From 48e2a031b3e2462968d305aacee50221361e2148 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 27 Mar 2019 14:54:40 +0100 Subject: [PATCH 001/730] vSendBytes changed to utilSendTCP --- server/src/objectcontrol.c | 38 ++++++++++++++++++++++++++------------ 1 file changed, 26 insertions(+), 12 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 0a177f515..c260e09c3 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -636,7 +636,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) for(iIndex=0;iIndex> 8); MessageLength = MessageLength + 2; - vSendBytes(TrajBuffer, MessageLength, Socket, 0); + //vSendBytes(TrajBuffer, MessageLength, Socket, 0); + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); SumMessageLength = SumMessageLength + MessageLength; } else { - vSendBytes(TrajBuffer, MessageLength, Socket, 0); + //vSendBytes(TrajBuffer, MessageLength, Socket, 0); + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); SumMessageLength = SumMessageLength + MessageLength; } @@ -2065,7 +2078,8 @@ I32 ObjectControlSendDOTMMEssage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP TrajBuffer[MessageLength] = (U8)(CrcU16); TrajBuffer[MessageLength+1] = (U8)(CrcU16 >> 8); MessageLength = MessageLength + 2; - vSendBytes(TrajBuffer, MessageLength, Socket, 0); + //vSendBytes(TrajBuffer, MessageLength, Socket, 0); + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); SumMessageLength = SumMessageLength + MessageLength; if(debug) LogMessage(LOG_LEVEL_DEBUG,"Transmission %d: %d bytes sent.\n", i, MessageLength); } From 6bf813255faab76df786acab2d823f141fb1bb41 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 27 Mar 2019 14:57:14 +0100 Subject: [PATCH 002/730] Removed all //vSendBytes --- server/src/objectcontrol.c | 29 ----------------------------- 1 file changed, 29 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index c260e09c3..018798d07 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -155,7 +155,6 @@ C8 TrajBuffer[COMMAND_DOTM_ROWS_IN_TRANSMISSION*COMMAND_DOTM_ROW_MESSAGE_LENGTH ------------------------------------------------------------*/ static I32 vConnectObject(int* sockfd,const char* name,const uint32_t port, U8 *Disconnect); static void vSendString(const char* command,int* sockfd); -static void vSendBytes(const char* command, int length, int* sockfd, int debug); static void vSendFile(const char* object_traj_file, int* sockfd); static void vDisconnectObject(int* sockfd); static I32 vCheckRemoteDisconnected(int* sockfd); @@ -636,7 +635,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) for(iIndex=0;iIndex> 8); MessageLength = MessageLength + 2; - //vSendBytes(TrajBuffer, MessageLength, Socket, 0); UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); SumMessageLength = SumMessageLength + MessageLength; } else { - //vSendBytes(TrajBuffer, MessageLength, Socket, 0); UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); SumMessageLength = SumMessageLength + MessageLength; } @@ -2078,7 +2066,6 @@ I32 ObjectControlSendDOTMMEssage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP TrajBuffer[MessageLength] = (U8)(CrcU16); TrajBuffer[MessageLength+1] = (U8)(CrcU16 >> 8); MessageLength = MessageLength + 2; - //vSendBytes(TrajBuffer, MessageLength, Socket, 0); UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); SumMessageLength = SumMessageLength + MessageLength; if(debug) LogMessage(LOG_LEVEL_DEBUG,"Transmission %d: %d bytes sent.\n", i, MessageLength); @@ -2497,22 +2484,6 @@ static void vSendString(const char* command, int* sockfd) } -static void vSendBytes(const char* data, int length, int* sockfd, int debug) -{ - int n; - - if(debug){ printf("Bytes sent: "); int i = 0; for(i = 0; i < length; i++) printf("%x-", (unsigned char)*(data+i)); printf("\n");} - - n = write(*sockfd, data, length); - - if (n < 0) - { - util_error("[ObjectControl] ERR: Failed to send on control socket"); - } -} - - - static void vSendFile(const char* object_traj_file, int* sockfd) { FILE *filefd; From dea7f6721e87a067d4191161fdc28080bdb1ed2f Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 27 Mar 2019 15:14:12 +0100 Subject: [PATCH 003/730] ObjectControlSendUDP changed to utilSendUDP --- server/src/objectcontrol.c | 101 +++---------------------------------- 1 file changed, 6 insertions(+), 95 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 018798d07..911b5e8ce 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -154,14 +154,11 @@ C8 TrajBuffer[COMMAND_DOTM_ROWS_IN_TRANSMISSION*COMMAND_DOTM_ROW_MESSAGE_LENGTH -- Function declarations. ------------------------------------------------------------*/ static I32 vConnectObject(int* sockfd,const char* name,const uint32_t port, U8 *Disconnect); -static void vSendString(const char* command,int* sockfd); -static void vSendFile(const char* object_traj_file, int* sockfd); static void vDisconnectObject(int* sockfd); static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); -static void vSendHeartbeat(int* sockfd, struct sockaddr_in* addr, hearbeatCommand_t tCommand); static void vRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); @@ -184,8 +181,6 @@ I32 ObjectControlSendDTMMessage(C8 *DTMData, I32 *Socket, I32 RowCount, C8 *IP, I32 ObjectControlBuildDTMMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); I32 ObjectControlBuildASPMessage(C8* MessageBuffer, ASPType *ASPData, U8 debug); -void ObjectControlSendMONR(I32 *Sockfd, struct sockaddr_in *Addr, MONRType *MonrData, U8 Debug); - static void vFindObjectsInfo(char object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], char object_address_name[MAX_OBJECTS][MAX_FILE_PATH], int* nbr_objects); @@ -350,7 +345,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) { //HeartbeatMessageCounter ++; MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, 0); - ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); } } @@ -404,7 +400,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) { /*Send Master time to adaptive sync point*/ MessageLength =ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, ASPData.MTSPU32, 0); - ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); } /*else if(TEST_SYNC_POINTS == 1 && iIndex == 1 && ASPData.MTSPU32 > 0 && ASPData.TimeToSyncPointDbl > -1 ) { @@ -767,7 +764,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) /*Here we send the VOIL message, if IP-address found*/ if(strstr(VOILReceivers, object_address_name[iIndex])) { - ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); } } @@ -2472,50 +2470,6 @@ static void vDisconnectObject(int* sockfd) close(*sockfd); } -static void vSendString(const char* command, int* sockfd) -{ - long n; - LogMessage(LOG_LEVEL_DEBUG,"Sending: <%s>",command); - n = write(*sockfd, command, strlen(command)); - if (n < 0) - { - util_error("[ObjectControl] ERR: Failed to send on control socket"); - } -} - - -static void vSendFile(const char* object_traj_file, int* sockfd) -{ - FILE *filefd; - char buffer[1024]; - long n; - size_t readBytes; - - LogMessage(LOG_LEVEL_DEBUG,"Open file %s",object_traj_file); - - filefd = fopen (object_traj_file, "rb"); - if (filefd == NULL) - { - util_error("ERR: Failed to open trajectory file"); - } - - do - { - readBytes = fread(buffer,1,1024,filefd); - if(readBytes > 0) - { - LogMessage(LOG_LEVEL_DEBUG,"Sending: <%s>",buffer); - LogMessage(LOG_LEVEL_DEBUG,"Attempting send of <%lu> bytes",readBytes); - n = write(*sockfd, buffer, readBytes); - if (n < 0) - { - util_error("ERR: Failed to send on control socket"); - } - } - } while(readBytes > 0); - - fclose(filefd); -} static void vCreateSafetyChannel(const char* name, const uint32_t port, int* sockfd, struct sockaddr_in* addr) { @@ -2590,18 +2544,6 @@ static I32 vCheckRemoteDisconnected(int* sockfd) return 1; } -/*void ObjectControlSendMONR(I32 *Sockfd, struct sockaddr_in *Addr, MONRType *MonrData, U8 Debug){ - C8 Data[128]; - - bzero(Data,128); - Data[3] = strlen(MonrData); - Data[5] = 2; - strcat((Data+6), MonrData); - - - UtilSendUDPData("ObjectControl", Sockfd, Addr, Data, strlen(MonrData) + 6, Debug); -}*/ - int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendData, int Length, char debug) { ssize_t result; @@ -2620,37 +2562,6 @@ int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendDa } -static void vSendHeartbeat(int* sockfd, struct sockaddr_in* addr, hearbeatCommand_t tCommand) -{ - ssize_t result; - char pcCommand[10]; - - bzero(pcCommand,10); - - LogMessage(LOG_LEVEL_DEBUG,"Sending: "); - - if(COMMAND_HEARTBEAT_GO == tCommand) - { - strcat(pcCommand,"HEBT;g;"); - } - else - { - strcat(pcCommand,"HEBT;A;"); - } - - result = sendto(*sockfd, - pcCommand, - 10, - 0, - (const struct sockaddr *) addr, - sizeof(struct sockaddr_in)); - - if (result < 0) - { - util_error("ERR: Failed to send on monitor socket"); - } -} - static void vRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData) { int result; From 850d8e12d1834cb1491ffd08e651bdac6e65cc25 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 09:46:46 +0100 Subject: [PATCH 004/730] Added autosave files to gitignore --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 5cd27a187..175c3b5f5 100644 --- a/.gitignore +++ b/.gitignore @@ -39,3 +39,6 @@ # Catalogs build*/ PlaygroundPlatform*/ + +# Autosave files +*.save From 9d9a46d2cee9738b8ec8d2112c91e3354a1e88d7 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 28 Mar 2019 11:05:39 +0100 Subject: [PATCH 005/730] Started work in systemcontrol.c --- server/src/systemcontrol.c | 25 ++++++++++++++----------- 1 file changed, 14 insertions(+), 11 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 39f760b3f..2246f2ddf 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -144,7 +144,7 @@ I32 SystemControlBuildControlResponse(U16 ResponseStatus, C8* ResponseString, C8 void SystemControlSendLog(C8* LogString, I32* Sockfd, U8 Debug); void SystemControlSendMONR(C8* LogString, I32* Sockfd, U8 Debug); static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I32 *sockfd, struct sockaddr_in* addr); -I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData, I32 Length, U8 debug); +//I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData, I32 Length, U8 debug); I32 SystemControlReadServerParameterList(C8 *ParameterList, U8 debug); I32 SystemControlReadServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug); I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug); @@ -468,7 +468,9 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) ProcessControlData[18] = (U8) GPSTime->FixQualityU8; ProcessControlData[19] = (U8) GPSTime->NSatellitesU8; - SystemControlSendUDPData(&ProcessChannelSocket, &ProcessChannelAddr, ProcessControlData, PCDMessageLengthU32 + 6, 1); + //SystemControlSendUDPData(&ProcessChannelSocket, &ProcessChannelAddr, ProcessControlData, PCDMessageLengthU32 + 6, 1); + UtilSendUDPData("SystemControl", &ProcessChannelSocket, &ProcessChannelAddr, ProcessControlData, PCDMessageLengthU32 + 6, 0); + } @@ -655,7 +657,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) SystemControlReceiveRxData(&ClientSocket, SystemControlArgument[0], SystemControlArgument[1], STR_SYSTEM_CONTROL_RX_PACKET_SIZE, ControlResponseBuffer, 0); } else if (ControlResponseBuffer[0] == PATH_INVALID_MISSING) - { + { LogMessage(LOG_LEVEL_INFO,"Failed receiving file: %s", SystemControlArgument[0]); SystemControlReceiveRxData(&ClientSocket, "/file.tmp", SystemControlArgument[1], STR_SYSTEM_CONTROL_RX_PACKET_SIZE, ControlResponseBuffer, 0); @@ -666,8 +668,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) { LogMessage(LOG_LEVEL_INFO,"Receiving file: %s", SystemControlArgument[0]); - SystemControlReceiveRxData(&ClientSocket, SystemControlArgument[0], SystemControlArgument[1], SystemControlArgument[2], ControlResponseBuffer, 0); - } + SystemControlReceiveRxData(&ClientSocket, SystemControlArgument[0], SystemControlArgument[1], SystemControlArgument[2], ControlResponseBuffer, 0); + } SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "UploadFile:", ControlResponseBuffer, 1, &ClientSocket, 0); @@ -1276,6 +1278,7 @@ static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I3 LogMessage(LOG_LEVEL_INFO,"Created process channel socket and address: %s:%d",name,port); } +/* I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData, I32 Length, U8 debug) { I32 result; @@ -1289,7 +1292,7 @@ I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData return 0; } - +*/ I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) @@ -1452,7 +1455,7 @@ I32 SystemControlBuildFileContentInfo(C8 *Path, C8 *ReturnValue, U8 Debug) *(ReturnValue+2) = (U8)(st.st_size >> 8); *(ReturnValue+3) = (U8)st.st_size; - + if(Debug) LogMessage(LOG_LEVEL_DEBUG,"Filesize %d of %s", (I32)st.st_size, CompletePath); return 0; @@ -1486,7 +1489,7 @@ I32 SystemControlCheckFileDirectoryExist(C8 *ParameterName, C8 *ReturnValue, U8 closedir(pDir); } - + if(Debug) LogMessage(LOG_LEVEL_DEBUG,"%d %s", *ReturnValue, CompletePath); @@ -1729,8 +1732,8 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi else { *ReturnValue = TIME_OUT; - } - + } + LogMessage(LOG_LEVEL_DEBUG,"Rec count = %d, Req count = %d", TotalRxCount, FileSizeU32); } @@ -1790,7 +1793,7 @@ I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *Retu fclose(fd); if(Remove) remove(CompletePath); - + LogMessage(LOG_LEVEL_INFO,"Sent file: %s, total size = %d, transmissions = %d", CompletePath, (PacketSizeU16*TransmissionCount+RestCount), i + 1); } From db78d065ef6a62d5291ef8c437d66c97460c2e69 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 28 Mar 2019 12:43:24 +0100 Subject: [PATCH 006/730] SystemControlSendBytes changed to UtilSendTCPData --- server/src/systemcontrol.c | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 2246f2ddf..214e8de11 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -1001,7 +1001,8 @@ void SystemControlSendMONR(C8* MONRStr, I32* Sockfd, U8 Debug){ for(i = 0; i < 2; i++, j++) Data[j] = Header[i]; t = strlen(MONRStr); for(i = 0; i < t; i++, j++) Data[j] = *(MONRStr+i); - SystemControlSendBytes(Data, n + 4, Sockfd, 0); + //SystemControlSendBytes(Data, n + 4, Sockfd, 0); + UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); } else LogMessage(LOG_LEVEL_ERROR,"MONR string longer than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); } @@ -1028,7 +1029,8 @@ void SystemControlSendLog(C8* LogString, I32* Sockfd, U8 Debug) for(i = 0; i < 2; i++, j++) Data[j] = Header[i]; t = strlen(LogString); for(i = 0; i < t; i++, j++) Data[j] = *(LogString+i); - SystemControlSendBytes(Data, n + 4, Sockfd, 0); + //SystemControlSendBytes(Data, n + 4, Sockfd, 0); + UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); } else LogMessage(LOG_LEVEL_ERROR,"Log string longer than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); } @@ -1057,7 +1059,8 @@ void SystemControlSendControlResponse(U16 ResponseStatus, C8* ResponseString, C8 if(Debug) { for(i = 0; i < n + 4; i++) printf("%x-", Data[i]); printf("\n"); } - SystemControlSendBytes(Data, n + 4, Sockfd, 0); + //SystemControlSendBytes(Data, n + 4, Sockfd, 0); + UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); } else LogMessage(LOG_LEVEL_ERROR,"Response data more than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); } @@ -1185,7 +1188,7 @@ static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct static I32 SystemControlConnectServer(int* sockfd, const char* name, const uint32_t port) -{ +{Tom kha gai struct sockaddr_in serv_addr; struct hostent *server; @@ -1780,14 +1783,16 @@ I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *Retu { bzero(TxBuffer, PacketSizeU16); fread(TxBuffer,1,PacketSizeU16,fd); - SystemControlSendBytes(TxBuffer, PacketSizeU16, sockfd, 0); //Send a packet + //SystemControlSendBytes(TxBuffer, PacketSizeU16, sockfd, 0); //Send a packet + UtilSendTCPData("System Control", TxBuffer, PacketSizeU16, Sockfd, 0); } if(RestCount > 0) { bzero(TxBuffer, PacketSizeU16); fread(TxBuffer,1,RestCount,fd); - SystemControlSendBytes(TxBuffer, RestCount, sockfd, 0); //Send the rest + //SystemControlSendBytes(TxBuffer, RestCount, sockfd, 0); //Send the rest + UtilSendTCPData("System Control", TxBuffer, RestCount, Sockfd, 0); } fclose(fd); From 0a7a9bf724fede496915ad4c4b483f83b4627d14 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 13:33:11 +0100 Subject: [PATCH 007/730] Added check for remote connection to time server --- server/inc/timecontrol.h | 4 +- server/src/timecontrol.c | 615 +++++++++++++++++++++------------------ 2 files changed, 334 insertions(+), 285 deletions(-) diff --git a/server/inc/timecontrol.h b/server/inc/timecontrol.h index e9fe8b122..2b267f05b 100755 --- a/server/inc/timecontrol.h +++ b/server/inc/timecontrol.h @@ -11,7 +11,7 @@ #ifndef __TIMECONTROL_H_INCLUDED__ #define __TIMECONTROL_H_INCLUDED__ - +#include "util.h" /*------------------------------------------------------------ -- Function declarations. @@ -20,4 +20,4 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD); U16 TimeControlGetMillisecond(TimeType *GPSTime); -#endif \ No newline at end of file +#endif diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 8f00b4e1b..fa789f17c 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -26,7 +26,7 @@ #include #include -#include "util.h" +#include "timecontrol.h" #include "logger.h" #include "logging.h" @@ -35,6 +35,8 @@ #define TIME_CONTROL_BUFFER_SIZE_20 20 #define TIME_CONTROL_BUFFER_SIZE_54 54 #define TIME_CONTROL_TASK_PERIOD_MS 1 +#define TIME_INTERVAL_NUMBER_BYTES 4 +#define TIMEOUT_S 2 #define LOG_PATH "./timelog/" #define LOG_FILE "time.log" @@ -42,12 +44,13 @@ -- Function declarations. ------------------------------------------------------------*/ -static void TimeControlCreateTimeChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); -static int TimeControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendData, int Length, char debug); +static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); +static int TimeControlSendUDPData(int* sockfd, struct sockaddr_in* addr, C8* SendData, int Length, char debug); //static void TimeControlRecvTime(int* sockfd, char* buffer, int length, int* recievedNewData); -static void TimeControlRecvTime(int* sockfd, char* buffer, int length, int* recievedNewData); +static void TimeControlRecvTime(int* sockfd, C8* buffer, int length, int* recievedNewData); U32 TimeControlIPStringToInt(C8 *IP); U16 TimeControlGetMillisecond(TimeType *GPSTime); +static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 debug); /*------------------------------------------------------------ @@ -63,267 +66,252 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; int timecontrol_task(TimeType *GPSTime, GSDType *GSD) { - C8 TextBufferC8[TIME_CONTROL_BUFFER_SIZE_20]; - C8 ServerIPC8[TIME_CONTROL_BUFFER_SIZE_20]; - U16 ServerPortU16; - I32 SocketfdI32=-1; - struct sockaddr_in time_addr; - - I32 iExit = 0, iCommand, result; - C8 TimeBuffer[TIME_CONTROL_BUFFER_SIZE_54]; - I32 ReceivedNewData, i; - C8 SendData[4] = {0, 0, 3, 0xe8}; - //C8 SendData[4] = {0, 0, 0, 1}; - struct timespec sleep_time, ref_time; - C8 MqRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; - struct timeval tv, ExecTime; - struct tm *tm; - - U32 IpU32; - U8 PrevSecondU8; - U16 CurrentMilliSecondU16, PrevMilliSecondU16; - U8 CycleCount = 0; - - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO,"Time control task running with PID: %i",getpid()); - - gettimeofday(&ExecTime, NULL); - CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); - PrevMilliSecondU16 = CurrentMilliSecondU16; - - bzero(TextBufferC8, TIME_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, "TimeServerIP=", "", TextBufferC8); - bzero(ServerIPC8, TIME_CONTROL_BUFFER_SIZE_20); - strcat(ServerIPC8, TextBufferC8); - IpU32 = TimeControlIPStringToInt(ServerIPC8); - - - if(IpU32 == 0) - { - gettimeofday(&tv, NULL); + C8 TextBufferC8[TIME_CONTROL_BUFFER_SIZE_20]; + C8 ServerIPC8[TIME_CONTROL_BUFFER_SIZE_20]; + U16 ServerPortU16; + I32 SocketfdI32=-1; + struct sockaddr_in time_addr; + + I32 iExit = 0, iCommand, result; + C8 TimeBuffer[TIME_CONTROL_BUFFER_SIZE_54]; + I32 ReceivedNewData, i; + C8 SendData[TIME_INTERVAL_NUMBER_BYTES] = {0, 0, 3, 0xe8}; + //C8 SendData[4] = {0, 0, 0, 1}; + struct timespec sleep_time, ref_time; + C8 MqRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; + struct timeval tv, ExecTime; + struct tm *tm; + + U32 IpU32; + U8 PrevSecondU8; + U16 CurrentMilliSecondU16, PrevMilliSecondU16; + U8 CycleCount = 0; + + LogInit(MODULE_NAME,logLevel); + LogMessage(LOG_LEVEL_INFO,"Time control task running with PID: %i",getpid()); - GPSTime->MicroSecondU16 = 0; - GPSTime->GPSMillisecondsU64 = tv.tv_sec*1000 + tv.tv_usec/1000 - MS_TIME_DIFF_UTC_GPS + MS_LEAP_SEC_DIFF_UTC_GPS; - GPSTime->GPSWeekU16 = (U16)(GPSTime->GPSMillisecondsU64 / WEEK_TIME_MS); - GPSTime->GPSSecondsOfWeekU32 = (U32)((GPSTime->GPSMillisecondsU64 - (U64)(GPSTime->GPSWeekU16) * WEEK_TIME_MS) / 1000); - GPSTime->GPSSecondsOfDayU32 = (GPSTime->GPSMillisecondsU64 % DAY_TIME_MS) / 1000; - GPSTime->GPSMinutesU32 = (GPSTime->GPSSecondsOfDayU32 / 60) % 60; GPSTime->isGPSenabled = 0; - GPSTime->TimeInitiatedU8 = 1; - } - - bzero(TextBufferC8, TIME_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, "TimeServerPort=", "", TextBufferC8); - ServerPortU16 = (U16)atoi(TextBufferC8); - if(IpU32 != 0) - { - TimeControlCreateTimeChannel(ServerIPC8, ServerPortU16, &SocketfdI32, &time_addr); - TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, 4, 0); - GPSTime->isGPSenabled = 1; - LogMessage(LOG_LEVEL_INFO,"Getting time from GPS"); - } else LogMessage(LOG_LEVEL_INFO,"Count fake time"); - - while(!iExit) - { gettimeofday(&ExecTime, NULL); CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); - if(CurrentMilliSecondU16 < PrevMilliSecondU16) - { - GSD->TimeControlExecTimeU16 = CurrentMilliSecondU16 + (1000 - PrevMilliSecondU16); - //printf("%d\n", GSD->TimeControlExecTimeU16); - } - else - { - GSD->TimeControlExecTimeU16 = abs(PrevMilliSecondU16 - CurrentMilliSecondU16); - //printf("%d\n", GSD->TimeControlExecTimeU16); - } PrevMilliSecondU16 = CurrentMilliSecondU16; + // Search .conf file for time server IP + bzero(TextBufferC8, TIME_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(TEST_CONF_FILE, "TimeServerIP=", "", TextBufferC8); + bzero(ServerIPC8, TIME_CONTROL_BUFFER_SIZE_20); + strcat(ServerIPC8, TextBufferC8); + IpU32 = TimeControlIPStringToInt(ServerIPC8); + + // Search .conf file for time server port + bzero(TextBufferC8, TIME_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(TEST_CONF_FILE, "TimeServerPort=", "", TextBufferC8); + ServerPortU16 = (U16)atoi(TextBufferC8); + + // If time server is specified, connect to it if(IpU32 != 0) { - bzero(TimeBuffer,TIME_CONTROL_BUFFER_SIZE_54); - TimeControlRecvTime(&SocketfdI32, TimeBuffer, TIME_CONTROL_BUFFER_SIZE_54, &ReceivedNewData); + LogMessage(LOG_LEVEL_INFO,"Connecting to time server..."); + + if (TimeControlCreateTimeChannel(ServerIPC8, ServerPortU16, &SocketfdI32, &time_addr)) + { + LogMessage(LOG_LEVEL_INFO, "Established connection to time server"); + TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); + GPSTime->isGPSenabled = 1; + } + else + { + LogMessage(LOG_LEVEL_WARNING,"Unable to connect to time server: defaulting to system time"); + // TODO: warn over MQ + } + } - - if(ReceivedNewData && IpU32 != 0) - { - //for(i=0; i < TIME_CONTROL_BUFFER_SIZE_54; i++) printf("%x-", TimeBuffer[i]); - //printf("\n"); - GPSTime->TimeInitiatedU8 = 1; - GPSTime->ProtocolVersionU8 = TimeBuffer[0]; - GPSTime->YearU16 = ((U16)TimeBuffer[1]) << 8 | TimeBuffer[2]; - GPSTime->MonthU8 = TimeBuffer[3]; - GPSTime->DayU8 = TimeBuffer[4]; - GPSTime->HourU8 = TimeBuffer[5]; - GPSTime->MinuteU8 = TimeBuffer[6]; - GPSTime->SecondU8 = TimeBuffer[7]; - GPSTime->MillisecondU16 = ((U16)TimeBuffer[8]) << 8 | TimeBuffer[9]; - GPSTime->MicroSecondU16 = 0; - GPSTime->SecondCounterU32 = ((U32)TimeBuffer[10]) << 24 | ((U32)TimeBuffer[11]) << 16 | ((U32)TimeBuffer[12]) << 8 | TimeBuffer[13]; - GPSTime->GPSMillisecondsU64 = ((U64)TimeBuffer[14]) << 56 | ((U64)TimeBuffer[15]) << 48 | ((U64)TimeBuffer[16]) << 40 | ((U64)TimeBuffer[17]) << 32 | - ((U64)TimeBuffer[18]) << 24 | ((U64)TimeBuffer[19]) << 16 | ((U64)TimeBuffer[20]) << 8 | TimeBuffer[21]; - GPSTime->GPSMinutesU32 = ((U32)TimeBuffer[22]) << 24 | ((U32)TimeBuffer[23]) << 16 | ((U32)TimeBuffer[24]) << 8 | TimeBuffer[25]; - GPSTime->GPSWeekU16 = ((U16)TimeBuffer[26]) << 8 | TimeBuffer[27]; - GPSTime->GPSSecondsOfWeekU32 = ((U32)TimeBuffer[28]) << 24 | ((U32)TimeBuffer[29]) << 16 | ((U32)TimeBuffer[30]) << 8 | TimeBuffer[31]; - GPSTime->GPSSecondsOfDayU32 = ((U32)TimeBuffer[32]) << 24 | ((U32)TimeBuffer[33]) << 16 | ((U32)TimeBuffer[34]) << 8 | TimeBuffer[35]; - GPSTime->ETSIMillisecondsU64 = ((U64)TimeBuffer[36]) << 56 | ((U64)TimeBuffer[37]) << 48 | ((U64)TimeBuffer[38]) << 40 | ((U64)TimeBuffer[39]) << 32 | - ((U64)TimeBuffer[40]) << 24 | ((U64)TimeBuffer[41]) << 16 | ((U64)TimeBuffer[42]) << 8 | TimeBuffer[43]; - GPSTime->LatitudeU32 = ((U32)TimeBuffer[44]) << 24 | ((U32)TimeBuffer[45]) << 16 | ((U32)TimeBuffer[46]) << 8 | TimeBuffer[47]; - GPSTime->LongitudeU32 = ((U32)TimeBuffer[48]) << 24 | ((U32)TimeBuffer[49]) << 16 | ((U32)TimeBuffer[50]) << 8 | TimeBuffer[51]; - GPSTime->FixQualityU8 = TimeBuffer[52]; - GPSTime->NSatellitesU8 = TimeBuffer[53]; - - gettimeofday(&tv, NULL); - - GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); - - //TimeControlGetMillisecond(GPSTime); - //printf("ProtocolVersionU8: %d\n", GPSTime->ProtocolVersionU8); - //printf("YearU16: %d\n", GPSTime->YearU16); - //printf("MonthU8: %d\n", GPSTime->MonthU8); - //printf("DayU8: %d\n", GPSTime->DayU8); - //printf("HourU8: %d\n", GPSTime->HourU8); - //printf("MinuteU8: %d\n", GPSTime->MinuteU8); - //printf("SecondU8: %d\n", GPSTime->SecondU8); - //printf("MillisecondU16: %d\n", GPSTime->MillisecondU16); - //printf("SecondCounterU32: %d\n", GPSTime->SecondCounterU32); - //printf("GPSMillisecondsU64: %ld\n", GPSTime->GPSMillisecondsU64); - //printf("GPSMinutesU32: %d\n", GPSTime->GPSMinutesU32); - //printf("GPSWeekU16: %d\n", GPSTime->GPSWeekU16); - //printf("GPSSecondsOfWeekU32: %d\n", GPSTime->GPSSecondsOfWeekU32); - //printf("GPSSecondsOfDayU32: %d\n", GPSTime->GPSSecondsOfDayU32); - //printf("ETSIMillisecondsU64: %ld\n", GPSTime->ETSIMillisecondsU64); - //printf("LatitudeU32: %d\n", GPSTime->LatitudeU32); - //printf("LongitudeU32: %d\n", GPSTime->LongitudeU32); - //printf("LocalMillisecondU16: %d\n", GPSTime->LocalMillisecondU16); - //printf("FixQualityU8: %d\n", GPSTime->FixQualityU8); - //printf("NSatellitesU8: %d\n", GPSTime->NSatellitesU8); + + if (!GPSTime->isGPSenabled) { + LogMessage(LOG_LEVEL_INFO,"Initializing