source: pacpussensors/trunk/PacpusSocket/PacpusSocket.cpp@ 48

Last change on this file since 48 was 38, checked in by phudelai, 11 years ago

last socket version

File size: 6.6 KB
Line 
1/*********************************************************************
2// created: 2012/03/01 - 14:06
3// filename: PacpusSocket.cpp
4//
5// author: Pierre Hudelaine
6// Copyright Heudiasyc UMR UTC/CNRS 7253
7//
8// version: $Id: $
9//
10// purpose: Create network socket if needed in Pacpus
11//
12*********************************************************************/
13
14#include "PacpusSocket.h"
15
16#include <qbuffer.h>
17#include <qbytearray.h>
18
19
20using namespace pacpus;
21
22
23DECLARE_STATIC_LOGGER("pacpus.base.PacpusSocket");
24
25
26//////////////////////////////////////////////////////////////////////////
27// Construct the factory
28//////////////////////////////////////////////////////////////////////////
29static ComponentFactory <PacpusSocket> sFactory("PacpusSocket");
30
31
32//////////////////////////////////////////////////////////////////////////
33// Constructeur
34//////////////////////////////////////////////////////////////////////////
35PacpusSocket::PacpusSocket(QString name)
36 : ComponentBase(name)
37{
38}
39
40
41//////////////////////////////////////////////////////////////////////////
42// Destructor
43//////////////////////////////////////////////////////////////////////////
44PacpusSocket::~PacpusSocket()
45{
46}
47
48
49//////////////////////////////////////////////////////////////////////////
50// Called by the ComponentManager to pass the XML parameters to the
51// component
52//////////////////////////////////////////////////////////////////////////
53ComponentBase::COMPONENT_CONFIGURATION PacpusSocket::configureComponent(XmlComponentConfig config)
54{
55
56 socketType_ = param.getProperty("typeSocket");
57
58 if (socketType_ == "client" || socketType_ == "Client")
59 {
60 address2send_.setAddress(param.getProperty("address"));
61 port2send_ = param.getProperty("port").toUInt();
62 socketType_ = "client";
63 }
64 else if (socketType_ == "server" || socketType_ == "Server")
65 {
66 port2bind_ = param.getProperty("port").toUInt();
67 socketType_ = "server";
68 }
69 else
70 {
71 qDebug("typeSocket incorrect, become client");
72 address2send_.setAddress(param.getProperty("address"));
73 port2send_ = param.getProperty("port").toUInt();
74 socketType_ = "client";
75 }
76
77 return ComponentBase::CONFIGURED_OK;
78}
79
80
81//////////////////////////////////////////////////////////////////////////
82// Called by the ComponentManager to start the component
83//////////////////////////////////////////////////////////////////////////
84void PacpusSocket::startActivity()
85{
86 if (!(udpSocket_ = new QUdpSocket()))
87 qFatal("Failed to init UDP socket!");
88
89 if (socketType_ == "server")
90 {
91 if (udpSocket_->bind(QHostAddress::Any, port2bind_, QUdpSocket::DontShareAddress))
92 qDebug() << "Socket bound for server on port " << port2bind_;
93 else
94 qWarning() << "Failed to bind socket for server on port" << port2bind_;
95 }
96 else if (socketType_ == "client")
97 {
98 // Pas utile en tant que client (UDP)
99 //if (udpSocket_->bind(QHostAddress::Any, port2send_, QUdpSocket::DontShareAddress))
100 //qDebug() << "Socket bound for client on port " << port2send_;
101 //else
102 //qWarning() << "Failed to bind socket client on port" << port2send_;
103 }
104
105 connect(udpSocket_, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
106}
107
108
109void PacpusSocket::sendDatagrams(QString frame)
110{
111 int sent=0;
112
113 if (socketType_ == "client")
114 {
115 if ((sent = udpSocket_->writeDatagram(frame.toLocal8Bit(), address2send_, port2send_)) == -1)
116 qDebug() << "Failed to send the frame: " << address2send_ << port2send_ << frame << endl;
117 //else
118 //qDebug() << "TO NETWORK:" << address2send_ << port2send_ << frame << "size" << sent;
119 }
120 else if (socketType_ == "server")
121 {
122 for (int i = 0; i < listClients.size(); i++)
123 {
124 if ((sent = udpSocket_->writeDatagram(frame.toLocal8Bit(), listClients[i]->getAddress(), listClients[i]->getPort())) == -1)
125 qDebug() << "Failed to send the frame: " << listClients[i]->getAddress() << listClients[i]->getPort() << frame << endl;
126 //else
127 //qDebug() << "TO NETWORK:" << listClients[i]->getAddress() << listClients[i]->getPort() << frame << "size" << sent;
128 }
129 }
130}
131
132
133void PacpusSocket::sendDatagrams(QByteArray frame)
134{
135 int sent=0;
136
137 if (socketType_ == "client")
138 {
139 if ((sent = udpSocket_->writeDatagram(frame, address2send_, port2send_)) == -1)
140 qDebug() << "Failed to send the frame: " << address2send_ << port2send_ << frame << endl;
141 //else
142 //qDebug() << "TO NETWORK:" << address2send_ << port2send_ << frame << "size" << sent;
143 }
144 else if (socketType_ == "server")
145 {
146 for (int i = 0; i < listClients.size(); i++)
147 {
148 if ((sent = udpSocket_->writeDatagram(frame, listClients[i]->getAddress(), listClients[i]->getPort())) == -1)
149 qDebug() << "Failed to send the frame: " << listClients[i]->getAddress() << listClients[i]->getPort() << frame << endl;
150 //else
151 //qDebug() << "TO NETWORK:" << listClients[i]->getAddress() << listClients[i]->getPort() << frame << "size" << sent;
152 }
153 }
154}
155
156
157void PacpusSocket::readPendingDatagrams()
158{
159 while (udpSocket_->hasPendingDatagrams())
160 {
161 QByteArray datagram;
162 datagram.resize(udpSocket_->pendingDatagramSize());
163 QHostAddress sender;
164 quint16 senderPort;
165
166 if(udpSocket_->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort) != -1)
167 {
168 //qDebug() << "RCV : " << datagram << " by " << sender << "on port " << senderPort << " size:" << datagram.size();
169
170 if (socketType_ == "server")
171 {
172 bool flag = false;
173
174 for (int i = 0; i < listClients.size(); i++)
175 {
176 if (listClients[i]->getAddress() == sender && listClients[i]->getPort() == senderPort)
177 flag = true;
178 }
179
180 if (flag == false)
181 listClients << new Client(sender, senderPort);
182 }
183
184 int i = 0;
185 while (datagram.data()[ i ] != 'f')
186 i++;
187
188 if (datagram.data()[ i + 2 ] == 'b')
189 {
190 emit newDatagram(datagram);
191 }
192 else if (datagram.size() == 4)
193 {
194 // Manette Dualshock 3 pour le wifibot
195 emit newDatagram(datagram);
196 }
197 else
198 {
199 QString string(datagram.data());
200 emit newQString(string);
201 }
202 }
203 else
204 {
205 printf("Error when reading network frame\n");
206 }
207 }
208}
209
210
211//////////////////////////////////////////////////////////////////////////
212// Called by the ComponentManager to stop the component
213//////////////////////////////////////////////////////////////////////////
214void PacpusSocket::stopActivity()
215{
216 udpSocket_->close();
217 delete udpSocket_;
218}
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