[3] | 1 | // %flair:license{
|
---|
[15] | 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
[3] | 4 | // %flair:license}
|
---|
| 5 | // created: 2015/03/30
|
---|
| 6 | // filename: TargetEthController.cpp
|
---|
| 7 | //
|
---|
| 8 | // author: Gildas Bayard
|
---|
| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 10 | //
|
---|
| 11 | // version: $Id: $
|
---|
| 12 | //
|
---|
| 13 | // purpose: class that gets remote controls through an ethernet connection.
|
---|
[15] | 14 | // Typical use case: a remote control is plugged in a workstation
|
---|
| 15 | // and sends remote control
|
---|
[3] | 16 | // data to a distant target (this class) through Wifi//
|
---|
| 17 | //
|
---|
| 18 | /*********************************************************************/
|
---|
| 19 | #include "TargetEthController.h"
|
---|
| 20 | #include <Controller.h>
|
---|
| 21 | #include <FrameworkManager.h>
|
---|
| 22 | #include <TcpSocket.h>
|
---|
[178] | 23 | #include <UdpSocket.h>
|
---|
[3] | 24 | #include <cstring>
|
---|
| 25 | #include <string>
|
---|
| 26 | #include <cvmatrix.h>
|
---|
| 27 | #include <stdexcept>
|
---|
| 28 |
|
---|
| 29 | #include <unistd.h> // for sleep (debug)
|
---|
| 30 |
|
---|
| 31 | using namespace flair::core;
|
---|
| 32 | using namespace flair::gui;
|
---|
| 33 | using std::string;
|
---|
| 34 |
|
---|
[15] | 35 | namespace flair {
|
---|
| 36 | namespace sensor {
|
---|
[3] | 37 |
|
---|
[137] | 38 | TargetEthController::TargetEthController(string name, uint16_t _port,
|
---|
[15] | 39 | uint8_t priority)
|
---|
[137] | 40 | : TargetController(name, priority), listeningPort(_port),
|
---|
[15] | 41 | receiveCurrentPosition(0) {
|
---|
| 42 | const bool blocking = true;
|
---|
| 43 | listeningSocket =
|
---|
[137] | 44 | new TcpSocket(getFrameworkManager(), "TEC_listening_socket", blocking, blocking);
|
---|
[15] | 45 | dataSocket =
|
---|
[178] | 46 | new UdpSocket(getFrameworkManager(), "TEC_data_socket", _port + 1); // receiving side
|
---|
[3] | 47 | }
|
---|
| 48 |
|
---|
| 49 | TargetEthController::~TargetEthController() {
|
---|
[15] | 50 | // We are (currently) the server side. We must ask the client side to initiate
|
---|
| 51 | // tcp connexion closing to avoid the server socket
|
---|
| 52 | // to get stuck in TIME_WAIT state
|
---|
| 53 | Message msg(32);
|
---|
| 54 | if (controlSocket) {
|
---|
| 55 | Message cancelAcquisition(sizeof(ControllerAction));
|
---|
| 56 | ControllerAction exit = ControllerAction::Exit;
|
---|
| 57 | memcpy(cancelAcquisition.buffer, &exit, sizeof(ControllerAction));
|
---|
| 58 | controlSocket->SendMessage(cancelAcquisition.buffer,
|
---|
| 59 | cancelAcquisition.bufferSize);
|
---|
| 60 | // We don't expect any more data from the client, we're just waiting for the
|
---|
| 61 | // socket to be closed by the client
|
---|
| 62 | controlSocket->RecvMessage(msg.buffer, msg.bufferSize);
|
---|
| 63 | }
|
---|
[3] | 64 |
|
---|
[15] | 65 | // TargetController calls TargetEthController methods in its run
|
---|
| 66 | // we must stop the thread now
|
---|
| 67 | SafeStop();
|
---|
| 68 | Join();
|
---|
[3] | 69 | }
|
---|
| 70 |
|
---|
