[3] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[3] | 4 | // %flair:license}
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| 5 | // created: 2015/03/30
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| 6 | // filename: HostEthController.cpp
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| 7 | //
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| 8 | // author: Gildas Bayard
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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[15] | 13 | // purpose: Base class for host side remote controls that talks to target
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| 14 | // side through ethernet connection
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[3] | 15 | //
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| 16 | //
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| 17 | /*********************************************************************/
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| 18 | #include "HostEthController.h"
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| 19 | #include <Controller.h>
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[214] | 20 | #include <Matrix.h>
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[3] | 21 | #include <Tab.h>
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| 22 | #include <TabWidget.h>
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| 23 | #include <Label.h>
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| 24 | #include <DataPlot1D.h>
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| 25 | #include <FrameworkManager.h>
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| 26 | #include <TargetController.h>
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| 27 | #include <TcpSocket.h>
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[178] | 28 | #include <UdpSocket.h>
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[3] | 29 | #include <cstring>
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| 30 | #include <string>
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| 31 | #include <cmath> //for sqrt
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| 32 | #include <sched.h>
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| 33 |
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| 34 | #include <iostream>
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| 35 |
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| 36 | using namespace flair::core;
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| 37 | using namespace flair::gui;
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| 38 | using std::string;
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| 39 |
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[15] | 40 | namespace flair {
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| 41 | namespace sensor {
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[3] | 42 |
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[137] | 43 | HostEthController::HostEthController(string name, string _address, int _port,
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[15] | 44 | uint32_t period, uint32_t _bitsPerAxis,
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| 45 | uint8_t priority)
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[137] | 46 | : Thread(getFrameworkManager(), name, priority), IODevice(getFrameworkManager(), name),
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| 47 | tab(new Tab(getFrameworkManager()->GetTabWidget(), name)), axisNumber(0),
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[15] | 48 | buttonNumber(0), targetAddress(_address), targetPort(_port),
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| 49 | bitsPerAxis(_bitsPerAxis), dataFrameBuffer(NULL),
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| 50 | meaningfulDataAvailable(false) {
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[290] | 51 |
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| 52 | Thread::Info("Trying to connect to %s:%d\n", targetAddress.c_str(), targetPort);
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| 53 |
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[15] | 54 | tabWidget = new TabWidget(tab->NewRow(), name);
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[3] | 55 |
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[15] | 56 | const bool blocking = true;
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| 57 | controlSocket = new TcpSocket((Thread *)this, "eth controller control socket",
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| 58 | blocking, !blocking);
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[178] | 59 | dataSocket = new UdpSocket((Thread *)this, "eth controller data socket",
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[15] | 60 | _address + ":" + std::to_string(_port + 1));
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| 61 | dataSender =
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| 62 | new DataSender((Thread *)this, this, "eth controller data sender thread");
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| 63 | dataSender->SetPeriodMS(period);
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| 64 | dataSender->Start();
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[3] | 65 |
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[15] | 66 | // test binary
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| 67 | /*
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| 68 | uint16_t testValue=0b0111011010; //0x1DA
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| 69 | char buffer[3]={(char)0b10101011, (char)0b01100101, (char)0b10110110}; //
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| 70 | 0xAB65B6
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| 71 | writeBits(testValue,10,buffer,7); // 0b1010101 0 11101101 0 0110110 0xAAED36
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| 72 | Thread::Info("Debug: buffer after bits written=%X %X\n",buffer[0],buffer[1]);
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| 73 | */
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| 74 | connectionEstablishedMutex = new Mutex((Thread *)this);
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[3] | 75 | }
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| 76 |
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| 77 | HostEthController::~HostEthController() {
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[243] | 78 | dataSender->SafeStop();
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| 79 | dataSender->Join();
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[15] | 80 | SafeStop();
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| 81 | Join();
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[3] | 82 |
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[15] | 83 | if (!getFrameworkManager()->ConnectionLost())
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| 84 | delete tab;