with system time"); + + gettimeofday(&tv, NULL); + + GPSTime->MicroSecondU16 = 0; + GPSTime->GPSMillisecondsU64 = tv.tv_sec*1000 + tv.tv_usec/1000 - MS_TIME_DIFF_UTC_GPS + MS_LEAP_SEC_DIFF_UTC_GPS; + GPSTime->GPSWeekU16 = (U16)(GPSTime->GPSMillisecondsU64 / WEEK_TIME_MS); + GPSTime->GPSSecondsOfWeekU32 = (U32)((GPSTime->GPSMillisecondsU64 - (U64)(GPSTime->GPSWeekU16) * WEEK_TIME_MS) / 1000); + GPSTime->GPSSecondsOfDayU32 = (GPSTime->GPSMillisecondsU64 % DAY_TIME_MS) / 1000; + GPSTime->GPSMinutesU32 = (GPSTime->GPSSecondsOfDayU32 / 60) % 60; + GPSTime->TimeInitiatedU8 = 1; } - else if(IpU32 == 0) + + while(!iExit) { - gettimeofday(&tv, NULL); - - tm = localtime(&tv.tv_sec); - - // Add 1900 to get the right year value - GPSTime->YearU16 = (U16)tm->tm_year + 1900; - // Months are 0 based in struct tm - GPSTime->MonthU8 = (U8)tm->tm_mon + 1; - GPSTime->DayU8 = (U8)tm->tm_mday; - GPSTime->HourU8 = (U8)tm->tm_hour; - GPSTime->MinuteU8 = (U8)tm->tm_min; - GPSTime->SecondU8 = (U8)tm->tm_sec; - GPSTime->MillisecondU16 = (U16) (tv.tv_usec / 1000); - - GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); - - GPSTime->GPSMillisecondsU64 = GPSTime->GPSMillisecondsU64 + 1000; - - if(GPSTime->SecondU8 != PrevSecondU8) - { - PrevSecondU8 = GPSTime->SecondU8; - GPSTime->SecondCounterU32 ++; - if(GPSTime->GPSSecondsOfDayU32 >= 86400) GPSTime->GPSSecondsOfDayU32 = 0; - else GPSTime->GPSSecondsOfDayU32 ++; - - if(GPSTime->GPSSecondsOfWeekU32 >= 604800) + + gettimeofday(&ExecTime, NULL); + CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); + if(CurrentMilliSecondU16 < PrevMilliSecondU16) { - GPSTime->GPSSecondsOfWeekU32 = 0; - GPSTime->GPSWeekU16 ++; - } else GPSTime->GPSSecondsOfWeekU32 ++; + GSD->TimeControlExecTimeU16 = CurrentMilliSecondU16 + (1000 - PrevMilliSecondU16); + //printf("%d\n", GSD->TimeControlExecTimeU16); + } + else + { + GSD->TimeControlExecTimeU16 = abs(PrevMilliSecondU16 - CurrentMilliSecondU16); + //printf("%d\n", GSD->TimeControlExecTimeU16); + } + PrevMilliSecondU16 = CurrentMilliSecondU16; + + if(IpU32 != 0) + { + bzero(TimeBuffer,TIME_CONTROL_BUFFER_SIZE_54); + TimeControlRecvTime(&SocketfdI32, TimeBuffer, TIME_CONTROL_BUFFER_SIZE_54, &ReceivedNewData); + } - if(GPSTime->SecondCounterU32 % 60 == 0) GPSTime->GPSMinutesU32 ++; - } + if(ReceivedNewData && IpU32 != 0) + { + + TimeControlDecodeTimeBuffer(GPSTime, TimeBuffer, 0); + + } + else if(IpU32 == 0) + { + gettimeofday(&tv, NULL); + + tm = localtime(&tv.tv_sec); + + // Add 1900 to get the right year value + GPSTime->YearU16 = (U16)tm->tm_year + 1900; + // Months are 0 based in struct tm + GPSTime->MonthU8 = (U8)tm->tm_mon + 1; + GPSTime->DayU8 = (U8)tm->tm_mday; + GPSTime->HourU8 = (U8)tm->tm_hour; + GPSTime->MinuteU8 = (U8)tm->tm_min; + GPSTime->SecondU8 = (U8)tm->tm_sec; + GPSTime->MillisecondU16 = (U16) (tv.tv_usec / 1000); + + GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); + + GPSTime->GPSMillisecondsU64 = GPSTime->GPSMillisecondsU64 + 1000; + + if(GPSTime->SecondU8 != PrevSecondU8) + { + PrevSecondU8 = GPSTime->SecondU8; + GPSTime->SecondCounterU32 ++; + if(GPSTime->GPSSecondsOfDayU32 >= 86400) GPSTime->GPSSecondsOfDayU32 = 0; + else GPSTime->GPSSecondsOfDayU32 ++; + + if(GPSTime->GPSSecondsOfWeekU32 >= 604800) + { + GPSTime->GPSSecondsOfWeekU32 = 0; + GPSTime->GPSWeekU16 ++; + } else GPSTime->GPSSecondsOfWeekU32 ++; + + if(GPSTime->SecondCounterU32 % 60 == 0) GPSTime->GPSMinutesU32 ++; + } + } + + if(GSD->ExitU8 == 1) + { + if(IpU32) + { + SendData[0] = 0, SendData[1] = 0, SendData[2] = 0, SendData[3] = 0; + TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, 4, 0); + } + iExit = 1; + LogMessage(LOG_LEVEL_INFO,"Time control exiting"); + (void)iCommClose(); + } + + if(ReceivedNewData == 1 && IpU32 != 0) + { + /* Make call periodic */ + sleep_time.tv_sec = 0; + sleep_time.tv_nsec = 500000000; + nanosleep(&sleep_time,&ref_time); + } + else if (IpU32 == 0) + { + sleep_time.tv_sec = 1; + sleep_time.tv_nsec = 0;//100000000; + nanosleep(&sleep_time,&ref_time); + } } +} - if(GSD->ExitU8 == 1) +U16 TimeControlGetMillisecond(TimeType *GPSTime) +{ + struct timeval now; + U16 MilliU16 = 0, NowU16 = 0; + gettimeofday(&now, NULL); + NowU16 = (U16)(now.tv_usec / 1000); + //if(NowU16 >= GPSTime->LocalMillisecondU16) MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; + //else if(NowU16 < GPSTime->LocalMillisecondU16) MilliU16 = 1000 + ((I16)NowU16 - (I16)GPSTime->LocalMillisecondU16); + + if(NowU16 >= GPSTime->LocalMillisecondU16) MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; + else if(NowU16 < GPSTime->LocalMillisecondU16) MilliU16 = 1000 - GPSTime->LocalMillisecondU16 + NowU16; + + //printf("Result= %d, now= %d, local= %d \n", MilliU16, NowU16, GPSTime->LocalMillisecondU16); + return MilliU16; +} + +static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr) +{ + int result; + struct hostent *object; + const char packetIntervalMs[TIME_INTERVAL_NUMBER_BYTES] = {0,0,0,100}; + C8 timeBuffer[TIME_CONTROL_BUFFER_SIZE_54]; + int receivedNewData = 0; + struct timeval timeout = {TIMEOUT_S, 0}; + struct timeval tEnd,tCurr; + + LogMessage(LOG_LEVEL_INFO,"Time source address: %s:%d",name,port); + /* Connect to object safety socket */ + + *sockfd= socket(AF_INET, SOCK_DGRAM, 0); + if (*sockfd < 0) { - if(IpU32) - { - SendData[0] = 0, SendData[1] = 0, SendData[2] = 0, SendData[3] = 0; - TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, 4, 0); - } - iExit = 1; - LogMessage(LOG_LEVEL_INFO,"Time control exiting"); - (void)iCommClose(); + util_error("Failed to connect to time socket"); } - if(ReceivedNewData == 1 && IpU32 != 0) + /* Set address to object */ + object = gethostbyname(name); + + if (object==NULL) { - /* Make call periodic */ - sleep_time.tv_sec = 0; - sleep_time.tv_nsec = 500000000; - nanosleep(&sleep_time,&ref_time); + util_error("Unknown host"); } - else if (IpU32 == 0) + + bcopy((char *) object->h_addr, + (char *)&addr->sin_addr.s_addr, object->h_length); + addr->sin_family = AF_INET; + addr->sin_port = htons(port); + + + if (setsockopt (*sockfd, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)) < 0) util_error("Setsockopt failed"); + + + + /* set socket to non-blocking */ + result = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); + if (result < 0) { - sleep_time.tv_sec = 1; - sleep_time.tv_nsec = 0;//100000000; - nanosleep(&sleep_time,&ref_time); + util_error("Error calling fcntl"); } - } -} + LogMessage(LOG_LEVEL_INFO,"Created socket and time address: %s:%d",name,port); -U16 TimeControlGetMillisecond(TimeType *GPSTime) -{ - struct timeval now; - U16 MilliU16 = 0, NowU16 = 0; - gettimeofday(&now, NULL); - NowU16 = (U16)(now.tv_usec / 1000); - //if(NowU16 >= GPSTime->LocalMillisecondU16) MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; - //else if(NowU16 < GPSTime->LocalMillisecondU16) MilliU16 = 1000 + ((I16)NowU16 - (I16)GPSTime->LocalMillisecondU16); - - if(NowU16 >= GPSTime->LocalMillisecondU16) MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; - else if(NowU16 < GPSTime->LocalMillisecondU16) MilliU16 = 1000 - GPSTime->LocalMillisecondU16 + NowU16; - - //printf("Result= %d, now= %d, local= %d \n", MilliU16, NowU16, GPSTime->LocalMillisecondU16); - return MilliU16; -} + // Check for existence of remote server + LogMessage(LOG_LEVEL_INFO,"Awaiting reply from time server..."); + // Set send interval to be as short as possible to minimise wait for reply + TimeControlSendUDPData(sockfd, addr, packetIntervalMs, TIME_INTERVAL_NUMBER_BYTES, 0); -static void TimeControlCreateTimeChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr) -{ - int result; - struct hostent *object; - - LogMessage(LOG_LEVEL_INFO,"Time source address: %s:%d",name,port); - /* Connect to object safety socket */ - - *sockfd= socket(AF_INET, SOCK_DGRAM, 0); - if (*sockfd < 0) - { - util_error("[TimeControl] ERR: Failed to connect to time socket"); - } - - /* Set address to object */ - object = gethostbyname(name); - - if (object==NULL) - { - util_error("[TimeControl] ERR: Unknown host"); - } - - bcopy((char *) object->h_addr, - (char *)&addr->sin_addr.s_addr, object->h_length); - addr->sin_family = AF_INET; - addr->sin_port = htons(port); - - - struct timeval timeout; - timeout.tv_sec = 2; - timeout.tv_usec = 0; - - if (setsockopt (*sockfd, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)) < 0) util_error("[TimeControl] Setsockopt failed\n"); - - - - /* set socket to non-blocking */ - result = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); - if (result < 0) - { - util_error("[TimeControl] ERR: calling fcntl"); - } - LogMessage(LOG_LEVEL_INFO,"Created socket and time address: %s:%d",name,port); + // Set time to stop waiting for reply + gettimeofday(&tEnd, NULL); + timeradd(&tEnd,&timeout,&tEnd); + + do + { + gettimeofday(&tCurr, NULL); + TimeControlRecvTime(sockfd, timeBuffer, TIME_CONTROL_BUFFER_SIZE_54, &receivedNewData); + } while (!receivedNewData && timercmp(&tCurr,&tEnd,<)); + + return receivedNewData; } @@ -337,86 +325,147 @@ U32 TimeControlIPStringToInt(C8 *IP) p = strchr(IP,'.'); if(p != NULL) { - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; + bzero(Buffer,3); + strncpy(Buffer, ps, (U64)p - (U64)ps); + IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; - ps = p + 1; - p = strchr(ps,'.'); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + ps = p + 1; + p = strchr(ps,'.'); + bzero(Buffer,3); + strncpy(Buffer, ps, (U64)p - (U64)ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; + IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; - ps = p + 1; - p = strchr(ps,'.'); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + ps = p + 1; + p = strchr(ps,'.'); + bzero(Buffer,3); + strncpy(Buffer, ps, (U64)p - (U64)ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; + IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; - ps = p + 1; - p = strchr(ps, 0); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + ps = p + 1; + p = strchr(ps, 0); + bzero(Buffer,3); + strncpy(Buffer, ps, (U64)p - (U64)ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)); + IpU32 = (IpU32 | (U32)atoi(Buffer)); - //printf("IpU32 = %x\n", IpU32); + //printf("IpU32 = %x\n", IpU32); } return IpU32; } -static int TimeControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendData, int Length, char debug) +static int TimeControlSendUDPData(int* sockfd, struct sockaddr_in* addr, C8* SendData, int Length, char debug) { int result, i; - + result = sendto(*sockfd, SendData, Length, 0, (const struct sockaddr *) addr, sizeof(struct sockaddr_in)); - + if(debug) { // TODO: Change to log write when bytes thingy has been implemented - for(i = 0;i < Length; i ++) printf("[%d]=%x ", i, (C8)*(SendData+i)); - printf("\n"); + for(i = 0;i < Length; i ++) printf("[%d]=%x ", i, (C8)*(SendData+i)); + printf("\n"); } if (result < 0) { - util_error("[TimeControl] ERR: Failed to send on time socket"); + util_error("Failed to send on time socket"); } return 0; } -static void TimeControlRecvTime(int* sockfd, char* buffer, int length, int* recievedNewData) +static void TimeControlRecvTime(int* sockfd, C8* buffer, int length, int* recievedNewData) { - int result; - *recievedNewData = 0; + int result; + *recievedNewData = 0; do { - - result = recv(*sockfd, buffer, length, 0); - - if (result < 0) - { - if(errno != EAGAIN && errno != EWOULDBLOCK) + + result = recv(*sockfd, buffer, length, 0); + + if (result < 0) { - util_error("[TimeControl] ERR: Failed to receive from time socket"); + if(errno != EAGAIN && errno != EWOULDBLOCK) + { + util_error("Failed to receive from time socket"); + } + else + { + LogMessage(LOG_LEVEL_DEBUG,"No data received, result=%d", result); + } } else { - LogMessage(LOG_LEVEL_DEBUG,"No data received, result=%d", result); - } - } - else - { - *recievedNewData = 1; - LogMessage(LOG_LEVEL_DEBUG,"Received data: <%s>, result=%d",buffer, result); + *recievedNewData = 1; + LogMessage(LOG_LEVEL_DEBUG,"Received data: <%s>, result=%d",buffer, result); - } + } } while(result > 0 ); } + +static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 debug) +{ + struct timeval tv; + gettimeofday(&tv, NULL); + + GPSTime->ProtocolVersionU8 = TimeBuffer[0]; + GPSTime->YearU16 = ((U16)TimeBuffer[1]) << 8 | TimeBuffer[2]; + GPSTime->MonthU8 = TimeBuffer[3]; + GPSTime->DayU8 = TimeBuffer[4]; + GPSTime->HourU8 = TimeBuffer[5]; + GPSTime->MinuteU8 = TimeBuffer[6]; + GPSTime->SecondU8 = TimeBuffer[7]; + GPSTime->MillisecondU16 = ((U16)TimeBuffer[8]) << 8 | TimeBuffer[9]; + GPSTime->MicroSecondU16 = 0; + GPSTime->SecondCounterU32 = ((U32)TimeBuffer[10]) << 24 | ((U32)TimeBuffer[11]) << 16 | ((U32)TimeBuffer[12]) << 8 | TimeBuffer[13]; + GPSTime->GPSMillisecondsU64 = ((U64)TimeBuffer[14]) << 56 | ((U64)TimeBuffer[15]) << 48 | ((U64)TimeBuffer[16]) << 40 | ((U64)TimeBuffer[17]) << 32 | + ((U64)TimeBuffer[18]) << 24 | ((U64)TimeBuffer[19]) << 16 | ((U64)TimeBuffer[20]) << 8 | TimeBuffer[21]; + GPSTime->GPSMinutesU32 = ((U32)TimeBuffer[22]) << 24 | ((U32)TimeBuffer[23]) << 16 | ((U32)TimeBuffer[24]) << 8 | TimeBuffer[25]; + GPSTime->GPSWeekU16 = ((U16)TimeBuffer[26]) << 8 | TimeBuffer[27]; + GPSTime->GPSSecondsOfWeekU32 = ((U32)TimeBuffer[28]) << 24 | ((U32)TimeBuffer[29]) << 16 | ((U32)TimeBuffer[30]) << 8 | TimeBuffer[31]; + GPSTime->GPSSecondsOfDayU32 = ((U32)TimeBuffer[32]) << 24 | ((U32)TimeBuffer[33]) << 16 | ((U32)TimeBuffer[34]) << 8 | TimeBuffer[35]; + GPSTime->ETSIMillisecondsU64 = ((U64)TimeBuffer[36]) << 56 | ((U64)TimeBuffer[37]) << 48 | ((U64)TimeBuffer[38]) << 40 | ((U64)TimeBuffer[39]) << 32 | + ((U64)TimeBuffer[40]) << 24 | ((U64)TimeBuffer[41]) << 16 | ((U64)TimeBuffer[42]) << 8 | TimeBuffer[43]; + GPSTime->LatitudeU32 = ((U32)TimeBuffer[44]) << 24 | ((U32)TimeBuffer[45]) << 16 | ((U32)TimeBuffer[46]) << 8 | TimeBuffer[47]; + GPSTime->LongitudeU32 = ((U32)TimeBuffer[48]) << 24 | ((U32)TimeBuffer[49]) << 16 | ((U32)TimeBuffer[50]) << 8 | TimeBuffer[51]; + GPSTime->FixQualityU8 = TimeBuffer[52]; + GPSTime->NSatellitesU8 = TimeBuffer[53]; + + gettimeofday(&tv, NULL); + + GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); + + GPSTime->TimeInitiatedU8 = 1; + + if (debug) + { + //TimeControlGetMillisecond(GPSTime); + LogPrintBytes(TimeBuffer,0,TIME_CONTROL_BUFFER_SIZE_54); + LogPrint("ProtocolVersionU8: %d", GPSTime->ProtocolVersionU8); + LogPrint("YearU16: %d", GPSTime->YearU16); + LogPrint("MonthU8: %d", GPSTime->MonthU8); + LogPrint("DayU8: %d", GPSTime->DayU8); + LogPrint("HourU8: %d", GPSTime->HourU8); + LogPrint("MinuteU8: %d", GPSTime->MinuteU8); + LogPrint("SecondU8: %d", GPSTime->SecondU8); + LogPrint("MillisecondU16: %d", GPSTime->MillisecondU16); + LogPrint("SecondCounterU32: %d", GPSTime->SecondCounterU32); + LogPrint("GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); + LogPrint("GPSMinutesU32: %d", GPSTime->GPSMinutesU32); + LogPrint("GPSWeekU16: %d", GPSTime->GPSWeekU16); + LogPrint("GPSSecondsOfWeekU32: %d", GPSTime->GPSSecondsOfWeekU32); + LogPrint("GPSSecondsOfDayU32: %d", GPSTime->GPSSecondsOfDayU32); + LogPrint("ETSIMillisecondsU64: %ld", GPSTime->ETSIMillisecondsU64); + LogPrint("LatitudeU32: %d", GPSTime->LatitudeU32); + LogPrint("LongitudeU32: %d", GPSTime->LongitudeU32); + LogPrint("LocalMillisecondU16: %d", GPSTime->LocalMillisecondU16); + LogPrint("FixQualityU8: %d", GPSTime->FixQualityU8); + LogPrint("NSatellitesU8: %d", GPSTime->NSatellitesU8); + } +} From 601952254672ed8e7c28f76482f07f089c8bcdc5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 13:36:08 +0100 Subject: [PATCH 008/730] Made shared memory volatile --- server/inc/util.h | 46 +++++++++++++++++++++++----------------------- 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 940552b15..65b9f8543 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -489,29 +489,29 @@ typedef struct typedef struct { - U8 isGPSenabled; - U8 ProtocolVersionU8; - U16 YearU16; - U8 MonthU8; - U8 DayU8; - U8 HourU8; - U8 MinuteU8; - U8 SecondU8; - U16 MillisecondU16; - U16 MicroSecondU16; - U32 SecondCounterU32; - U64 GPSMillisecondsU64; - U32 GPSMinutesU32; - U16 GPSWeekU16; - U32 GPSSecondsOfWeekU32; - U32 GPSSecondsOfDayU32; - U64 ETSIMillisecondsU64; - U32 LatitudeU32; - U32 LongitudeU32; - U16 LocalMillisecondU16; - U8 FixQualityU8; - U8 NSatellitesU8; - U8 TimeInitiatedU8; + volatile U8 isGPSenabled; + volatile U8 ProtocolVersionU8; + volatile U16 YearU16; + volatile U8 MonthU8; + volatile U8 DayU8; + volatile U8 HourU8; + volatile U8 MinuteU8; + volatile U8 SecondU8; + volatile U16 MillisecondU16; + volatile U16 MicroSecondU16; + volatile U32 SecondCounterU32; + volatile U64 GPSMillisecondsU64; + volatile U32 GPSMinutesU32; + volatile U16 GPSWeekU16; + volatile U32 GPSSecondsOfWeekU32; + volatile U32 GPSSecondsOfDayU32; + volatile U64 ETSIMillisecondsU64; + volatile U32 LatitudeU32; + volatile U32 LongitudeU32; + volatile U16 LocalMillisecondU16; + volatile U8 FixQualityU8; + volatile U8 NSatellitesU8; + volatile U8 TimeInitiatedU8; } TimeType; From bfaf937a867066bc6adfab230775791443234e1f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 13:45:45 +0100 Subject: [PATCH 009/730] Started using isGPSenabled instead of IPU8 variable for controlling program flow. Renamed a boolean to include 'is'. --- server/src/main.c | 2 +- server/src/timecontrol.c | 23 +++++++++-------------- 2 files changed, 10 insertions(+), 15 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index bfa87f5d0..745ab8685 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -62,7 +62,7 @@ int main(int argc, char *argv[]) GSD->ExitU8 = 0; GSD->ScenarioStartTimeU32 = 0; - GPSTime->TimeInitiatedU8 = 0; + GPSTime->isTimeInitializedU8 = 0; pid_t pID[8]; int iIndex = 0; diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index fa789f17c..744f92794 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -138,7 +138,7 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) GPSTime->GPSSecondsOfWeekU32 = (U32)((GPSTime->GPSMillisecondsU64 - (U64)(GPSTime->GPSWeekU16) * WEEK_TIME_MS) / 1000); GPSTime->GPSSecondsOfDayU32 = (GPSTime->GPSMillisecondsU64 % DAY_TIME_MS) / 1000; GPSTime->GPSMinutesU32 = (GPSTime->GPSSecondsOfDayU32 / 60) % 60; - GPSTime->TimeInitiatedU8 = 1; + GPSTime->isTimeInitializedU8 = 1; } while(!iExit) @@ -158,19 +158,14 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) } PrevMilliSecondU16 = CurrentMilliSecondU16; - if(IpU32 != 0) + if(GPSTime->isGPSenabled) { bzero(TimeBuffer,TIME_CONTROL_BUFFER_SIZE_54); TimeControlRecvTime(&SocketfdI32, TimeBuffer, TIME_CONTROL_BUFFER_SIZE_54, &ReceivedNewData); - } - - if(ReceivedNewData && IpU32 != 0) - { - - TimeControlDecodeTimeBuffer(GPSTime, TimeBuffer, 0); + if(ReceivedNewData) TimeControlDecodeTimeBuffer(GPSTime, TimeBuffer, 0); } - else if(IpU32 == 0) + else if(!GPSTime->isGPSenabled) { gettimeofday(&tv, NULL); @@ -209,24 +204,24 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) if(GSD->ExitU8 == 1) { - if(IpU32) + if(GPSTime->isGPSenabled) { SendData[0] = 0, SendData[1] = 0, SendData[2] = 0, SendData[3] = 0; - TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, 4, 0); + TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); } iExit = 1; LogMessage(LOG_LEVEL_INFO,"Time control exiting"); (void)iCommClose(); } - if(ReceivedNewData == 1 && IpU32 != 0) + if(ReceivedNewData && GPSTime->isGPSenabled) { /* Make call periodic */ sleep_time.tv_sec = 0; sleep_time.tv_nsec = 500000000; nanosleep(&sleep_time,&ref_time); } - else if (IpU32 == 0) + else if (!GPSTime->isGPSenabled) { sleep_time.tv_sec = 1; sleep_time.tv_nsec = 0;//100000000; @@ -441,7 +436,7 @@ static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 de GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); - GPSTime->TimeInitiatedU8 = 1; + GPSTime->isTimeInitializedU8 = 1; if (debug) { From e5c74aaf62ee532c2734c7a8e882520fe7fb842d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 13:48:30 +0100 Subject: [PATCH 010/730] Also renamed in util... --- server/inc/util.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 65b9f8543..a393b4f0c 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -511,7 +511,7 @@ typedef struct volatile U16 LocalMillisecondU16; volatile U8 FixQualityU8; volatile U8 NSatellitesU8; - volatile U8 TimeInitiatedU8; + volatile U8 isTimeInitializedU8; } TimeType; From c1c5106747a1f147e667001a3808ac7ad7876f8f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 13:49:33 +0100 Subject: [PATCH 011/730] Refactored stuff --- server/src/timecontrol.c | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 744f92794..415d1a238 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -36,7 +36,13 @@ #define TIME_CONTROL_BUFFER_SIZE_54 54 #define TIME_CONTROL_TASK_PERIOD_MS 1 #define TIME_INTERVAL_NUMBER_BYTES 4 -#define TIMEOUT_S 2 +#define REPLY_TIMEOUT_S 2 + +#define SLEEP_TIME_GPS_CONNECTED_S 0 +#define SLEEP_TIME_GPS_CONNECTED_NS 500000000 +#define SLEEP_TIME_NO_GPS_CONNECTED_S 1 +#define SLEEP_TIME_NO_GPS_CONNECTED_NS 0 + #define LOG_PATH "./timelog/" #define LOG_FILE "time.log" @@ -217,8 +223,8 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) if(ReceivedNewData && GPSTime->isGPSenabled) { /* Make call periodic */ - sleep_time.tv_sec = 0; - sleep_time.tv_nsec = 500000000; + sleep_time.tv_sec = SLEEP_TIME_GPS_CONNECTED_S; + sleep_time.tv_nsec = SLEEP_TIME_GPS_CONNECTED_NS; nanosleep(&sleep_time,&ref_time); } else if (!GPSTime->isGPSenabled) @@ -253,7 +259,7 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in const char packetIntervalMs[TIME_INTERVAL_NUMBER_BYTES] = {0,0,0,100}; C8 timeBuffer[TIME_CONTROL_BUFFER_SIZE_54]; int receivedNewData = 0; - struct timeval timeout = {TIMEOUT_S, 0}; + struct timeval timeout = {REPLY_TIMEOUT_S, 0}; struct timeval tEnd,tCurr; LogMessage(LOG_LEVEL_INFO,"Time source address: %s:%d",name,port); From edd59d4c53b382b585518042e8fae941044d03ba Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 13:53:51 +0100 Subject: [PATCH 012/730] Fixed build warning for cast of const to non-const --- server/src/timecontrol.c | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 415d1a238..fe8c3027b 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -32,8 +32,8 @@ #define TIME_CONTROL_CONF_FILE_PATH "conf/test.conf" -#define TIME_CONTROL_BUFFER_SIZE_20 20 -#define TIME_CONTROL_BUFFER_SIZE_54 54 +#define TIME_CONTROL_HOSTNAME_BUFFER_SIZE 20 +#define TIME_CONTROL_RECEIVE_BUFFER_SIZE 54 #define TIME_CONTROL_TASK_PERIOD_MS 1 #define TIME_INTERVAL_NUMBER_BYTES 4 #define REPLY_TIMEOUT_S 2 @@ -72,14 +72,14 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; int timecontrol_task(TimeType *GPSTime, GSDType *GSD) { - C8 TextBufferC8[TIME_CONTROL_BUFFER_SIZE_20]; - C8 ServerIPC8[TIME_CONTROL_BUFFER_SIZE_20]; + C8 TextBufferC8[TIME_CONTROL_HOSTNAME_BUFFER_SIZE]; + C8 ServerIPC8[TIME_CONTROL_HOSTNAME_BUFFER_SIZE]; U16 ServerPortU16; I32 SocketfdI32=-1; struct sockaddr_in time_addr; I32 iExit = 0, iCommand, result; - C8 TimeBuffer[TIME_CONTROL_BUFFER_SIZE_54]; + C8 TimeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; I32 ReceivedNewData, i; C8 SendData[TIME_INTERVAL_NUMBER_BYTES] = {0, 0, 3, 0xe8}; //C8 SendData[4] = {0, 0, 0, 1}; @@ -103,14 +103,14 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) PrevMilliSecondU16 = CurrentMilliSecondU16; // Search .conf file for time server IP - bzero(TextBufferC8, TIME_CONTROL_BUFFER_SIZE_20); + bzero(TextBufferC8, TIME_CONTROL_HOSTNAME_BUFFER_SIZE); UtilSearchTextFile(TEST_CONF_FILE, "TimeServerIP=", "", TextBufferC8); - bzero(ServerIPC8, TIME_CONTROL_BUFFER_SIZE_20); + bzero(ServerIPC8, TIME_CONTROL_HOSTNAME_BUFFER_SIZE); strcat(ServerIPC8, TextBufferC8); IpU32 = TimeControlIPStringToInt(ServerIPC8); // Search .conf file for time server port - bzero(TextBufferC8, TIME_CONTROL_BUFFER_SIZE_20); + bzero(TextBufferC8, TIME_CONTROL_HOSTNAME_BUFFER_SIZE); UtilSearchTextFile(TEST_CONF_FILE, "TimeServerPort=", "", TextBufferC8); ServerPortU16 = (U16)atoi(TextBufferC8); @@ -166,8 +166,8 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) if(GPSTime->isGPSenabled) { - bzero(TimeBuffer,TIME_CONTROL_BUFFER_SIZE_54); - TimeControlRecvTime(&SocketfdI32, TimeBuffer, TIME_CONTROL_BUFFER_SIZE_54, &ReceivedNewData); + bzero(TimeBuffer,TIME_CONTROL_RECEIVE_BUFFER_SIZE); + TimeControlRecvTime(&SocketfdI32, TimeBuffer, TIME_CONTROL_RECEIVE_BUFFER_SIZE, &ReceivedNewData); if(ReceivedNewData) TimeControlDecodeTimeBuffer(GPSTime, TimeBuffer, 0); } @@ -256,8 +256,8 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in { int result; struct hostent *object; - const char packetIntervalMs[TIME_INTERVAL_NUMBER_BYTES] = {0,0,0,100}; - C8 timeBuffer[TIME_CONTROL_BUFFER_SIZE_54]; + char packetIntervalMs[TIME_INTERVAL_NUMBER_BYTES] = {0,0,0,100}; // Make server send with this interval while waiting for first reply + C8 timeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; int receivedNewData = 0; struct timeval timeout = {REPLY_TIMEOUT_S, 0}; struct timeval tEnd,tCurr; @@ -309,7 +309,7 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in do { gettimeofday(&tCurr, NULL); - TimeControlRecvTime(sockfd, timeBuffer, TIME_CONTROL_BUFFER_SIZE_54, &receivedNewData); + TimeControlRecvTime(sockfd, timeBuffer, TIME_CONTROL_RECEIVE_BUFFER_SIZE, &receivedNewData); } while (!receivedNewData && timercmp(&tCurr,&tEnd,<)); return receivedNewData; @@ -447,7 +447,7 @@ static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 de if (debug) { //TimeControlGetMillisecond(GPSTime); - LogPrintBytes(TimeBuffer,0,TIME_CONTROL_BUFFER_SIZE_54); + LogPrintBytes(TimeBuffer,0,TIME_CONTROL_RECEIVE_BUFFER_SIZE); LogPrint("ProtocolVersionU8: %d", GPSTime->ProtocolVersionU8); LogPrint("YearU16: %d", GPSTime->YearU16); LogPrint("MonthU8: %d", GPSTime->MonthU8); From bd347dc6d2f8ed070e2f0b347429fd4801206f6e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 13:55:12 +0100 Subject: [PATCH 013/730] Fixed another warning --- server/src/timecontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index fe8c3027b..ef631f825 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -256,7 +256,7 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in { int result; struct hostent *object; - char packetIntervalMs[TIME_INTERVAL_NUMBER_BYTES] = {0,0,0,100}; // Make server send with this interval while waiting for first reply + C8 packetIntervalMs[TIME_INTERVAL_NUMBER_BYTES] = {0,0,0,100}; // Make server send with this interval while waiting for first reply C8 timeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; int 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z;~t}jFZ=B5SG@emslHK(2hdeJsB7ou%jQjW+6gd==DP>B06&$WUNVl^Dy|R{%`$iU zvCF5`e?akO1Yo>Wp2=hG4bwr}7r}l1ArRX$k+CN|mfF>6XST3UvmACJV@0t&I1fgE zK^VK&M@!7rAY!LQL?ot@zS84%o^X66X$=74;or-Qkw$s0rxJF025Y$WDoDbNXs|MW zVfIX56L6og5REY-hi0KAZRz4pEXcx?