvMsg(RecvMsgEvent &evt)
{
	std::string sender = evt.getSender();

	// 送信者がゴミ認識サービスの場合
	char *all_msg = (char*)evt.getMsg();
	std::string msg;
	msg= evt.getMsg();

	if(msg == "start" && m_state ==0)
	{
		m_state = 1; // initial settings
	}
	else if(msg == "kitchen" && m_state ==0)
	{
		m_state = 10; // move to the kitchen
	}
	else if(msg == "lobby" && m_state ==0)
	{
		m_state = 20; // move to the lobby
	}
	else if(msg == "bed room" && m_state ==0)
	{
		m_state = 30; // move to the bed room
	}
	else
	{
		broadcastMsgToSrv("Task finished\n");
	}
}

void RobotController::onRecvMsg(RecvMsgEvent &evt)
{
	std::string sender = evt.getSender();
	std::string msg;
	msg= evt.getMsg();
	std::stringstream ss;
	ss << msg;
	std::string header;
	ss >> header;

	if (msg == "Task_start" && m_state == 0)
	{
		m_state = 10;      
		Kinect_data_flag = false;
		Record_Postures.clear();
	}

	if (msg == "Task_end") 
	{
		initialize();
	}

	if ( header == "KINECT_DATA_Sensor" && Kinect_data_flag == true)
	{
		Record_Kinect_Data(msg);
	}

}

void KinectService::onRecvMsg(RecvMsgEvent &evt) {

    std::string sender = evt.getSender();
    std::string msg = evt.getMsg();

    int strPos1 = 0;
    int strPos2;
    int strPos3;
    std::string headss;
    std::string ss = msg;

    strPos2 = ss.find("_", strPos1);
    headss.assign(ss, strPos1, strPos2-strPos1);
    if (headss == "Send") {
        Folder = "Motion_Data/";
        // Contol of body movement by KINECT
        File_ID = "";
        strPos3 = ss.find(".", strPos2+1);
        File_ID.assign(ss, strPos2+1, strPos3);
        File_ID += "dat";
        Folder += File_ID;
        std::cout << "The File path " <<  Folder << std::endl;
    }
    if (msg == "Start_motion" && sender == "moderator_0" )
    {
        in_stream_motion.open(Folder.c_str());
        std::string previousLine = "";
        while(getline(in_stream_motion,line)) // To get you all the lines.
        {
            list_motion.push_back(line);
        }
        in_stream_motion.close();
        Data_Size = 0;
        Start_motion = true;
    }
    if (msg == "Task_start"  && sender == "moderator_0")
    {
        Data_Size = 0;
        Start_t = clock();
        list_motion.clear();
        Send_Data = false;
    }
    if (msg == "Get_Data" && sender == "robot_000")
    {
        Send_Data = true;
    }
    if (msg == "Data_Off" && sender == "robot_000")
    {
        Send_Data = false;
    }

}

void UserController::onRecvMsg(RecvMsgEvent &evt)
{
	std::string sender = evt.getSender();
	std::string msg    = evt.getMsg();
	//自分自身の取得
	SimObj *my = getObj(myname());

	if(msg == "Task_start"   && sender == "moderator_0"  && cycle < NUMBER_OF_REPETITION && Mission_complete == false) {

		parseFile("command.txt");

		message = ":"+ rooms[cycle] +";"+ objects[cycle]+".";
		brodcast_msg = "Go to the "+ rooms[cycle] +", grasp the "+ objects[cycle]+" and come back here";
		choice_movement(rooms[cycle]);
		//broadcastMsgToSrv(brodcast_msg);
		//sendMsg("moderator_0","init_time");
		//broadcastMsg(message);
		LOG_MSG((brodcast_msg.c_str()));
		//LOG_MSG(("%s: %s",sender.c_str(), brodcast_msg.c_str()));
		sendMsg("robot_000",brodcast_msg);
		sendMsg("moderator_0",brodcast_msg);
		sendMsg("SIGViewer",brodcast_msg);
		// m_state  = 0;
		//broadcastMsg(brodcast_msg);
       cycle = cycle+1;
	}
		if(msg == "Task_finished" && sender == "robot_000" && Mission_complete == false )
		{

	  choice_movement("finish");
		}

	if(msg == "Task_end" && sender == "moderator_0" && Mission_complete == false ) {
		
		sendMsg("moderator_0","init_time");
        choice_movement("finish");
	}
	
	if(msg == "Mission_complete" && sender == "moderator_0" && Mission_complete == false ) {
		
     Mission_complete = true;
     choice_movement("finish");
	}	


}

void DemoRobotController::onRecvMsg(RecvMsgEvent &evt)
{
	std::string sender = evt.getSender();
	std::string msg = evt.getMsg();
	LOG_MSG(("%s: %s",sender.c_str(), msg.c_str()));

	if(sender == "moderator_0"){
		if(msg == "Task_start"){
			m_task++;
			m_time = 0.0;
			m_state = 50;
			if(m_task == 1)	m_graspObjectName = m_trashName1;
			else	m_graspObjectName = m_trashName2;
		}
		if(msg == "Time_over"){
			m_time = 0.0;
			m_state = 0;
		}
		if(msg == "Task_end"){
			m_time = 0.0;
			m_state = 0;
		}
	}
}

void MyController::onRecvMsg(RecvMsgEvent &evt)
{  
  // 送信者取得
  std::string sender = evt.getSender();
  std::cout << "sender: " << sender << std::endl;

	char *all_msg = (char*)evt.getMsg();		
	printf("all_msg: %s \n", all_msg);
	char *delim = (char *)(" ");
	char *ctx;
	char *header = strtok_r(all_msg, delim, &ctx);

	if (strcmp(header, "RESET") == 0) {
		printf("Received RESET \n");
		setRobotPosition(0, -50);	
		setRobotHeadingAngle(0);
		setCameraPosition(0, 3);
		printf("Reseted RobotPosition \n");
		//char* replyMsg = sendSceneInfo();
		sendSceneInfo("Start");
		m_executed = true;
		return;
	}



