root / trunk / code / projects / colonet / ColonetServer / colonet_wireless.cpp @ 424
History | View | Annotate | Download (6.13 KB)
1 |
/** @file colonet_wireless.c
|
---|---|
2 |
*
|
3 |
* @brief Implementation of server-side colonet wireless library
|
4 |
*
|
5 |
* @author Eugene Marinelli
|
6 |
*/
|
7 |
|
8 |
/********************************* Includes **********************************/
|
9 |
#include <string> |
10 |
#include <pthread.h> |
11 |
#include <iostream> |
12 |
#include <fstream> |
13 |
#include <unistd.h> |
14 |
#include <fcntl.h> |
15 |
#include <signal.h> |
16 |
|
17 |
#include <ColonetServer.h> |
18 |
#include <wireless.h> // Colonet wireless library. |
19 |
#include <wl_token_ring.h> |
20 |
|
21 |
#include <colonet_defs.h> |
22 |
#include <colonet_wireless.h> |
23 |
|
24 |
/******************************* Definitions *********************************/
|
25 |
|
26 |
//Enable debug printouts
|
27 |
#define DEBUG 1 |
28 |
|
29 |
#ifdef DEBUG
|
30 |
#define dbg_printf(...) printf(__VA_ARGS__)
|
31 |
#define dbg_fprintf(...) fprintf(__VA_ARGS__)
|
32 |
#else
|
33 |
#define dbg_printf(...)
|
34 |
#define dbg_fprintf(...)
|
35 |
#endif
|
36 |
|
37 |
extern ColonetServer colonet_server;
|
38 |
|
39 |
static bool logging_enabled; |
40 |
static char log_filename[80]; |
41 |
static pthread_t listener_thread;
|
42 |
static char wl_port[40]; |
43 |
|
44 |
/************************* Internal prototypes *******************************/
|
45 |
static void* listen(void* args); |
46 |
static void timeout_handler(void); |
47 |
static void handle_response(int frame, int received); |
48 |
static void handle_receive(char type, int source, unsigned char* packet, int len); |
49 |
static void unregister(void); |
50 |
static int log_packet(unsigned char* packet, int len); |
51 |
|
52 |
/**************************** Public functions *******************************/
|
53 |
int colonet_wl_init(char* wl_port_, char* log_filename_) { |
54 |
if (log_filename_ != NULL) { |
55 |
logging_enabled = true;
|
56 |
strcpy(log_filename, log_filename_); |
57 |
} |
58 |
|
59 |
strncpy(wl_port, wl_port_, 40);
|
60 |
|
61 |
wl_set_com_port(wl_port); |
62 |
|
63 |
printf("Calling wl_init(%s)...\n", wl_port);
|
64 |
if (wl_init() != 0) { |
65 |
fprintf(stderr, "wl_init failed.\n");
|
66 |
return -1; |
67 |
} |
68 |
|
69 |
wl_token_ring_register(); |
70 |
|
71 |
printf("Joining token ring...\n");
|
72 |
if (wl_token_ring_join() != 0) { |
73 |
fprintf(stderr, "Failed to join token ring.\n");
|
74 |
return -1; |
75 |
} |
76 |
printf("Joined token ring.\n");
|
77 |
|
78 |
return 0; |
79 |
} |
80 |
|
81 |
void colonet_wl_kill_listener_thread() {
|
82 |
pthread_kill(listener_thread, 9);
|
83 |
} |
84 |
|
85 |
int colonet_wl_run_listener_thread() {
|
86 |
dbg_printf("Spawning listener thread...\n");
|
87 |
|
88 |
if (pthread_create(&listener_thread, NULL, listen, NULL)) { |
89 |
perror("pthread_create");
|
90 |
return -1; |
91 |
} |
92 |
|
93 |
return 0; |
94 |
} |
95 |
|
96 |
int colonet_wl_send(short client_source, short dest, ColonetRobotMessageType msg_type, unsigned char msg_code, |
97 |
unsigned char* args) { |
98 |
printf("colonet_wl_send: client_source:%d, dest:%d, msg_code:%d\n", client_source, dest, msg_code);
|
99 |
|
100 |
ColonetRobotServerPacket pkt; |
101 |
pkt.client_id = client_source; |
102 |
pkt.msg_code = msg_code; |
103 |
|
104 |
for (int i = 0; i < PACKET_DATA_LEN; i++) { |
105 |
pkt.data[i] = args[i]; |
106 |
} |
107 |
|
108 |
if (dest == GLOBAL_DEST) {
|
109 |
printf("sending to global dest\n");
|
110 |
if (wl_send_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt), |
111 |
sizeof(ColonetRobotServerPacket), 0) != 0) { |
112 |
return -1; |
113 |
} |
114 |
} else {
|
115 |
printf("sending to specific robot: %d.\n", dest);
|
116 |
if (wl_send_robot_to_robot_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt), |