@Mk&*)EX~K{s4cOFk!+;z6vM`J$vG;a+Xfu zr?Y(nmSpkzRQm4tQq{<@#^#}fITpd^|n9(~DEq}f0NO<{C?mvOotCZrLA zv@M(gvrPe2rLE%Nr)%ykTNZdgF&_-2O%PXfvc9WzL!N{kKf)?nv)@BXFZ^gM@xdJV(sLSZYO62A!z_#~t%$8J`QZ3(#fcm>Wl zrO-E^<8HwEP|&JJp}rTAZ0B&)LCIRg9D6u@=^`fJIEbWeQBr8hNg-#Uv3;bv^ zW6NtCcZFO0pHxtoHL_M(1UQmQRrAaE-CSl}a!X>5je~N=$Qet_aKKy@6G1BMv!ttf!|0DbSkNhfB`khX{3Fzkb a86jbNM3iOY+%}NNK=Lxm(k0JK-~BI^VK1Qo literal 0 HcmV?d00001 From 6b571c3d614336389f27032f91ffddae753d5acc Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 17:58:53 +0100 Subject: [PATCH 015/730] Edited a printout --- server/src/logger.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index d2ea21d02..411121017 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -477,7 +477,7 @@ void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) iResult = mkdir(logFolder, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH); if (iResult < 0) { - util_error("ERR: Failed to create LOG dir"); + util_error("Failed to create LOG dir"); } } From b8b2e941c0ece3c7385258c621fb3967b319fa12 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 17:59:39 +0100 Subject: [PATCH 016/730] Added a log data printout --- server/src/timecontrol.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index ef631f825..f9a22a03d 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -45,6 +45,7 @@ #define LOG_PATH "./timelog/" #define LOG_FILE "time.log" +#define LOG_BUFFER_LENGTH 128 /*------------------------------------------------------------ -- Function declarations. @@ -80,6 +81,7 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) I32 iExit = 0, iCommand, result; C8 TimeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; + C8 LogBuffer[LOG_BUFFER_LENGTH]; I32 ReceivedNewData, i; C8 SendData[TIME_INTERVAL_NUMBER_BYTES] = {0, 0, 3, 0xe8}; //C8 SendData[4] = {0, 0, 0, 1}; @@ -127,8 +129,10 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) } else { - LogMessage(LOG_LEVEL_WARNING,"Unable to connect to time server: defaulting to system time"); - // TODO: warn over MQ + LogMessage(LOG_LEVEL_WARNING, "Unable to connect to time server: defaulting to system time"); + + // Send warning over MQ + LOG_SEND(LogBuffer, "Unable to connect to time server"); } } From 857cd5e9cc817c9039264d23e7a990557b6b02e8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 18:00:56 +0100 Subject: [PATCH 017/730] Whitespaces --- server/inc/util.h | 1 - server/src/util.c | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index a393b4f0c..7e377d37f 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -527,7 +527,6 @@ typedef struct U16 IterationTimeU16; } ASPType; - typedef struct { diff --git a/server/src/util.c b/server/src/util.c index 246a9228e..1e91deb05 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1701,6 +1701,7 @@ int iCommRecv(int* iCommand, char* cpData, const int iMessageSize,char* TimeUTCR return iResult; } + /* iCommSend sends a given message cpData and command icommand out on all * the five message ques. but first ut prioritis the messages depending on * iCommand From 9984f8ed78614939b577b12f94b6f886c8002912 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 28 Mar 2019 18:11:28 +0100 Subject: [PATCH 018/730] Removed warning, included refactored defines --- server/src/timecontrol.c | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index f9a22a03d..bc60f0a04 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -216,7 +216,10 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) { if(GPSTime->isGPSenabled) { - SendData[0] = 0, SendData[1] = 0, SendData[2] = 0, SendData[3] = 0; + SendData[0] = 0; + SendData[1] = 0; + SendData[2] = 0; + SendData[3] = 0; TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); } iExit = 1; @@ -233,8 +236,8 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) } else if (!GPSTime->isGPSenabled) { - sleep_time.tv_sec = 1; - sleep_time.tv_nsec = 0;//100000000; + sleep_time.tv_sec = SLEEP_TIME_NO_GPS_CONNECTED_S; + sleep_time.tv_nsec = SLEEP_TIME_NO_GPS_CONNECTED_NS; nanosleep(&sleep_time,&ref_time); } } From db9f867c930bd331adbf45a33a26a0ebe3b90a35 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Apr 2019 14:02:36 +0200 Subject: [PATCH 019/730] Fixed unterminated '/*' which was causing ASP to not work --- server/src/objectcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 911b5e8ce..6bc6466ab 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -383,7 +383,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) char buffer[RECV_MESSAGE_BUFFER]; int recievedNewData = 0; // this is etsi time lets remov it ans use utc instead - /*gettimeofday(&CurrentTimeStruct, NULL); + //gettimeofday(&CurrentTimeStruct, NULL); CurrentTimeU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + (U32)TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; From fa5a934af1d54d2abfe9a844d47119f14ccc1b4c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Apr 2019 14:04:49 +0200 Subject: [PATCH 020/730] Removed 'Tom kha gai' printed at a random place in the code --- server/src/systemcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 214e8de11..bcec8cf6b 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -1188,7 +1188,7 @@ static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct static I32 SystemControlConnectServer(int* sockfd, const char* name, const uint32_t port) -{Tom kha gai +{ struct sockaddr_in serv_addr; struct hostent *server; From 560ef37ec148eaf8ce6852de542c36bbfcd4e8df Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Apr 2019 14:09:58 +0200 Subject: [PATCH 021/730] Fixed variable having the wrong name --- server/src/systemcontrol.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index bcec8cf6b..cfed3a989 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -1784,7 +1784,7 @@ I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *Retu bzero(TxBuffer, PacketSizeU16); fread(TxBuffer,1,PacketSizeU16,fd); //SystemControlSendBytes(TxBuffer, PacketSizeU16, sockfd, 0); //Send a packet - UtilSendTCPData("System Control", TxBuffer, PacketSizeU16, Sockfd, 0); + UtilSendTCPData("System Control", TxBuffer, PacketSizeU16, sockfd, 0); } if(RestCount > 0) @@ -1792,7 +1792,7 @@ I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *Retu bzero(TxBuffer, PacketSizeU16); fread(TxBuffer,1,RestCount,fd); //SystemControlSendBytes(TxBuffer, RestCount, sockfd, 0); //Send the rest - UtilSendTCPData("System Control", TxBuffer, RestCount, Sockfd, 0); + UtilSendTCPData("System Control", TxBuffer, RestCount, sockfd, 0); } fclose(fd); From 32d813520e05e0c97401f4634a2a0eed15ac9cd3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 4 Apr 2019 15:32:22 +0200 Subject: [PATCH 022/730] Made fopen and fclose happen next to the write operations --- server/src/logger.c | 56 ++++++++++++++++++++++----------------------- 1 file changed, 28 insertions(+), 28 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index d2ea21d02..51236db35 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -80,7 +80,7 @@ void logger_task() struct dirent *ent; FILE *filefd,*fileread,*replayfd, *filefdComp; struct timespec sleep_time, ref_time; - U8 FirstInitU8 = 0; + U8 FirstInitU8 = 1; gettimeofday(&tvTime,NULL); @@ -234,7 +234,11 @@ void logger_task() bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); sprintf(pcBuffer, "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_TOM:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n",COMM_STRT,COMM_STOP,COMM_MONI,COMM_EXIT,COMM_ARMD,COMM_REPLAY,COMM_CONTROL,COMM_ABORT,COMM_TOM,COMM_INIT,COMM_CONNECT,COMM_OBC_STATE,COMM_DISCONNECT,COMM_LOG,COMM_VIOP,COMM_INV); (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - filefdComp = fopen(pcLogFileComp,"w+"); + + // Close the files until next write operation + fclose(filefd); + + vCreateLogFolder("./loginit/"); while(!iExit) { @@ -257,9 +261,15 @@ void logger_task() } sprintf ( pcBuffer,"%s;%s;%d;%s\n", DateBuffer,TimeStampUTCBufferRecv, iCommand, pcRecvBuffer); + filefd = fopen(pcLogFile,"a"); + filefdComp = fopen(pcLogFileComp,"a"); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + fclose(filefd); + fclose(filefdComp); + } if(iCommand == COMM_MONI) @@ -407,8 +417,21 @@ void logger_task() } else if (iCommand == COMM_INIT) { + + if(FirstInitU8) + { + vCreateLogFolder("./loginit/some_date/"); + LogPrint("123"); + + filefd = fopen("./loginit/some_date/test1.test","a+"); + fwrite("Hej test",1,strlen("Hej test"),filefd); + fclose(filefd); + + FirstInitU8 = 0; + } + /* - if(FirstInitU8 == 1) + if(FirstInitU8 == 1) // Should be 0 { // Create folder and event.log file vCreateLogFolder(pcLogFolder); @@ -449,7 +472,7 @@ void logger_task() bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); strcpy(pcBuffer, "Log closed\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + //(void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); fclose(filefd); @@ -472,6 +495,7 @@ void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) directory = opendir(logFolder); + // If the directory does not exist, create it if(directory == NULL) { iResult = mkdir(logFolder, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH); @@ -481,30 +505,6 @@ void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) } } - /* while (directory_entry = readdir(directory)) - { - // Check so it's not . or .. - if (strncmp(directory_entry->d_name,".",1)) - { - - int iTemp = atoi(directory_entry->d_name); - - if( iTemp > iMaxFolder) - { - iMaxFolder = iTemp; - } - } - }*/ (void)closedir(directory); - /* step up one to create a new folder */ - //++iMaxFolder; - //bzero(logFolder,MAX_FILE_PATH); - //sprintf(logFolder,"%s%d/",LOG_PATH,iMaxFolder); - - /* iResult = mkdir(logFolder, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH); - if (iResult < 0) - { - util_error("ERR: Failed to create dir"); - }*/ } From 697cfa9f76fa685550265f18be4a19e74b0a36a1 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 5 Apr 2019 11:18:52 +0200 Subject: [PATCH 023/730] Time now when init is pressed and file creaded --- server/src/logger.c | 41 ++++++++++++++++++++++++++++++++++------- 1 file changed, 34 insertions(+), 7 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 51236db35..6a3b55d81 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -102,9 +102,9 @@ void logger_task() struct stat st = {0}; if (stat(LOG_PATH, &st) == -1) - { - vCreateLogFolder(LOG_PATH); - } + { + vCreateLogFolder(LOG_PATH); + } vCreateLogFolder(pcLogFolder); @@ -238,7 +238,7 @@ void logger_task() // Close the files until next write operation fclose(filefd); - vCreateLogFolder("./loginit/"); + vCreateLogFolder("./log/"); while(!iExit) { @@ -420,10 +420,37 @@ void logger_task() if(FirstInitU8) { - vCreateLogFolder("./loginit/some_date/"); - LogPrint("123"); + bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); + //Calculate the date when the logfile is created more or less + LogTimeStart = UtilgetCurrentUTCtimeMS(); + UtilgetDateTimeFromUTCForMapNameCreation((int64_t)LogTimeStart, DateBuffer,sizeof(DateBuffer)); + + bzero(pcLogFolder,MAX_FILE_PATH); + bzero(pcLogFile,MAX_FILE_PATH); + + (void)strcpy(pcLogFolder,LOG_PATH); + (void)strcat(pcLogFolder,DateBuffer); + + vCreateLogFolder(pcLogFolder); + + (void)strcpy(pcLogFile,pcLogFolder); + (void)strcat(pcLogFolder,Forward_slash); + (void)strcat(pcLogFile,Forward_slash); + LogMessage(LOG_LEVEL_INFO,"Trying to open: %s",pcLogFile); + + (void)strcat(pcLogFile,DateBuffer); + + bzero(pcLogFileComp,MAX_FILE_PATH); + + (void)strcpy(pcLogFileComp,pcLogFile); + + (void)strcat(pcLogFileComp,"Csv"); + + (void)strcat(pcLogFile,LOG_FILE); + (void)strcat(pcLogFileComp,LOG_FILE); + - filefd = fopen("./loginit/some_date/test1.test","a+"); + filefd = fopen(pcLogFile,"a+"); fwrite("Hej test",1,strlen("Hej test"),filefd); fclose(filefd); From bf038e22c0926e2bd84bcc02176db838cb283931 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 5 Apr 2019 14:02:00 +0200 Subject: [PATCH 024/730] Monr working, conf file not copied into .log for some reason --- server/src/logger.c | 90 ++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 84 insertions(+), 6 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 6a3b55d81..6afa9924a 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -274,6 +274,9 @@ void logger_task() if(iCommand == COMM_MONI) { + + filefd = fopen(pcLogFile, "a+"); + char *str; str = malloc(sizeof(pcRecvBuffer) + 1); strcpy(str,pcRecvBuffer); @@ -295,8 +298,11 @@ void logger_task() UtilgetDateTimefromUTCCSVformat ((int64_t) Timestamp, DateBuffer,sizeof(DateBuffer)); bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); sprintf ( pcBuffer,"%s;%s;%lu;%d;%s\n", DateBuffer,TimeStampUTCBufferRecv, GPSms, iCommand, pcRecvBuffer); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + //(void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + + fclose(filefd); } @@ -436,20 +442,92 @@ void logger_task() (void)strcpy(pcLogFile,pcLogFolder); (void)strcat(pcLogFolder,Forward_slash); (void)strcat(pcLogFile,Forward_slash); - LogMessage(LOG_LEVEL_INFO,"Trying to open: %s",pcLogFile); - (void)strcat(pcLogFile,DateBuffer); - bzero(pcLogFileComp,MAX_FILE_PATH); - (void)strcpy(pcLogFileComp,pcLogFile); - (void)strcat(pcLogFileComp,"Csv"); (void)strcat(pcLogFile,LOG_FILE); (void)strcat(pcLogFileComp,LOG_FILE); + LogMessage(LOG_LEVEL_INFO,"Opening log file to use: <%s>",pcLogFile); + filefd = fopen(pcLogFile, "w+"); + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf(pcBuffer,"------------------------------------------\nWhole Trajectory files:\n------------------------------------------\n"); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + + + /* Copy drive files */ + (void)strcpy(pcCommand,"cp -R "); + (void)strcat(pcCommand,TRAJECTORY_PATH); + (void)strcat(pcCommand," "); + (void)strcat(pcCommand,pcLogFolder); + (void)system(pcCommand); + + + // Open directory ./traj/ + if ((dir=opendir(TRAJECTORY_PATH))!=NULL) + { + while((ent=readdir(dir))!=NULL) + { + //copy all files in trajectory and add them to the log file + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + strcpy(pcBuffer,TRAJECTORY_PATH); + strcat(pcBuffer,ent->d_name); + if (0==access(pcBuffer,0)) + { + fileread = fopen(pcBuffer,"r"); + read = fgetc(fileread); + while(read != EOF) + { + fputc(read,filefd); + read = fgetc(fileread); + } + //fclose(fileread); + } + } + closedir(dir); + } + else + { + LogMessage(LOG_LEVEL_ERROR,"No traj directory <%s> exists - wrong path or access denied",TRAJECTORY_PATH); + } + + + /* Copy conf file */ + (void)strcpy(pcCommand,"cp "); + (void)strcat(pcCommand,TEST_CONF_FILE); + (void)strcat(pcCommand," "); + (void)strcat(pcCommand,pcLogFolder); + (void)system(pcCommand); + + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf(pcBuffer, "------------------------------------------\nWhole Config file:\n------------------------------------------\n"); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + + + /* If file conf file exist and we have reader permission do*/ + if (0==access(TEST_CONF_FILE,0)) + { + /*read the .conf file and print it in to the .log file */ + fileread = fopen(TEST_CONF_FILE,"r"); + read = fgetc(fileread); + while(read!= EOF) + { + fputc(read,filefd); + read = fgetc(fileread); + } + fclose(fileread); + } + else + { + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf(pcBuffer,"Failed to Open .conf file;%s\n",TEST_CONF_FILE); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + } + + filefd = fopen(pcLogFile,"a+"); fwrite("Hej test",1,strlen("Hej test"),filefd); fclose(filefd); From 0c00cbd27002c53ca87b1b97b297f6a834132caf Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 5 Apr 2019 14:53:52 +0200 Subject: [PATCH 025/730] Now writing coplete log files from creation on init --- server/src/logger.c | 37 +++++++++++++++++++++++++++++++++---- 1 file changed, 33 insertions(+), 4 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 6afa9924a..d0a63e474 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -300,7 +300,7 @@ void logger_task() sprintf ( pcBuffer,"%s;%s;%lu;%d;%s\n", DateBuffer,TimeStampUTCBufferRecv, GPSms, iCommand, pcRecvBuffer); (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - //(void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + //void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); fclose(filefd); @@ -484,7 +484,7 @@ void logger_task() fputc(read,filefd); read = fgetc(fileread); } - //fclose(fileread); + fclose(fileread); } } closedir(dir); @@ -493,6 +493,7 @@ void logger_task() { LogMessage(LOG_LEVEL_ERROR,"No traj directory <%s> exists - wrong path or access denied",TRAJECTORY_PATH); } + fclose(filefd); /* Copy conf file */ @@ -502,8 +503,10 @@ void logger_task() (void)strcat(pcCommand,pcLogFolder); (void)system(pcCommand); + filefd = fopen(pcLogFile,"a+"); + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer, "------------------------------------------\nWhole Config file:\n------------------------------------------\n"); + sprintf(pcBuffer, "\n------------------------------------------\nWhole Config file:\n------------------------------------------\n"); (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); @@ -527,8 +530,34 @@ void logger_task() (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); } + // added some information about the standard log file format and what is what in the MONR message + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf(pcBuffer, "\n------------------------------------------\nInformation about log structure\n------------------------------------------\nLog started; Date:%s\nGenerall structure:\n",DateBuffer); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf(pcBuffer,";;;;;;;;;\n"); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf(pcBuffer,"Monor message structure(command message nr = 3):\n;;;;;;;;;;;;<0>;"); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf(pcBuffer,";;;;;;;;;;;;\n"); // add more her if we want more data + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf(pcBuffer, "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_TOM:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n",COMM_STRT,COMM_STOP,COMM_MONI,COMM_EXIT,COMM_ARMD,COMM_REPLAY,COMM_CONTROL,COMM_ABORT,COMM_TOM,COMM_INIT,COMM_CONNECT,COMM_OBC_STATE,COMM_DISCONNECT,COMM_LOG,COMM_VIOP,COMM_INV); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + - filefd = fopen(pcLogFile,"a+"); fwrite("Hej test",1,strlen("Hej test"),filefd); fclose(filefd); From 9aeea42c55ce14765d0e7678c4fa8410375bb3fc Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 5 Apr 2019 16:41:20 +0200 Subject: [PATCH 026/730] Logger working, no csv file --- server/src/logger.c | 131 +------------------------------------------- 1 file changed, 2 insertions(+), 129 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index d0a63e474..a29f2a789 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -83,18 +83,6 @@ void logger_task() U8 FirstInitU8 = 1; gettimeofday(&tvTime,NULL); - - bzero(pcBuffer, MQ_MAX_MESSAGE_LENGTH+100); - bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); - //Calculate the date when the logfile is created more or less - LogTimeStart = UtilgetCurrentUTCtimeMS(); - UtilgetDateTimeFromUTCForMapNameCreation((int64_t)LogTimeStart, DateBuffer,sizeof(DateBuffer)); - - bzero(pcLogFolder,MAX_FILE_PATH); - bzero(pcLogFile,MAX_FILE_PATH); - (void)strcpy(pcLogFolder,LOG_PATH); - (void)strcat(pcLogFolder,DateBuffer); - (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); //(void)iCommInit(IPC_SEND,MQ_LG_1,0); @@ -106,94 +94,9 @@ void logger_task() vCreateLogFolder(LOG_PATH); } + (void)strcat(pcLogFile," "); + (void)strcat(pcLogFileComp," "); - vCreateLogFolder(pcLogFolder); - (void)strcpy(pcLogFile,pcLogFolder); - (void)strcat(pcLogFile,Forward_slash); - (void)strcat(pcLogFile,DateBuffer); - bzero(pcLogFileComp,MAX_FILE_PATH); - (void)strcpy(pcLogFileComp,pcLogFile); - (void)strcat(pcLogFileComp,"Csv"); - (void)strcat(pcLogFile,LOG_FILE); - (void)strcat(pcLogFileComp,LOG_FILE); - - LogMessage(LOG_LEVEL_INFO,"Opening log file to use: <%s>",pcLogFile); - filefd = fopen(pcLogFile, "w+"); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,"------------------------------------------\nWhole Trajectory files:\n------------------------------------------\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - - /* Copy drive files */ - (void)strcpy(pcCommand,"cp -R "); - (void)strcat(pcCommand,TRAJECTORY_PATH); - (void)strcat(pcCommand," "); - (void)strcat(pcCommand,pcLogFolder); - (void)system(pcCommand); - - - // Open directory ./traj/ - if ((dir=opendir(TRAJECTORY_PATH))!=NULL) - { - while((ent=readdir(dir))!=NULL) - { - //copy all files in trajectory and add them to the log file - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - strcpy(pcBuffer,TRAJECTORY_PATH); - strcat(pcBuffer,ent->d_name); - if (0==access(pcBuffer,0)) - { - fileread = fopen(pcBuffer,"r"); - read = fgetc(fileread); - while(read != EOF) - { - fputc(read,filefd); - read = fgetc(fileread); - } - fclose(fileread); - } - } - closedir(dir); - } - else - { - LogMessage(LOG_LEVEL_ERROR,"No traj directory <%s> exists - wrong path or access denied",TRAJECTORY_PATH); - } - /* If traj file exist and we have reader permission do*/ - - - /* Copy conf file */ - (void)strcpy(pcCommand,"cp "); - (void)strcat(pcCommand,TEST_CONF_FILE); - (void)strcat(pcCommand," "); - (void)strcat(pcCommand,pcLogFolder); - (void)system(pcCommand); - - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer, "------------------------------------------\nWhole Config file:\n------------------------------------------\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - /* If file conf file exist and we have reader permission do*/ - if (0==access(TEST_CONF_FILE,0)) - { - /*read the .conf file and print it in to the .log file */ - fileread = fopen(TEST_CONF_FILE,"r"); - read = fgetc(fileread); - while(read!= EOF) - { - fputc(read,filefd); - read = fgetc(fileread); - } - fclose(fileread); - } - else - { - LogMessage(LOG_LEVEL_WARNING,"Cant open .conf file; %s",TEST_CONF_FILE); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,"Failed to Open .conf file;%s\n",TEST_CONF_FILE); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - } /* Listen for commands */ int iExit = 0; @@ -208,36 +111,6 @@ void logger_task() char *src; uint64_t NewTimestamp, OldTimestamp,Timestamp; - // added some information about the standard log file format and what is what in the MONR message - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer, "\n------------------------------------------\nInformation about log structure\n------------------------------------------\nLog started; Date:%s\nGenerall structure:\n",DateBuffer); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,";;;;;;;;;\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,"Monor message structure(command message nr = 3):\n;;;;;;;;;;;;<0>;"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,";;;;;;;;;;;;\n"); // add more her if we want more data - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer, "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_TOM:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n",COMM_STRT,COMM_STOP,COMM_MONI,COMM_EXIT,COMM_ARMD,COMM_REPLAY,COMM_CONTROL,COMM_ABORT,COMM_TOM,COMM_INIT,COMM_CONNECT,COMM_OBC_STATE,COMM_DISCONNECT,COMM_LOG,COMM_VIOP,COMM_INV); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - // Close the files until next write operation - fclose(filefd); - vCreateLogFolder("./log/"); while(!iExit) From d72fad1b3b3c0182308582a05f237abb1e4e75d2 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 9 Apr 2019 09:24:00 +0200 Subject: [PATCH 027/730] Now creates new log file if test is aborted and reset. Fixed variable naming --- server/src/logger.c | 43 +++++++++---------------------------------- 1 file changed, 9 insertions(+), 34 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index a29f2a789..6253e1815 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -80,7 +80,7 @@ void logger_task() struct dirent *ent; FILE *filefd,*fileread,*replayfd, *filefdComp; struct timespec sleep_time, ref_time; - U8 FirstInitU8 = 1; + U8 isFirstInit = 1; gettimeofday(&tvTime,NULL); (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); @@ -145,6 +145,11 @@ void logger_task() } + if(iCommand == COMM_ABORT){ + isFirstInit = 1; + + } + if(iCommand == COMM_MONI) { @@ -297,7 +302,7 @@ void logger_task() else if (iCommand == COMM_INIT) { - if(FirstInitU8) + if(isFirstInit) { bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); //Calculate the date when the logfile is created more or less @@ -431,42 +436,12 @@ void logger_task() (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - fwrite("Hej test",1,strlen("Hej test"),filefd); - fclose(filefd); - FirstInitU8 = 0; - } - /* - if(FirstInitU8 == 1) // Should be 0 - { - // Create folder and event.log file - vCreateLogFolder(pcLogFolder); - (void)strcpy(pcLogFile,pcLogFolder); - (void)strcat(pcLogFile,LOG_FILE); - - log_message(LOG_LEVEL_INFO,"Opening log file to use: <%s>",pcLogFile); - filefd = fopen (pcLogFile, "w+"); - - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - strcpy(pcBuffer, "Log started...\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + isFirstInit = 0; + } - // Copy drive files - (void)strcpy(pcCommand,"cp -R "); - (void)strcat(pcCommand,TRAJECTORY_PATH); - (void)strcat(pcCommand," "); - (void)strcat(pcCommand,pcLogFolder); - (void)system(pcCommand); - // Copy conf file - (void)strcpy(pcCommand,"cp "); - (void)strcat(pcCommand,TEST_CONF_FILE); - (void)strcat(pcCommand," "); - (void)strcat(pcCommand,pcLogFolder); - (void)system(pcCommand); - } - FirstInitU8 = 1;*/ } else { From 768c7d06ee6a816172c162ebdd7058134cbac3b1 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 9 Apr 2019 14:14:19 +0200 Subject: [PATCH 028/730] Fixed comments --- server/src/logger.