mirror of
https://github.com/yoboujon/dumber.git
synced 2025-06-08 13:50:49 +02:00
UDP a peu pres OK
This commit is contained in:
Sébastien DI MERCURIO
parent
8bbe8c8450
commit
443335431b
9 changed files with 209 additions and 119 deletions
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@ -164,6 +164,11 @@ namespace monitor
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Console.WriteLine("Connection to server dropped: " + e.ToString());
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return;
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}
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catch (System.IO.IOException e)
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{
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readEvent?.Invoke(null, null);
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return ;
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}
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newLength = 1;
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@ -8,62 +8,47 @@ namespace monitor
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public static class ClientUDP
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{
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private const int listenPort = 11000;
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private static byte[] ImageBuffer = null;
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private static UdpClient listener = null;
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private static IPEndPoint groupEP = null;
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private static UdpClient clientUDP = null;
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private static IPEndPoint ep = null;
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public static void UDPOpen(int port)
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public static void UDPOpen(string addr, int port)
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{
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listener = new UdpClient(port);
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groupEP = new IPEndPoint(IPAddress.Any, port);
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clientUDP = new UdpClient(port);
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ep = new IPEndPoint(IPAddress.Parse(addr), port);
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clientUDP.Connect(ep);
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SendPing();
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}
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public static void UDPClose()
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{
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listener.Close();
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if (clientUDP!=null)
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clientUDP.Close();
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}
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public static byte[] GetImage()
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public static byte[] GetData()
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{
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bool done = false;
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Console.WriteLine("Waiting for broadcast");
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byte[] bytes = clientUDP.Receive(ref ep);
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try
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{
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while (!done)
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{
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Console.WriteLine("Waiting for broadcast");
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byte[] bytes = listener.Receive(ref groupEP);
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Console.WriteLine("Received broadcast from {0} :\n {1}\n",
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ep.ToString(),
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Encoding.ASCII.GetString(bytes, 0, bytes.Length));
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Console.WriteLine("Received broadcast from {0} :\n {1}\n",
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groupEP.ToString(),
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Encoding.ASCII.GetString(bytes, 0, bytes.Length));
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return bytes;
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}
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if (bytes[0]=='I') {
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// Nouvelle trame recu
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ImageBuffer = bytes;
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}
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else if (bytes[bytes.Length-1]=='D')
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{
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Array.Resize<byte>(ref ImageBuffer, ImageBuffer.Length + bytes.Length); // resize currrent buffer
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public static bool SendPing()
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{
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byte[] msg = new byte[2];
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msg[0] = (byte)'O';
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msg[1] = (byte)'k';
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System.Buffer.BlockCopy(ImageBuffer, 0, bytes, ImageBuffer.Length-bytes.Length, bytes.Length);
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done = true;
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}
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else{
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Array.Resize<byte>(ref ImageBuffer, ImageBuffer.Length + bytes.Length); // resize currrent buffer
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Console.WriteLine("Ping Server to send address");
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clientUDP.Send(msg, msg.Length);
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System.Buffer.BlockCopy(ImageBuffer, 0, bytes, ImageBuffer.Length-bytes.Length, bytes.Length);
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}
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}
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}
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catch (Exception e)
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{
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Console.WriteLine(e.ToString());
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}
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return ImageBuffer;
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return true;
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}
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}
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}
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@ -24,6 +24,8 @@ using System;
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using Gtk;
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using Gdk;
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using System.Threading;
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using monitor;
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/// <summary>
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@ -61,9 +63,28 @@ public partial class MainWindow : Gtk.Window
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/// </summary>
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private System.Timers.Timer batteryTimer;
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/// <summary>
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/// Counter for total image received, reset after CAM_OPEN is sent
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/// </summary>
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private int imageReceivedCounter = 0;
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/// <summary>
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/// Counter increased each time incorrect image is received
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/// </summary>
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private int badImageReceivedCounter = 0;
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/// <summary>
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/// Buffer containing a complete image.
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/// </summary>
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private byte[] imageComplete;
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/// <summary>
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/// Buffer used to store incoming image.
