{

cout<<"Server () Top"<<endl;

camera_socket = new sf::TcpSocket;

ip = sf::IpAddress::getLocalAddress();

id = "server";

cout<<"Ip: "<<ip<<endl; //mphone on m's laptop: 192.168.43.249

// init camera

camera_port = 2718; // changed to test

// bind a listener to port

cout<<"past cam port"<<endl;

if(listener_camera.listen(camera_port) != sf::Socket::Done){

// error

cout<<"Server() error: listen camera_port failed"<<endl;

}

if(listener_camera.accept(*camera_socket) != sf::Socket::Done){

//error

cout<<"Server() error: Accept camera_socket failed"<<endl;

}

selector_camera.add(*camera_socket);

cout<<"cam connection made"<<endl;

// init car

car_port = 2719;

listener_car.listen(car_port);

//figure out selector_camera

selector_car.add(listener_car);

cout<< "listener for car added"<<endl;

// waits around until at least of its sockets has data available

// and will return true when it does. can also use a timeout arg

if (selector_car.wait()) {

// see if the listener is ready...

if (selector_car.isReady(listener_car)) {

// if the listner is ready, theres an incoming connection!

HandleIncomingConnection();

}

else {

// so if the listen socket isn't ready, that means one of our

// clients are.

HandleCarData();

}

}

sf::TcpSocket* client = new sf::TcpSocket;

// try to attach our new socket to this new connection...

if (listener_car.accept(*client) == sf::Socket::Done) {

cout << "accepting socket...." << endl;

// add our new client to our client list

cars.push_back(client);

// also add our client to the socketselector so we can be

// notified when something is sent

selector_car.add(*client);

cout << "Connection made!" << endl;

}

else {

// so... error cuz we couldn't make a new connection, so del socket

delete client;

}

for (list<sf::TcpSocket*>::iterator it=cars.begin(); it!=cars.end(); ++it) {

// we need a reference... not a copy... sockets can't be copied

// anyway

sf::TcpSocket& client = **it;

if (selector_car.isReady(client)) {

char buff[200];

int size;

size_t received_size;

sf::Socket::Status status = client.receive(buff, sizeof(buff), received_size);

if (status == sf::Socket::Done) {

buff[received_size] = '\0';

cout << "message: " << buff << endl;

//deal with the receiving message

Packet recieved(buff);

Packet response;

cout<<"----recieved-----"<<endl;

PrintPacket(recieved);

cout<<"-----------------"<<endl<<endl<<endl;

cout<<recieved.Message<<endl;

if (strcmp(recieved.Message, CAR_CON_REQ_POS) == 0){

cout<<"in Handle Position"<<endl;

response = HandlePositionReq(*it);

}

else if (strcmp(recieved.Message, CAR_CON_REQ_DEST) == 0){

cout<<"in handle dest"<<endl;

response = HandleDestReq(*it);

}

else{

cout<< "Error: Invalid Packet Sent"<<endl;

}

cout<<"Message we are sending to car: "<<response.Message<<endl;

//response

client.send(response.Message, strlen(response.Message) + 1);

}

// need to make other case for status (like disconnected, partcial...)

else {

cout << "error" << endl;

// otherwise... an error occured, so del the socket

// first deallocate it

delete *it;

// them remove from our socket list

cars.erase(it--);

// and remove the socket from the selector`

selector_car.remove(client);

}

}

}

//car turn on light

Packet p;

char received[101];

char cam_received [101] = "{ no message }";

size_t size;

sf::Socket::Status checking;

// ****DEAL WITH ALL OF THE ERRORS WHEN PUT INTO SEPARATE FUNCTIONS****

// if error return error packet

checking = car->send(CON_CAR_TURN_LIGHT_ON, strlen(CON_CAR_TURN_LIGHT_ON)+1);

ErrorHandling(checking);

//wait for car to say light on

checking = car->receive(received, 100, size); //deal with error

received[size] = '\0';

ErrorHandling(checking);

cout<<"before pacect assignment"<<endl;

p = Packet(received);

cout<<"1 HandleLocationRequest: after sending: "<<CON_CAR_TURN_LIGHT_ON<<" recieved: "<<p.Command<<endl;

if(strcmp(p.Command, COMM_LIGHT_IS_ON) == 0){

cout<<"2 HandleLocationRequest: recieved: "<<COMM_LIGHT_IS_ON<<endl;

//ask camera for location of car

checking = camera_socket->send(CON_CAM_REQ_POS, strlen(CON_CAM_REQ_POS)+1);

cout<<"2 HandleLocationRequest: sent: "<<CON_CAM_REQ_POS<<endl;

ErrorHandling(checking);

selector_camera.wait();

if (selector_camera.isReady(*camera_socket)){

cout<<"selector cam is ready"<<endl;

}

//testing camera_socket

if (camera_socket->isBlocking()){

cout<<"****blocking"<<endl;

}

else{

cout<<"******not blocking"<<endl;

}

cout<<"camera_sockect local port: "<<camera_socket->getLocalPort()<<endl;

checking = camera_socket->receive(cam_received, 100, size);

cam_received[size] = '\0';

ErrorHandling(checking);

cout<<"cam_received: "<<cam_received<<endl;

cout<<"cam_received size: "<<strlen(cam_received)<<endl;

cout<<"size: "<<size<<endl;

p = Packet(cam_received);

cout<<"after Packer constructor: cam_received"<<endl;

cout<<"p.message: "<<p.Message<<endl;

if(strcmp(p.Command, COMM_HERE_IS_POS)==0){

p.MakeMessage("Con", "Car", COMM_YOUR_POS);

cout<<"4 HandleLocationRequest: after sending: "<<COMM_HERE_IS_POS<<endl;

cout<<"Print P Message in HandlePosition funciton before return: "<<p.Message<<endl;

return p;

}

else {

cout<<"BAD RESPONSE FROM CAR expected: HereIsPos recieved: "<<p.Command<<endl;

}

}

else {

cout<<"BAD RESPONSE FROM CAR expected: LightIsOn recieved: "<<p.Command<<endl;

}

//wait for camera to give coords

//tell car coords

//car turn on light

Packet p;

char received[101];

size_t size;

sf::Socket::Status checking;

// ****DEAL WITH ALL OF THE ERRORS WHEN PUT INTO SEPARATE FUNCTIONS****

// if error return error packet

char str[101];

strcpy(str, CON_CAR_HERE_IS_DEST);

strcat(str, "4056 4056 }");

checking = car->send(str, strlen(str)+1);

ErrorHandling(checking);

//wait for car to say light on

cout<<"Message: |"<<printMe.Message<<"| Command: |"<<printMe.Command;

cout<<"| Sender: |"<<printMe.Sender<<"| Recipient: |"<<printMe.Recipient<<"| Other: |";

for(int i = 0; i < printMe.otherUsed; i++){

cout<<printMe.Other[i]<<"| |";

}

cout<<endl;

if(checking == sf::Socket::Done){

cout<<"done"<<endl;

}

else if (checking == sf::Socket::NotReady){

cout<<"not ready"<<endl;

}

else if ( checking == sf::Socket::Disconnected){

cout<<"disconnected"<<endl;

}

else{

cout<<"error"<<endl;

}