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