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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