| 71 | bool TargetEthController::IsConnected() const {
|
---|
[15] | 72 | // TODO
|
---|
[3] | 73 | }
|
---|
| 74 |
|
---|
[15] | 75 | bool TargetEthController::IsDataFrameReady() {
|
---|
| 76 | // read up to the last data
|
---|
| 77 | ssize_t received;
|
---|
| 78 | size_t bytesToReceive = dataFrameSize - receiveCurrentPosition;
|
---|
| 79 | bool fullDatagramReceived = false;
|
---|
[3] | 80 |
|
---|
[38] | 81 | do {
|
---|
| 82 | received=dataSocket->RecvMessage(receiveFrameBuffer+receiveCurrentPosition,bytesToReceive,TIME_NONBLOCK);
|
---|
| 83 | if (received>0) {
|
---|
| 84 | receiveCurrentPosition+=received;
|
---|
| 85 | bytesToReceive-=received;
|
---|
| 86 | if (bytesToReceive==0) {
|
---|
| 87 | //a full datagram has been read in receiveFrameBuffer
|
---|
| 88 | fullDatagramReceived=true;
|
---|
| 89 | //we swap the data and reception buffers to avoid copy
|
---|
| 90 | char *swapFrameBuffer=dataFrameBuffer;
|
---|
| 91 | dataFrameBuffer=receiveFrameBuffer;
|
---|
| 92 | receiveFrameBuffer=swapFrameBuffer;
|
---|
| 93 | receiveCurrentPosition=0;
|
---|
| 94 | bytesToReceive=dataFrameSize;
|
---|
| 95 | }
|
---|
| 96 | }
|
---|
| 97 | } while (!(received<0));
|
---|
[3] | 98 |
|
---|
[15] | 99 | return fullDatagramReceived;
|
---|
[3] | 100 | }
|
---|
| 101 |
|
---|
[15] | 102 | uint8_t TargetEthController::getByteOrNull(char *buffer, int byte,
|
---|
| 103 | size_t bufferSize) {
|
---|
| 104 | if (byte < bufferSize)
|
---|
| 105 | return buffer[byte];
|
---|
| 106 | else
|
---|
| 107 | return 0;
|
---|
[3] | 108 | }
|
---|
| 109 |
|
---|
[15] | 110 | uint32_t TargetEthController::charBufferToUint32(char *buffer,
|
---|
| 111 | size_t bufferSize) {
|
---|
| 112 | union {
|
---|
| 113 | uint32_t int32;
|
---|
| 114 | char byte[4];
|
---|
| 115 | } bitField;
|
---|
| 116 | if (!IsBigEndian()) {
|
---|
| 117 | bitField.byte[0] = getByteOrNull(buffer, 3, bufferSize);
|
---|
| 118 | bitField.byte[1] = getByteOrNull(buffer, 2, bufferSize);
|
---|
| 119 | bitField.byte[2] = getByteOrNull(buffer, 1, bufferSize);
|
---|
| 120 | bitField.byte[3] = getByteOrNull(buffer, 0, bufferSize);
|
---|
| 121 | } else {
|
---|
| 122 | bitField.byte[0] = getByteOrNull(buffer, 0, bufferSize);
|
---|
| 123 | bitField.byte[1] = getByteOrNull(buffer, 1, bufferSize);
|
---|
| 124 | bitField.byte[2] = getByteOrNull(buffer, 2, bufferSize);
|
---|
| 125 | bitField.byte[3] = getByteOrNull(buffer, 3, bufferSize);
|
---|
| 126 | }
|
---|
| 127 | return bitField.int32;
|
---|
[3] | 128 | }
|
---|
| 129 |
|
---|
[15] | 130 | // read _up_to_16_bits_ in a buffer
|
---|
| 131 | uint16_t TargetEthController::readBits(uint8_t offsetInBits,
|
---|
| 132 | uint8_t valueSizeInBits, char *buffer,
|
---|
| 133 | size_t bufferSize) {
|
---|
| 134 | // parameters check
|
---|
| 135 | if (valueSizeInBits > 16)
|
---|
| 136 | throw std::range_error("bitfield should be at max 16bits wide");
|
---|
| 137 | size_t minBufferSize = (offsetInBits + valueSizeInBits) / 8;
|
---|
| 138 | if ((offsetInBits + valueSizeInBits) % 8 != 0)
|
---|
| 139 | minBufferSize++;
|
---|
| 140 | if (bufferSize < minBufferSize)
|
---|
| 141 | throw std::range_error("buffer too small");