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[3] | 85 | }
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| 86 |
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| 87 | void HostEthController::DrawUserInterface() {
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[15] | 88 | Tab *plotTab = new Tab(tabWidget, "Measures");
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| 89 | axisPlot = new DataPlot1D *[axisNumber];
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| 90 | for (unsigned int i = 0; i < axisNumber; i++) {
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| 91 | // Start a new row or add up to the current row? We try to keep a 4/3 ratio
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[336] | 92 | unsigned int columns = sqrtf(4.0 * axisNumber / 3.0);
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[15] | 93 | LayoutPosition *position;
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| 94 | if (i % columns == 0) {
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| 95 | position = plotTab->NewRow();
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| 96 | } else {
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| 97 | position = plotTab->LastRowLastCol();
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[3] | 98 | }
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[15] | 99 | axisPlot[i] = new DataPlot1D(position, axis->Name(i, 0),
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| 100 | -(1 << (nativeBitsPerAxis - 1)) * 1.2,
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| 101 | (1 << (nativeBitsPerAxis - 1)) * 1.5);
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| 102 | axisPlot[i]->AddCurve(axis->Element(i));
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| 103 | }
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| 104 | // we don't plot the button state for now
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[3] | 105 | }
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| 106 |
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| 107 | string HostEthController::GetAxisDescription(unsigned int axis) {
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[15] | 108 | return string("axis") + std::to_string(axis);
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[3] | 109 | }
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| 110 |
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| 111 | string HostEthController::GetButtonDescription(unsigned int button) {
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[15] | 112 | return string("button") + std::to_string(button);
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[3] | 113 | }
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| 114 |
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| 115 | bool HostEthController::ControllerInitialization() {
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| 116 |
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[15] | 117 | buttonOffset = (axisNumber * bitsPerAxis) / 8;
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| 118 | if ((axisNumber * bitsPerAxis) % 8 != 0)
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| 119 | buttonOffset++;
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| 120 | dataFrameSize = buttonOffset + (buttonNumber / 8) * sizeof(uint8_t);
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| 121 | if ((buttonNumber % 8) != 0)
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| 122 | dataFrameSize++;
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| 123 | dataFrameBuffer = new char[dataFrameSize];
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| 124 | return true;
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[3] | 125 | }
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| 126 |
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| 127 | void HostEthController::SendControllerInfo() {
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[15] | 128 | // send axis info
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| 129 | controlSocket->WriteUInt32((uint32_t)axisNumber, 0);
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| 130 | controlSocket->WriteUInt32(bitsPerAxis, 0);
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| 131 | for (unsigned int i = 0; i < axisNumber; i++) {
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| 132 | // Thread::Info("Debug: sending axis name for axis %d = %s (takes up %d
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| 133 | // bytes)\n",i,GetAxisDescription(i).c_str(),GetAxisDescription(i).length());
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| 134 | int stringLength = GetAxisDescription(i).length();
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| 135 | controlSocket->WriteUInt32((uint32_t)stringLength, 0);
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| 136 | controlSocket->SendMessage(GetAxisDescription(i).c_str(), stringLength, 0);
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| 137 | }
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[3] | 138 |
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[15] | 139 | // send button info
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| 140 | controlSocket->WriteUInt32((uint32_t)buttonNumber, 0);
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| 141 | for (unsigned int i = 0; i < buttonNumber; i++) {
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| 142 | int stringLength = GetButtonDescription(i).length();
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| 143 | controlSocket->WriteUInt32((uint32_t)stringLength, 0);
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| 144 | controlSocket->SendMessage(GetButtonDescription(i).c_str(), stringLength,
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| 145 | 0);
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| 146 | }
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[3] | 147 | }
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| 148 |
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[238] | 149 | bool HostEthController::ConnectWithTarget() {
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[15] | 150 | char message[1024];
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| 151 | ssize_t sent, received;
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| 152 | static bool connectionEstablished = false;
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[3] | 153 |
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[15] | 154 | connectionEstablishedMutex->GetMutex();
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| 155 | if (!connectionEstablished &&
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[230] | 156 | controlSocket->Connect(targetPort, targetAddress, 100000000)) {//100ms
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[15] | 157 | Thread::Info("Connected to %s:%d\n", targetAddress.c_str(), targetPort);
