From 111c118844620ef1581c03f0c4f4e87f070d7253 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20DI=20MERCURIO?= <dimercur@insa-toulouse.fr>
Date: Mon, 12 Nov 2018 14:00:53 +0100
Subject: [PATCH] small modifs

---
 software/monitor/monitor/MonitorUI.cs         |  76 +++++++++++++-----
 software/monitor/monitor/monitor              | Bin 104448 -> 104960 bytes
 software/raspberry/testeur/testeur/main.cpp   |  71 ++++++++++------
 .../private/timestamps-10.105.1.13-pi-22      |  20 ++---
 4 files changed, 113 insertions(+), 54 deletions(-)

diff --git a/software/monitor/monitor/MonitorUI.cs b/software/monitor/monitor/MonitorUI.cs
index cc6dda2..d042c15 100644
--- a/software/monitor/monitor/MonitorUI.cs
+++ b/software/monitor/monitor/MonitorUI.cs
@@ -200,6 +200,9 @@ public partial class MainWindow : Gtk.Window
         a.RetVal = true;
     }
 
+    private byte[] imageComplete;
+    private byte[] imageInProgress;
+
     /// <summary>
     /// Callback called when new message is received from server
     /// </summary>
@@ -208,17 +211,47 @@ public partial class MainWindow : Gtk.Window
     /// <param name="buffer">Raw buffer corresponding of received message</param>
     public void OnCommandReceivedEvent(string header, string data, byte[] buffer)
     {
+        if (buffer==null)
+        {
+            // we have lost server
+            ChangeState(SystemState.NotConnected);
+
+            MessagePopup(MessageType.Error,
+                     ButtonsType.Ok, "Server lost",
+                         "Server is down: disconnecting");
+            cmdManager.Close();
+        }
+
         // if we have received a valid message
         if (header != null)
         {
 #if DEBUG
             // print message content
-            Console.WriteLine("Received header (" + header.Length + "): " + header);
-            if (header.ToUpper() != DestijlCommandList.HeaderStmImage)
-            {
-                if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
-            }
+            if (header.Length > 4)
+                Console.WriteLine("Bad header(" + buffer.Length + ")");
+            else
+                Console.WriteLine("Received header (" + header.Length + "): " + header);
+            //if (header.ToUpper() != DestijlCommandList.HeaderStmImage)
+            //{
+            //    if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
+            //}
 #endif
+            // Image management
+            if (header == DestijlCommandList.HeaderStmImage)
+            {
+                imageComplete = imageInProgress;
+                imageInProgress = buffer;
+            }
+            else
+            {
+                if (imageInProgress == null) imageInProgress = buffer;
+                else
+                {
+                    Array.Resize<byte>(ref imageInProgress, imageInProgress.Length + buffer.Length);
+                    System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length);
+                }
+            }
+
             // depending on message received (based on header)
             // launch correponding action
             if (header.ToUpper() == DestijlCommandList.HeaderStmBat)
@@ -243,23 +276,26 @@ public partial class MainWindow : Gtk.Window
             {
                 // if message is an image, convert it to a pixbuf
                 // that can be displayed
-                byte[] image = new byte[buffer.Length - 4];
-                System.Buffer.BlockCopy(buffer, 4, image, 0, image.Length);
+                if (imageComplete != null)
+                {
+                    byte[] image = new byte[imageComplete.Length - 4];
+                    System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length);
 
-                imageReceivedCounter++;
-                try
-                {
-                    drawingareaCameraPixbuf = new Pixbuf(image);
-                    drawingAreaCamera.QueueDraw();
-                }
-                catch (GLib.GException)
-                {
-                    badImageReceivedCounter++;
+                    imageReceivedCounter++;
+                    try
+                    {
+                        drawingareaCameraPixbuf = new Pixbuf(image);
+                        drawingAreaCamera.QueueDraw();
+                    }
+                    catch (GLib.GException)
+                    {
+                        badImageReceivedCounter++;
 #if DEBUG
-                    Console.WriteLine("Bad Image: " + badImageReceivedCounter +
-                                      " / " + imageReceivedCounter +
-                                      " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
-#endif                    
+                        Console.WriteLine("Bad Image: " + badImageReceivedCounter +
+                                          " / " + imageReceivedCounter +
+                                          " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
+#endif
+                    }
                 }
             }
         }
diff --git a/software/monitor/monitor/monitor b/software/monitor/monitor/monitor
index 45c541fe749254cf087df7130b665f170a6db3f4..d65f28ccb20963cd6bfb8e2953b14a070e75a2b9 100755
GIT binary patch
delta 16966
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diff --git a/software/raspberry/testeur/testeur/main.cpp b/software/raspberry/testeur/testeur/main.cpp
index 577f344..3bdccc8 100644
--- a/software/raspberry/testeur/testeur/main.cpp
+++ b/software/raspberry/testeur/testeur/main.cpp
@@ -63,6 +63,8 @@ MessageToMon messageAnswered;
 std::thread *threadTimer;
 std::thread *threadServer;
 
+char* imgMsg = NULL;
+
 using namespace std;
 
 /*
@@ -80,7 +82,8 @@ void ThreadTimer(void) {
     struct timespec tim, tim2;
     tim.tv_sec = 0;
     tim.tv_nsec = 100000000;
-
+    int cnt =0;
+    
     while (1) {
         //std::this_thread::sleep_for(std::chrono::seconds )
         //sleep(1);
@@ -89,24 +92,32 @@ void ThreadTimer(void) {
             return;
         }
         