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/// </summary>
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private byte[] imageInProgress;
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private Thread imageThread;
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/// <summary>
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/// Initializes a new instance of the <see cref="MainWindow"/> class.
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/// </summary>
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@ -120,7 +141,11 @@ public partial class MainWindow : Gtk.Window
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checkButtonCameraOn.Active = false;
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checkButtonRobotPosition.Active = false;
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if (cmdManager != null) cmdManager.Close();
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if (cmdManager != null)
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{
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cmdManager.Close();
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ClientUDP.UDPClose();
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}
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batteryTimer.Stop();
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break;
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@ -195,14 +220,16 @@ public partial class MainWindow : Gtk.Window
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{
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Console.WriteLine("Bye bye");
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if (cmdManager != null) cmdManager.Close();
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if (cmdManager != null)
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{
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cmdManager.Close();
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ClientUDP.UDPClose();
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}
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Application.Quit();
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a.RetVal = true;
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}
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private byte[] imageComplete;
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private byte[] imageInProgress;
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/// <summary>
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/// Callback called when new message is received from server
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/// </summary>
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@ -211,7 +238,7 @@ public partial class MainWindow : Gtk.Window
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/// <param name="buffer">Raw buffer corresponding of received message</param>
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public void OnCommandReceivedEvent(string header, string data, byte[] buffer)
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{
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if (buffer==null)
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if (buffer == null)
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{
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// we have lost server
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ChangeState(SystemState.NotConnected);
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@ -220,6 +247,7 @@ public partial class MainWindow : Gtk.Window
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ButtonsType.Ok, "Server lost",
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"Server is down: disconnecting");
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cmdManager.Close();
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ClientUDP.UDPClose();
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}
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// if we have received a valid message
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@ -231,10 +259,6 @@ public partial class MainWindow : Gtk.Window
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Console.WriteLine("Bad header(" + buffer.Length + ")");
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else
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Console.WriteLine("Received header (" + header.Length + "): " + header);
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//if (header.ToUpper() != DestijlCommandList.HeaderStmImage)
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//{
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// if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
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//}
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#endif
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// Image management
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if (header == DestijlCommandList.HeaderStmImage)
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@ -272,32 +296,6 @@ public partial class MainWindow : Gtk.Window
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break;
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}
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}
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else if (header.ToUpper() == DestijlCommandList.HeaderStmImage)
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{
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// if message is an image, convert it to a pixbuf
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// that can be displayed
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if (imageComplete != null)
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{
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byte[] image = new byte[imageComplete.Length - 4];
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System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length);
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imageReceivedCounter++;
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try
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{
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drawingareaCameraPixbuf = new Pixbuf(image);
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drawingAreaCamera.QueueDraw();
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}
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catch (GLib.GException)
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{
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badImageReceivedCounter++;
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#if DEBUG
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Console.WriteLine("Bad Image: " + badImageReceivedCounter +
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" / " + imageReceivedCounter +
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" (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
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#endif
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}
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}
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}
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}
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}
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@ -309,7 +307,12 @@ public partial class MainWindow : Gtk.Window
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protected void OnQuitActionActivated(object sender, EventArgs e)
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{
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Console.WriteLine("Bye bye 2");
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if (cmdManager != null) cmdManager.Close();
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if (cmdManager != null)
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{
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cmdManager.Close();
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ClientUDP.UDPClose();
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}
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this.Destroy();
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Application.Quit();
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}
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@ -366,14 +369,16 @@ public partial class MainWindow : Gtk.Window
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entryTimeout.Text = cmdManager.timeout.ToString();
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}
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// try to connect to givn server.
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// try to connect to given server.