  // 送信者がゴミ認識サービスの場合
  if(sender == "RecogTrash") {

	  /*char *all_msg = (char*)evt.getMsg();		
		//printf("all_msg: %s \n", all_msg);
		char *delim = (char *)(" ");
		char *ctx;
		char *header = strtok_r(all_msg, delim, &ctx);*/

		double x = 0, y = 0, z = 0; // range = 0;
	
			
		if(strcmp(header, "ObjDir") == 0) {
			// 次に移動する座標を位置を取り出す			
			x = atof(strtok_r(NULL, delim, &ctx));
			y = atof(strtok_r(NULL, delim, &ctx));
			z = atof(strtok_r(NULL, delim, &ctx));
			m_range = atof(strtok_r(NULL, delim, &ctx));
			nextPos.set(x, y, z);
			//printf("m_range = %lf \n", m_range);
			printf("[ClientMess] ObjDir %lf %lf %lf range: %lf\n", nextPos.x(), nextPos.y(), nextPos.z(), m_range);		
			// ロボットのステートを更新

			m_state = 20;
			m_executed = false;
			return;
		}

		// 物体のある場所に到着し、アームを伸ばし、物体を掴む
		if(strcmp(header, "grab") == 0) {		
			printf("grab \n");	
			// 回転を止める
			m_my->setWheelVelocity(0.0, 0.0);
			m_state = 30;
			m_executed = false;
			return;
		}

	 if(strcmp(header, "TrashBoxDir") == 0) {
			printf("TrashBoxDir \n");
			// 次に移動する座標を位置を取り出す			
			x = atof(strtok_r(NULL, delim, &ctx));
			y = atof(strtok_r(NULL, delim, &ctx));
			z = atof(strtok_r(NULL, delim, &ctx));
			m_range = atof(strtok_r(NULL, delim, &ctx));
			//printf("range = %lf \n", m_range);
			nextPos.set(x, y, z);
			printf("[ClientMess] TrashBoxDir %lf %lf %lf range: %lf\n", nextPos.x(), nextPos.y(), nextPos.z(), m_range);
		  m_state = 40;
			m_executed = false;
			return;
	 }

	 if(strcmp(header, "ThrowTrash") == 0) {			
			m_state = 50;
			m_executed = false;
			return;
		}

		if(strcmp(header, "Finish") == 0) {	
			m_state = 100;
			m_executed = false;
			return;	
		}

		if(strcmp(header, "RandomRouteStart") == 0) {
			m_state = 800;
			m_executed = false;
			return;
		}

		if(strcmp(header, "RandomRouteArrived") == 0) {
			//printf("onRecv RandomRouteArrived \n");
			m_state = 800;
//.........这里部分代码省略.........

void MyController::onRecvMsg(RecvMsgEvent &evt)
{
	std::string sender = evt.getSender();

	char *all_msg = (char*)evt.getMsg();

	std::string ss = all_msg;
	int strPos1 = 0;
	int strPos2,strPos3;
	std::string headss,cmd;
	std::string tmpss;
	std::cout<<"the massage is :"<< ss <<std::endl;
	std::cout<<"the sender is :"<< sender <<std::endl;
	strPos2 = ss.find(" ", strPos1);
	headss.assign(ss, strPos1, strPos2-strPos1);
	int jj = ss.size();
	cmd.assign(ss, strPos2+1,jj);
	strPos3 = cmd.find("|", strPos1);
	id.assign(cmd, strPos1, strPos3-strPos1+1);
	//std::cout<<"The ID is :  "<< id <<std::endl;
	bool aff = true;

	if (headss == "MultiUsersMenu")
		{
			bool available = checkService(ss);
			if (!available && m_ref != NULL) m_ref = NULL;
			else if (available && m_ref == NULL){
				m_ref = connectToService(ss);
			}
			int nn = 0;
			for (int j = 0; j< list.size();j++) {
				if (id != list[j].ID) {
					nn++;
				}
				else {
					sendMsg(list[j].name,list[j].ID);
					m_state = 0;
					ind = j;
					current_avatar = list[j].name;
				}
			}
			if (nn == list.size()) {
				for (int i = 0; i< list.size();i++) {
					if (list[i].ID == "" && aff == true ) {
						list[i].ID = id;
						sendMsg(list[i].name,list[i].ID);
						m_state = 0;
						ind = i;
						current_avatar = list[i].name;
						aff = false;
					}
				}
			}
		}


	if (ss == "Info") {
		std::cout<<"Sending info to:"<< sender <<std::endl;

		std::string mess = "";
		mess +=  "AvatarInformation/" ;
		mess += avatars_number;
		mess +=  "/" ;
		for (int j = 0; j< list.size();j++) {
			mess += list[j].name ;
			mess +=  "/" ;
		}
		std::cout<<"The message is :"<< mess <<std::endl;
		sendMsg(sender,mess);
	}
}