|
---|
| 142 | // skip first bytes
|
---|
| 143 | size_t bytesToSkip = offsetInBits / 8;
|
---|
| 144 | buffer += bytesToSkip;
|
---|
| 145 | bufferSize -= bytesToSkip;
|
---|
| 146 | offsetInBits -= bytesToSkip * 8;
|
---|
| 147 | // take care of endianness
|
---|
| 148 | uint32_t value = charBufferToUint32(buffer, bufferSize);
|
---|
| 149 | value >>= 32 - offsetInBits - valueSizeInBits;
|
---|
| 150 | value &= (1 << valueSizeInBits) - 1;
|
---|
| 151 | return (uint16_t)value;
|
---|
[3] | 152 | }
|
---|
| 153 |
|
---|
| 154 | void TargetEthController::AcquireAxisData(core::cvmatrix &axis) {
|
---|
[15] | 155 | axis.GetMutex();
|
---|
| 156 | // char testFrameBuffer[3]={(char)0x09,(char)0x59,(char)0xB8};
|
---|
| 157 | for (unsigned int i = 0; i < axisNumber; i++) {
|
---|
| 158 | uint16_t rawAxisValue =
|
---|
| 159 | readBits(i * bitsPerAxis, bitsPerAxis, dataFrameBuffer, dataFrameSize);
|
---|
| 160 | // uint16_t
|
---|
| 161 | // rawAxisValue=readBits(i*bitsPerAxis,bitsPerAxis,testFrameBuffer);
|
---|
| 162 | uint16_t scale = 1 << (bitsPerAxis - 1);
|
---|
| 163 | // Thread::Info("RawAxisValue=%d, scale=%d => scaled rawValue=%d, float
|
---|
| 164 | // value)%f\n",rawAxisValue,scale,rawAxisValue-scale,(rawAxisValue-scale)/(float)scale);
|
---|
| 165 | axis.SetValueNoMutex(i, 0, (rawAxisValue - scale) / (float)scale);
|
---|
| 166 | }
|
---|
| 167 | axis.ReleaseMutex();
|
---|
[3] | 168 | }
|
---|
| 169 |
|
---|
| 170 | void TargetEthController::AcquireButtonData(core::cvmatrix &button) {
|
---|
[15] | 171 | uint8_t buttonValue;
|
---|
| 172 | int currentButton = 0;
|
---|
| 173 | button.GetMutex();
|
---|
| 174 | /*
|
---|
| 175 | for (unsigned int i=0;i<buttonNumber;i++) {
|
---|
| 176 | memcpy(&buttonValue,buttonOffset+i*sizeof(bool),sizeof(bool));
|
---|
| 177 | dataSocket->NetworkToHost((char*)&buttonValue,sizeof(bool));
|
---|
| 178 | button.SetValueNoMutex(i,0,buttonValue);
|
---|
| 179 | // if (buttonValue) Thread::Info("Debug: button '%s' pressed\n",
|
---|
| 180 | GetButtonName(i).c_str());
|
---|
| 181 | }*/
|
---|
| 182 | for (unsigned int i = 0; i < buttonNumber / 8; i++) {
|
---|
| 183 | memcpy(&buttonValue, dataFrameBuffer + buttonOffset + i * sizeof(uint8_t),
|
---|
| 184 | sizeof(uint8_t));
|
---|
| 185 | // dataSocket->NetworkToHost((char*)&buttonValue,sizeof(uint8_t));
|
---|
| 186 | for (unsigned int j = 0; j < 8; j++) {
|
---|
| 187 | button.SetValueNoMutex(currentButton, 0, (buttonValue >> j) & 0x01);
|
---|
| 188 | currentButton++;
|
---|
[3] | 189 | }
|
---|
[15] | 190 | }
|
---|
| 191 | button.ReleaseMutex();
|
---|
[3] | 192 | }
|
---|
| 193 |
|
---|
[15] | 194 | string TargetEthController::GetAxisName(unsigned int axisId) const {
|
---|
| 195 | // TODO: should throw an exception if axisName==NULL or axisId>axisNumber
|
---|
| 196 | return axisName[axisId];
|
---|
[3] | 197 | }
|
---|
| 198 |
|
---|
[15] | 199 | string TargetEthController::GetButtonName(unsigned int buttonId) const {
|
---|
| 200 | // TODO: should throw an exception if buttonName==NULL or
|
---|
| 201 | // buttonId>buttonNumber
|
---|
| 202 | return buttonName[buttonId];
|
---|
[3] | 203 | }
|
---|
| 204 |
|
---|