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try
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{
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status = cmdManager.Open(entryServerName.Text, Convert.ToInt32(entryServerPort.Text));
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ClientUDP.UDPOpen(entryServerName.Text,Convert.ToInt32(entryServerPort.Text) + 1);
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}
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catch (Exception)
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catch (Exception err)
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{
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Console.WriteLine("Something went wrong during connection");
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Console.WriteLine(err.ToString());
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return;
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}
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@ -401,6 +406,7 @@ public partial class MainWindow : Gtk.Window
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"Unable to open communication with robot.\nCheck that supervisor is accepting OPEN_COM_DMB command");
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cmdManager.Close();
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ClientUDP.UDPClose();
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}
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}
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}
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@ -545,6 +551,74 @@ public partial class MainWindow : Gtk.Window
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else batteryTimer.Start();
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}
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/// <summary>
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/// Thread for image reception
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/// </summary>
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private void ImageThread()
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{
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byte[] imageFull = null;
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byte[] imageBuffer = null;
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byte[] bytes;
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bool done = false;
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while (true)
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{
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bytes = new byte[1];
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bytes[0] = 0;
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try
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{
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bytes = ClientUDP.GetData();
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}
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catch (Exception e)
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{
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Console.WriteLine(e.ToString());
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}
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if (bytes[0] == (byte)'I')
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{
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// Nouvelle trame recu
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imageFull = imageBuffer;
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imageBuffer = bytes;
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done = true;
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}
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else
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{
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Array.Resize<byte>(ref imageBuffer, imageBuffer.Length + bytes.Length); // resize currrent buffer
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System.Buffer.BlockCopy(imageBuffer, 0, bytes, imageBuffer.Length - bytes.Length, bytes.Length);
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}
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if (done)
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{
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done = false;
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if (imageFull != null)
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{
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byte[] image = new byte[imageFull.Length - 4];
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System.Buffer.BlockCopy(imageFull, 4, image, 0, image.Length);
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imageReceivedCounter++;
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try
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{
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drawingareaCameraPixbuf = new Pixbuf(image);
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drawingAreaCamera.QueueDraw();
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}
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catch (GLib.GException)
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{
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badImageReceivedCounter++;
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#if DEBUG
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Console.WriteLine("Bad Image: " + badImageReceivedCounter +
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" / " + imageReceivedCounter +
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" (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
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#endif
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}
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}
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}
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}
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}
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/// <summary>
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/// Callback called when checkbutton for camera is clicked
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/// </summary>
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@ -561,6 +635,14 @@ public partial class MainWindow : Gtk.Window
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ButtonsType.Ok, "Error",
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"Error when closing camera: bad answer for supervisor or timeout");
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}
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else
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{
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if (imageThread != null)
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{
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imageThread.Abort();
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imageThread = null;
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}
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}
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}
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else // camera is not active, switch it on
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{
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@ -574,6 +656,11 @@ public partial class MainWindow : Gtk.Window
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"Error when opening camera: bad answer for supervisor or timeout");
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checkButtonCameraOn.Active = false;
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}
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else
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{
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imageThread = new Thread(new ThreadStart(ImageThread));
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imageThread.Start();
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}
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}
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}
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Binary file not shown.
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@ -24,5 +24,8 @@ int sendDataToServer(char *data, int length);
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int sendDataToServerForClient(int client, char *data, int length);
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int receiveDataFromServer(char *data, int size);
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int receiveDataFromServerFromClient(int client, char *data, int size);
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int sendCamImage(char *data, int length);
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void waitUdpPing(void);
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#endif /* _SERVER_H_ */
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@ -53,7 +53,7 @@ int openServer(int port) {
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listen(socketFD, NB_CONNECTION_MAX);
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/* Open UDP connection */
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socketUDP = socket(AF_INET, SOCK_DGRAM, 0);
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socketUDP = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
