source: pacpussensors/trunk/PacpusSocket/PacpusSocket.cpp@ 38

/*********************************************************************
//  created:    2012/03/01 - 14:06
//  filename:   PacpusSocket.cpp
//
//  author:     Pierre Hudelaine
//              Copyright Heudiasyc UMR UTC/CNRS 7253
// 
//  version:    $Id: $
//
//  purpose:    Create network socket if needed in Pacpus
//
*********************************************************************/

#include "PacpusSocket.h" 

#include <qbuffer.h>
#include <qbytearray.h>


using namespace pacpus;


DECLARE_STATIC_LOGGER("pacpus.base.PacpusSocket");


//////////////////////////////////////////////////////////////////////////
// Construct the factory
//////////////////////////////////////////////////////////////////////////
static ComponentFactory <PacpusSocket> sFactory("PacpusSocket");  


//////////////////////////////////////////////////////////////////////////
// Constructeur
//////////////////////////////////////////////////////////////////////////
PacpusSocket::PacpusSocket(QString name)
    : ComponentBase(name) 
{
} 


//////////////////////////////////////////////////////////////////////////
// Destructor
//////////////////////////////////////////////////////////////////////////
PacpusSocket::~PacpusSocket() 
{
}


//////////////////////////////////////////////////////////////////////////
// Called by the ComponentManager to pass the XML parameters to the 
// component 
//////////////////////////////////////////////////////////////////////////
ComponentBase::COMPONENT_CONFIGURATION  PacpusSocket::configureComponent(XmlComponentConfig config) 
{ 

        socketType_ = param.getProperty("typeSocket");
        
        if (socketType_ == "client" || socketType_ == "Client")
        {
            address2send_.setAddress(param.getProperty("address"));
            port2send_ = param.getProperty("port").toUInt();
            socketType_ = "client";             
        }
        else if (socketType_ == "server" || socketType_ == "Server")
        {
            port2bind_ = param.getProperty("port").toUInt();
            socketType_ = "server";
        }
        else
        {
            qDebug("typeSocket incorrect, become client");
            address2send_.setAddress(param.getProperty("address"));
            port2send_ = param.getProperty("port").toUInt();
            socketType_ = "client";
        }
        
        return ComponentBase::CONFIGURED_OK; 
} 


//////////////////////////////////////////////////////////////////////////
// Called by the ComponentManager to start the component
//////////////////////////////////////////////////////////////////////////
void PacpusSocket::startActivity() 
{ 
        if (!(udpSocket_ = new QUdpSocket()))
                qFatal("Failed to init UDP socket!");
  
        if (socketType_ == "server")
        {
            if (udpSocket_->bind(QHostAddress::Any, port2bind_, QUdpSocket::DontShareAddress))
                        qDebug() << "Socket bound for server on port " << port2bind_;
            else
                        qWarning() << "Failed to bind socket for server on port" << port2bind_;
        }
        else if (socketType_ == "client")
        {
                // Pas utile en tant que client (UDP)
          //if (udpSocket_->bind(QHostAddress::Any, port2send_, QUdpSocket::DontShareAddress))
                        //qDebug() << "Socket bound for client on port " << port2send_;
            //else
                        //qWarning() << "Failed to bind socket client on port" << port2send_;
        }
            
        connect(udpSocket_, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
}


void PacpusSocket::sendDatagrams(QString frame) 
{ 
        int sent=0;
        
        if (socketType_ == "client")
        {
            if ((sent = udpSocket_->writeDatagram(frame.toLocal8Bit(), address2send_, port2send_)) == -1) 
                        qDebug() << "Failed to send the frame: " << address2send_ << port2send_ << frame << endl; 
            //else 
                        //qDebug() << "TO NETWORK:" << address2send_ << port2send_ << frame << "size" << sent;
        }
        else if (socketType_ == "server")
        {
            for (int i = 0; i < listClients.size(); i++)
            {
                        if ((sent = udpSocket_->writeDatagram(frame.toLocal8Bit(), listClients[i]->getAddress(), listClients[i]->getPort())) == -1) 
                                qDebug() << "Failed to send the frame: " << listClients[i]->getAddress() << listClients[i]->getPort() << frame << endl; 
                        //else 
                                //qDebug() << "TO NETWORK:" << listClients[i]->getAddress() << listClients[i]->getPort() << frame << "size" << sent;    
            }
        }
} 


void PacpusSocket::sendDatagrams(QByteArray frame) 
{ 
        int sent=0;
        
        if (socketType_ == "client")
        {
            if ((sent = udpSocket_->writeDatagram(frame, address2send_, port2send_)) == -1) 
                        qDebug() << "Failed to send the frame: " << address2send_ << port2send_ << frame << endl; 
            //else 
                        //qDebug() << "TO NETWORK:" << address2send_ << port2send_ << frame << "size" << sent;
        }
        else if (socketType_ == "server")
        {
            for (int i = 0; i < listClients.size(); i++)
            {
                        if ((sent = udpSocket_->writeDatagram(frame, listClients[i]->getAddress(), listClients[i]->getPort())) == -1) 
                                qDebug() << "Failed to send the frame: " << listClients[i]->getAddress() << listClients[i]->getPort() << frame << endl; 
                        //else 
                                //qDebug() << "TO NETWORK:" << listClients[i]->getAddress() << listClients[i]->getPort() << frame << "size" << sent;    
            }
        }
} 


void PacpusSocket::readPendingDatagrams()
{
        while (udpSocket_->hasPendingDatagrams())  
        {
                QByteArray datagram; 
                datagram.resize(udpSocket_->pendingDatagramSize()); 
                QHostAddress sender; 
                quint16 senderPort;
    
                if(udpSocket_->readDatagram(datagram.data(), datagram.size(),  &sender, &senderPort) != -1)
                {
                    //qDebug() << "RCV : " << datagram << " by " << sender << "on port " << senderPort << " size:" << datagram.size();
                    
                    if (socketType_ == "server")
                    {
                                bool flag = false;
                
                                for (int i = 0; i < listClients.size(); i++) 
                                { 
                                        if (listClients[i]->getAddress() == sender && listClients[i]->getPort() == senderPort)
                                                flag = true;
                                }
                        
                                if (flag == false)
                                        listClients << new Client(sender, senderPort);
                        }
                    
                    int i = 0;
                    while (datagram.data()[ i ] != 'f')
                                i++;
                                    
                    if (datagram.data()[ i + 2 ] == 'b')
                    {
                                emit newDatagram(datagram);
                    }  
                        else if (datagram.size() == 4)
                        {
                                // Manette Dualshock 3 pour le wifibot
                                emit newDatagram(datagram);
                        } 
                        else
                        {
                                QString string(datagram.data());
                                emit newQString(string);
            }
                }
                else
                {
                    printf("Error when reading network frame\n");
                }
        }
}


//////////////////////////////////////////////////////////////////////////
// Called by the ComponentManager to stop the component
//////////////////////////////////////////////////////////////////////////
void PacpusSocket::stopActivity()
{
        udpSocket_->close();
        delete udpSocket_;
}