-        sysTick = true;
+        cnt++;
+        
+        if (cnt>=1)
+        {     
+            sysTick = true;
+            cnt=0;
+        }
     }
 }
 
 void printReceivedMessage(MessageFromMon *mes) {
-    cout << "Received " + to_string(receivedLength) + " data\n";
+    cout << "Received " + to_string(receivedLength) + " data";
+    cout << std::endl;
     cout << "Header: ";
 
     for (int i = 0; i < 4; i++) {
         cout << mes->header[i];
     }
 
-    cout << "\nData: ";
+    cout << std::endl;
+    cout << "Data: ";
     for (int i = 0; i < receivedLength - 4; i++) {
         cout << mes->data[i];
     }
 
-    cout << "\n";
+    cout << std::endl;
 }
 
 int sendAnswer(string cmd, string data) {
@@ -115,7 +126,7 @@ int sendAnswer(string cmd, string data) {
 
     msg = cmd + ':' + data;
     cout << "Answer: " + msg;
-    cout << "\n";
+    cout << std::endl;
     sendDataToServer((char*) msg.c_str(), msg.length());
 
     return status;
@@ -123,20 +134,23 @@ int sendAnswer(string cmd, string data) {
 
 int sendBinaryData(string cmd, char* data, int length) {
     int status = 0;
-    char* msg;
+    int lengthSend;
+    
+    if (imgMsg != NULL) free((void*) imgMsg);
+    imgMsg = (char*) malloc(length + 4);
+    imgMsg[0] = cmd[0];
+    imgMsg[1] = cmd[1];
+    imgMsg[2] = cmd[2];
+    imgMsg[3] = ':';
 
-    msg = (char*) malloc(length + 4);
-    msg[0] = cmd[0];
-    msg[1] = cmd[1];
-    msg[2] = cmd[2];
-    msg[3] = ':';
-
-    memcpy((void*) &msg[4], (const void *) data, length);
+    memcpy((void*) &imgMsg[4], (const void *) data, length);
     cout << "Answer: " + cmd;
-    cout << "\n";
-    sendDataToServer(msg, length + 4);
+    cout << std::endl;
 
-    free((void*) msg);
+    lengthSend=sendDataToServer(imgMsg, length + 4);
+
+    cout << "Requested Length: " + to_string(length) + " / Send Length: " + to_string(lengthSend);
+    cout << std::endl;
     return status;
 }
 
@@ -198,30 +212,39 @@ int main(int argc, char** argv) {
 #else
     if (open_communication_robot("/dev/ttyS0") != 0) {
 #endif /*__FOR_PC__ */
-        cerr << "Unable to open /dev/ttyUSB0: abort\n";
+        cerr << "Unable to open /dev/ttyUSB0: abort";
+        cout << std::endl;
         return -1;
     }
-    cout << "Com port opened\n";
+    cout << "Com port opened";
+    cout << std::endl;
      
     // Ouverture de la camera
     if (open_camera(&cam) == -1) {
-        cerr << "Unable to open camera: abort\n";
+        cerr << "Unable to open camera: abort";
+        cout << std::endl;
+        
         return -1;
     }
-    cout << "Camera opened\n";
+    cout << "Camera opened";
+    cout << std::endl;
 
     // Ouverture du serveur
     socketID = openServer(5544);
-    cout << "Server opened on port 5544\n";
+    cout << "Server opened on port 5544";
+    cout << std::endl;
 
     threadTimer = new std::thread(ThreadTimer);
 
     for (;;) {
-        cout << "Waiting for client to connect ...\n";
+        cout << "Waiting for client to connect ...";
+        cout << std::endl;
         acceptClient();
         disconnected = false;
         dataReady = false;
-        cout << "Client connected\n";
+        cout << "Client connected";
+        cout << std::endl;
+        
         threadServer = new std::thread(ThreadServer);
 
         while (disconnected == false) {
diff --git a/software/raspberry/testeur/testeur/nbproject/private/timestamps-10.105.1.13-pi-22 b/software/raspberry/testeur/testeur/nbproject/private/timestamps-10.105.1.13-pi-22
index fe5221c..727d827 100644
--- a/software/raspberry/testeur/testeur/nbproject/private/timestamps-10.105.1.13-pi-22
+++ b/software/raspberry/testeur/testeur/nbproject/private/timestamps-10.105.1.13-pi-22
@@ -1,26 +1,26 @@
-#Mon Nov 12 09:47:39 CET 2018
+#Mon Nov 12 11:20:04 CET 2018
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/project.xml=c1541775358000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-impl.mk=c1541775357000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/project.xml=c1542014288000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-impl.mk=c1542014288000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/main.cpp=c1541778496000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp=c1541685829000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/main.cpp=c1542017998000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp=c1542014288000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Release.mk=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Debug.bash=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/.gitignore=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-variables.mk=c1541775358000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/private/Makefile-variables.mk=c1541775358000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-variables.mk=c1542014288000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/private/Makefile-variables.mk=c1542014288000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/Makefile=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Debug-rpi.mk=c1541776257000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Debug-rpi.mk=c1542014288000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Debug.mk=c1541775193000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.h=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp=c1541778370000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp=c1542014288000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Release.bash=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/.dep.inc=c1541685829000
 VERSION=1.3
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/definitions.h=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Debug-rpi.bash=c1541775358000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Debug-rpi.bash=c1542014288000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp=c1541685829000