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