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 6253e1815..046956bc3 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -436,7 +436,7 @@ void logger_task() (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - + fclose(filefd); isFirstInit = 0; } @@ -454,11 +454,11 @@ void logger_task() bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); strcpy(pcBuffer, "Log closed\n"); - //(void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + //(void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); fclose(filefd); - fclose(filefdComp); + //fclose(filefdComp); } From c7cc0e411dc3a18b47c8de36d71501710ea81908 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 10 Apr 2019 15:30:24 +0200 Subject: [PATCH 029/730] Changed a bit of debug data and modified the reply timeout --- server/src/timecontrol.c | 44 ++++++++++++++++++++-------------------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index bc60f0a04..6ed004496 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -36,7 +36,7 @@ #define TIME_CONTROL_RECEIVE_BUFFER_SIZE 54 #define TIME_CONTROL_TASK_PERIOD_MS 1 #define TIME_INTERVAL_NUMBER_BYTES 4 -#define REPLY_TIMEOUT_S 2 +#define REPLY_TIMEOUT_S 3 #define SLEEP_TIME_GPS_CONNECTED_S 0 #define SLEEP_TIME_GPS_CONNECTED_NS 500000000 @@ -454,26 +454,26 @@ static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 de if (debug) { //TimeControlGetMillisecond(GPSTime); - LogPrintBytes(TimeBuffer,0,TIME_CONTROL_RECEIVE_BUFFER_SIZE); - LogPrint("ProtocolVersionU8: %d", GPSTime->ProtocolVersionU8); - LogPrint("YearU16: %d", GPSTime->YearU16); - LogPrint("MonthU8: %d", GPSTime->MonthU8); - LogPrint("DayU8: %d", GPSTime->DayU8); - LogPrint("HourU8: %d", GPSTime->HourU8); - LogPrint("MinuteU8: %d", GPSTime->MinuteU8); - LogPrint("SecondU8: %d", GPSTime->SecondU8); - LogPrint("MillisecondU16: %d", GPSTime->MillisecondU16); - LogPrint("SecondCounterU32: %d", GPSTime->SecondCounterU32); - LogPrint("GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); - LogPrint("GPSMinutesU32: %d", GPSTime->GPSMinutesU32); - LogPrint("GPSWeekU16: %d", GPSTime->GPSWeekU16); - LogPrint("GPSSecondsOfWeekU32: %d", GPSTime->GPSSecondsOfWeekU32); - LogPrint("GPSSecondsOfDayU32: %d", GPSTime->GPSSecondsOfDayU32); - LogPrint("ETSIMillisecondsU64: %ld", GPSTime->ETSIMillisecondsU64); - LogPrint("LatitudeU32: %d", GPSTime->LatitudeU32); - LogPrint("LongitudeU32: %d", GPSTime->LongitudeU32); - LogPrint("LocalMillisecondU16: %d", GPSTime->LocalMillisecondU16); - LogPrint("FixQualityU8: %d", GPSTime->FixQualityU8); - LogPrint("NSatellitesU8: %d", GPSTime->NSatellitesU8); + //LogPrintBytes(TimeBuffer,0,TIME_CONTROL_RECEIVE_BUFFER_SIZE); + //LogPrint("ProtocolVersionU8: %d", GPSTime->ProtocolVersionU8); + //LogPrint("YearU16: %d", GPSTime->YearU16); + //LogPrint("MonthU8: %d", GPSTime->MonthU8); + //LogPrint("DayU8: %d", GPSTime->DayU8); + LogPrint("Time: %d:%d:%d", GPSTime->HourU8, GPSTime->MinuteU8, GPSTime->SecondU8); + //LogPrint("MinuteU8: %d", GPSTime->MinuteU8); + //LogPrint("SecondU8: %d", GPSTime->SecondU8); + //LogPrint("MillisecondU16: %d", GPSTime->MillisecondU16); + //LogPrint("SecondCounterU32: %d", GPSTime->SecondCounterU32); + //LogPrint("GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); + //LogPrint("GPSMinutesU32: %d", GPSTime->GPSMinutesU32); + //LogPrint("GPSWeekU16: %d", GPSTime->GPSWeekU16); + //LogPrint("GPSSecondsOfWeekU32: %d", GPSTime->GPSSecondsOfWeekU32); + //LogPrint("GPSSecondsOfDayU32: %d", GPSTime->GPSSecondsOfDayU32); + //LogPrint("ETSIMillisecondsU64: %ld", GPSTime->ETSIMillisecondsU64); + //LogPrint("LatitudeU32: %d", GPSTime->LatitudeU32); + //LogPrint("LongitudeU32: %d", GPSTime->LongitudeU32); + //LogPrint("LocalMillisecondU16: %d", GPSTime->LocalMillisecondU16); + //LogPrint("FixQualityU8: %d", GPSTime->FixQualityU8); + //LogPrint("NSatellitesU8: %d", GPSTime->NSatellitesU8); } } From ba5a38f469145145242e057bfbe08c6d1e367c44 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Fri, 26 Apr 2019 10:05:56 +0200 Subject: [PATCH 030/730] Simplified the usage of CMakeFiles so that it uses submodule repo. --- server/CMakeLists.txt | 23 +++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index cc393a757..4fc402735 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -12,14 +12,21 @@ include_directories(../util/C/logging) include(GNUInstallDirs) # Add logging library (hint at some locations) -find_library(MAESTRO_LOGGING_PATH - NAMES MaestroLogging - PATHS "../util/C/logging" - "../util/C" - ${CMAKE_INSTALL_LIBDIR} - ${CMAKE_INSTALL_INCLUDEDIR}) -add_library(MaestroLogging SHARED IMPORTED) -set_property(TARGET MaestroLogging PROPERTY IMPORTED_LOCATION ${MAESTRO_LOGGING_PATH}) +#find_library(MAESTRO_LOGGING_PATH +# NAMES MaestroLogging +# PATHS "../util/C/logging" +# "../util/C" +# ${CMAKE_INSTALL_LIBDIR} +# ${CMAKE_INSTALL_INCLUDEDIR}) +#add_library(MaestroLogging SHARED IMPORTED) +#set_property(TARGET MaestroLogging PROPERTY IMPORTED_LOCATION ${MAESTRO_LOGGING_PATH}) + + +# Create library +add_library(MaestroLogging + ../util/C/logging/logging.h + ../util/C/logging/logging.c +) # Create library add_library(util From f1fd2fd0036fff4ff1e6f63ad93cb1164aa3c192 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Mon, 29 Apr 2019 10:53:24 +0200 Subject: [PATCH 031/730] Moved some code to not send status update quite as often --- server/src/objectcontrol.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 6bc6466ab..0c0318bf2 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1106,9 +1106,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) } } - bzero(Buffer2, SMALL_BUFFER_SIZE_1); - Buffer2[0] = OBCState; - (void)iCommSend(COMM_OBC_STATE,Buffer2); + if(!iExit) { @@ -1119,6 +1117,9 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) ++uiTimeCycle; if(uiTimeCycle >= HEARTBEAT_TIME_MS/TASK_PERIOD_MS) { + bzero(Buffer2, SMALL_BUFFER_SIZE_1); + Buffer2[0] = OBCState; + (void)iCommSend(COMM_OBC_STATE,Buffer2); uiTimeCycle = 0; } From a81ce615823c159ed74aa4f656c4aa5ffe23bfc6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Apr 2019 15:59:28 +0200 Subject: [PATCH 032/730] Renamed project in CMakeLists to Maestro --- server/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 4fc402735..a935eeeea 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required (VERSION 2.6) -project (ChronosProject) +project (Maestro) # copy needed file #configure_file(traj/0.traj traj/192.168.0.1 COPYONLY) From e0c04ebba061e7c148802d407a0881b34eedd9d8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 13:39:51 +0200 Subject: [PATCH 033/730] Added time --- server/CMakeLists.txt | 8 +- server/src/logger.c | 452 +++++++++++++++++++++++------------------- 2 files changed, 251 insertions(+), 209 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 4fc402735..7d10c02a3 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -9,6 +9,7 @@ project (ChronosProject) # add include directories include_directories(inc) include_directories(../util/C/logging) +include_directories(../util/C/time) include(GNUInstallDirs) # Add logging library (hint at some locations) @@ -28,6 +29,11 @@ add_library(MaestroLogging ../util/C/logging/logging.c ) +add_library(MaestroTime + ../util/C/time/maestroTime.h + ../util/C/time/maestroTime.c +) + # Create library add_library(util src/util.c @@ -72,4 +78,4 @@ target_link_libraries(util rt) target_link_libraries(UserControl util objctrl MaestroLogging) target_link_libraries(util MaestroLogging) target_link_libraries(TEServer util) -target_link_libraries(TEServer MaestroLogging) +target_link_libraries(TEServer MaestroLogging MaestroTime) diff --git a/server/src/logger.c b/server/src/logger.c index a4a4c13d8..0dbee7ac4 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -26,13 +26,15 @@ #include "util.h" #include "logging.h" +#include "maestroTime.h" /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ #define LOG_PATH "./log/" -#define LOG_FILE ".log" // lets use date instead -#define Forward_slash "/" +#define LOG_FILE_ENDING ".log" +#define CSV_FILE_ENDING ".csv" +#define FORWARD_SLASH "/" #define LOG_CONTROL_MODE 0 #define LOG_REPLAY_MODE 1 #define TASK_PERIOD_MS 1 @@ -44,6 +46,7 @@ -- Function declarations. ------------------------------------------------------------*/ static void vCreateLogFolder(char logFolder[MAX_FILE_PATH]); +static void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength); static int ReadLogLine(FILE *fd, char *Buffer); static int CountFileRows(FILE *fd); @@ -58,8 +61,6 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; ------------------------------------------------------------*/ void logger_task() { - char pcCommand[100]; - char pcLogFolder[MAX_FILE_PATH]; char pcLogFile[MAX_FILE_PATH]; char pcLogFileComp[MAX_FILE_PATH]; char pcBuffer[MQ_MAX_MESSAGE_LENGTH+100]; @@ -68,9 +69,8 @@ void logger_task() char DateBuffer[MQ_MAX_MESSAGE_LENGTH]; char pcSendBuffer[MQ_MAX_MESSAGE_LENGTH]; char pcReadBuffer[MQ_MAX_MESSAGE_LENGTH]; - char read; - LogInit(MODULE_NAME,logLevel); // TODO: Start using this + LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO,"Logger task running with PID: %d",getpid()); int GPSweek; @@ -81,7 +81,7 @@ void logger_task() FILE *filefd,*fileread,*replayfd, *filefdComp; struct timespec sleep_time, ref_time; U8 isFirstInit = 1; - gettimeofday(&tvTime,NULL); + TimeSetToCurrentSystemTime(&tvTime); (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); //(void)iCommInit(IPC_SEND,MQ_LG_1,0); @@ -91,6 +91,7 @@ void logger_task() struct stat st = {0}; if (stat(LOG_PATH, &st) == -1) { + LogMessage(LOG_LEVEL_INFO,"Nonexistent log directory - will be created"); vCreateLogFolder(LOG_PATH); } @@ -111,7 +112,7 @@ void logger_task() char *src; uint64_t NewTimestamp, OldTimestamp,Timestamp; - vCreateLogFolder("./log/"); + //vCreateLogFolder("./log/"); while(!iExit) { @@ -145,69 +146,77 @@ void logger_task() } - if(iCommand == COMM_ABORT){ - isFirstInit = 1; + switch(iCommand) + { + case COMM_DISCONNECT: - } + isFirstInit = 1; + break; - if(iCommand == COMM_MONI) - { + case COMM_ABORT: - filefd = fopen(pcLogFile, "a+"); + isFirstInit = 1; + break; - char *str; - str = malloc(sizeof(pcRecvBuffer) + 1); - strcpy(str,pcRecvBuffer); + case COMM_MONI: - char* GPSSecondOfWeek = strtok(str, ";"); + filefd = fopen(pcLogFile, "a+"); - int counter = 0; - while (GPSSecondOfWeek != NULL && counter < 2) // Get GPS second of week - { - //printf("%s\n", token); - GPSSecondOfWeek = strtok(NULL, ";"); - counter++; - } + char *str; + str = malloc(sizeof(pcRecvBuffer) + 1); + strcpy(str,pcRecvBuffer); - uint64_t GPSms = UtilgetGPSmsFromUTCms(UtilgetUTCmsFromGPStime(GPSweek, atoi(GPSSecondOfWeek))); //Calculate GPSms + char* GPSSecondOfWeek = strtok(str, ";"); - Timestamp = atol(TimeStampUTCBufferRecv); - bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); - UtilgetDateTimefromUTCCSVformat ((int64_t) Timestamp, DateBuffer,sizeof(DateBuffer)); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf ( pcBuffer,"%s;%s;%lu;%d;%s\n", DateBuffer,TimeStampUTCBufferRecv, GPSms, iCommand, pcRecvBuffer); + int counter = 0; + while (GPSSecondOfWeek != NULL && counter < 2) // Get GPS second of week + { + //printf("%s\n", token); + GPSSecondOfWeek = strtok(NULL, ";"); + counter++; + } - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - //void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + uint64_t GPSms = UtilgetGPSmsFromUTCms(UtilgetUTCmsFromGPStime(GPSweek, atoi(GPSSecondOfWeek))); //Calculate GPSms - fclose(filefd); + Timestamp = atol(TimeStampUTCBufferRecv); + bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); + UtilgetDateTimefromUTCCSVformat ((int64_t) Timestamp, DateBuffer,sizeof(DateBuffer)); + bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + sprintf ( pcBuffer,"%s;%s;%lu;%d;%s\n", DateBuffer,TimeStampUTCBufferRecv, GPSms, iCommand, pcRecvBuffer); + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + //void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); - } + fclose(filefd); - if(iCommand == COMM_OSEM){ + break; - char *str; - str = malloc(sizeof(pcRecvBuffer) + 1); - strcpy(str,pcRecvBuffer); + case COMM_OSEM: - // Returns first datapoint of OSEM (GPSWeek) - char* token = strtok(pcRecvBuffer, ";"); - GPSweek = atoi(token); + str = malloc(sizeof(pcRecvBuffer) + 1); + strcpy(str,pcRecvBuffer); - // Rest of OSEM if needed - /* - while (token != NULL) { - printf("%s\n", token); - token = strtok(NULL, ";"); - } - */ + // Returns first datapoint of OSEM (GPSWeek) + char* token = strtok(pcRecvBuffer, ";"); + GPSweek = atoi(token); - } + // Rest of OSEM if needed + /* + while (token != NULL) { + printf("%s\n", token); + token = strtok(NULL, ";"); + } + */ + break; + + case COMM_OBC_STATE: + + LogMessage(LOG_LEVEL_DEBUG,"Disregarding object control state reporting"); + break; + + case COMM_REPLAY: - if(iCommand == COMM_REPLAY) - { LoggerExecutionMode = LOG_REPLAY_MODE; LogMessage(LOG_LEVEL_INFO,"Logger in REPLAY mode <%s>",pcRecvBuffer); //replayfd = fopen ("log/33/event.log", "r"); @@ -279,186 +288,50 @@ void logger_task() } else { - LogMessage(LOG_LEVEL_WARNING,"Failed to open file: %s",pcRecvBuffer); + LogMessage(LOG_LEVEL_WARNING, "Failed to open file: %s", pcRecvBuffer); } LogMessage(LOG_LEVEL_INFO,"Replay done"); //(void)iCommInit(IPC_RECV_SEND,MQ_LG,0); (void)iCommSend(COMM_CONTROL, NULL); - } - else if(iCommand == COMM_CONTROL) - { + break; + + case COMM_CONTROL: + LoggerExecutionMode = LOG_CONTROL_MODE; LogMessage(LOG_LEVEL_INFO,"Logger in CONTROL mode"); - } - else if(iCommand == COMM_EXIT) - { + break; - LogMessage(LOG_LEVEL_INFO,"Logger exiting"); + case COMM_EXIT: iExit = 1; - } - else if (iCommand == COMM_INIT) - { + break; + + case COMM_INIT: if(isFirstInit) { - bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); - //Calculate the date when the logfile is created more or less - LogTimeStart = UtilgetCurrentUTCtimeMS(); - UtilgetDateTimeFromUTCForMapNameCreation((int64_t)LogTimeStart, DateBuffer,sizeof(DateBuffer)); - - bzero(pcLogFolder,MAX_FILE_PATH); - bzero(pcLogFile,MAX_FILE_PATH); - - (void)strcpy(pcLogFolder,LOG_PATH); - (void)strcat(pcLogFolder,DateBuffer); - - vCreateLogFolder(pcLogFolder); - - (void)strcpy(pcLogFile,pcLogFolder); - (void)strcat(pcLogFolder,Forward_slash); - (void)strcat(pcLogFile,Forward_slash); - (void)strcat(pcLogFile,DateBuffer); - bzero(pcLogFileComp,MAX_FILE_PATH); - (void)strcpy(pcLogFileComp,pcLogFile); - (void)strcat(pcLogFileComp,"Csv"); - - (void)strcat(pcLogFile,LOG_FILE); - (void)strcat(pcLogFileComp,LOG_FILE); - - - LogMessage(LOG_LEVEL_INFO,"Opening log file to use: <%s>",pcLogFile); - filefd = fopen(pcLogFile, "w+"); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,"------------------------------------------\nWhole Trajectory files:\n------------------------------------------\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - - /* Copy drive files */ - (void)strcpy(pcCommand,"cp -R "); - (void)strcat(pcCommand,TRAJECTORY_PATH); - (void)strcat(pcCommand," "); - (void)strcat(pcCommand,pcLogFolder); - (void)system(pcCommand); - - - // Open directory ./traj/ - if ((dir=opendir(TRAJECTORY_PATH))!=NULL) - { - while((ent=readdir(dir))!=NULL) - { - //copy all files in trajectory and add them to the log file - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - strcpy(pcBuffer,TRAJECTORY_PATH); - strcat(pcBuffer,ent->d_name); - if (0==access(pcBuffer,0)) - { - fileread = fopen(pcBuffer,"r"); - read = fgetc(fileread); - while(read != EOF) - { - fputc(read,filefd); - read = fgetc(fileread); - } - fclose(fileread); - } - } - closedir(dir); - } - else - { - LogMessage(LOG_LEVEL_ERROR,"No traj directory <%s> exists - wrong path or access denied",TRAJECTORY_PATH); - } - fclose(filefd); - - - /* Copy conf file */ - (void)strcpy(pcCommand,"cp "); - (void)strcat(pcCommand,TEST_CONF_FILE); - (void)strcat(pcCommand," "); - (void)strcat(pcCommand,pcLogFolder); - (void)system(pcCommand); - - filefd = fopen(pcLogFile,"a+"); - - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer, "\n------------------------------------------\nWhole Config file:\n------------------------------------------\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - - /* If file conf file exist and we have reader permission do*/ - if (0==access(TEST_CONF_FILE,0)) - { - /*read the .conf file and print it in to the .log file */ - fileread = fopen(TEST_CONF_FILE,"r"); - read = fgetc(fileread); - while(read!= EOF) - { - fputc(read,filefd); - read = fgetc(fileread); - } - fclose(fileread); - } - else - { - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,"Failed to Open .conf file;%s\n",TEST_CONF_FILE); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - } - - // added some information about the standard log file format and what is what in the MONR message - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer, "\n------------------------------------------\nInformation about log structure\n------------------------------------------\nLog started; Date:%s\nGenerall structure:\n",DateBuffer); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,";;;;;;;;;\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,"Monor message structure(command message nr = 3):\n;;;;;;;;;;;;<0>;"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer,";;;;;;;;;;;;\n"); // add more her if we want more data - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf(pcBuffer, "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_TOM:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n",COMM_STRT,COMM_STOP,COMM_MONI,COMM_EXIT,COMM_ARMD,COMM_REPLAY,COMM_CONTROL,COMM_ABORT,COMM_TOM,COMM_INIT,COMM_CONNECT,COMM_OBC_STATE,COMM_DISCONNECT,COMM_LOG,COMM_VIOP,COMM_INV); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - - fclose(filefd); - + LogMessage(LOG_LEVEL_INFO,"Initializing test log..."); + vInitializeLog(pcLogFile, sizeof(pcLogFile), pcLogFileComp, sizeof(pcLogFileComp)); isFirstInit = 0; } + else + { + LogMessage(LOG_LEVEL_WARNING,"Received unexpected INIT command"); + } + break; - } - else - { - LogMessage(LOG_LEVEL_DEBUG,"Unhandled command in logger: %d",iCommand); + default: + LogMessage(LOG_LEVEL_WARNING,"Unhandled command in logger: %d",iCommand); } } (void)iCommClose(); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - strcpy(pcBuffer, "Log closed\n"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - //(void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); - - fclose(filefd); - //fclose(filefdComp); + LogMessage(LOG_LEVEL_INFO,"Logger exiting"); } @@ -490,3 +363,166 @@ void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) (void)closedir(directory); } + +void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength) +{ + struct timeval tvTime; + char logFileDirectoryPath[MAX_FILE_PATH]; + char DateBuffer[FILENAME_MAX]; + FILE *filefd, *fileread; + char msString[10]; + char sysCommand[100]; + char pcBuffer[MQ_MAX_MESSAGE_LENGTH+100]; + DIR *dir; + struct dirent *ent; + int read; + + // Clear the two path strings + bzero(logFilePath, filePathLength); + bzero(csvLogFilePath, csvFilePathLength); + + // Calculate the date and time when the logfile is created + TimeSetToCurrentSystemTime(&tvTime); + TimeGetAsDateTime(&tvTime, "%Y-%m-%d_%H.%M.%S", DateBuffer, sizeof(DateBuffer)); + + // Append milliseconds + sprintf(msString, ".%i", (int)tvTime.tv_usec/1000); + strcat(DateBuffer, msString); + + // Create log folder named with initialization date and time + (void)strcpy(logFileDirectoryPath, LOG_PATH); + (void)strcat(logFileDirectoryPath, DateBuffer); + + vCreateLogFolder(logFileDirectoryPath); + + (void)strcat(logFileDirectoryPath,FORWARD_SLASH); + + // Copy configuration file to log directory + LogMessage(LOG_LEVEL_INFO, "Copying configuration file to log directory"); + (void)strcpy(sysCommand, "cp "); + (void)strcat(sysCommand, TEST_CONF_FILE); + (void)strcat(sysCommand, " "); + (void)strcat(sysCommand, logFileDirectoryPath); + (void)system(sysCommand); + + // Check if ./traj directory exists + if ((dir = opendir(TRAJECTORY_PATH)) == NULL) + LogMessage(LOG_LEVEL_ERROR,"No traj directory <%s> exists - wrong path or access denied",TRAJECTORY_PATH); + else + closedir(dir); + // Copy trajectory files to subdirectory + LogMessage(LOG_LEVEL_INFO, "Copying trajectory files to log directory"); + (void)strcpy(sysCommand, "cp -R "); + (void)strcat(sysCommand, TRAJECTORY_PATH); + (void)strcat(sysCommand, " "); + (void)strcat(sysCommand, logFileDirectoryPath); + (void)system(sysCommand); + + // Create filenames using date and time + (void)strcpy(logFilePath, logFileDirectoryPath); + (void)strcat(logFilePath, DateBuffer); + (void)strcat(logFilePath, LOG_FILE_ENDING); + (void)strcpy(csvLogFilePath, logFilePath); + (void)strcat(csvLogFilePath, CSV_FILE_ENDING); + + LogMessage(LOG_LEVEL_INFO, "Opening log file to use: <%s>", logFilePath); + LogMessage(LOG_LEVEL_INFO, "Opening csv file to use: <%s>", csvLogFilePath); + + // Print trajectory files to log + LogMessage(LOG_LEVEL_DEBUG, "Printing trajectories to log"); + filefd = fopen(logFilePath, "w+"); + + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf(pcBuffer,"------------------------------------------\nWhole Trajectory files:\n------------------------------------------\n"); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + // Open directory ./traj/ + if ((dir = opendir(TRAJECTORY_PATH)) != NULL) + { + while ((ent = readdir(dir)) != NULL) + { + // Copy all files in trajectory and add them to the log file + bzero(pcBuffer, sizeof(pcBuffer)); + strcpy(pcBuffer, TRAJECTORY_PATH); + strcat(pcBuffer, ent->d_name); + if (access(pcBuffer, 0) == 0) + { + fileread = fopen(pcBuffer, "r"); + read = fgetc(fileread); + while (read != EOF) + { + fputc(read,filefd); + read = fgetc(fileread); + } + fclose(fileread); + } + else { + LogMessage(LOG_LEVEL_ERROR,"Failed to open <%s>", pcBuffer); + } + } + closedir(dir); + } + else + { + LogMessage(LOG_LEVEL_ERROR, "No traj directory <%s> exists - wrong path or access denied", TRAJECTORY_PATH); + } + fclose(filefd); + + // Print configuration to log + LogMessage(LOG_LEVEL_DEBUG, "Printing configuration to log"); + filefd = fopen(logFilePath,"a+"); + + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf(pcBuffer, "\n------------------------------------------\nWhole Config file:\n------------------------------------------\n"); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + + /* If file conf file exists and we have read permission do*/ + if (access(TEST_CONF_FILE, 0) == 0) + { + /*read the .conf file and print it in to the .log file */ + fileread = fopen(TEST_CONF_FILE,"r"); + read = fgetc(fileread); + while(read!= EOF) + { + fputc(read,filefd); + read = fgetc(fileread); + } + fclose(fileread); + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Failed to open <%s>", TEST_CONF_FILE); + } + + // Add some information about the standard log file format and what is what in the MONR message + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf(pcBuffer, "\n------------------------------------------\nInformation about log structure\n------------------------------------------\nLog started; Date:%s\nGenerall structure:\n",DateBuffer); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf(pcBuffer,";;;;;;;;;\n"); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf(pcBuffer,"Monor message structure(command message nr = 3):\n;;;;;;;;;;;;<0>;"); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf(pcBuffer,";;;;;;;;;;;;\n"); // add more her if we want more data + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf(pcBuffer, "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_TOM:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n",COMM_STRT,COMM_STOP,COMM_MONI,COMM_EXIT,COMM_ARMD,COMM_REPLAY,COMM_CONTROL,COMM_ABORT,COMM_TOM,COMM_INIT,COMM_CONNECT,COMM_OBC_STATE,COMM_DISCONNECT,COMM_LOG,COMM_VIOP,COMM_INV); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + + fclose(filefd); +} + From d0ec5485567b3fb500ef380e22a030a370f74f88 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 13:40:10 +0200 Subject: [PATCH 034/730] updated util library --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 32592e087..0df7aa865 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 32592e087099256ad8fa60ce78c592c32562b244 +Subproject commit 0df7aa8651407be09c8abc8d975320627fac1d8f From 6a4374f3fa331817059ebf4abf62fd7fc56abaf1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 14:43:48 +0200 Subject: [PATCH 035/730] Corrected reference to util --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 0df7aa865..534b8f1e4 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 0df7aa8651407be09c8abc8d975320627fac1d8f +Subproject commit 534b8f1e4917c17f4f6f4694eea338e4df9f6626 From 48c2c40886e171cef5569c28e3d5cfe379ca9f5d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 14:49:40 +0200 Subject: [PATCH 036/730] Removed unused variables --- server/src/logger.c | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 0dbee7ac4..b61a435a9 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -74,14 +74,9 @@ void logger_task() LogMessage(LOG_LEVEL_INFO,"Logger task running with PID: %d",getpid()); int GPSweek; - struct timeval tvTime ; - uint64_t LogTimeStart; - DIR *dir; - struct dirent *ent; - FILE *filefd,*fileread,*replayfd, *filefdComp; + FILE *filefd,*replayfd, *filefdComp; struct timespec sleep_time, ref_time; U8 isFirstInit = 1; - TimeSetToCurrentSystemTime(&tvTime); (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); //(void)iCommInit(IPC_SEND,MQ_LG_1,0); From 1741f77d1ba62eacc17dde242ebcbee0092d2ca3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 14:50:11 +0200 Subject: [PATCH 037/730] Modified printout --- server/src/logger.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index b61a435a9..349cbddd1 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -86,7 +86,7 @@ void logger_task() struct stat st = {0}; if (stat(LOG_PATH, &st) == -1) { - LogMessage(LOG_LEVEL_INFO,"Nonexistent log directory - will be created"); + LogMessage(LOG_LEVEL_INFO,"Creating log directory"); vCreateLogFolder(LOG_PATH); } From f266109ab87bd8ba625552589e8e4965651e84a4 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 15:02:29 +0200 Subject: [PATCH 038/730] Safened up the file opening functions --- server/src/logger.c | 28 +++++++++++++++++++++------- 1 file changed, 21 insertions(+), 7 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 349cbddd1..8f1a7df9d 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -122,7 +122,7 @@ void logger_task() UtilgetDateTimefromUTCCSVformat ((int64_t) Timestamp, DateBuffer,sizeof(DateBuffer)); bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - //Remove newlines in http Requests for nicer printouts. + // Remove newlines in http Requests for nicer printouts. for (int i = 0; i < strlen(pcRecvBuffer); i++){ if(pcRecvBuffer[i] == '\n'){ pcRecvBuffer[i] = ' '; @@ -130,14 +130,28 @@ void logger_task() } sprintf ( pcBuffer,"%s;%s;%d;%s\n", DateBuffer,TimeStampUTCBufferRecv, iCommand, pcRecvBuffer); - filefd = fopen(pcLogFile,"a"); - filefdComp = fopen(pcLogFileComp,"a"); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + filefd = fopen(pcLogFile,"a"); + if (filefd != NULL) + { + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + fclose(filefd); + } + else + { + LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFile); + } - fclose(filefd); - fclose(filefdComp); + filefdComp = fopen(pcLogFileComp,"a"); + if (filefdComp != NULL) + { + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + fclose(filefdComp); + } + else + { + LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFileComp); + } } From 01514f584caf99e79002938624be4f9323264bd1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 15:15:51 +0200 Subject: [PATCH 039/730] Added sigint handler --- server/src/logger.c | 28 +++++++++++++++++++++------- 1 file changed, 21 insertions(+), 7 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 8f1a7df9d..f6cfeb094 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -18,6 +18,7 @@ #include #include #include +#include #include #include @@ -49,6 +50,7 @@ static void vCreateLogFolder(char logFolder[MAX_FILE_PATH]); static void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength); static int ReadLogLine(FILE *fd, char *Buffer); static int CountFileRows(FILE *fd); +static void sigint_handler(int signo); /*------------------------------------------------------------ -- Private variables @@ -56,6 +58,8 @@ static int CountFileRows(FILE *fd); #define MODULE_NAME "Logger" static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; +static volatile int iExit = 0; + /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ @@ -93,9 +97,13 @@ void logger_task() (void)strcat(pcLogFile," "); (void)strcat(pcLogFileComp," "); + if (signal(SIGINT, sigint_handler) == SIG_ERR) + { + util_error("Unable to create SIGINT handler."); + } + iExit = 0; /* Listen for commands */ - int iExit = 0; int iCommand; /* Execution mode*/ @@ -115,7 +123,7 @@ void logger_task() bzero(TimeStampUTCBufferRecv,MQ_MAX_UTC_LENGTH); (void)iCommRecv(&iCommand,pcRecvBuffer,MQ_MAX_MESSAGE_LENGTH,TimeStampUTCBufferRecv); - if(LoggerExecutionMode == LOG_CONTROL_MODE && iCommand!