hexapod_ng/legacy/linux/udpproxy/main.c

#include <assert.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <math.h>

#include <arpa/inet.h>
#include <sys/socket.h>
#include <netinet/in.h>

#include "linalg.h"
#include "licks_message.h"

licks_message message;
licks_net_message net_message;

int udp_socket_fd;

struct sockaddr_in localaddr;
struct sockaddr_in remoteaddr;

int
main(int argc, char **argv) {
   int quit=0;
   udp_socket_fd=socket(PF_INET,SOCK_DGRAM,0);
   if(udp_socket_fd==-1) {
      perror("socket");
      exit(0);
   }

   localaddr.sin_family=AF_INET;
   localaddr.sin_port=htons(1337);
   inet_aton("0.0.0.0",&localaddr.sin_addr);;

   if(bind(udp_socket_fd,(struct sockaddr *)&localaddr,sizeof(struct sockaddr_in))) {
      perror("bind");
      exit(0);
   }

   licks_socket_open("/tmp/udpproxy");
   while(!quit) {
      read(udp_socket_fd,&net_message,sizeof(licks_net_message));
      switch(net_message.type) {
         case MSG_QUIT:
            message.type=MSG_QUIT;
            send_message(&message,ikd_path);
            break;
         case MSG_POWER:
            message.type=MSG_POWER;
            message.i=net_message.i;
            send_message(&message,ikd_path);
            break;
         case MSG_MOVE_BODY:
            message.type=MSG_MOVE_BODY;
            message.move_parameters.v.x=net_message.move_parameters.v.x/1000.0;
            message.move_parameters.v.y=net_message.move_parameters.v.y/1000.0;
            message.move_parameters.v.z=net_message.move_parameters.v.z/1000.0;
            message.move_parameters.duration=net_message.move_parameters.duration;
            send_message(&message,ikd_path);
            break;
         case MSG_WALK:
            message.type=MSG_WALK;
            message.walk_parameters.step_direction.x=net_message.move_parameters.v.x/1000.0;
            message.walk_parameters.step_direction.y=net_message.move_parameters.v.y/1000.0;
            message.walk_parameters.step_rotation=net_message.move_parameters.v.z/1000.0;
            send_message(&message,ikd_path);
            break;
         case MSG_ROTATE_BODY:
            message.type=MSG_ROTATE_BODY;
            message.move_parameters.v.x=net_message.move_parameters.v.x/3276.8;
            message.move_parameters.v.y=net_message.move_parameters.v.y/3276.8;
            message.move_parameters.v.z=net_message.move_parameters.v.z/3276.8;
            message.move_parameters.duration=net_message.move_parameters.duration;
            send_message(&message,ikd_path);
            break;
      }      
   }
   licks_socket_close();
   
   close(udp_socket_fd);
   return 0;
}