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Correzione minore a BasicRobot22 #2

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Correzione minore a BasicRobot22 #2

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16 changes: 7 additions & 9 deletions unibo.basicrobot22/resources/robotVirtual/virtualrobotSupport2021.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,12 @@ import java.io.PrintWriter
import java.net.Socket
import org.json.JSONObject
import java.io.BufferedReader
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Dispatchers
import java.io.InputStreamReader
import kotlinx.coroutines.launch
import kotlinx.coroutines.channels.SendChannel
import kotlinx.coroutines.delay
import kotlinx.coroutines.Job
import it.unibo.kactor.ActorBasic
import it.unibo.kactor.MsgUtil
import it.unibo.kactor.ApplMessage
import kotlinx.coroutines.*
import unibo.actor22comm.wshttp.WsHttpConnection
import unibo.actor22comm.interfaces.Interaction2021
import unibo.robot.MsgRobotUtil
Expand Down Expand Up @@ -79,7 +75,8 @@ val doafterConn : (CoroutineScope, WsHttpConnection) -> Unit =
if( traceOn ) println(" --- virtualrobotSupport2021 trace | $msg")
}

fun move(cmd: String) { //cmd is written in application-language
@OptIn(ObsoleteCoroutinesApi::class)
fun move(cmd: String) { //cmd is written in application-language
//println(" --- virtualrobotSupport2021 | moveeeeeeeeeeeeeeeeeeeeee $cmd ")
val msg = translate( cmd )
trace("move $msg")
Expand All @@ -89,14 +86,15 @@ val doafterConn : (CoroutineScope, WsHttpConnection) -> Unit =
return
}
//Comunicazione sincrona con il VirtualRobot via HTTP
val answer = support21.forward(msg) //,"$hostName:$port/api/move"
trace(" --- virtualrobotSupport2021 | answer=$answer")
val answer = support21.request(msg) //,"$hostName:$port/api/move"
trace("answer=$answer")
//REMEMBER: answer={"endmove":"true","move":"alarm"} alarm means halt
val ajson = JSONObject(answer)
if( ajson.has("endmove") && ajson.get("endmove")=="false"){
owner.scope.launch{ owner.emit("obstacle","obstacle(virtual)") }
}
}
}

//translates application-language in cril
fun translate(cmd: String) : String{ //cmd is written in application-language
var jsonMsg = MsgRobotUtil.haltMsg //"{ 'type': 'alarm', 'arg': -1 }"
Expand Down