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| 158 | SendControllerInfo();
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| 159 | connectionEstablished = true;
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| 160 | }
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| 161 | connectionEstablishedMutex->ReleaseMutex();
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| 162 | return connectionEstablished;
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[3] | 163 | }
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| 164 |
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| 165 | void HostEthController::Run() {
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[15] | 166 | static int divider = 0;
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| 167 | Message *msgControllerAction = new Message(1024);
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| 168 | if (getFrameworkManager()->ErrorOccured() || !ControllerInitialization()) {
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| 169 | SafeStop();
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| 170 | Thread::Err("Une erreur a eu lieu, on ne lance pas la boucle\n");
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| 171 | }
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[3] | 172 |
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[15] | 173 | if (buttonNumber % 8 != 0) {
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| 174 | SafeStop();
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| 175 | Thread::Err("Button number is not multiple of 8\n");
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| 176 | }
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[3] | 177 |
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[15] | 178 | while (!ToBeStopped()) {
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| 179 | // Thread::Info("Debug: entering acquisition loop\n");
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| 180 | if (getFrameworkManager()->ConnectionLost() == true)
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| 181 | SafeStop();
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[3] | 182 |
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[15] | 183 | if (IsDataFrameReady()) { // wait for next data frame
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| 184 | meaningfulDataAvailable = true;
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| 185 | GetAxisData();
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| 186 | GetButtonData();
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[3] | 187 |
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[238] | 188 | if (ConnectWithTarget()) {
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[15] | 189 | // read for commands from the target (remote control state change
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| 190 | // requests such as rumble or led on/off)
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| 191 | ssize_t bytesReceived =
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| 192 | controlSocket->RecvMessage((char *)msgControllerAction->buffer,
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| 193 | msgControllerAction->bufferSize);
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| 194 | if (bytesReceived > 0) {
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| 195 | // if the message is a cnx exit request we manage it here, if not it
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| 196 | // will be managed by the derived class
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| 197 | ControllerAction action;
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| 198 | memcpy(&action, msgControllerAction->buffer,
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| 199 | sizeof(ControllerAction));
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| 200 | if (action == ControllerAction::Exit) {
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| 201 | // Thread::Info("Debug: exit request received from server\n");
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| 202 | SafeStop();
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| 203 | }
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| 204 | ProcessMessage(msgControllerAction);
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[3] | 205 | }
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[15] | 206 | }
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| 207 | } else { // try to connect even if host is not sending anything
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[238] | 208 | ConnectWithTarget();
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[3] | 209 | }
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[15] | 210 | // Thread::Info("Debug: exiting acquisition loop\n");
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| 211 | }
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[3] | 212 | }
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| 213 |
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[15] | 214 | bool HostEthController::writeBits(uint16_t value, uint8_t valueSizeInBits,
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| 215 | char *buffer, uint8_t offsetInBits) {
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| 216 | if (valueSizeInBits > 16)
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| 217 | return false;
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| 218 | uint8_t remainingBitsToWrite = valueSizeInBits;
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| 219 | // skip first bytes
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| 220 | buffer += offsetInBits / 8;
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| 221 | offsetInBits -= (offsetInBits / 8) * 8;
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| 222 | while (remainingBitsToWrite > 0) {
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| 223 | uint8_t remainingBitsInByteBeforeWrite = 8 - offsetInBits;
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| 224 | uint8_t bitsToWrite = remainingBitsToWrite < remainingBitsInByteBeforeWrite
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| 225 | ? remainingBitsToWrite
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| 226 | : remainingBitsInByteBeforeWrite;
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| 227 | uint8_t remainingBitsInByteAfterWrite =
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| 228 | remainingBitsInByteBeforeWrite - bitsToWrite;
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| 229 | // write in the current byte
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| 230 | uint8_t byteMask = ((1 << bitsToWrite) - 1)
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| 231 | << remainingBitsInByteAfterWrite;
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| 232 | (*buffer) &= ~byteMask;
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| 233 | uint16_t valueMask = (1 << remainingBitsToWrite) - 1;