=COMM_OBC_STATE && iCommand!=COMM_MONI ) + if(LoggerExecutionMode == LOG_CONTROL_MODE && iCommand != COMM_OBC_STATE && iCommand != COMM_MONI ) { Timestamp = atol(TimeStampUTCBufferRecv); bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); @@ -178,7 +186,7 @@ void logger_task() char* GPSSecondOfWeek = strtok(str, ";"); int counter = 0; - while (GPSSecondOfWeek != NULL && counter < 2) // Get GPS second of week + while (GPSSecondOfWeek != NULL && counter < 2 && !iExit) // Get GPS second of week { //printf("%s\n", token); GPSSecondOfWeek = strtok(NULL, ";"); @@ -292,7 +300,7 @@ void logger_task() (void)iCommSend(COMM_CONTROL, NULL); }*/ - } while(--RowCount >= 0); + } while(--RowCount >= 0 && !iExit); } else @@ -448,7 +456,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL // Open directory ./traj/ if ((dir = opendir(TRAJECTORY_PATH)) != NULL) { - while ((ent = readdir(dir)) != NULL) + while ((ent = readdir(dir)) != NULL && !iExit) { // Copy all files in trajectory and add them to the log file bzero(pcBuffer, sizeof(pcBuffer)); @@ -458,7 +466,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL { fileread = fopen(pcBuffer, "r"); read = fgetc(fileread); - while (read != EOF) + while (read != EOF && !iExit) { fputc(read,filefd); read = fgetc(fileread); @@ -492,7 +500,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL /*read the .conf file and print it in to the .log file */ fileread = fopen(TEST_CONF_FILE,"r"); read = fgetc(fileread); - while(read!= EOF) + while(read!= EOF && !iExit) { fputc(read,filefd); read = fgetc(fileread); @@ -535,3 +543,9 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL fclose(filefd); } + +void sigint_handler(int signo) +{ + iExit = 1; +} + From 2385633200732c9288f737e4c6d7f13dbca33d6c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 15:55:18 +0200 Subject: [PATCH 040/730] Added printout to handler --- server/src/logger.c | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index f6cfeb094..0c2664e97 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -546,6 +546,14 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL void sigint_handler(int signo) { - iExit = 1; + switch (signo) + { + case SIGINT: + LogMessage(LOG_LEVEL_WARNING,"Caught SIGINT; attempting graceful exit..."); + iExit = 1; + break; + default: + LogMessage(LOG_LEVEL_WARNING,"Unhandled signal"); + } } From bbbceed75670a3a6afba93504498e91e67811b1d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 16:42:50 +0200 Subject: [PATCH 041/730] Removed sigint handler since I didn't want to mess with message queue blocking functions --- server/src/logger.c | 36 +++++++++--------------------------- 1 file changed, 9 insertions(+), 27 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 0c2664e97..68357365b 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -18,7 +18,6 @@ #include #include #include -#include #include #include @@ -58,8 +57,6 @@ static void sigint_handler(int signo); #define MODULE_NAME "Logger" static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; -static volatile int iExit = 0; - /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ @@ -97,14 +94,10 @@ void logger_task() (void)strcat(pcLogFile," "); (void)strcat(pcLogFileComp," "); - if (signal(SIGINT, sigint_handler) == SIG_ERR) - { - util_error("Unable to create SIGINT handler."); - } - iExit = 0; /* Listen for commands */ int iCommand; + int iExit = 0; /* Execution mode*/ int LoggerExecutionMode = LOG_CONTROL_MODE; @@ -119,8 +112,10 @@ void logger_task() while(!iExit) { + bzero(pcRecvBuffer,MQ_MAX_MESSAGE_LENGTH); bzero(TimeStampUTCBufferRecv,MQ_MAX_UTC_LENGTH); + (void)iCommRecv(&iCommand,pcRecvBuffer,MQ_MAX_MESSAGE_LENGTH,TimeStampUTCBufferRecv); if(LoggerExecutionMode == LOG_CONTROL_MODE && iCommand != COMM_OBC_STATE && iCommand != COMM_MONI ) @@ -186,7 +181,7 @@ void logger_task() char* GPSSecondOfWeek = strtok(str, ";"); int counter = 0; - while (GPSSecondOfWeek != NULL && counter < 2 && !iExit) // Get GPS second of week + while (GPSSecondOfWeek != NULL && counter < 2) // Get GPS second of week { //printf("%s\n", token); GPSSecondOfWeek = strtok(NULL, ";"); @@ -300,7 +295,7 @@ void logger_task() (void)iCommSend(COMM_CONTROL, NULL); }*/ - } while(--RowCount >= 0 && !iExit); + } while(--RowCount >= 0); } else @@ -343,8 +338,8 @@ void logger_task() default: LogMessage(LOG_LEVEL_WARNING,"Unhandled command in logger: %d",iCommand); } - } + } (void)iCommClose(); @@ -456,7 +451,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL // Open directory ./traj/ if ((dir = opendir(TRAJECTORY_PATH)) != NULL) { - while ((ent = readdir(dir)) != NULL && !iExit) + while ((ent = readdir(dir)) != NULL) { // Copy all files in trajectory and add them to the log file bzero(pcBuffer, sizeof(pcBuffer)); @@ -466,7 +461,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL { fileread = fopen(pcBuffer, "r"); read = fgetc(fileread); - while (read != EOF && !iExit) + while (read != EOF) { fputc(read,filefd); read = fgetc(fileread); @@ -500,7 +495,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL /*read the .conf file and print it in to the .log file */ fileread = fopen(TEST_CONF_FILE,"r"); read = fgetc(fileread); - while(read!= EOF && !iExit) + while(read!= EOF) { fputc(read,filefd); read = fgetc(fileread); @@ -544,16 +539,3 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL } -void sigint_handler(int signo) -{ - switch (signo) - { - case SIGINT: - LogMessage(LOG_LEVEL_WARNING,"Caught SIGINT; attempting graceful exit..."); - iExit = 1; - break; - default: - LogMessage(LOG_LEVEL_WARNING,"Unhandled signal"); - } -} - From 868a064a7ee36fd713cb83c62739f2d24225279d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 16:43:13 +0200 Subject: [PATCH 042/730] Added printout on exit --- server/src/objectcontrol.c | 1 + 1 file changed, 1 insertion(+) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 0c0318bf2..4a8ee1c9d 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1126,6 +1126,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) (void)nanosleep(&sleep_time,&ref_time); } } + LogMessage(LOG_LEVEL_INFO,"Object control exiting"); } From 33ae233065128e971ba26fc25be438d202f3b09f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 3 May 2019 18:18:16 +0200 Subject: [PATCH 043/730] Added format checking for HTTP communication to avoid segmentation faults (yeah) --- server/src/systemcontrol.c | 46 ++++++++++++++++++++++++++++---------- 1 file changed, 34 insertions(+), 12 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index cfed3a989..1351775c4 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -343,24 +343,46 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) } else if(ClientResult > 0 && ClientResult < SYSTEM_CONTROL_TOTAL_COMMAND_MAX_LENGTH) { - for(i = 0; i < SYSTEM_CONTROL_ARG_MAX_COUNT; i ++ ) bzero(SystemControlArgument[i],SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH); + + for(i = 0; i < SYSTEM_CONTROL_ARG_MAX_COUNT; i ++ ) + bzero(SystemControlArgument[i],SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH); + CurrentInputArgCount = 0; StartPtr = pcBuffer; StopPtr = pcBuffer; - CmdPtr = strchr(strchr(pcBuffer,'\n')+1,'\n')+1; - StartPtr = strchr(pcBuffer, '(')+1; - //printf("pcBuffer: %s\n", pcBuffer); - while (StopPtr != NULL) + CmdPtr = NULL; + + if (strstr(pcBuffer,"POST") != NULL) { - StopPtr = (char *)strchr(StartPtr, ','); - if(StopPtr == NULL) strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); - else strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); - StartPtr = StopPtr+1; - CurrentInputArgCount ++; - //printf("CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount-1]); + CmdPtr = strchr(pcBuffer,'\n'); + if (CmdPtr != NULL && strstr(CmdPtr+1,"Host") != NULL) + { + CmdPtr = strchr(CmdPtr+1,'\n'); + if (CmdPtr != NULL) + { + CmdPtr++; + StartPtr = strchr(pcBuffer, '(')+1; + //printf("pcBuffer: %s\n", pcBuffer); + while (StopPtr != NULL) + { + StopPtr = (char *)strchr(StartPtr, ','); + if(StopPtr == NULL) strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); + else strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); + StartPtr = StopPtr+1; + CurrentInputArgCount ++; + //printf("CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount-1]); + } + + SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); + } + } + else {CmdPtr = NULL; /* If we don't find "Host" */} } - SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); + if (CmdPtr == NULL) + { + LogMessage(LOG_LEVEL_WARNING,"Received badly formatted data"); + } } } else if(ModeU8 == 1) From 3bc7d798d8972a04ced44fc759e4a55f55a7e43a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 6 May 2019 10:49:47 +0200 Subject: [PATCH 044/730] Updated util to track newer commit --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 32592e087..8b1cfac4c 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 32592e087099256ad8fa60ce78c592c32562b244 +Subproject commit 8b1cfac4c4e0d2103d10de19b5c023a8c215f2a1 From 1f1eadcffa4f4807c0f001784a01e2758da4087c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 6 May 2019 11:26:43 +0200 Subject: [PATCH 045/730] Made initialisation default to system time if no satellite fix was found --- server/src/timecontrol.c | 23 +++++++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 6ed004496..322acb36d 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -123,13 +123,13 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) if (TimeControlCreateTimeChannel(ServerIPC8, ServerPortU16, &SocketfdI32, &time_addr)) { - LogMessage(LOG_LEVEL_INFO, "Established connection to time server"); + LogMessage(LOG_LEVEL_INFO, "Using time server reference"); TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); GPSTime->isGPSenabled = 1; } else { - LogMessage(LOG_LEVEL_WARNING, "Unable to connect to time server: defaulting to system time"); + LogMessage(LOG_LEVEL_WARNING, "Defaulting to system time"); // Send warning over MQ LOG_SEND(LogBuffer, "Unable to connect to time server"); @@ -268,6 +268,7 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in int receivedNewData = 0; struct timeval timeout = {REPLY_TIMEOUT_S, 0}; struct timeval tEnd,tCurr; + TimeType tempGPSTime; LogMessage(LOG_LEVEL_INFO,"Time source address: %s:%d",name,port); /* Connect to object safety socket */ @@ -317,9 +318,23 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in { gettimeofday(&tCurr, NULL); TimeControlRecvTime(sockfd, timeBuffer, TIME_CONTROL_RECEIVE_BUFFER_SIZE, &receivedNewData); - } while (!receivedNewData && timercmp(&tCurr,&tEnd,<)); + if (receivedNewData) + { + TimeControlDecodeTimeBuffer(&tempGPSTime, timeBuffer, 0); + switch (tempGPSTime.FixQualityU8) + { + case 0: + LogMessage(LOG_LEVEL_WARNING, "Received reply from time server but it had no satellite fix"); + return 0; + default: + LogMessage(LOG_LEVEL_INFO, "Received reply from time server"); + return 1; + } + } + } while (timercmp(&tCurr,&tEnd,<)); - return receivedNewData; + LogMessage(LOG_LEVEL_WARNING, "Unable to connect to time server"); + return 0; } From 2fb1676976355df76d8c6a201da72047f2f60629 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 6 May 2019 13:55:14 +0200 Subject: [PATCH 046/730] Added fix quality separation and defines --- server/src/timecontrol.c | 26 ++++++++++++++++++-------- 1 file changed, 18 insertions(+), 8 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 322acb36d..b1ffd212d 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -47,6 +47,10 @@ #define LOG_FILE "time.log" #define LOG_BUFFER_LENGTH 128 +#define FIX_QUALITY_NONE 0 +#define FIX_QUALITY_BASIC 1 +#define FIX_QUALITY_DIFFERENTIAL 2 + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ @@ -129,7 +133,7 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) } else { - LogMessage(LOG_LEVEL_WARNING, "Defaulting to system time"); + LogMessage(LOG_LEVEL_INFO, "Defaulting to system time"); // Send warning over MQ LOG_SEND(LogBuffer, "Unable to connect to time server"); @@ -270,7 +274,7 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in struct timeval tEnd,tCurr; TimeType tempGPSTime; - LogMessage(LOG_LEVEL_INFO,"Time source address: %s:%d",name,port); + LogMessage(LOG_LEVEL_INFO,"Specified time server address: %s:%d",name,port); /* Connect to object safety socket */ *sockfd= socket(AF_INET, SOCK_DGRAM, 0); @@ -303,7 +307,7 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in { util_error("Error calling fcntl"); } - LogMessage(LOG_LEVEL_INFO,"Created socket and time address: %s:%d",name,port); + LogMessage(LOG_LEVEL_INFO,"Created socket and time address: %s:%d", name, port); // Check for existence of remote server LogMessage(LOG_LEVEL_INFO,"Awaiting reply from time server..."); @@ -323,17 +327,23 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in TimeControlDecodeTimeBuffer(&tempGPSTime, timeBuffer, 0); switch (tempGPSTime.FixQualityU8) { - case 0: - LogMessage(LOG_LEVEL_WARNING, "Received reply from time server but it had no satellite fix"); + case FIX_QUALITY_NONE: + LogMessage(LOG_LEVEL_WARNING, "Received reply from time server: no satellite fix"); return 0; - default: - LogMessage(LOG_LEVEL_INFO, "Received reply from time server"); + case FIX_QUALITY_BASIC: + LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix"); + return 1; + case FIX_QUALITY_DIFFERENTIAL: + LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix"); return 1; + default: + LogMessage(LOG_LEVEL_ERROR, "Received reply from time server: unexpected fix quality parameter"); + return 0; } } } while (timercmp(&tCurr,&tEnd,<)); - LogMessage(LOG_LEVEL_WARNING, "Unable to connect to time server"); + LogMessage(LOG_LEVEL_WARNING, "Unable to connect to specified time server: %s:%d", name, port); return 0; } From 277c7b507d299dd78a6493e6aa0505b411e90a10 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 6 May 2019 13:57:47 +0200 Subject: [PATCH 047/730] Fixed a printout --- server/src/timecontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index b1ffd212d..67f6b55c0 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -334,7 +334,7 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix"); return 1; case FIX_QUALITY_DIFFERENTIAL: - LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix"); + LogMessage(LOG_LEVEL_INFO, "Received reply from time server: differential fix"); return 1; default: LogMessage(LOG_LEVEL_ERROR, "Received reply from time server: unexpected fix quality parameter"); From ab219e47aad97d76ddf606910479050a61760891 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 6 May 2019 14:01:44 +0200 Subject: [PATCH 048/730] Added number of sattelites to fix printout --- server/src/timecontrol.c | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 67f6b55c0..f481fcc6b 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -331,17 +331,19 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in LogMessage(LOG_LEVEL_WARNING, "Received reply from time server: no satellite fix"); return 0; case FIX_QUALITY_BASIC: - LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix"); + LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix on %d satellites", + tempGPSTime.NSatellitesU8); return 1; case FIX_QUALITY_DIFFERENTIAL: - LogMessage(LOG_LEVEL_INFO, "Received reply from time server: differential fix"); + LogMessage(LOG_LEVEL_INFO, "Received reply from time server: differential fix on %d satellites", + tempGPSTime.NSatellitesU8); return 1; default: LogMessage(LOG_LEVEL_ERROR, "Received reply from time server: unexpected fix quality parameter"); return 0; } } - } while (timercmp(&tCurr,&tEnd,<)); + } while (timercmp(&tCurr, &tEnd, <)); LogMessage(LOG_LEVEL_WARNING, "Unable to connect to specified time server: %s:%d", name, port); return 0; From 0f38674fe5ff0620b304e7b3bae139355a6b1a13 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 6 May 2019 14:03:32 +0200 Subject: [PATCH 049/730] Modified a line --- server/src/timecontrol.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index f481fcc6b..054782368 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -331,11 +331,11 @@ static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, in LogMessage(LOG_LEVEL_WARNING, "Received reply from time server: no satellite fix"); return 0; case FIX_QUALITY_BASIC: - LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix on %d satellites", + LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix on %d satellite(s)", tempGPSTime.NSatellitesU8); return 1; case FIX_QUALITY_DIFFERENTIAL: - LogMessage(LOG_LEVEL_INFO, "Received reply from time server: differential fix on %d satellites", + LogMessage(LOG_LEVEL_INFO, "Received reply from time server: differential fix on %d satellite(s)", tempGPSTime.NSatellitesU8); return 1; default: From 076a94d1fcaab1d8baac12802c3672fd6f960758 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 6 May 2019 16:43:26 +0200 Subject: [PATCH 050/730] More changes --- server/src/timecontrol.c | 36 ++++++++++++++++++++++++------------ 1 file changed, 24 insertions(+), 12 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 054782368..437332090 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -415,33 +415,45 @@ static int TimeControlSendUDPData(int* sockfd, struct sockaddr_in* addr, C8* Sen } -static void TimeControlRecvTime(int* sockfd, C8* buffer, int length, int* recievedNewData) +static void TimeControlRecvTime(int* sockfd, C8* buffer, int length, int* receivedNewData) { int result; - *recievedNewData = 0; + *receivedNewData = 0; do { - result = recv(*sockfd, buffer, length, 0); if (result < 0) { + // If we received a _real_ error, report it. Otherwise, nothing was received if(errno != EAGAIN && errno != EWOULDBLOCK) - { util_error("Failed to receive from time socket"); - } else - { - LogMessage(LOG_LEVEL_DEBUG,"No data received, result=%d", result); - } + return; + } + else if (result == 0) + { + // EOF received + LogMessage(LOG_LEVEL_ERROR,"Time server disconnected"); + return; } else { - *recievedNewData = 1; - LogMessage(LOG_LEVEL_DEBUG,"Received data: <%s>, result=%d",buffer, result); + // If message size is equal to what is expected according to the format, keep reading until the newest has been read + if (result == length) + { + *receivedNewData = 1; + LogMessage(LOG_LEVEL_DEBUG,"Received data: <%s>, result=%d", buffer, result); + } + else + { + *receivedNewData = 0; + LogMessage(LOG_LEVEL_ERROR,"Received badly formatted message from time server"); + } } - } while(result > 0 ); + } while (result > 0); + return; } static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 debug) @@ -463,7 +475,7 @@ static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 de ((U64)TimeBuffer[18]) << 24 | ((U64)TimeBuffer[19]) << 16 | ((U64)TimeBuffer[20]) << 8 | TimeBuffer[21]; GPSTime->GPSMinutesU32 = ((U32)TimeBuffer[22]) << 24 | ((U32)TimeBuffer[23]) << 16 | ((U32)TimeBuffer[24]) << 8 | TimeBuffer[25]; GPSTime->GPSWeekU16 = ((U16)TimeBuffer[26]) << 8 | TimeBuffer[27]; - GPSTime->GPSSecondsOfWeekU32 = ((U32)TimeBuffer[28]) << 24 | ((U32)TimeBuffer[29]) << 16 | ((U32)TimeBuffer[30]) << 8 | TimeBuffer[31]; + GPSTime->GPSSecondsOfWeekU32 = ((U32)TimeBuffer[28]) << 24 | ((U32)TimeBuffer[29]) << 16 | ((U32)TimeBuffer[30]) << 8 | TimeBuffer[31] + MS_LEAP_SEC_DIFF_UTC_GPS/1000; GPSTime->GPSSecondsOfDayU32 = ((U32)TimeBuffer[32]) << 24 | ((U32)TimeBuffer[33]) << 16 | ((U32)TimeBuffer[34]) << 8 | TimeBuffer[35]; GPSTime->ETSIMillisecondsU64 = ((U64)TimeBuffer[36]) << 56 | ((U64)TimeBuffer[37]) << 48 | ((U64)TimeBuffer[38]) << 40 | ((U64)TimeBuffer[39]) << 32 | ((U64)TimeBuffer[40]) << 24 | ((U64)TimeBuffer[41]) << 16 | ((U64)TimeBuffer[42]) << 8 | TimeBuffer[43]; From 861f6b25708d7f9b8d62c95ff3b069239e93b8b1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 7 May 2019 11:15:18 +0200 Subject: [PATCH 051/730] Implemented HTTP header decoder --- server/inc/util.h | 25 +++++++++++ server/src/util.c | 105 ++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 130 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index 7e377d37f..a435fae88 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -684,11 +684,36 @@ typedef enum { OBC_STATE_ERROR, } OBCState_t; +#define HTTP_HEADER_MAX_LENGTH 64 +typedef struct { + char AcceptCharset[HTTP_HEADER_MAX_LENGTH]; + char AcceptEncoding[HTTP_HEADER_MAX_LENGTH]; + char AcceptLanguage[HTTP_HEADER_MAX_LENGTH]; + char Authorization[HTTP_HEADER_MAX_LENGTH]; + char Expect[HTTP_HEADER_MAX_LENGTH]; + char From[HTTP_HEADER_MAX_LENGTH]; + char Host[HTTP_HEADER_MAX_LENGTH]; + char IfMatch[HTTP_HEADER_MAX_LENGTH]; + char IfModifiedSince[HTTP_HEADER_MAX_LENGTH]; + char IfNoneMatch[HTTP_HEADER_MAX_LENGTH]; + char IfRange[HTTP_HEADER_MAX_LENGTH]; + char IfUnmodifiedSince[HTTP_HEADER_MAX_LENGTH]; + char MaxForwards[HTTP_HEADER_MAX_LENGTH]; + char ProxyAuthorization[HTTP_HEADER_MAX_LENGTH]; + char Range[HTTP_HEADER_MAX_LENGTH]; + char Referer[HTTP_HEADER_MAX_LENGTH]; + char TE[HTTP_HEADER_MAX_LENGTH]; + char UserAgent[HTTP_HEADER_MAX_LENGTH]; +} HTTPHeaderContent; + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ +// HTTP decoding functions +void UtilDecodeHTTPRequestHeader(char* request, HTTPHeaderContent* header); + // GPS TIME FUNCTIONS uint64_t UtilgetGPSmsFromUTCms(uint64_t UTCms); uint64_t UtilgetUTCmsFromGPSms(uint64_t GPSms); diff --git a/server/src/util.c b/server/src/util.c index 1e91deb05..4ef503b54 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -49,10 +49,115 @@ static mqd_t tMQRecv; static mqd_t ptMQSend[MQ_NBR_QUEUES]; static char pcMessageQueueName[1024]; + +/*---------------------------------------------s--------------- + -- Private functions + ------------------------------------------------------------*/ +void CopyHTTPHeaderField(char* request, char* targetContainer, size_t targetContainerSize, const char* fieldName); + +void CopyHTTPHeaderField(char* request, char* targetContainer, size_t targetContainerSize, const char* fieldName) +{ + char *firstPos, *lastPos; + char *matchPos = strstr(request, fieldName); + unsigned long fieldLength = 0; + + if (matchPos == NULL) + { + targetContainer[0] = '\0'; + return; + } + + matchPos += strlen(fieldName); + if (matchPos[0] == ':' || matchPos[0] == ';') + matchPos++; + else { + targetContainer[0] = '\0'; + return; + } + + while (1) + { + if (matchPos[0] == ' ' || matchPos[0] == '\t') + { + // Skip white space + matchPos++; + } + else if (matchPos[0] == '\r' || matchPos[0] == '\n' || matchPos[0] == '\0') + { + // Empty field? Return empty string + targetContainer[0] = '\0'; + return; + } + else + { + break; + } + } + + firstPos = matchPos; + + // Find end of field + while (1) + { + if (matchPos[0] == '\r' || matchPos[0] == '\n' || matchPos[0] == '\0') + { + lastPos = matchPos; + break; + } + else + { + matchPos++; + } + } + + // Check length + fieldLength = lastPos - firstPos; + if (fieldLength > targetContainerSize) + { + LogMessage(LOG_LEVEL_WARNING, "Received too long HTTP header field: %s", fieldName); + targetContainer[0] = '\0'; + return; + } + else + { + strncpy(targetContainer, firstPos, fieldLength); + } + +} + /*---------------------------------------------s--------------- -- Public functions ------------------------------------------------------------*/ +static const HTTPHeaderContent headerFieldNames = { + "Accept-Charset", "Accept-Encoding", "Accept-Language", + "Authorization", "Expect", "From", "Host", "If-Match", "If-Modified-Since", + "If-None-Match", "If-Range", "If-Unmodified-Since", "Max-Forwards", + "Proxy-Authorization", "Range", "Referer", "TE", "User-Agent" +}; +// HTTP header decoder +void UtilDecodeHTTPRequestHeader(char* request, HTTPHeaderContent* header) +{ + CopyHTTPHeaderField(request, header->AcceptCharset, HTTP_HEADER_MAX_LENGTH, headerFieldNames.AcceptCharset); + CopyHTTPHeaderField(request, header->AcceptEncoding, HTTP_HEADER_MAX_LENGTH, headerFieldNames.AcceptEncoding); + CopyHTTPHeaderField(request, header->AcceptLanguage, HTTP_HEADER_MAX_LENGTH, headerFieldNames.AcceptLanguage); + CopyHTTPHeaderField(request, header->Authorization, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Authorization); + CopyHTTPHeaderField(request, header->Expect, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Expect); + CopyHTTPHeaderField(request, header->From, HTTP_HEADER_MAX_LENGTH, headerFieldNames.From); + CopyHTTPHeaderField(request, header->Host, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Host); + CopyHTTPHeaderField(request, header->IfMatch, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfMatch); + CopyHTTPHeaderField(request, header->IfModifiedSince, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfModifiedSince); + CopyHTTPHeaderField(request, header->IfRange, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfRange); + CopyHTTPHeaderField(request, header->IfNoneMatch, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfNoneMatch); + CopyHTTPHeaderField(request, header->IfUnmodifiedSince, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfUnmodifiedSince); + CopyHTTPHeaderField(request, header->MaxForwards, HTTP_HEADER_MAX_LENGTH, headerFieldNames.MaxForwards); + CopyHTTPHeaderField(request, header->ProxyAuthorization, HTTP_HEADER_MAX_LENGTH, headerFieldNames.ProxyAuthorization); + CopyHTTPHeaderField(request, header->Range, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Range); + CopyHTTPHeaderField(request, header->Referer, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Referer); + CopyHTTPHeaderField(request, header->TE, HTTP_HEADER_MAX_LENGTH, headerFieldNames.TE); + CopyHTTPHeaderField(request, header->UserAgent, HTTP_HEADER_MAX_LENGTH, headerFieldNames.UserAgent); +} + // GPS