| 205 | bool TargetEthController::ProcessMessage(Message *msg) {
|
---|
[15] | 206 | return !(controlSocket->SendMessage(msg->buffer, msg->bufferSize, 0) < 0);
|
---|
[3] | 207 | }
|
---|
| 208 |
|
---|
[15] | 209 | bool TargetEthController::IsControllerActionSupported(
|
---|
| 210 | ControllerAction action) const {
|
---|
| 211 | // TODO: here we should ask the remote side (host). Probably through the
|
---|
| 212 | // control socket
|
---|
| 213 | switch (action) {
|
---|
| 214 | case ControllerAction::SetLedOn:
|
---|
| 215 | return true;
|
---|
| 216 | case ControllerAction::SetLedOff:
|
---|
| 217 | return true;
|
---|
| 218 | case ControllerAction::Rumble:
|
---|
| 219 | return true;
|
---|
| 220 | case ControllerAction::FlashLed:
|
---|
| 221 | return true;
|
---|
| 222 | default:
|
---|
| 223 | return false;
|
---|
| 224 | }
|
---|
[3] | 225 | }
|
---|
| 226 |
|
---|
| 227 | bool TargetEthController::ControllerInitialization() {
|
---|
[15] | 228 | char message[1024];
|
---|
| 229 | ssize_t received;
|
---|
| 230 | bool connected = false;
|
---|
| 231 | bool mustReadMore;
|
---|
[3] | 232 |
|
---|
[15] | 233 | listeningSocket->Listen(listeningPort);
|
---|
| 234 | Thread::Info("Debug: Listening to port %d\n", listeningPort);
|
---|
| 235 | // accept incoming connection
|
---|
| 236 | bool connectionAccepted = false;
|
---|
| 237 | while (!connectionAccepted) {
|
---|
| 238 | controlSocket = listeningSocket->Accept(10);
|
---|
| 239 | if (controlSocket == nullptr) {
|
---|
| 240 | // Timeout (or error btw)
|
---|
| 241 | if (ToBeStopped())
|
---|
| 242 | return false;
|
---|
| 243 | } else
|
---|
| 244 | connectionAccepted = true;
|
---|
| 245 | }
|
---|
| 246 | Thread::Info("Debug: Connexion accepted\n");
|
---|
[3] | 247 |
|
---|
[15] | 248 | // get axis stuff
|
---|
| 249 | bool axisNumberRead = false;
|
---|
| 250 | while (!axisNumberRead) {
|
---|
| 251 | try {
|
---|
| 252 | axisNumber = controlSocket->ReadUInt32(10);
|
---|
| 253 | // Thread::Info("Debug: axisNumber %d\n", axisNumber);
|
---|
| 254 | axisNumberRead = true;
|
---|
| 255 | } catch (std::runtime_error e) {
|
---|
| 256 | // timeout
|
---|
| 257 | if (ToBeStopped())
|
---|
| 258 | return false;
|
---|
[3] | 259 | }
|
---|
[15] | 260 | }
|
---|
| 261 | bool bitsPerAxisRead = false;
|
---|
| 262 | while (!bitsPerAxisRead) {
|
---|
| 263 | try {
|
---|
| 264 | bitsPerAxis = controlSocket->ReadUInt32(10);
|
---|
| 265 | // Thread::Info("Debug: bits per axis %d\n", bitsPerAxis);
|
---|
| 266 | bitsPerAxisRead = true;
|
---|
| 267 | } catch (std::runtime_error e) {
|
---|
| 268 | // timeout
|
---|
| 269 | if (ToBeStopped())
|
---|
| 270 | return false;
|
---|
[3] | 271 | }
|
---|
[15] | 272 | }
|
---|
| 273 | axisName = new string[axisNumber];
|
---|
| 274 | for (unsigned int i = 0; i < axisNumber; i++) {
|
---|
| 275 | // read string size
|
---|
| 276 | int stringSize;
|
---|
| 277 | bool stringSizeRead = false;
|
---|
| 278 | while (!stringSizeRead) {
|
---|
| 279 | try {
|
---|
| 280 | stringSize = controlSocket->ReadUInt32(10);
|
---|
| 281 | stringSizeRead = true;
|
---|
| 282 | } catch (std::runtime_error e) {
|
---|
| 283 | // timeout