117 |
sizeof(ColonetRobotServerPacket), dest, COLONET_RESPONSE_PACKET_FRAME_ID) != 0) { |
118 |
return -1; |
119 |
} |
120 |
} |
121 |
|
122 |
return 0; |
123 |
} |
124 |
|
125 |
int colonet_get_num_robots(void) { |
126 |
return wl_token_get_num_robots();
|
127 |
} |
128 |
|
129 |
int* colonet_get_xbee_ids(int* numrobots) { |
130 |
int num_robots = wl_token_get_num_robots();
|
131 |
int* ids = (int*)malloc(num_robots * sizeof(int)); |
132 |
|
133 |
wl_token_iterator_begin(); |
134 |
|
135 |
int i = 0; |
136 |
while (wl_token_iterator_has_next()) {
|
137 |
ids[i] = wl_token_iterator_next(); |
138 |
i++; |
139 |
} |
140 |
|
141 |
*numrobots = num_robots; |
142 |
return ids;
|
143 |
} |
144 |
|
145 |
// Returns int**; should be freed
|
146 |
int** colonet_get_sensor_matrix(int* numrobots, int** ids_) { |
147 |
int num_robots;
|
148 |
int* ids = colonet_get_xbee_ids(&num_robots);
|
149 |
|
150 |
int** m = (int**)malloc(num_robots * sizeof(int*)); |
151 |
for (int i = 0; i < num_robots; i++) { |
152 |
m[i] = (int*)malloc(num_robots * sizeof(int*)); |
153 |
} |
154 |
|
155 |
for (int i = 0; i < num_robots; i++) { |
156 |
for (int j = 0; j < num_robots; j++) { |
157 |
m[i][j] = wl_token_get_sensor_reading(ids[i], ids[j]); |
158 |
} |
159 |
} |
160 |
|
161 |
*numrobots = num_robots; |
162 |
*ids_ = ids; |
163 |
return m;
|
164 |
} |
165 |
|
166 |
/**************************** Private functions ******************************/
|
167 |
|
168 |
static void timeout_handler() { |
169 |
// printf("colonet wireless - timeout!\n");
|
170 |
} |
171 |
|
172 |
static void handle_response(int frame, int received) { |
173 |
//printf("got response.\n");
|
174 |
} |
175 |
|
176 |
static void handle_receive(char type, int source, unsigned char* data, int len) { |
177 |
ColonetRobotServerPacket* pkt = (ColonetRobotServerPacket*)data; |
178 |
|
179 |
if (logging_enabled) {
|
180 |
log_packet(data, len); |
181 |
} |
182 |
|
183 |
char processed_data[80]; |
184 |
sprintf(processed_data, "%d %d %d %s\n", RESPONSE_TO_CLIENT_REQUEST, pkt->msg_code, source, pkt->data);
|
185 |
|
186 |
colonet_server.process_received_wireless_message(pkt->client_id, processed_data, strlen(processed_data)); |
187 |
|
188 |
printf("handle receive\n");
|
189 |
} |
190 |
|
191 |
static void unregister(void) { |
192 |
printf("unregister\n");
|
193 |
} |
194 |
|
195 |
/** @brief Analogous to the "SIGNAL" or "ISR" function on the robots.
|
196 |
* Listens for bytes on the wireless port and constructs packets based on them.
|
197 |
* Not part of the ColonetWireless class since a function pointer must be
|
198 |
* passed in starting the thread that runs it (tricky or impossible if it's
|
199 |
* a class function).
|
200 |
*
|
201 |
* @param args Pointer to arguments. Can be safely casted to ListenerArgs type
|
202 |
* @return NULL
|
203 |
*/
|
204 |
static void* listen(void* args) { |
205 |
printf("Called listen.\n");
|
206 |
|
207 |
PacketGroupHandler pgh = {COLONET_PACKET_GROUP_ID, |
208 |
timeout_handler, |
209 |
handle_response, |
210 |
handle_receive, |
211 |
unregister}; |
212 |
wl_register_packet_group(&pgh); |
213 |
|
214 |
while (1) { |
215 |
wl_do(); |
216 |
usleep(1000);
|
217 |
} |
218 |
|
219 |
wl_terminate(); |
220 |
return NULL; |
221 |
} |
222 |
|
223 |
/** @brief
|
224 |
*
|
225 |
* @param pkt Packet to be logged
|
226 |
*
|
227 |
* @return 0 on success, -1 on failure
|
228 |
*/
|
229 |
int log_packet(unsigned char* packet, int len) { |
230 |
FILE* logfile = fopen(log_filename, "a");
|
231 |
|
232 |
if (logfile == NULL) { |
233 |
dbg_printf("%s: Error - fopen %s failed.\n", log_filename, __FUNCTION__);
|
234 |
return -1; |
235 |
} |
236 |
|
237 |
for (int i = 0; i < len; i++) { |
238 |
fprintf(logfile, "%d ", *((unsigned char*)packet + i)); |
239 |
} |
240 |
fprintf(logfile, "\n");
|
241 |
|
242 |
fclose(logfile); |
243 |
return 0; |
244 |
} |