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| 234 | (*buffer) |= ((value & valueMask) >> (remainingBitsToWrite - bitsToWrite))
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| 235 | << remainingBitsInByteAfterWrite;
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| 236 | // update state
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| 237 | remainingBitsToWrite -= bitsToWrite;
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| 238 | offsetInBits = (offsetInBits + bitsToWrite) % 8;
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| 239 | buffer++;
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| 240 | }
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| 241 | return true;
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[3] | 242 | }
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| 243 |
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| 244 | void HostEthController::BuildDataFrame() {
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[15] | 245 | // int16_t testValue[4]={-120,-43,27,98}; //0x 88 d5 1b 62
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| 246 | for (unsigned int i = 0; i < axisNumber; i++) {
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| 247 | // We shift value to always be positive (so that division/multiplication by
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| 248 | // power of 2 can easily be done with bit shifts)
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| 249 | uint16_t shiftedNativeAxisValue =
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| 250 | axis->Value(i, 0) + (1 << (nativeBitsPerAxis - 1));
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| 251 | // int16_t nativeAxisValue=testValue[i];
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| 252 | uint16_t scaledAxisValue;
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| 253 | if (bitsPerAxis > nativeBitsPerAxis) {
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| 254 | scaledAxisValue = shiftedNativeAxisValue
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| 255 | << (bitsPerAxis - nativeBitsPerAxis);
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| 256 | } else {
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| 257 | scaledAxisValue =
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| 258 | shiftedNativeAxisValue >> (nativeBitsPerAxis - bitsPerAxis);
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[3] | 259 | }
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[15] | 260 | // Thread::Info("Debug: shiftedNativeAxisValue=%#x, scaled axis
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| 261 | // value=%#x\n",shiftedNativeAxisValue,scaledAxisValue);
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| 262 | unsigned int offsetInBits = i * bitsPerAxis;
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| 263 | writeBits(scaledAxisValue, bitsPerAxis, dataFrameBuffer, offsetInBits);
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| 264 | }
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| 265 | // Thread::Info("Buffer après: %x %x %x\n", dataFrameBuffer[0],
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| 266 | // dataFrameBuffer[1], dataFrameBuffer[2]);
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[3] | 267 |
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[15] | 268 | int currentButton = 0;
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| 269 | uint8_t buttonArray[buttonNumber / 8];
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| 270 | for (unsigned int i = 0; i < buttonNumber / 8; i++) {
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| 271 | buttonArray[i] = 0;
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| 272 | for (unsigned int j = 0; j < 8; j++) {
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| 273 | bool buttonValue = button->Value(currentButton, 0);
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| 274 | if (buttonValue)
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| 275 | buttonArray[i] += 1 << j;
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| 276 | currentButton++;
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| 277 | }
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[3] | 278 |
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[15] | 279 | dataSocket->HostToNetwork((char *)&buttonArray[i], sizeof(uint8_t));
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| 280 | memcpy(dataFrameBuffer + buttonOffset + i * sizeof(uint8_t),
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| 281 | &buttonArray[i], sizeof(uint8_t));
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| 282 | }
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[3] | 283 | }
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| 284 |
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[15] | 285 | HostEthController::DataSender::DataSender(Object *parent,
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| 286 | HostEthController *_hostEthController,
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| 287 | string name, uint8_t priority)
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| 288 | : Thread(parent, name, priority), hostEthController(_hostEthController) {}
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[3] | 289 |
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| 290 | void HostEthController::DataSender::Run() {
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[15] | 291 | if (getFrameworkManager()->ErrorOccured() == true) {
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| 292 | SafeStop();
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| 293 | }
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[3] | 294 |
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[15] | 295 | while (!ToBeStopped()) {
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| 296 | WaitPeriod();
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| 297 | if (hostEthController->meaningfulDataAvailable &&
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[238] | 298 | hostEthController->ConnectWithTarget()) {
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[15] | 299 | // send the data
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| 300 | hostEthController->BuildDataFrame();
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| 301 | hostEthController->dataSocket->SendMessage(
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| 302 | hostEthController->dataFrameBuffer, hostEthController->dataFrameSize);
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[3] | 303 | }
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[15] | 304 | }
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[3] | 305 | }
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| 306 |
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| 307 | } // end namespace sensor
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| 308 | } // end namespace flair
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