From 9cd23555a640968c41e548aaa59ec006fb52df3e Mon Sep 17 00:00:00 2001
From: Inex Code <gitea@inex.rocks>
Date: Tue, 30 Mar 2021 16:37:24 +0000
Subject: [PATCH] Add UDP

---
 UML1/superpooh.cpp | 62 +++++++++++++++++++++++++++++++++++-----------
 1 file changed, 48 insertions(+), 14 deletions(-)

diff --git a/UML1/superpooh.cpp b/UML1/superpooh.cpp
index f726d00..849d32c 100644
--- a/UML1/superpooh.cpp
+++ b/UML1/superpooh.cpp
@@ -3,6 +3,8 @@
 #include <future>
 #include <thread>
 #include <chrono>
+#include <boost/asio.hpp>
+#include <boost/array.hpp>
 
 using namespace std;
 
@@ -94,6 +96,8 @@ ECmd cmd = ENone;
 
 int counter = 0;
 
+float targetH = 10.;
+
 float getHZadFromUser()
 {
     return 10.;
@@ -237,7 +241,7 @@ int model()
     while (cmd != EExit)
     {
 
-        hZad = getHZadFromUser(); // Неблокирующая функция для получения высоты
+        hZad = targetH; // Неблокирующая функция для получения высоты
 
         if (abs(superpooh.getH() - hZad) < 1 && abs(t - lastT) > 5) {
             superpooh.eat(0.1);
@@ -249,28 +253,58 @@ int model()
 
         t = t + dt;
 
-        std::cout << "Weight = " << superpooh.getM() << std::endl;
-        std::cout << "Velocity = " << superpooh.getV() << std::endl;
-        std::cout << "Acceleration = " << superpooh.getA() << std::endl;
-        std::cout << "===========" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(50));
+        if (t < 200) {
+            std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        }
+        else {
+            std::cout << "Weight = " << superpooh.getM() << std::endl;
+            std::cout << "Velocity = " << superpooh.getV() << std::endl;
+            std::cout << "Acceleration = " << superpooh.getA() << std::endl;
+            std::cout << "Time = " << t << std::endl;
+            std::cout << "===========" << std::endl;
+            std::this_thread::sleep_for(std::chrono::milliseconds(50));
+        }
     }
 
     return 0;
 }
 
 int main() {
-    std::thread th(model);
-    char ch;
-    while (cmd != EExit)
+    try
     {
-        std::cout << "Enter command (q to exit)" << std::endl;
-        std::cin >> ch;
-        if (ch == 'q') {
-            cmd = EExit;
-            th.join();
+        boost::asio::io_context io_context;
+        boost::asio::ip::udp::endpoint reciever(boost::asio::ip::udp::v4(), 1337);
+        boost::asio::ip::udp::socket socket(io_context, reciever);
+
+        std::thread th(model);
+        char ch;
+        while (cmd != EExit)
+        {
+            boost::array<char, 1> recv_b;
+            boost::asio::ip::udp::endpoint remote_endpoint;
+            size_t len = socket.receive_from(boost::asio::buffer(recv_b), remote_endpoint);
+            ch = *(recv_b.data());
+            std::cout.write(recv_b.data(), len);
+            std::cout << ch << std::endl;
+            if (*recv_b.data() == 'q') {
+                std::cout << "Exiting!" << std::endl;
+                cmd = EExit;
+                th.join();
+            }
+            if (*recv_b.data() == 'd') {
+                std::cout << "Going down!" << std::endl;
+                targetH = 0.;
+            }
+            if (*recv_b.data() == 'u') {
+                std::cout << "Going up to 30 meters!" << std::endl;
+                targetH = 30.;
+            }
         }
     }
+    catch (std::exception& e)
+    {
+        std::cerr << e.what() << std::endl;
+    }
     return 0;
     
 }
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