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if (socketUDP < 0) {
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perror("Can not create UDP socket");
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exit(-1);
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@ -114,33 +114,38 @@ void waitUDPClientAddr(void)
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MSG_WAITALL, ( struct sockaddr *) &UDPcliaddr, &UDPcliaddrlen);
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}
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int sendImage(char *data, int length) {
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int sendCamImage(char *data, int length) {
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if (clientID >= 0)
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{
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UDPBuffer= (char*)malloc(length+12);
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UDPBuffer= (char*)malloc(length+4);
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UDPBuffer[0]='I';
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UDPBuffer[1]='N';
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UDPBuffer[2]='S';
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UDPBuffer[3]='A';
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UDPBuffer[4]='B';
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UDPBuffer[5]='G';
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UDPBuffer[1]='M';
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UDPBuffer[2]='G';
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UDPBuffer[3]=':';
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UDPBuffer[length+6]='A';
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UDPBuffer[length+7]='S';
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UDPBuffer[length+8]='N';
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UDPBuffer[length+9]='I';
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UDPBuffer[length+10]='E';
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UDPBuffer[length+11]='D';
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memcpy((void*)(UDPBuffer+4),(const void *)data, length);
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memcpy((void*)(UDPBuffer+6),(const void *)data, length);
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return sendto(socketUDP, data, length,
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return sendto(socketUDP, UDPBuffer, length+4,
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MSG_CONFIRM, (const struct sockaddr *) &UDPcliaddr, UDPcliaddrlen);
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}
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else return 0;
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}
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void waitUdpPing(void)
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{
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char msg[4];
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volatile int i=0;
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// Wait for client to send a small message, to get its IP
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UDPcliaddrlen = sizeof(UDPcliaddr);
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bzero(&UDPcliaddr, sizeof(UDPcliaddr));
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recvfrom(socketUDP, msg, 2, 0, (sockaddr *)&UDPcliaddr, &UDPcliaddrlen);
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printf("Received packet from %s:%d\n",
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inet_ntoa(UDPcliaddr.sin_addr), ntohs(UDPcliaddr.sin_port));
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}
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int receiveDataFromServer(char *data, int size) {
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return receiveDataFromServerFromClient(clientID, data, size);
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}
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@ -206,6 +206,7 @@ int decodeMessage(MessageFromMon *mes, int dataLength) {
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int main(int argc, char** argv) {
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int lengthSend;
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// Ouverture de la com robot
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#ifdef __FOR_PC__
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if (open_communication_robot("/dev/ttyUSB0") != 0) {
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@ -233,6 +234,10 @@ int main(int argc, char** argv) {
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socketID = openServer(5544);
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cout << "Server opened on port 5544";
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cout << std::endl;
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cout << "UDP Server opened on port 5545";
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cout << std::endl;
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waitUdpPing();
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threadTimer = new std::thread(ThreadTimer);
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@ -271,8 +276,12 @@ int main(int argc, char** argv) {
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if (sendImage) {
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compress_image(&monImage, &imageCompressed);
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int length = imageCompressed.size();
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sendBinaryData(HEADER_STM_IMAGE, reinterpret_cast<char*> (imageCompressed.data()), length);
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//sendBinaryData(HEADER_STM_IMAGE, reinterpret_cast<char*> (imageCompressed.data()), length);
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//sendAnswer(HEADER_STM_IMAGE, reinterpret_cast<char*> (imageCompressed.data()));
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lengthSend=sendCamImage(reinterpret_cast<char*> (imageCompressed.data()), length);
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cout << "Requested Length: " + to_string(length) + " / Send Length: " + to_string(lengthSend);
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cout << std::endl;
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}
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if (sendPos) {
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@ -7,17 +7,13 @@
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<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
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<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
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<group>
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<<<<<<< HEAD
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<file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/testeur/testeur/main.cpp</file>
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=======
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h</file>
|
||||
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h</file>
|
||||
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp</file>
|
||||
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp</file>
|
||||
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp</file>
|
||||
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/main.cpp</file>
|
||||
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h</file>
|
||||
>>>>>>> dev
|
||||
</group>
|
||||
</open-files>
|
||||
</project-private>
|
||||
|
|
|
|||
|
|
@ -1,26 +1,26 @@
|
|||
#Mon Nov 12 11:20:04 CET 2018
|
||||
#Mon Nov 12 17:04:27 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=c1542014288000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-impl.mk=c1542014288000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/project.xml=c1542029322000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-impl.mk=c1542029322000
|
||||
/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=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/main.cpp=c1542036786000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp=c1542038373000
|
||||
/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=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/nbproject/Makefile-variables.mk=c1542029322000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/private/Makefile-variables.mk=c1542029322000
|
||||
/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=c1542014288000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Debug-rpi.mk=c1542029322000
|
||||
/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=c1542014288000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp=c1542029322000
|
||||
/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
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/.dep.inc=c1542035117000
|
||||
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/server.h=c1542036764000
|
||||
/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=c1542014288000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Debug-rpi.bash=c1542029322000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp=c1541685829000
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue