Problem in to the if cicle

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Alessandro Mosca

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Aug 31, 2015, 9:33:50 AM8/31/15

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Hello guys,
I have a problem to send an array through the TCP communication using msgpack. The problem is locate int the function convert :

        /* RECEIVE DATA FROM MASTER */
        int recv_len = server->receive_data(buf,512);
        if(recv_len == -2){
            schunk->setJointsPositionAndWait(init_joint, 0.1);
            server->returnToListen();
        }else if(recv_len > 0){
            msgpack::unpacked result;
            msgpack:: unpack (&result, buf, recv_len);
            msgpack::object deserialized = result.get();
            msgpack::type::tuple<int> dst;
            deserialized.convert(&dst);
            input_mode = msgpack::type::get<0>(dst);
        }

        printf("MODALITY: %d\n", input_mode);
        recv_len = server->receive_data(buf, 512);
        printf("length: %d\n", recv_len);
        if (recv_len == -2) {
            schunk->setJointsPositionAndWait(init_joint, 0.1);
            server->returnToListen();
            continue;
        }
        msgpack::unpacked result;
        msgpack::unpack (&result, buf, recv_len);
        msgpack::object deserialized = result.get();
        if(input_mode == 0){
            msgpack::type::tuple<float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, int, int> dst1;
            deserialized.convert(&dst1);           <---------- here is the problem: always return me a bad cast
            T(0,0) = (float)msgpack::type::get<0>(dst1);
            T(0,1) = (float)msgpack::type::get<1>(dst1);
            T(0,2) = (float)msgpack::type::get<2>(dst1);
            T(0,3) = (float)msgpack::type::get<3>(dst1);
            T(1,0) = (float)msgpack::type::get<4>(dst1);
            T(1,1) = (float)msgpack::type::get<5>(dst1);
            T(1,2) = (float)msgpack::type::get<6>(dst1);
            T(1,3) = (float)msgpack::type::get<7>(dst1);
            T(2,0) = (float)msgpack::type::get<8>(dst1);
            T(2,1) = (float)msgpack::type::get<9>(dst1);
            T(2,2) = (float)msgpack::type::get<10>(dst1);
            T(2,3) = (float)msgpack::type::get<11>(dst1);
            T(3,0) = (float)msgpack::type::get<12>(dst1);
            T(3,1) = (float)msgpack::type::get<13>(dst1);
            T(3,2) = (float)msgpack::type::get<14>(dst1);
            T(3,3) = (float)msgpack::type::get<15>(dst1);
            int gripper_state = (int)msgpack::type::get<16>(dst1);
            int modality = (int)msgpack::type::get<17>(dst1);
            T.print();

            if(modality != 2 && modality != 3) {
                //next_joint = schunk->Phantom_move(modality,T,gripper_state);
            } else if(modality = 2) {
                schunk->Screw();
            } else if(modality = 3) {
                schunk->unScrew();
            }

            printf("INPUT COMMAND: PHANTOM\n");
        } else if(input_mode == 1){
            //msgpack::unpacked result;
            //msgpack::unpack (&result, buf, recv_len);
            //msgpack::object deserialized = result.get();
            msgpack::type::tuple<float,float,float,float,float,float> dst;
            deserialized.convert(&dst);     <---------- here is the problem: always return me a bad cast
            joints(0,0) = msgpack::type::get<0>(dst);
            joints(1,0) = msgpack::type::get<1>(dst);
            joints(2,0) = msgpack::type::get<2>(dst);
            joints(3,0) = msgpack::type::get<3>(dst);
            joints(4,0) = msgpack::type::get<4>(dst);
            joints(5,0) = msgpack::type::get<5>(dst);
            joints.print();
                //next_joint = schunk->JointByJoint();

            printf("INPUT COMMAND: JOINT-BY-JOINT\n");
        }