TIME FUNCTIONS uint64_t UtilgetGPSmsFromUTCms(uint64_t UTCms) { From 22e581b3402e074af4fabab2727d41b9ee64023c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 7 May 2019 11:16:05 +0200 Subject: [PATCH 052/730] Added host checking on http requests --- server/src/systemcontrol.c | 123 +++++++++++++++++++++++++++++++++++-- 1 file changed, 117 insertions(+), 6 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 1351775c4..1269a1dac 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -24,11 +24,13 @@ #include #include +#include #include #include #include #include #include +#include //#include "remotecontrol.h" #include "util.h" @@ -124,6 +126,7 @@ const char* SystemControlCommandsArr[] = const char* SystemControlStatesArr[] = { "UNDEFINED", "INITIALIZED", "IDLE", "READY", "RUNNING", "INWORK", "ERROR"}; const char* SystemControlOBCStatesArr[] = { "UNDEFINED", "IDLE", "INITIALIZED", "CONNECTED", "ARMED", "RUNNING", "ERROR"}; +const char* POSTRequestMandatoryContent[] = { "POST", "HTTP/1.1", "\r\n\r\n" }; char SystemControlCommandArgCnt[SYSTEM_CONTROL_ARG_CHAR_COUNT]; char SystemControlStrippedCommand[SYSTEM_CONTROL_COMMAND_MAX_LENGTH]; @@ -155,6 +158,7 @@ I32 SystemControlDeleteFileDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); I32 SystemControlBuildFileContentInfo(C8 *Path, C8 *ReturnValue, U8 Debug); I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *ReturnValue, U8 Remove, U8 Debug); I32 SystemControlCreateDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); +static C8 SystemControlVerifyHostAddress(char* ip); /*------------------------------------------------------------ -- Private variables @@ -189,7 +193,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) ObjectPosition OP; int i,i1; - char *StartPtr, *StopPtr, *CmdPtr; + char *StartPtr, *StopPtr, *CmdPtr, *StringPos; struct timespec tTime; int iCommand; char pcRecvBuffer[SC_RECV_MESSAGE_BUFFER]; @@ -232,6 +236,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) C8 TxBuffer[SYSTEM_CONTROL_TX_PACKET_SIZE]; + HTTPHeaderContent HTTPHeader; + //C8 SIDSData[128][10000][8]; LogInit(MODULE_NAME,logLevel); @@ -351,11 +357,14 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) StartPtr = pcBuffer; StopPtr = pcBuffer; CmdPtr = NULL; + StringPos = pcBuffer; - if (strstr(pcBuffer,"POST") != NULL) + /* + if (strstr(pcBuffer,"POST ") != NULL) { + CmdPtr = strchr(pcBuffer,'\n'); - if (CmdPtr != NULL && strstr(CmdPtr+1,"Host") != NULL) + if (CmdPtr != NULL && strstr(CmdPtr+1,"Host;") != NULL) { CmdPtr = strchr(CmdPtr+1,'\n'); if (CmdPtr != NULL) @@ -376,12 +385,58 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); } } - else {CmdPtr = NULL; /* If we don't find "Host" */} + else {CmdPtr = NULL; If we don't find "Host" } } + */ + + // Check so that all POST request mandatory content is contained in the message + for (i = 0; i < sizeof(POSTRequestMandatoryContent)/sizeof(POSTRequestMandatoryContent[0]); ++i) + { + StringPos = strstr(StringPos,POSTRequestMandatoryContent[i]); + if (StringPos == NULL) + { + CmdPtr = NULL; + break; + } + else + { + CmdPtr = StringPos + strlen(POSTRequestMandatoryContent[i]); + } + } + - if (CmdPtr == NULL) + if (CmdPtr != NULL) + { + // It is now known that the request contains "POST" and "\r\n\r\n", so we can decode the header + UtilDecodeHTTPRequestHeader(pcBuffer, &HTTPHeader); + + if (HTTPHeader.Host[0] == '\0') + { + LogMessage(LOG_LEVEL_INFO, "Unspecified host in request <%s>",pcBuffer); + } + else if (SystemControlVerifyHostAddress(HTTPHeader.Host)) + { + StartPtr = strchr(CmdPtr, '(')+1; + while (StopPtr != NULL) + { + StopPtr = (char *)strchr(StartPtr, ','); + if(StopPtr == NULL) strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); + else strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); + StartPtr = StopPtr+1; + CurrentInputArgCount ++; + //printf("CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount-1]); + } + + SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); + + } + else { + LogMessage(LOG_LEVEL_INFO, "Request specified host <%s> not among known local addresses",HTTPHeader.Host); + } + } + else { - LogMessage(LOG_LEVEL_WARNING,"Received badly formatted data"); + LogMessage(LOG_LEVEL_WARNING,"Received badly formatted HTTP request: <%s>, must contain \"POST\" and \"\\r\\n\\r\\n\"",pcBuffer); } } } @@ -1303,6 +1358,62 @@ static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I3 LogMessage(LOG_LEVEL_INFO,"Created process channel socket and address: %s:%d",name,port); } +/*! + * \brief SystemControlVerifyHostAddress Checks if addr matches any of Maesto's own ip addresses + * \param addr IP address to match against own IPs + * \return true if match, false if not + */ +C8 SystemControlVerifyHostAddress(char* addr) +{ + struct ifaddrs *ifaddr, *ifa; + int family, s, n; + char host[NI_MAXHOST]; + + if (getifaddrs(&ifaddr) == -1) + { + LogMessage(LOG_LEVEL_ERROR,"Could not get interface data"); + freeifaddrs(ifaddr); + return 0; + } + + // Iterate over linked list using ifa + for (ifa = ifaddr, n = 0; ifa != NULL; ifa = ifa->ifa_next, n++) + { + if (ifa->ifa_addr == NULL) + { + // Interface had no addresses, skip to next + continue; + } + + family = ifa->ifa_addr->sa_family; + if (family == AF_INET || family == AF_INET6) + { + s = getnameinfo(ifa->ifa_addr, + (family == AF_INET) ? sizeof(struct sockaddr_in) : + sizeof(struct sockaddr_in6), + host, NI_MAXHOST, + NULL, 0, NI_NUMERICHOST); + if (s != 0) + { + LogMessage(LOG_LEVEL_ERROR,"getnameinfo() failed: %s", gai_strerror(s)); + continue; + } + + if (strcmp(host,addr) == 0) + return 1; + else + continue; + } + else + { + continue; + } + } + + freeifaddrs(ifaddr); + return 0; +} + /* I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData, I32 Length, U8 debug) { From 928e470ffe5946f7051c6f898bcb297406a1d8de Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 8 May 2019 12:21:29 +0200 Subject: [PATCH 053/730] Added util function for checking if a point is inside a polygon --- server/inc/util.h | 2 + server/src/util.c | 132 ++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 134 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index 7e377d37f..92401a42b 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -728,6 +728,8 @@ int UtilFindCurrentTrajectoryPositionNew(ObjectPosition *OP, int StartIndex, dou int UtilSetSyncPoint(ObjectPosition *OP, double x, double y, double z, double time); float UtilCalculateTimeToSync(ObjectPosition *OP); +char UtilIsPointInPolygon(double pointX, double pointY, double * polyX, double * polyY, int nPtsInPolygon); + int UtilCountFileRows(FILE *fd); int UtilReadLineCntSpecChars(FILE *fd, char *Buffer); int UtilReadLine(FILE *fd, char *Buffer); diff --git a/server/src/util.c b/server/src/util.c index 1e91deb05..ceacc9e73 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -23,6 +23,7 @@ #include #include #include +#include #include "util.h" #include "logging.h" @@ -49,6 +50,13 @@ static mqd_t tMQRecv; static mqd_t ptMQSend[MQ_NBR_QUEUES]; static char pcMessageQueueName[1024]; +/*------------------------------------------------------------ +-- Private functions +------------------------------------------------------------*/ + +static char rayFromPointIntersectsLine(double pointX, double pointY, double polyPointAX, double polyPointAY, double polyPointBX, double polyPointBY); +static char roughlyEqualsTo(double num1, double num2, double eps); + /*---------------------------------------------s--------------- -- Public functions ------------------------------------------------------------*/ @@ -887,6 +895,130 @@ float UtilCalculateTimeToSync(ObjectPosition *OP) + +/*! + * \brief UtilIsPointInPolygon Checks if a point lies within a polygon specified by a number of vertices using + * the ray casting algorithm. + * \param pointX X coordinate of the point to check + * \param pointY Y coordinate of the point to check + * \param verticesX X coordinates of the vertex points defining the polygon to check + * \param verticesY Y coordinates of the vertex points defining the polygon to check + * \param nPtsInPolygon length of the two vertex arrays + * \return true if the point lies within the polygon, false otherwise + */ +char UtilIsPointInPolygon(double pointX, double pointY, double * verticesX, double * verticesY, int nPtsInPolygon) +{ + int nIntersects = 0; + + // Count the number of intersections with the polygon + for (int i = 0; i < nPtsInPolygon-1; ++i) + { + if (rayFromPointIntersectsLine(pointX, pointY, verticesX[i], verticesY[i], verticesX[i+1], verticesY[i+1])) + { + nIntersects++; + } + } + + // If the first and last points are different, the polygon segment between them must also be included + if (verticesX[0] != verticesX[nPtsInPolygon-1] || verticesY[0] != verticesY[nPtsInPolygon-1]) + { + if (rayFromPointIntersectsLine(pointX, pointY, + verticesX[0], verticesY[0], verticesX[nPtsInPolygon-1], verticesY[nPtsInPolygon-1])) + { + nIntersects++; + } + } + + // If the number of ray intersections with the polygon is even, the point must be outside the polygon + if (nIntersects % 2 == 0) + return 0; + else + return 1; +} + +/*! + * \brief rayFromPointIntersectsLine checks whether ray in X axis direction from point intersects + * a line AB between two points A and B + * \param pointX X coordinate of the point from which ray originates + * \param pointY Y coordinate of the point from which ray originates + * \param linePointAX X coordinate of the point A + * \param linePointAY Y coordinate of the point A + * \param linePointBX X coordinate of the point B + * \param linePointBY Y coordinate of the point B + * \return true if ray intersects line AB, false otherwise + */ +static char rayFromPointIntersectsLine(double pointX, double pointY, + double linePointAX, double linePointAY, double linePointBX, double linePointBY) +{ + double tmp, maxVal, minVal, slopeAB, slopeAP; + + // Need 2x eps because machine epsilon is too small + // Need to use float epsilon in case the double points are just promoted floats + const double algorithmEpsilon = (double)(2*FLT_EPSILON); + + // The algorithm assumes the Y coordinate of A is smaller than that of B + // -> if this is not the case, swap the points + if (linePointBY < linePointAY) + { + tmp = linePointAX; + linePointAX = linePointBX; + linePointBX = tmp; + + tmp = linePointAY; + linePointAY = linePointBY; + linePointBY = tmp; + } + + // If the ray casting would cause intersection with a vertex the result is undefined, + // so we perform a heuristic to avoid this situation: + if (pointY == linePointAY || pointY == linePointBY) + { + pointY += algorithmEpsilon; + } + + // A ray in X axis direction will not intersect if Y coordinates are outside of the range + // spanned by the line AB + if (pointY < linePointAY || pointY > linePointBY) + return 0; + + // A ray in X axis direction will not intersect if it starts at a larger X coordinate than + // any in the range of the line AB + maxVal = linePointAX > linePointBX ? linePointAX : linePointBX; + if (pointX >= maxVal) + return 0; + + // A ray in X axis direction will intersect if it starts at a smaller X coordinate than + // any in the range of the line AB + minVal = linePointAX < linePointBX ? linePointAX : linePointBX; + if (pointX < minVal) + return 1; + + // Having filtered away all the situations where the point lies outside the rectangle + // defined by the two points A and B, it is necessary to do some more costly processing + + // Compare the slopes of the lines AB and AP - if the slope of AB is larger than that of AP + // then a ray in X axis direction will not intersect AB + if (linePointAX != linePointBX) + slopeAB = (linePointBY - linePointAY) / (linePointBX - linePointAX); + else + slopeAB = (double)INFINITY; + if (linePointAX != pointX) + slopeAP = (pointY - linePointAY) / (pointX - linePointAX); + else + slopeAP = (double)INFINITY; + + if (slopeAP >= slopeAB) + return 1; + else + return 0; +} + +static char roughlyEqualsTo(double num1, double num2, double eps) +{ + return 0; +} + + int UtilSortSpaceTimeAscending(ObjectPosition *OP) { int i, j, index; From b272b5c77171a63c70cabada896f7aaeb18dd5d0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 8 May 2019 12:23:30 +0200 Subject: [PATCH 054/730] Removed unused function --- server/src/util.c | 6 ------ 1 file changed, 6 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index ceacc9e73..ef13f4f85 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -55,7 +55,6 @@ static char pcMessageQueueName[1024]; ------------------------------------------------------------*/ static char rayFromPointIntersectsLine(double pointX, double pointY, double polyPointAX, double polyPointAY, double polyPointBX, double polyPointBY); -static char roughlyEqualsTo(double num1, double num2, double eps); /*---------------------------------------------s--------------- -- Public functions @@ -1013,11 +1012,6 @@ static char rayFromPointIntersectsLine(double pointX, double pointY, return 0; } -static char roughlyEqualsTo(double num1, double num2, double eps) -{ - return 0; -} - int UtilSortSpaceTimeAscending(ObjectPosition *OP) { From 5b894bb541c3e778d8f221c88791fb06aeb329b7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 8 May 2019 14:47:22 +0200 Subject: [PATCH 055/730] Implemented two norm check with position --- server/inc/util.h | 10 ++++++++++ server/src/util.c | 17 +++++++++++++++++ 2 files changed, 27 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index 7e377d37f..3fee78d89 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -307,6 +307,15 @@ typedef struct } GeoPosition; +typedef struct +{ + double xCoord_m; + double yCoord_m; + double zCoord_m; + double heading_deg; +} CartesianPosition; + + typedef struct { U16 SyncWordU16; @@ -717,6 +726,7 @@ int iCommClose(); int iCommRecv(int*, char*, const int, char*); int iCommSend(const int,const char*); +char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, double *resLat, double *resLon, double *a2); double UtilDegToRad(double Deg); diff --git a/server/src/util.c b/server/src/util.c index 1e91deb05..a88f8a498 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -587,6 +587,23 @@ int UtilSetSlaveObject(ObjectPosition *OP, char *Filename, char debug) } +/*! + * \brief UtilIsPositionNearTarget Checks if position lies within or on a sphere with radius equal to tolerance_m + * and centre at target. + * \param position Position to verify + * \param target Target position + * \param tolerance_m Radius around target position defining "near" + * \return true if position is within tolerance_m of target, false otherwise + */ +char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m) +{ + double distance = 0; + distance = sqrt( pow(position.xCoord_m-target.xCoord_m, 2) + + pow(position.yCoord_m-target.yCoord_m, 2) + + pow(position.zCoord_m-target.zCoord_m, 2) ); + return distance <= tolerance_m; +} + double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP) { From 491b74d919b2712f33ce37828d1d5a9c742e6122 Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Wed, 8 May 2019 15:51:34 +0200 Subject: [PATCH 056/730] Update util.c Addressed comments --- server/src/util.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index ef13f4f85..42ca5a2a6 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -897,7 +897,7 @@ float UtilCalculateTimeToSync(ObjectPosition *OP) /*! * \brief UtilIsPointInPolygon Checks if a point lies within a polygon specified by a number of vertices using - * the ray casting algorithm. + * the ray casting algorithm (see http://rosettacode.org/wiki/Ray-casting_algorithm). * \param pointX X coordinate of the point to check * \param pointY Y coordinate of the point to check * \param verticesX X coordinates of the vertex points defining the polygon to check @@ -919,7 +919,7 @@ char UtilIsPointInPolygon(double pointX, double pointY, double * verticesX, doub } // If the first and last points are different, the polygon segment between them must also be included - if (verticesX[0] != verticesX[nPtsInPolygon-1] || verticesY[0] != verticesY[nPtsInPolygon-1]) + if (fabs(verticesX[0] - verticesX[nPtsInPolygon-1]) > (double)(2*FLT_EPSILON) || fabs(verticesY[0] - verticesY[nPtsInPolygon-1]) > (double)(2*FLT_EPSILON) ) { if (rayFromPointIntersectsLine(pointX, pointY, verticesX[0], verticesY[0], verticesX[nPtsInPolygon-1], verticesY[nPtsInPolygon-1])) @@ -936,8 +936,8 @@ char UtilIsPointInPolygon(double pointX, double pointY, double * verticesX, doub } /*! - * \brief rayFromPointIntersectsLine checks whether ray in X axis direction from point intersects - * a line AB between two points A and B + * \brief rayFromPointIntersectsLine Checks whether a ray in positive x direction, parallel to the x axis, + * from a point intersects a line AB between two points A and B * \param pointX X coordinate of the point from which ray originates * \param pointY Y coordinate of the point from which ray originates * \param linePointAX X coordinate of the point A From 6b3798c87d81204f5d9cbb04c7c83715b276c055 Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Thu, 9 May 2019 12:10:11 +0200 Subject: [PATCH 057/730] Update timecontrol.c Added receivedNewData = 0 when time server disconnects --- server/src/timecontrol.c | 1 + 1 file changed, 1 insertion(+) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 437332090..a5061a169 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -435,6 +435,7 @@ static void TimeControlRecvTime(int* sockfd, C8* buffer, int length, int* receiv { // EOF received LogMessage(LOG_LEVEL_ERROR,"Time server disconnected"); + *receivedNewData = 0; return; } else From 94d9a5434816f277b45085540ed3b9869587c8a2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 15:12:08 +0200 Subject: [PATCH 058/730] Changed return type of main task of timecontrol --- server/inc/timecontrol.h | 2 +- server/src/timecontrol.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/server/inc/timecontrol.h b/server/inc/timecontrol.h index 2b267f05b..5987e0202 100755 --- a/server/inc/timecontrol.h +++ b/server/inc/timecontrol.h @@ -16,7 +16,7 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -int timecontrol_task(TimeType *GPSTime, GSDType *GSD); +void timecontrol_task(TimeType *GPSTime, GSDType *GSD); U16 TimeControlGetMillisecond(TimeType *GPSTime); diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index a5061a169..141aea876 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -74,7 +74,7 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -int timecontrol_task(TimeType *GPSTime, GSDType *GSD) +void timecontrol_task(TimeType *GPSTime, GSDType *GSD) { C8 TextBufferC8[TIME_CONTROL_HOSTNAME_BUFFER_SIZE]; From 991d26c1eae5e6f5b09acf02be463a4ffff7f63f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 16:00:34 +0200 Subject: [PATCH 059/730] Modified supervision main function to match function prototype for main-tasks --- server/inc/supervision.h | 4 +++- server/src/supervision.c | 3 +-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/server/inc/supervision.h b/server/inc/supervision.h index 50f56a161..e1bdb1bd6 100755 --- a/server/inc/supervision.h +++ b/server/inc/supervision.h @@ -11,9 +11,11 @@ #ifndef __SUPERVISION_H_INCLUDED__ #define __SUPERVISION_H_INCLUDED__ +#include "util.h" + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void supervision_task(TimeType *GPSTime); +void supervision_task(TimeType *GPSTime, GSDType *GSD); #endif //__SUPERVISION_H_INCLUDED__ diff --git a/server/src/supervision.c b/server/src/supervision.c index 1f68609d4..41e3b2956 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -21,7 +21,6 @@ #include #include -#include "util.h" #include "supervision.h" #include "logging.h" @@ -115,7 +114,7 @@ static void vFindObjectsInfo ( char object_traj_file [MAX_OBJECTS][MAX_FILE_P -- Task ------------------------------------------------------------*/ -void supervision_task(TimeType *GPSTime) { +void supervision_task(TimeType *GPSTime, GSDType *GSD) { char object_traj_file [ MAX_OBJECTS ][ MAX_FILE_PATH ]; char object_address_name [ MAX_OBJECTS ][ MAX_FILE_PATH ]; From e4264399886f4863aa4d6499cf560bee978f3b34 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 16:02:16 +0200 Subject: [PATCH 060/730] Modified supervisorcontrol main function to match function prototype for main-tasks --- server/inc/supervisorcontrol.h | 5 +++-- server/src/supervisorcontrol.c | 3 +-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/server/inc/supervisorcontrol.h b/server/inc/supervisorcontrol.h index e9ad603d5..9fa6e8fd5 100644 --- a/server/inc/supervisorcontrol.h +++ b/server/inc/supervisorcontrol.h @@ -12,11 +12,12 @@ #define __SUPERVISORCONTROL_H_INCLUDED__ +#include "util.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -int supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD); +void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD); -#endif \ No newline at end of file +#endif diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index 042708724..4f322bb04 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -26,7 +26,6 @@ #include #include -#include "util.h" #include "logger.h" #include "logging.h" @@ -62,7 +61,7 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -int supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD) +void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD) { C8 TextBufferC8[SUP_CONTROL_BUFFER_SIZE_20]; From a2041b9dcc1997df41cebccda501262a220024d8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 16:03:05 +0200 Subject: [PATCH 061/730] Implemented module task function pointer structure --- server/src/main.c | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/server/src/main.c b/server/src/main.c index 745ab8685..b2303b508 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -33,6 +33,11 @@ #include "supervisorcontrol.h" #include "logging.h" +/*------------------------------------------------------------ +-- Types +------------------------------------------------------------*/ +typedef void (*ModuleTask)(TimeType*, GSDType*); //! Function pointer type for module "main" functions + /*------------------------------------------------------------ -- Defines @@ -41,6 +46,8 @@ static TimeType *GPSTime; static GSDType *GSD; +const static ModuleTask allModules[] = {logger_task, timecontrol_task, supervision_task, supervisorcontrol_task, systemcontrol_task, objectcontrol_task}; + #define MODULE_NAME "Central" static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; /*------------------------------------------------------------ From ab6bfd2d3b59b3b6d07c4f237960d1ee8e0aaf5f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 16:06:01 +0200 Subject: [PATCH 062/730] Added number of modules count variable --- server/src/main.c | 1 + 1 file changed, 1 insertion(+) diff --git a/server/src/main.c b/server/src/main.c index b2303b508..d93f5430c 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -47,6 +47,7 @@ static TimeType *GPSTime; static GSDType *GSD; const static ModuleTask allModules[] = {logger_task, timecontrol_task, supervision_task, supervisorcontrol_task, systemcontrol_task, objectcontrol_task}; +const static size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); #define MODULE_NAME "Central" static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; From 9a9a1699c5aead91efaf729811b126b7b4f947f5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 16:18:45 +0200 Subject: [PATCH 063/730] Made log level a startup parameter --- server/inc/logger.h | 5 ++++- server/inc/objectcontrol.h | 3 ++- server/inc/supervision.h | 3 ++- server/inc/supervisorcontrol.h | 3 ++- server/inc/systemcontrol.h | 5 +++-- server/inc/timecontrol.h | 3 ++- server/src/logger.c | 5 +---- server/src/main.c | 2 +- server/src/objectcontrol.c | 5 +---- server/src/supervision.c | 4 +--- server/src/supervisorcontrol.c | 5 +---- server/src/systemcontrol.c | 5 +---- server/src/timecontrol.c | 5 +---- 13 files changed, 22 insertions(+), 31 deletions(-) diff --git a/server/inc/logger.h b/server/inc/logger.h index 646ec1995..1456f3d9f 100755 --- a/server/inc/logger.h +++ b/server/inc/logger.h @@ -11,11 +11,14 @@ #ifndef __LOGGER_H_INCLUDED__ #define __LOGGER_H_INCLUDED__ +#include "util.h" +#include "logging.h" + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void logger_task(); +void logger_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); diff --git a/server/inc/objectcontrol.h b/server/inc/objectcontrol.h index ce2bea61d..f4df494fa 100755 --- a/server/inc/objectcontrol.h +++ b/server/inc/objectcontrol.h @@ -14,11 +14,12 @@ #include #include #include "util.h" +#include "logging.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void objectcontrol_task(TimeType *GPSTime, GSDType *GSD); +void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); diff --git a/server/inc/supervision.h b/server/inc/supervision.h index e1bdb1bd6..be6b6ae9c 100755 --- a/server/inc/supervision.h +++ b/server/inc/supervision.h @@ -12,10 +12,11 @@ #define __SUPERVISION_H_INCLUDED__ #include "util.h" +#include "logging.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void supervision_task(TimeType *GPSTime, GSDType *GSD); +void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); #endif //__SUPERVISION_H_INCLUDED__ diff --git a/server/inc/supervisorcontrol.h b/server/inc/supervisorcontrol.h index 9fa6e8fd5..00c259a80 100644 --- a/server/inc/supervisorcontrol.h +++ b/server/inc/supervisorcontrol.h @@ -13,11 +13,12 @@ #include "util.h" +#include "logging.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD); +void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); #endif diff --git a/server/inc/systemcontrol.h b/server/inc/systemcontrol.h index 66f76fbcc..2be07a48a 100755 --- a/server/inc/systemcontrol.h +++ b/server/inc/systemcontrol.h @@ -11,11 +11,12 @@ #ifndef __SYSTEMCONTROL_H_INCLUDED__ #define __SYSTEMCONTROL_H_INCLUDED__ - +#include "util.h" +#include "logging.