|
---|
| 284 | if (ToBeStopped())
|
---|
| 285 | return false;
|
---|
| 286 | }
|
---|
[3] | 287 | }
|
---|
[15] | 288 | // read string
|
---|
| 289 | bool axisNameRead = false;
|
---|
| 290 | while (!axisNameRead) {
|
---|
| 291 | try {
|
---|
| 292 | axisName[i] = controlSocket->ReadString(stringSize, 10);
|
---|
| 293 | axisNameRead = true;
|
---|
| 294 | } catch (std::runtime_error e) {
|
---|
| 295 | // timeout
|
---|
| 296 | if (ToBeStopped())
|
---|
| 297 | return false;
|
---|
| 298 | }
|
---|
| 299 | }
|
---|
| 300 | // Thread::Info("Debug: axisName for axis %d %s\n", i, axisName[i].c_str());
|
---|
| 301 | }
|
---|
[3] | 302 |
|
---|
[15] | 303 | // get button stuff
|
---|
| 304 | bool buttonNumberRead = false;
|
---|
| 305 | while (!buttonNumberRead) {
|
---|
| 306 | try {
|
---|
| 307 | buttonNumber = controlSocket->ReadUInt32(10);
|
---|
| 308 | buttonNumberRead = true;
|
---|
| 309 | } catch (std::runtime_error e) {
|
---|
| 310 | // timeout
|
---|
| 311 | if (ToBeStopped())
|
---|
| 312 | return false;
|
---|
[3] | 313 | }
|
---|
[15] | 314 | }
|
---|
| 315 | // Thread::Info("Debug: buttonNumber %d\n", buttonNumber);
|
---|
| 316 | buttonName = new string[buttonNumber];
|
---|
| 317 | for (unsigned int i = 0; i < buttonNumber; i++) {
|
---|
| 318 | // read string size
|
---|
| 319 | int stringSize;
|
---|
| 320 | bool stringSizeRead = false;
|
---|
| 321 | while (!stringSizeRead) {
|
---|
| 322 | try {
|
---|
| 323 | stringSize = controlSocket->ReadUInt32(10);
|
---|
| 324 | stringSizeRead = true;
|
---|
| 325 | } catch (std::runtime_error e) {
|
---|
| 326 | // timeout
|
---|
| 327 | if (ToBeStopped())
|
---|
| 328 | return false;
|
---|
| 329 | }
|
---|
[3] | 330 | }
|
---|
[15] | 331 | // read string
|
---|
| 332 | bool buttonNameRead = false;
|
---|
| 333 | while (!buttonNameRead) {
|
---|
| 334 | try {
|
---|
| 335 | buttonName[i] = controlSocket->ReadString(stringSize, 10);
|
---|
| 336 | buttonNameRead = true;
|
---|
| 337 | } catch (std::runtime_error e) {
|
---|
| 338 | // timeout
|
---|
| 339 | if (ToBeStopped())
|
---|
| 340 | return false;
|
---|
| 341 | }
|
---|
| 342 | }
|
---|
| 343 | // Thread::Info("Debug: buttonName for button %d %s\n", i,
|
---|
| 344 | // buttonName[i].c_str());
|
---|
| 345 | }
|
---|
[3] | 346 |
|
---|
[15] | 347 | // dataFrameSize=axisNumber*sizeof(float)+buttonNumber/8*sizeof(uint8_t);
|
---|
| 348 | buttonOffset = (axisNumber * bitsPerAxis) / 8;
|
---|
| 349 | if ((axisNumber * bitsPerAxis) % 8 != 0)
|
---|
| 350 | buttonOffset++;
|
---|
| 351 | dataFrameSize = buttonOffset + (buttonNumber / 8) * sizeof(uint8_t);
|
---|
| 352 | if ((buttonNumber % 8) != 0)
|
---|
| 353 | dataFrameSize++;
|
---|
| 354 | dataFrameBuffer = new char[dataFrameSize];
|
---|
| 355 | receiveFrameBuffer = new char[dataFrameSize];
|
---|
[3] | 356 |
|
---|
[15] | 357 | Thread::Info("Controller connected with host side\n");
|
---|
| 358 | if (buttonNumber % 8 != 0)
|
---|
| 359 | Thread::Err("Button number is not multiple of 8\n");
|
---|
| 360 | return true;
|
---|
[3] | 361 | }
|
---|
| 362 |
|
---|
| 363 | } // end namespace sensor
|
---|
| 364 | } // end namespace flair
|
---|