| [37] | 1 | /*********************************************************************
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| 2 | // created: 2014/02/02
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| 3 | // filename: SickSocket.cpp
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| 4 | //
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| 5 | // author: Cyril Fougeray
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| 6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 7 | //
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| 8 | // version: $Id: $
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| 9 | //
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| 10 | // purpose: Management of the socket connection with Sick sensors
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| 11 | *********************************************************************/
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| 12 |
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| 13 | #include "SickSocket.h"
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| 14 |
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| 15 | #include <QCoreApplication>
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| 16 | #include <QDebug>
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| 17 |
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| 18 |
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| 19 | #include "Pacpus/kernel/Log.h"
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| 20 |
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| 21 | namespace pacpus {
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| 22 |
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| 23 | DECLARE_STATIC_LOGGER("pacpus.base.SickSocket");
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| 24 |
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| [42] | 25 |
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| [37] | 26 | SickSocket::SickSocket(AbstractSickSensor * parent)
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| 27 | : myParent(parent)
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| 28 | {
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| 29 | socket = new QTcpSocket(this);
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| 30 | connect( socket, SIGNAL(connected()), this,SLOT(socketConnected()) );
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| 31 | connect( socket, SIGNAL(disconnected()),this, SLOT(socketConnectionClosed()) );
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| 32 | connect( socket, SIGNAL(readyRead()),this, SLOT(socketReadyRead()) );
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| 33 | connect( socket, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(socketError(QAbstractSocket::SocketError)) );
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| 34 | }
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| 35 |
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| 36 |
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| 37 | SickSocket::~SickSocket()
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| 38 | {
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| 39 | delete socket;
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| 40 | }
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| 41 |
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| [42] | 42 |
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| [37] | 43 | void SickSocket::connectToServer(QString host, int port)
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| 44 | {
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| 45 | qDebug("trying to connect to server");
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| 46 | socket->connectToHost(host,port);
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| 47 | }
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| 48 |
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| [42] | 49 |
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| [37] | 50 | int SickSocket::socketConnected()
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| 51 | {
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| 52 | qDebug() << "we are connected to the server " << socket->peerName().toLatin1()
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| 53 | << " at the port " << socket->peerPort() << " via the socket " << socket->socketDescriptor();
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| 54 | emit configuration();
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| 55 |
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| 56 | return 1;
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| 57 | }
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| 58 |
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| 59 | //////////////////////////////////////////////////////////////////////////
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| 60 | /// protected slot
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| 61 | void SickSocket::socketConnectionClosed()
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| 62 | {
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| 63 | qDebug("the connection was closed");
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| 64 | }
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| 65 |
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| [42] | 66 |
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| [37] | 67 | void SickSocket::socketReadyRead()
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| 68 | {
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| 69 | SickFrame * frame = new SickFrame();
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| 70 | frame->time = road_time();
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| 71 | frame->size = socket->bytesAvailable();
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| 72 | frame->msg = new char[frame->size];
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| 73 |
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| 74 | if (!frame->msg) {
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| 75 | LOG_FATAL("cannot allocate memory of size " << frame->size
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| 76 | << " - file: " << __FILE__
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| 77 | << " line: " << __LINE__
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| 78 | );
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| 79 | }
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| 80 |
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| 81 | frame->size = socket->read(frame->msg, (qint64) frame->size);
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| [72] | 82 |
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| 83 | SickFrameEvent *e = new SickFrameEvent;
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| [37] | 84 | e->frame = frame;
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| 85 | QCoreApplication::postEvent((QObject*)myParent, e);
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| 86 | }
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| 87 |
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| [42] | 88 |
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| [37] | 89 | void SickSocket::socketError(QAbstractSocket::SocketError e)
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| 90 | {
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| 91 | qWarning("socket error number %d",e);
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| 92 | }
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| 93 |
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| [42] | 94 |
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| [37] | 95 | void SickSocket::sendToServer(QString data) //a adapter aux données binaires
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| 96 | {
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| 97 | mutex.lock();
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| 98 | QTextStream os(socket);
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| 99 | os << data.toAscii() << endl;
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| 100 | mutex.unlock();
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| 101 | qDebug() << "data sent to server: " << data.toAscii() ; //a adapter aussi
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| 102 | }
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| 103 |
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| 104 | } // namespace pacpus
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