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