autopilot/misc/udp/udp_server/udpserver.cpp

#include <QJsonObject>
#include <QJsonDocument>
#include "udpserver.h"

UdpServer::UdpServer(int portNumber, QObject *parent)
    : QObject{parent}
{
    mUdpSocket = new QUdpSocket(this);
    connect(mUdpSocket, &QUdpSocket::readyRead, this, &UdpServer::readPendingDatagrams);
    mUdpSocket->bind(QHostAddress::Any, portNumber);
}


void UdpServer::readPendingDatagrams()
{
    while (mUdpSocket->hasPendingDatagrams()) {
        QByteArray datagram;
        datagram.resize(mUdpSocket->pendingDatagramSize());
        mUdpSocket->readDatagram(datagram.data(), datagram.size());

        QJsonParseError jsonError;
        QJsonDocument jsonDoc = QJsonDocument::fromJson(datagram, &jsonError);
        if (jsonError.error != QJsonParseError::NoError) {
            qWarning() << "Error parsing JSON:" << jsonError.errorString();
            continue;
        }

        if (jsonDoc.isObject()) {
            emit newJsonDocument(jsonDoc);
        }

        // Test code to see that valid value was in the doc.
        QJsonObject jsonObj = jsonDoc.object();
        if (jsonObj.contains("value") && jsonObj["value"].isDouble()) {
            int value = jsonObj["value"].toInt();
            qDebug() << "Received value:" << value;
        }
        else {
            qWarning() << "Invalid or missing 'value' field in JSON";
        }
    }
}