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void systemcontrol_task(TimeType *GPSTime, GSDType *GSD); +void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); #endif //__SYSTEMCONTROL_H_INCLUDED__ diff --git a/server/inc/timecontrol.h b/server/inc/timecontrol.h index 5987e0202..bf46a815e 100755 --- a/server/inc/timecontrol.h +++ b/server/inc/timecontrol.h @@ -12,11 +12,12 @@ #define __TIMECONTROL_H_INCLUDED__ #include "util.h" +#include "logging.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void timecontrol_task(TimeType *GPSTime, GSDType *GSD); +void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); U16 TimeControlGetMillisecond(TimeType *GPSTime); diff --git a/server/src/logger.c b/server/src/logger.c index 68357365b..ca9760753 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -24,8 +24,6 @@ #include #include -#include "util.h" -#include "logging.h" #include "maestroTime.h" /*------------------------------------------------------------ @@ -55,12 +53,11 @@ static void sigint_handler(int signo); -- Private variables ------------------------------------------------------------*/ #define MODULE_NAME "Logger" -static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ -void logger_task() +void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { char pcLogFile[MAX_FILE_PATH]; char pcLogFileComp[MAX_FILE_PATH]; diff --git a/server/src/main.c b/server/src/main.c index d93f5430c..b37b5e891 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -36,7 +36,7 @@ /*------------------------------------------------------------ -- Types ------------------------------------------------------------*/ -typedef void (*ModuleTask)(TimeType*, GSDType*); //! Function pointer type for module "main" functions +typedef void (*ModuleTask)(TimeType*, GSDType*, LOG_LEVEL); //! Function pointer type for module "main" functions /*------------------------------------------------------------ diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 4a8ee1c9d..6a226c555 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -28,9 +28,7 @@ #include #include #include -#include "util.h" #include "timecontrol.h" -#include "logging.h" /*------------------------------------------------------------ @@ -200,12 +198,11 @@ int8_t tFromUndefined(OBCState_t *currentState, OBCState_t requestedState); ------------------------------------------------------------*/ #define MODULE_NAME "ObjectControl" -static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ -void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) +void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { int safety_socket_fd[MAX_OBJECTS]; struct sockaddr_in safety_object_addr[MAX_OBJECTS]; diff --git a/server/src/supervision.c b/server/src/supervision.c index 41e3b2956..7dcf98161 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -22,7 +22,6 @@ #include #include "supervision.h" -#include "logging.h" /*------------------------------------------------------------ -- Defines @@ -43,7 +42,6 @@ #define DIFF_LEAP_SECONDS_UTC_ETSI 5 #define MODULE_NAME "Supervisor" -static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; /*------------------------------------------------------------ -- Function declarations & definitions. @@ -114,7 +112,7 @@ static void vFindObjectsInfo ( char object_traj_file [MAX_OBJECTS][MAX_FILE_P -- Task ------------------------------------------------------------*/ -void supervision_task(TimeType *GPSTime, GSDType *GSD) { +void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { char object_traj_file [ MAX_OBJECTS ][ MAX_FILE_PATH ]; char object_address_name [ MAX_OBJECTS ][ MAX_FILE_PATH ]; diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index 4f322bb04..d92eccecc 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -27,7 +27,6 @@ #include #include "logger.h" -#include "logging.h" /*------------------------------------------------------------ @@ -55,13 +54,11 @@ ------------------------------------------------------------*/ #define MODULE_NAME "SupervisorControl" -static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; -/*------- /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD) +void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { C8 TextBufferC8[SUP_CONTROL_BUFFER_SIZE_20]; diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index cfed3a989..1e204c55f 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -31,10 +31,8 @@ #include //#include "remotecontrol.h" -#include "util.h" #include "systemcontrol.h" #include "timecontrol.h" -#include "logging.h" @@ -161,13 +159,12 @@ I32 SystemControlCreateDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); ------------------------------------------------------------*/ #define MODULE_NAME "SystemControl" -static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ -void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) +void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { I32 ServerHandle; diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 141aea876..de2369782 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -28,7 +28,6 @@ #include "timecontrol.h" #include "logger.h" -#include "logging.h" #define TIME_CONTROL_CONF_FILE_PATH "conf/test.conf" @@ -68,13 +67,11 @@ static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 de -- Private variables. ------------------------------------------------------------*/ #define MODULE_NAME "TimeControl" -static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; - /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -void timecontrol_task(TimeType *GPSTime, GSDType *GSD) +void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { C8 TextBufferC8[TIME_CONTROL_HOSTNAME_BUFFER_SIZE]; From 2b957de719b6b75f208286867ed2016003f2405f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 17:37:27 +0200 Subject: [PATCH 064/730] Made all module tasks be started from a loop --- server/src/main.c | 210 +++++++++++++++++----------------------------- 1 file changed, 78 insertions(+), 132 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index b37b5e891..5495180cc 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -15,7 +15,7 @@ #include #include #include -#include +#include #include #include #include @@ -37,7 +37,10 @@ -- Types ------------------------------------------------------------*/ typedef void (*ModuleTask)(TimeType*, GSDType*, LOG_LEVEL); //! Function pointer type for module "main" functions - +typedef struct +{ + LOG_LEVEL commonLogLevel; +} Options; /*------------------------------------------------------------ -- Defines @@ -46,25 +49,31 @@ typedef void (*ModuleTask)(TimeType*, GSDType*, LOG_LEVEL); //! Function pointer static TimeType *GPSTime; static GSDType *GSD; -const static ModuleTask allModules[] = {logger_task, timecontrol_task, supervision_task, supervisorcontrol_task, systemcontrol_task, objectcontrol_task}; -const static size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); +static const ModuleTask allModules[] = {logger_task, timecontrol_task, supervision_task, supervisorcontrol_task, systemcontrol_task, objectcontrol_task}; +static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); #define MODULE_NAME "Central" -static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; + +/*------------------------------------------------------------ +-- Private functions +------------------------------------------------------------*/ +int readArgumentList(int argc, char *argv[], Options *opts); +void printHelp(char* progName); + + /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ int main(int argc, char *argv[]) { - // Set the debug level - // TODO: make debug level a starting parameter - // make sure that the same debug parameter is passed to all processes - printf("Version %s\n",MaestroVersion ); + unsigned int moduleNumber = 0; + Options options; + pid_t pID[numberOfModules]; - LogInit(MODULE_NAME,logLevel); - - /*Share time between child processes*/ + if (readArgumentList(argc, argv, &options)) + return 0; + // Share time between child processes GPSTime = mmap(NULL, sizeof *GPSTime, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS, -1, 0); GSD = mmap(NULL, sizeof *GSD, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS, -1, 0); @@ -72,145 +81,82 @@ int main(int argc, char *argv[]) GSD->ScenarioStartTimeU32 = 0; GPSTime->isTimeInitializedU8 = 0; - pid_t pID[8]; - int iIndex = 0; - - LogMessage( LOG_LEVEL_INFO, "Central started"); + // Initialise log + LogInit(MODULE_NAME, options.commonLogLevel); + LogPrint("Version %s", MaestroVersion); + LogMessage(LOG_LEVEL_INFO, "Central started"); + LogMessage(LOG_LEVEL_DEBUG, "Verbose mode enabled"); - pID[iIndex] = fork(); - if(pID[iIndex] < 0) - { - util_error("ERR: Failed to fork"); - } - if(pID[iIndex] == 0) + // For all modules in allModules, start corresponding process in a fork + for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) { - logger_task(); - exit(EXIT_SUCCESS); - } - ++iIndex; - - - pID[iIndex] = fork(); - if(pID[iIndex] < 0) - { - util_error("ERR: Failed to fork"); - } - if(pID[iIndex] == 0) - { - supervision_task(GPSTime); - exit(EXIT_SUCCESS); - } - ++iIndex; - - - pID[iIndex] = fork(); - if(pID[iIndex] < 0) - { - util_error("ERR: Failed to fork"); - } - if(pID[iIndex] == 0) - { - objectcontrol_task(GPSTime, GSD); - exit(EXIT_SUCCESS); - } - ++iIndex; - - /* char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; - bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); - if(iUtilGetParaConfFile("VisualizationAdapter",pcTempBuffer)) - { - pID[iIndex] = fork(); - if(pID[iIndex] < 0) + pID[moduleNumber] = fork(); + if (pID[moduleNumber] < 0) { - util_error("ERR: Failed to fork"); + util_error("Failed to fork"); } - if(pID[iIndex] == 0) + else if (pID[moduleNumber] == 0) { - log_message(LOG_LEVEL_INFO,"Visualization 0 running in: %i",getpid()); - - - char *newargv[] = { NULL, NULL }; - char *newenviron[] = { NULL }; - newargv[0] = pcTempBuffer; - execve(pcTempBuffer, newargv, newenviron); - util_error("ERR: Failed to create visualization adapter"); + // Call module task + (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); + exit(EXIT_SUCCESS); } - ++iIndex; - } -*/ -/* - pID[iIndex] = fork(); - if(pID[iIndex] < 0) - { - util_error("ERR: Failed to fork"); } - if(pID[iIndex] == 0) - { - remotecontrol_task(GPSTime); - exit(EXIT_SUCCESS); - } - ++iIndex; -*/ + // Use the main fork for the final task + (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); + exit(EXIT_SUCCESS); +} - pID[iIndex] = fork(); - if(pID[iIndex] < 0) - { - util_error("ERR: Failed to fork"); - } - if(pID[iIndex] == 0) - { - timecontrol_task(GPSTime, GSD); - exit(EXIT_SUCCESS); - } - ++iIndex; -/* - pID[iIndex] = fork(); - if(pID[iIndex] < 0) +int readArgumentList(int argc, char *argv[], Options *opts) +{ + char *progName = strrchr(argv[0],'/'); + if (progName == NULL) { - util_error("ERR: Failed to fork"); + progName = argv[0]; } - if(pID[iIndex] == 0) + else { - - log_message(LOG_LEVEL_INFO,"simulatorcontrol_task running in: %i",getpid()); - - simulatorcontrol_task(GPSTime, GSD); - exit(EXIT_SUCCESS); + // Skip the slash + if (progName[1] == '\0') + return -1; + else + progName++; } - ++iIndex; - */ - - /* - pID[iIndex] = fork(); - if(pID[iIndex] < 0) - { - util_error("ERR: Failed to fork"); - } - if(pID[iIndex] == 0) - { - log_message(LOG_LEVEL_INFO,"citscontrol_task running in: %i",getpid()); + // Initialise to default options + opts->commonLogLevel = LOG_LEVEL_INFO; - citscontrol_task(GPSTime, GSD); - exit(EXIT_SUCCESS); - } - ++iIndex; -*/ - pID[iIndex] = fork(); - if(pID[iIndex] < 0) + // Loop over all input arguments + for(int i = 1; i < argc; ++i) { - util_error("ERR: Failed to fork"); - } - if(pID[iIndex] == 0) - { - supervisorcontrol_task(GPSTime, GSD); - exit(EXIT_SUCCESS); + if (!strcmp(argv[i], "-h") || !strcmp(argv[i], "--help")) + { + printHelp(progName); + return 1; + } + else if (!strcmp(argv[i], "-v") || !strcmp(argv[i],"--verbose")) + { + opts->commonLogLevel = LOG_LEVEL_DEBUG; + } + else + { + // If option didn't match any known option + printf("%s: invalid option -- '%s'\n", progName, argv[i]); + printf("Try '%s --help' for more information.\n", argv[0]); + return 1; + } } - ++iIndex; + return 0; +} - systemcontrol_task(GPSTime, GSD); +void printHelp(char* progName) +{ + printf("Usage: %s [OPTION]\n", progName); + printf("Runs all modules of test server.\n\n"); + printf(" -v, --verbose \tcreate detailed logs\n"); + printf(" -h, --help \t\tdisplay this help and exit\n"); } From cc49f9d3c7848542b91c57fc18eb61bab69cdd16 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 17:41:06 +0200 Subject: [PATCH 065/730] Commented the module array --- server/src/main.c | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 5495180cc..deed6debc 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -33,6 +33,8 @@ #include "supervisorcontrol.h" #include "logging.h" + + /*------------------------------------------------------------ -- Types ------------------------------------------------------------*/ @@ -45,15 +47,23 @@ typedef struct /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ - static TimeType *GPSTime; static GSDType *GSD; -static const ModuleTask allModules[] = {logger_task, timecontrol_task, supervision_task, supervisorcontrol_task, systemcontrol_task, objectcontrol_task}; +/*------------------------------------------------------------ +-- Server modules +------------------------------------------------------------*/ +//! allModules contains the tasks to be run in the server. To enable or disable a task, add the main module function in this array +static const ModuleTask allModules[] = { + logger_task, + timecontrol_task, + supervision_task, + supervisorcontrol_task, + systemcontrol_task, + objectcontrol_task +}; static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); -#define MODULE_NAME "Central" - /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ @@ -64,6 +74,7 @@ void printHelp(char* progName); /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ +#define MODULE_NAME "Central" int main(int argc, char *argv[]) { unsigned int moduleNumber = 0; From e4210b856117840378ec3b648c1c4aac18e777a8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 18:33:08 +0200 Subject: [PATCH 066/730] Added MQ bus initialisation in main with the util library --- server/CMakeLists.txt | 8 ++++- server/src/main.c | 69 ++++++++++++++++++++++++++++++++++++++++++- util | 2 +- 3 files changed, 76 insertions(+), 3 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 32032b813..97927ed1e 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -10,6 +10,7 @@ project (Maestro) include_directories(inc) include_directories(../util/C/logging) include_directories(../util/C/time) +include_directories(../util/C/MQBus) include(GNUInstallDirs) # Add logging library (hint at some locations) @@ -34,6 +35,11 @@ add_library(MaestroTime ../util/C/time/maestroTime.c ) +add_library(MQBus + ../util/C/MQBus/mqbus.h + ../util/C/MQBus/mqbus.c +) + # Create library add_library(util src/util.c @@ -78,4 +84,4 @@ target_link_libraries(util rt) target_link_libraries(UserControl util objctrl MaestroLogging) target_link_libraries(util MaestroLogging) target_link_libraries(TEServer util) -target_link_libraries(TEServer MaestroLogging MaestroTime) +target_link_libraries(TEServer MaestroLogging MaestroTime MQBus) diff --git a/server/src/main.c b/server/src/main.c index deed6debc..6c1ab8c44 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -32,6 +32,7 @@ #include "timecontrol.h" #include "supervisorcontrol.h" #include "logging.h" +#include "mqbus.h" @@ -69,6 +70,7 @@ static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); ------------------------------------------------------------*/ int readArgumentList(int argc, char *argv[], Options *opts); void printHelp(char* progName); +int initializeMessageQueueBus(void); /*------------------------------------------------------------ @@ -80,9 +82,10 @@ int main(int argc, char *argv[]) unsigned int moduleNumber = 0; Options options; pid_t pID[numberOfModules]; + int result = 0; if (readArgumentList(argc, argv, &options)) - return 0; + exit(EXIT_FAILURE); // Share time between child processes GPSTime = mmap(NULL, sizeof *GPSTime, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS, -1, 0); @@ -98,6 +101,10 @@ int main(int argc, char *argv[]) LogMessage(LOG_LEVEL_INFO, "Central started"); LogMessage(LOG_LEVEL_DEBUG, "Verbose mode enabled"); + // Initialise message queue bus + if(initializeMessageQueueBus()) + exit(EXIT_FAILURE); + // For all modules in allModules, start corresponding process in a fork for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) { @@ -119,7 +126,63 @@ int main(int argc, char *argv[]) exit(EXIT_SUCCESS); } +/*! + * \brief initialiseMessageQueueBus Wrapper function for MQBusInit with explanatory log printouts + * \return 0 upon success, -1 upon failure + */ +int initializeMessageQueueBus(void) +{ + int nbrOfQueues = numberOfModules; + enum MQBUS_ERROR result = MQBusInit(nbrOfQueues); + + // Printouts according to result + switch (result) + { + case MQBUS_OK: + LogMessage(LOG_LEVEL_INFO, "Initialized message queue bus"); + return 0; + case MQBUS_INVALID_INPUT_ARGUMENT: + LogMessage(LOG_LEVEL_ERROR, "Invalid number of message queues specified upon initialization: %d", nbrOfQueues); + break; + case MQBUS_QUEUE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Unable to initialize resource message queue: already exists"); + break; + case MQBUS_RESOURCE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Resource message queue does not exist"); + break; + case MQBUS_EMPTY: + LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); + break; + case MQBUS_MAX_QUEUES_LIMIT_REACHED: + LogMessage(LOG_LEVEL_ERROR, "Maximum number of message queues reached"); + break; + case MQBUS_OPEN_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); + break; + case MQBUS_CLOSE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); + break; + case MQBUS_DESCRIPTOR_NOT_FOUND: + LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); + break; + case MQBUS_NO_READABLE_MQ: + LogMessage(LOG_LEVEL_ERROR, "Connection to message queue bus does not exist"); + break; + case MQBUS_MQ_COULD_NOT_BE_DESTROYED: + LogMessage(LOG_LEVEL_ERROR, "Could not delete message queue"); + break; + } + return -1; +} + +/*! + * \brief readArgumentList Decodes the list of input arguments and fills an options struct + * \param argc Length of argument vector + * \param argv String array, starting with the executable name + * \param opts Options struct + * \return 0 upon success, -1 upon failure, 1 when clarification is needed + */ int readArgumentList(int argc, char *argv[], Options *opts) { char *progName = strrchr(argv[0],'/'); @@ -164,6 +227,10 @@ int readArgumentList(int argc, char *argv[], Options *opts) return 0; } +/*! + * \brief printHelp + * \param progName + */ void printHelp(char* progName) { printf("Usage: %s [OPTION]\n", progName); diff --git a/util b/util index 8b1cfac4c..bb789fbf3 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 8b1cfac4c4e0d2103d10de19b5c023a8c215f2a1 +Subproject commit bb789fbf3c31384cec85f62bdd2a792ae2843dc4 From 03aa93b2641eeb7de0177a49bc5551d6845afcf5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 May 2019 18:34:48 +0200 Subject: [PATCH 067/730] Removed unused variable --- server/src/main.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/main.c b/server/src/main.c index 6c1ab8c44..7ece85e89 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -82,7 +82,6 @@ int main(int argc, char *argv[]) unsigned int moduleNumber = 0; Options options; pid_t pID[numberOfModules]; - int result = 0; if (readArgumentList(argc, argv, &options)) exit(EXIT_FAILURE); From 5544a23659f9547614905f96aab809d9b24cb2d9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 10 May 2019 10:49:35 +0200 Subject: [PATCH 068/730] Added dependency on maestroTime --- server/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 97927ed1e..3a12971c3 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -82,6 +82,6 @@ target_link_libraries(util rt m) target_link_libraries(util m) target_link_libraries(util rt) target_link_libraries(UserControl util objctrl MaestroLogging) -target_link_libraries(util MaestroLogging) +target_link_libraries(util MaestroLogging MaestroTime) target_link_libraries(TEServer util) target_link_libraries(TEServer MaestroLogging MaestroTime MQBus) From 945fdfa1c39ce98c306b573a644e731d41fd77d8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 10 May 2019 10:50:09 +0200 Subject: [PATCH 069/730] Rewrote all but iCommClose to use mqbus library --- server/inc/util.h | 60 ++--- server/src/util.c | 629 +++++++++++++++++++--------------------------- 2 files changed, 292 insertions(+), 397 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 795e87915..85ac3963c 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -27,6 +27,8 @@ #include #include +#include "mqbus.h" + /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ @@ -42,37 +44,10 @@ #define MQ_SC "/TEServer-SC" #define MQ_SI "/TEServer-SI" -#define MQ_MAX_MESSAGE_LENGTH 4096 -#define MQ_MAX_MSG 10 -#define MQ_PERMISSION 0660 - #define IPC_RECV 0x01 #define IPC_SEND 0x02 #define IPC_RECV_SEND 0x03 -#define COMM_STRT 1 -#define COMM_ARMD 2 -#define COMM_STOP 3 -#define COMM_MONI 4 -#define COMM_EXIT 5 -#define COMM_REPLAY 6 -#define COMM_CONTROL 7 -#define COMM_ABORT 8 -#define COMM_TOM 9 -#define COMM_INIT 10 -#define COMM_CONNECT 11 -#define COMM_OBC_STATE 12 -#define COMM_DISCONNECT 13 -#define COMM_LOG 14 -#define COMM_VIOP 15 -#define COMM_TRAJ 16 -#define COMM_TRAJ_TOSUP 17 -#define COMM_TRAJ_FROMSUP 18 -#define COMM_ASP 19 -#define COMM_OSEM 20 -#define COMM_INV 255 - - #define SAFETY_CHANNEL_PORT 53240 #define CONTROL_CHANNEL_PORT 53241 @@ -296,6 +271,31 @@ #define ISO_MESSAGE_FOOTER_LENGTH sizeof(FooterType) +//! Internal message queue communication identifiers +enum COMMAND +{ +COMM_STRT = 1, +COMM_ARMD = 2, +COMM_STOP = 3, +COMM_MONI = 4, +COMM_EXIT = 5, +COMM_REPLAY = 6, +COMM_CONTROL = 7, +COMM_ABORT = 8, +COMM_TOM = 9, +COMM_INIT = 10, +COMM_CONNECT = 11, +COMM_OBC_STATE = 12, +COMM_DISCONNECT = 13, +COMM_LOG = 14, +COMM_VIOP = 15, +COMM_TRAJ = 16, +COMM_TRAJ_TOSUP = 17, +COMM_TRAJ_FROMSUP = 18, +COMM_ASP = 19, +COMM_OSEM = 20, +COMM_INV = 255 +}; typedef struct @@ -721,10 +721,10 @@ void util_error(char* message); int iUtilGetParaConfFile(char* pcParameter, char* pcValue); int iUtilGetIntParaConfFile(char* pcParameter, int* iValue); -int iCommInit(const unsigned int, const char*, const int); +int iCommInit(void); int iCommClose(); -int iCommRecv(int*, char*, const int, char*); -int iCommSend(const int,const char*); +ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, char* timeRecvUTC); +int iCommSend(const enum COMMAND iCommand, const char* data); char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); diff --git a/server/src/util.c b/server/src/util.c index e468a4a07..3bb82cacb 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -27,16 +27,38 @@ #include "util.h" #include "logging.h" +#include "maestroTime.h" /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ -#define MQ_NBR_QUEUES 4 #define FE_WGS84 (1.0/298.257223563) // earth flattening (WGS84) #define RE_WGS84 6378137.0 // earth semimajor axis (WGS84) (m) +// Message priorities +#define PRIO_COMM_STRT 100 +#define PRIO_COMM_ARMD 110 +#define PRIO_COMM_STOP 120 +#define PRIO_COMM_MONI 80 +#define PRIO_COMM_EXIT 140 +#define PRIO_COMM_REPLAY 160 +#define PRIO_COMM_CONTROL 180 +#define PRIO_COMM_ABORT 60 +#define PRIO_COMM_TOM 90 +#define PRIO_COMM_INIT 110 +#define PRIO_COMM_CONNECT 110 +#define PRIO_COMM_OBC_STATE 160 +#define PRIO_COMM_DISCONNECT 110 +#define PRIO_COMM_LOG 160 +#define PRIO_COMM_VIOP 80 +#define PRIO_COMM_TRAJ 80 +#define PRIO_COMM_TRAJ_TOSUP 80 +#define PRIO_COMM_TRAJ_FROMSUP 80 +#define PRIO_COMM_ASP 110 +#define PRIO_COMM_OSEM 160 + /*------------------------------------------------------------ -- Public variables ------------------------------------------------------------*/ @@ -46,9 +68,6 @@ /*------------------------------------------------------------ -- Private variables ------------------------------------------------------------*/ -static mqd_t tMQRecv; -static mqd_t ptMQSend[MQ_NBR_QUEUES]; -static char pcMessageQueueName[1024]; /*------------------------------------------------------------ -- Private functions @@ -1580,170 +1599,57 @@ int iUtilGetIntParaConfFile(char* pcParameter, int* iValue) return iResult; } -/* First of all when we are using the messageque we are working with the - * following functions in our util.c file: iCommInit, iCommRecv , - * iCommSend, iCommClose. - * - * So we are using the POSIX message que built in to Linux os. and it is called - * With the function mq_..., The commands we use are mq_open, mq_close, - * mq_unlink, mq_send and mq_receive. - * - * In generall I would say that you can think of the POSIX messageque as a fifo - * (first in first out)que but you can determen what message is put first - * by adding a priority number - */ -/* iCommInit calls on mq_open which will open a messageque, this should be - * among the first things done in our modules otherwise there exist no way - * of sending data to the specific module(no internal connection) - * - * input to iCommInit is the uimode which explains if the created messageque - * should be able to read messages, send messages or both recive and send - * messages. - * - * The name is one of the defined files in util.h ~row 38 at the moment we have - * the following. - * #define MQ_LG "/TEServer-LG" - * #define MQ_SV "/TEServer-SV" - * #define MQ_OC "/TEServer-OC" - * #define MQ_VA "/TEServer-VA" - * #define MQ_SC "/TEServer-SC" - * - * The reson we have 5 messageques is that becous of how POSIX is structured there - * is no way of readin the message without deleting it from the messageque. - * therefore to make sure that no moduel removes messages for all the other - * modules multiple mesage ques are used. - * - * you can find the messagesques at the following path /dev/mqueue. - * If you open one of the files you will get a document looking like This - * - * QSIZE:0 NOTIFY:0 SIGNO:0 NOTIFY_PID:0 - * - * Most importent here is QSIZE which tells you how many bytes that is currently - * in use for the messageque, all the messages currently on the messagesques - * total number of bytes. - * - * iNonBlocking tels you if the O_NONBLOCK flag should be activated or not for - * the recive message handler 1=yes 0 =no. If i remeber correctly the - * O_NONBLOCK gives you a warning/error if the messageque is full when - * trying to read or send data on the specific messageque,(returns -1) - * if no O_NONBLOCK fald is used it will wait until the message que has space - * before sending or reading from the messageque again . +/*! + * \brief iCommInit Connects to the message queue bus + * \return 0 upon success, -1 if there was an error */ - -int iCommInit(const unsigned int uiMode, const char* name, const int iNonBlocking) +int iCommInit(void) { - struct mq_attr attr; //messageque struc - int iResult; //return value - int iOFlag; // O_NONBLOCK flag for recive mq handler - unsigned int uiIndex; // index for which messageque - - // gere we set the parrameters for all our created messageques,Like number of messages and each message size - - attr.mq_maxmsg = MQ_MAX_MSG; // totla number of messages aloud on to the messageque before it is full set in util.h currently 10 msg I think - attr.mq_msgsize = MQ_MAX_MESSAGE_LENGTH;// The larges size each message is alloud to be currently 4096bytes i think - attr.mq_flags = 0; - attr.mq_curmsgs = 0; - // zeroing messageque reciv name - tMQRecv = 0; - // zeroing all the other messageques that send data - for(uiIndex=0;uiIndex < MQ_NBR_QUEUES;++uiIndex) - { - ptMQSend[uiIndex] = 0; - } - - strcpy(pcMessageQueueName,name); - //create our specific messageque handler that will read from the messageque - if(uiMode & IPC_RECV) - { - iOFlag = O_RDONLY | O_CREAT; - if(iNonBlocking) - { - iOFlag |= O_NONBLOCK; - } - - tMQRecv = mq_open(name, iOFlag, MQ_PERMISSION, &attr);// here we create the messageque handler with the following name, flags and stuff - if(tMQRecv < 0) - { - util_error("ERR: Failed to open receiving message queue"); - } - } - // create the specific messageque hander that can send data to the declared - // messageque with variabel name - if(uiMode & IPC_SEND) - { - uiIndex = 0; - /* this if case will find the corresponding messagequehandler that will be - * alloud to send messages, it's just a stringcomparison to find the correct - * messageques to the correct uiIndex, which means in this case that - * MQ_LG have uiIndex = 0 - * MQ_OC have uiIndex = 1 - * MQ_SV have uiIndex = 2 - * MQ_VA have uiIndex = 3 - * MQ_SV have uiIndex = 4 - * - */ - - if(strcmp(name,MQ_LG)) - { - ptMQSend[uiIndex] = mq_open(MQ_LG, O_WRONLY | O_NONBLOCK | O_CREAT, MQ_PERMISSION, &attr); // creat the messageque handler that is aloud to send data to the MQ_LG messageque - if(ptMQSend[uiIndex] < 0) - { - util_error("ERR: Failed to open MQ_LG message queue"); - } - ++uiIndex; - } - - if(strcmp(name,MQ_OC)) - { - ptMQSend[uiIndex] = mq_open(MQ_OC, O_WRONLY | O_NONBLOCK | O_CREAT, MQ_PERMISSION, &attr); - if(ptMQSend[uiIndex] < 0) - { - util_error("ERR: Failed to open MQ_OC message queue"); - } - ++uiIndex; - } - - if(strcmp(name,MQ_SV)) - { - ptMQSend[uiIndex] = mq_open(MQ_SV, O_WRONLY | O_NONBLOCK | O_CREAT, MQ_PERMISSION, &attr); - if(ptMQSend[uiIndex] < 0) - { - util_error("ERR: Failed to open MQ_SV message queue"); - } - ++uiIndex; - } - - if(strcmp(name,MQ_VA)) + enum MQBUS_ERROR result = MQBusConnect(); + switch (result) { - ptMQSend[uiIndex] = mq_open(MQ_VA, O_WRONLY | O_NONBLOCK | O_CREAT, MQ_PERMISSION, &attr); - if(ptMQSend[uiIndex] < 0) - { - util_error("ERR: Failed to open MQ_VA message queue"); - } - ++uiIndex; - } - if(strcmp(name,MQ_SC)) - { - ptMQSend[uiIndex] = mq_open(MQ_SC, O_WRONLY | O_NONBLOCK | O_CREAT, MQ_PERMISSION, &attr); - if(ptMQSend[uiIndex] < 0) - { - util_error("ERR: Failed to open MQ_SC message queue"); - } - ++uiIndex; - } - if(strcmp(name,MQ_SI)) - { - ptMQSend[uiIndex] = mq_open(MQ_SI, O_WRONLY | O_NONBLOCK | O_CREAT, MQ_PERMISSION, &attr); - if(ptMQSend[uiIndex] < 0) - { - util_error("ERR: Failed to open MQ_SI message queue"); - } - ++uiIndex; - } - } - - return 1; + case MQBUS_OK: + LogMessage(LOG_LEVEL_DEBUG, "Connected to message queue bus"); + return 0; + case MQBUS_QUEUE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Unable to fetch available message queue bus slots"); + break; + case MQBUS_OPEN_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); + break; + case MQBUS_MAX_QUEUES_LIMIT_REACHED: + LogMessage(LOG_LEVEL_ERROR, "Unable to find an available message queue slot"); + break; + case MQBUS_EMPTY: + LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); + break; + case MQBUS_CLOSE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); + break; + case MQBUS_NO_READABLE_MQ: + LogMessage(LOG_LEVEL_ERROR, "Unable to find assigned message queue slot"); + break; + case MQBUS_RESOURCE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Resource queue unavailable"); + break; + case MQBUS_DESCRIPTOR_NOT_FOUND: + LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); + break; + case MQBUS_INVALID_INPUT_ARGUMENT: + LogMessage(LOG_LEVEL_ERROR, "Invalid argument to message queue connect"); + break; + case MQBUS_MQ_COULD_NOT_BE_DESTROYED: + LogMessage(LOG_LEVEL_ERROR, "Unable to delete message queue"); + break; + case MQBUS_MQ_FULL: + LogMessage(LOG_LEVEL_ERROR, "Message queue full"); + break; + case MQBUS_WRITE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Message queue write failed"); + break; + } + return -1; } /* iCommClose will close the messageque usally among the last function called * in a model. Where we vall mq_unlink followed by mq_close which will close @@ -1782,222 +1688,211 @@ int iCommClose() return 1; } -/* added a 4:th argument that creates a UTC timestamp as close as possible -to when a messege is recived from message que this argument can be put to NULL -then no UTC timestamp is created, The UTC timestamp is used for logging -purposes*/ - -/* iCommRecv reads from the messageque handler that was opened for reading in - * iCommInit in each model. When you read from the POSIX messageque you also - * remove the message that you read. - * - * iCommand is the variabel reciving the command number from the message que - * which alwaays is located first. The rest is put in to the string - * cpData (Always ASCII) that has the data you wanted to send - * - * - * iMessageSize describes the max size of the message - * - * TimeUTCRecv is a UTC timestamp that can be added to the message, usally only - * Logging becouse we want to know when we send the message and when it is - * recived - */ -int iCommRecv(int* iCommand, char* cpData, const int iMessageSize,char* TimeUTCRecv) -{ - int iResult; - char cpMessage[MQ_MAX_MESSAGE_LENGTH]; - unsigned int prio; - struct timeval tvTime; - uint64_t TimeNow; - bzero(cpMessage,MQ_MAX_MESSAGE_LENGTH); - iResult = mq_receive(tMQRecv, cpMessage, MQ_MAX_MESSAGE_LENGTH, &prio); // read the message from the POSIX message que, tMQRecv is the message que handler, cpMessage recives the message - if (TimeUTCRecv !=NULL)/* create our UTC timestamp*/ - { - TimeNow = UtilgetCurrentUTCtimeMS(); // get UTC timestamp - //uint64_t TimeNow = UtilgetETSIfromUTCMS((uint64_t)tvTime.tv_sec,(uint64_t)tvTime.tv_usec); - (void)sprintf(TimeUTCRecv,"%" PRIu64,TimeNow); - } - if(iResult < 0 && errno != EAGAIN) - { - util_error ("Message queue error when receiving in iCommRecv()."); - } - else if((iResult >= 0)) - { - *iCommand = cpMessage[0]; - if((strlen(cpMessage) > 1) && (cpData != NULL)) - { - if(iMessageSize < iResult ) - { - iResult = iMessageSize; - } - (void)strncat(cpData,&cpMessage[1],iResult); - - } - } - else - { - *iCommand = COMM_INV; - iResult = 0; - } - - return iResult; -} - -/* iCommSend sends a given message cpData and command icommand out on all - * the five message ques. but first ut prioritis the messages depending on - * iCommand - * - * +/*! + * \brief iCommRecv + * \param command + * \param data + * \param messageSize + * \param timeRecvUTC + * \return */ -int iCommSend(const int iCommand,const char* cpData) +ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, char* timeRecvUTC) { - int iResult; - unsigned int uiMessagePrio = 0; - int iIndex = 0, i; - char cpMessage[MQ_MAX_MESSAGE_LENGTH]; + char message[MQ_MSG_SIZE]; + struct timeval tvTime; + ssize_t result = MQBusRecv(message, MQ_MSG_SIZE); - bzero(cpMessage,MQ_MAX_MESSAGE_LENGTH); -/* this if else case asigne a priority to all different messeges that we might - * have. - */ - if(iCommand == COMM_STRT) - { - uiMessagePrio = 100; - cpMessage[0] = (char)COMM_STRT; - } - else if(iCommand == COMM_ARMD) - { - uiMessagePrio = 110; - cpMessage[0] = (char)COMM_ARMD; - } - else if(iCommand == COMM_STOP) - { - uiMessagePrio = 120; - cpMessage[0] = (char)COMM_STOP; - } - else if(iCommand == COMM_MONI) - { - uiMessagePrio = 80; - cpMessage[0] = (char)COMM_MONI; - } - else if(iCommand == COMM_EXIT) - { - uiMessagePrio = 140; - cpMessage[0] = (char)COMM_EXIT; - } - else if (iCommand == COMM_REPLAY) - { - uiMessagePrio = 160; - cpMessage[0] = (char)COMM_REPLAY; - } - else if (iCommand == COMM_CONTROL) - { - uiMessagePrio = 180; - cpMessage[0] = (char)COMM_CONTROL; - } - else if (iCommand == COMM_ABORT) - { - uiMessagePrio = 60; - cpMessage[0] = (char)COMM_ABORT; - } - else if (iCommand == COMM_TOM) - { - uiMessagePrio = 90; - cpMessage[0] = (char)COMM_TOM; - } - else if (iCommand == COMM_INIT) - { - uiMessagePrio = 110; - cpMessage[0] = (char)COMM_INIT; - } - else if (iCommand == COMM_CONNECT) - { - uiMessagePrio = 110; - cpMessage[0] = (char)COMM_CONNECT; - } - else if (iCommand == COMM_OBC_STATE) - { - uiMessagePrio = 160; - cpMessage[0] = (char)COMM_OBC_STATE; - } - else if (iCommand == COMM_DISCONNECT) - { - uiMessagePrio = 110; - cpMessage[0] = (char)COMM_DISCONNECT; - } - else if (iCommand == COMM_LOG) - { - uiMessagePrio = 160; - cpMessage[0] = (char)COMM_LOG; - } - else if (iCommand == COMM_OSEM) - { - uiMessagePrio = 160; - cpMessage[0] = (char)COMM_OSEM; - } - else if (iCommand == COMM_VIOP) - { - uiMessagePrio = 80; - cpMessage[0] = (char)COMM_VIOP; - } - else if (iCommand == COMM_TRAJ) - { - uiMessagePrio = 80; - cpMessage[0] = (char)COMM_TRAJ; - } - else if (iCommand == COMM_ASP) - { - uiMessagePrio = 110; - cpMessage[0] = (char)COMM_ASP; - } - else if (iCommand == COMM_TRAJ_TOSUP) + + if (result < 1 && errno != EAGAIN) + util_error("Message queue error when receiving"); + + if (timeRecvUTC != NULL) { - uiMessagePrio = 80; - cpMessage[0] = (char)COMM_TRAJ_TOSUP; + TimeSetToCurrentSystemTime(&tvTime); + sprintf(timeRecvUTC, "%" PRId64, TimeGetAsUTCms(&tvTime)); } - else if (iCommand == COMM_TRAJ_FROMSUP) + + if (result > 0) { - uiMessagePrio = 80; - cpMessage[0] = (char)COMM_TRAJ_FROMSUP; + *command = message[0]; + if((strlen(message) > 1) && (data != NULL)) + { + if(messageSize < result ) + { + LogMessage(LOG_LEVEL_WARNING, "Array too small to hold received message"); + result = messageSize; + } + strncat(data, &message[1], (unsigned long)result); + } } - else + else { - util_error("Unknown command"); + *command = COMM_INV; + result = 0; } + return result; +} - if(cpData != NULL) - { - (void)strncat(&cpMessage[1],cpData,strlen(cpData)); - } -/* To be able to send all the data out on all five messageques we have this - * for loop. If you read in Icomminit we specified a index uiIndex for every - * messageque read it to know which index corresponds to which messageque - * +/*! + * \brief iCommSend + * \param iCommand + * \param cpData + * \return */ - for(iIndex = 0; iIndex < MQ_NBR_QUEUES; ++iIndex) - { - if(ptMQSend[iIndex] != 0) - { - /* what I think is a problem here is that if we get a warning we recive - * iResult = -1. for example one messageque is full and becouse of the - * flag O_NONBLOCK we get a warning if any messageque is full when sending - * a message. which will end in us returning 0 ending the function. - * Which means that if MQ_OC has index 0 and MQ_SC has index 4 and lest - * say MQ_SV is full and has index 2 then we will have sent the message - * to message que with index 0 and 1, becouse 2 is full nothing is sent on - * that messageque and then we retun which means nothing is sent on - * messageque with index 3 and 4. - */ - iResult = mq_send(ptMQSend[iIndex],cpMessage,strlen(cpMessage),uiMessagePrio); // here we send the inormation out on the POSIX message que. - if(iResult < 0) - { - continue; - } - } - } - return 1; +int iCommSend(const enum COMMAND iCommand, const char* cpData) +{ + unsigned int uiMessagePrio = 0; + char cpMessage[MQ_MSG_SIZE]; + unsigned long dataLength = strlen(cpData); + enum MQBUS_ERROR sendResult; + + if (dataLength > MQ_MSG_SIZE+1) + { + LogMessage(LOG_LEVEL_ERROR, "Cannot send message %d of size %lu: maximum size is %lu", iCommand, dataLength+1, MQ_MSG_SIZE); + return -1; + } + + bzero(cpMessage, MQ_MSG_SIZE); + + // Map command to a priority + switch (iCommand) + { + case COMM_STRT: + uiMessagePrio = PRIO_COMM_STRT; + cpMessage[0] = (char)COMM_STRT; + break; + case COMM_ARMD: + uiMessagePrio = PRIO_COMM_ARMD; + cpMessage[0] = (char)COMM_ARMD; + break; + case COMM_STOP: + uiMessagePrio = PRIO_COMM_STOP; + cpMessage[0] = (char)COMM_STOP; + break; + case COMM_MONI: + uiMessagePrio = PRIO_COMM_MONI; + cpMessage[0] = (char)COMM_MONI; + break; + case COMM_EXIT: + uiMessagePrio = PRIO_COMM_EXIT; + cpMessage[0] = (char)COMM_EXIT; + break; + case COMM_REPLAY: + uiMessagePrio = PRIO_COMM_REPLAY; + cpMessage[0] = (char)COMM_REPLAY; + break; + case COMM_CONTROL: + uiMessagePrio = PRIO_COMM_CONTROL; + cpMessage[0] = (char)COMM_CONTROL; + break; + case COMM_ABORT: + uiMessagePrio = PRIO_COMM_ABORT; + cpMessage[0] = (char)COMM_ABORT; + break; + case COMM_TOM: + uiMessagePrio = PRIO_COMM_TOM; + cpMessage[0] = (char)COMM_TOM; + break; + case COMM_INIT: + uiMessagePrio = PRIO_COMM_INIT; + cpMessage[0] = (char)COMM_INIT; + break; + case COMM_CONNECT: + uiMessagePrio = PRIO_COMM_CONNECT; + cpMessage[0] = (char)COMM_CONNECT; + break; + case COMM_OBC_STATE: + uiMessagePrio = PRIO_COMM_OBC_STATE; + cpMessage[0] = (char)COMM_OBC_STATE; + break; + case COMM_DISCONNECT: + uiMessagePrio = PRIO_COMM_DISCONNECT; + cpMessage[0] = (char)COMM_DISCONNECT; + break; + case COMM_LOG: + uiMessagePrio = PRIO_COMM_LOG; + cpMessage[0] = (char)COMM_LOG; + break; + case COMM_OSEM: + uiMessagePrio = PRIO_COMM_OSEM; + cpMessage[0] = (char)COMM_OSEM; + break; + case COMM_VIOP: + uiMessagePrio = PRIO_COMM_VIOP; + cpMessage[0] = (char)COMM_VIOP; + break; + case COMM_TRAJ: + uiMessagePrio = PRIO_COMM_TRAJ; + cpMessage[0] = (char)COMM_TRAJ; + break; + case COMM_ASP: + uiMessagePrio = PRIO_COMM_ASP; + cpMessage[0] = (char)COMM_ASP; + break; + case COMM_TRAJ_TOSUP: + uiMessagePrio = PRIO_COMM_TRAJ_TOSUP; + cpMessage[0] = (char)COMM_TRAJ_TOSUP; + break; + case COMM_TRAJ_FROMSUP: + uiMessagePrio = PRIO_COMM_TRAJ_FROMSUP; + cpMessage[0] = (char)COMM_TRAJ_FROMSUP; + break; + default: + util_error("Unknown command"); + } + + if(cpData != NULL) + { + (void)strncat(&cpMessage[1], cpData, strlen(cpData)); + } + + sendResult = MQBusSend(cpMessage, strlen(cpMessage), uiMessagePrio); + + switch (sendResult) + { + case MQBUS_OK: + return 0; + case MQBUS_MQ_FULL: + LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - messages may be lost"); + return 1; + case MQBUS_INVALID_INPUT_ARGUMENT: + LogMessage(LOG_LEVEL_WARNING, "Invalid message queue message length"); + return 1; + case MQBUS_WRITE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Failed to write to message queue"); + break; + case MQBUS_QUEUE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Unable to fetch available message queue bus slots"); + break; + case MQBUS_OPEN_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); + break; + case MQBUS_MAX_QUEUES_LIMIT_REACHED: + LogMessage(LOG_LEVEL_ERROR, "Unable to find an available message queue slot"); + break; + case MQBUS_EMPTY: + LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); + break; + case MQBUS_CLOSE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); + break; + case MQBUS_NO_READABLE_MQ: + LogMessage(LOG_LEVEL_ERROR, "Unable to find assigned message queue slot"); + break; + case MQBUS_RESOURCE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Resource queue unavailable"); + break; + case MQBUS_DESCRIPTOR_NOT_FOUND: + LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); + break; + case MQBUS_MQ_COULD_NOT_BE_DESTROYED: + LogMessage(LOG_LEVEL_ERROR, "Unable to delete message queue"); + break; + } + + return -1; } /*------------------------------------------------------------ From 2bb30bd4a7b70831bf32b1729111e1610bd97233 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 10 May 2019 10:50:56 +0200 Subject: [PATCH 070/730] Changed log level of a printout --- server/src/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/main.c b/server/src/main.c index 7ece85e89..670dad162 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -138,7 +138,7 @@ int initializeMessageQueueBus(void) switch (result) { case MQBUS_OK: - LogMessage(LOG_LEVEL_INFO, "Initialized message queue bus"); + LogMessage(LOG_LEVEL_DEBUG, "Initialized message queue bus"); return 0; case MQBUS_INVALID_INPUT_ARGUMENT: LogMessage(LOG_LEVEL_ERROR, "Invalid number of message queues specified upon initialization: %d", nbrOfQueues); From a8894933de34eddd58b60439b26afc0dc02a0c93 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 10 May 2019 10:54:01 +0200 Subject: [PATCH 071/730] Modified how iCommInit is called --- server/src/objectcontrol.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 6a226c555..f2ddcae7b 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -328,8 +328,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "Object control task running with PID: %i", getpid()); - (void)iCommInit(IPC_RECV_SEND,MQ_OC,1); - + if (iCommInit()) + util_error("Unable to connect to message queue bus"); while(!iExit) { From 449639fb00eb6fc98d428cb7bac37464f84b1516 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 10 May 2019 10:54:14 +0200 Subject: [PATCH 072/730] New util commit --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index bb789fbf3..1e3eca90b 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit bb789fbf3c31384cec85f62bdd2a792ae2843dc4 +Subproject commit 1e3eca90baae9767e8362dbf81ac627f648116fc From 2ebc30cd1596170eb0fdf4a8ec821884ee69f79f Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Mon, 13 May 2019 10:19:05 +0200 Subject: [PATCH 073/730] Fixed warnings when building due to double defines --- server/CMakeLists.txt | 4 ++-- server/inc/util.h | 7 ------- server/src/timecontrol.c | 1 + server/src/usercontrol.c | 1 + server/src/util.c | 1 + 5 files changed, 5 insertions(+), 9 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 32032b813..447764967 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -75,7 +75,7 @@ install (TARGETS TEServer DESTINATION bin) target_link_libraries(util rt m) target_link_libraries(util m) target_link_libraries(util rt) -target_link_libraries(UserControl util objctrl MaestroLogging) -target_link_libraries(util MaestroLogging) +target_link_libraries(UserControl util objctrl MaestroLogging MaestroTime) +target_link_libraries(util MaestroLogging MaestroTime) target_link_libraries(TEServer util) target_link_libraries(TEServer MaestroLogging MaestroTime) diff --git a/server/inc/util.h b/server/inc/util.h index 795e87915..77d8b946d 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -118,19 +118,12 @@ 8 days for leap year between 1970 and 2004 */ -/* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ -#define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 - /* Calculation: 13 * 365 * 24 * 3600 * 1000 + 4 * 24 * 3600 * 1000 = 755568000 */ #define MS_FROM_2004_TO_2017_NO_LEAP_SECS 755568000 /* Difference of leap seconds between UTC and ETSI */ #define DIFF_LEAP_SECONDS_UTC_ETSI 5 - -// Between 1970 01 01 and 1980 01 06 there is 365*10 days, plus 2 for 2 leap years and plus 5 for the remaining days -// in total we have MStime= ((365 * 10) + 2 + 5) * 24 * 3600 * 1000 = 315964800000 -#define MS_TIME_DIFF_UTC_GPS 315964800000 // Difference is 18 leap seconds between utc and gps #define MS_LEAP_SEC_DIFF_UTC_GPS 18000 diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index a5061a169..b75113e32 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -29,6 +29,7 @@ #include "timecontrol.h" #include "logger.h" #include "logging.h" +#include "maestroTime.h" #define TIME_CONTROL_CONF_FILE_PATH "conf/test.conf" diff --git a/server/src/usercontrol.c b/server/src/usercontrol.c index a58a19713..40e48c732 100755 --- a/server/src/usercontrol.c +++ b/server/src/usercontrol.c @@ -23,6 +23,7 @@ #include "objectcontrol.h" #include "util.h" +#include "maestroTime.h" /* #include diff --git a/server/src/util.c b/server/src/util.c index e468a4a07..c2cdcc535 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -27,6 +27,7 @@ #include "util.h" #include "logging.h" +#include "maestroTime.h" /*------------------------------------------------------------ From 8a5677855c7ed791ec5d9467cad7f9d94a8d9c31 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 13 May 2019 12:15:27 +0200 Subject: [PATCH 074/730] New util commit ref --- server/inc/util.h | 16 +++------ server/src/util.c | 83 +++++++++++++++++++++++------------------------ util | 2 +- 3 files changed, 46 insertions(+), 55 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 85ac3963c..de8b78dd9 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -15,7 +15,6 @@ -- Include files. ------------------------------------------------------------*/ #include -#include #include #include #include @@ -26,9 +25,9 @@ #include #include #include - #include "mqbus.h" + /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ @@ -37,16 +36,11 @@ #define ISO_PROTOCOL_VERSION 2 #define ACK_REQ 0 -#define MQ_LG "/TEServer-LG" -#define MQ_SV "/TEServer-SV" -#define MQ_OC "/TEServer-OC" -#define MQ_VA "/TEServer-VA" -#define MQ_SC "/TEServer-SC" -#define MQ_SI "/TEServer-SI" +#define MBUS_MAX_DATALEN (MQ_MSG_SIZE-1) -#define IPC_RECV 0x01 -#define IPC_SEND 0x02 -#define IPC_RECV_SEND 0x03 +//#define IPC_RECV 0x01 +//#define IPC_SEND 0x02 +//#define IPC_RECV_SEND 0x03 #define SAFETY_CHANNEL_PORT 53240 #define CONTROL_CHANNEL_PORT 53241 diff --git a/server/src/util.c b/server/src/util.c index 3bb82cacb..c959d3e6d 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -37,7 +37,7 @@ #define FE_WGS84 (1.0/298.257223563) // earth flattening (WGS84) #define RE_WGS84 6378137.0 // earth semimajor axis (WGS84) (m) -// Message priorities +// Message priorities on message queue #define PRIO_COMM_STRT 100 #define PRIO_COMM_ARMD 110 #define PRIO_COMM_STOP 120 @@ -1599,7 +1599,9 @@ int iUtilGetIntParaConfFile(char* pcParameter, int* iValue) return iResult; } - +/******************************************************* +* Message queue bus wrapper functions +********************************************************/ /*! * \brief iCommInit Connects to the message queue bus * \return 0 upon success, -1 if there was an error @@ -1651,52 +1653,41 @@ int iCommInit(void) } return -1; } -/* iCommClose will close the messageque usally among the last function called - * in a model. Where we vall mq_unlink followed by mq_close which will close - * and remove the given messageque -*/ + + +/*! + * \brief iCommClose Releases the claimed slot on the message bus so that it can be claimed by others. + * \return 0 upon success, -1 on error + */ int iCommClose() { - int iIndex = 0; - int iResult; - - if(tMQRecv != 0 && pcMessageQueueName != NULL) - { - iResult = mq_unlink(pcMessageQueueName); - if(iResult < 0) - { - return 0; - } - iResult = mq_close(tMQRecv); - if(iResult < 0) - { - return 0; - } - } + enum MQBUS_ERROR result = MQBusDisconnect(); - for(iIndex = 0; iIndex < MQ_NBR_QUEUES; ++iIndex) - { - if(ptMQSend[iIndex] != 0) + switch (result) { - iResult = mq_close(ptMQSend[iIndex]); - if(iResult < 0) - { + case MQBUS_OK: return 0; - } + case MQBUS_RESOURCE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Unable to release claimed message bus slot"); + return -1; + case MQBUS_NO_READABLE_MQ: + LogMessage(LOG_LEVEL_WARNING, "Attempted to release message bus slot when none was claimed"); + return 0; + default: + LogMessage(LOG_LEVEL_WARNING, "Unexpected message bus error when closing"); + return -1; } - } - - return 1; } /*! - * \brief iCommRecv - * \param command - * \param data - * \param messageSize - * \param timeRecvUTC - * \return + * \brief iCommRecv Poll message queue bus for received data in a nonblocking way, returning the oldest message + * with lowest priority value found on the queue, as well as the command identifier and time of receipt in UTC + * \param command Received command output variable + * \param data Received command data output variable + * \param messageSize Size of data array + * \param timeRecvUTC Receive time output variable + * \return Size (in bytes) of received data */ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, char* timeRecvUTC) { @@ -1710,18 +1701,20 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, char if (timeRecvUTC != NULL) { + // Store time of receipt TimeSetToCurrentSystemTime(&tvTime); sprintf(timeRecvUTC, "%" PRId64, TimeGetAsUTCms(&tvTime)); } if (result > 0) { + // A message was received: extract the command and data *command = message[0]; if((strlen(message) > 1) && (data != NULL)) { if(messageSize < result ) { - LogMessage(LOG_LEVEL_WARNING, "Array too small to hold received message"); + LogMessage(LOG_LEVEL_WARNING, "Array too small to hold received message data"); result = messageSize; } strncat(data, &message[1], (unsigned long)result); @@ -1729,6 +1722,7 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, char } else { + // Result was less than 0, and errno is EAGAIN meaning no data was received *command = COMM_INV; result = 0; } @@ -1736,10 +1730,10 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, char } /*! - * \brief iCommSend - * \param iCommand - * \param cpData - * \return + * \brief iCommSend Sends a command over the message bus + * \param iCommand Command number + * \param cpData Command data + * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error */ int iCommSend(const enum COMMAND iCommand, const char* cpData) { @@ -1843,13 +1837,16 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData) util_error("Unknown command"); } + // Append message to command if(cpData != NULL) { (void)strncat(&cpMessage[1], cpData, strlen(cpData)); } + // Send message sendResult = MQBusSend(cpMessage, strlen(cpMessage), uiMessagePrio); + // Check for send success switch (sendResult) { case MQBUS_OK: diff --git a/util b/util index 1e3eca90b..c3417a65d 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 1e3eca90baae9767e8362dbf81ac627f648116fc +Subproject commit c3417a65dbfa0cf526b2a9ee61f4ccc239f01b04 From 1669d48560d441af2a7d659b664b99965fb88790 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 13 May 2019 13:37:08 +0200 Subject: [PATCH 075/730] Added sigint handlers (Do nothing exect exit) --- server/src/logger.c | 22 ++++++++++++++++++++++ server/src/objectcontrol.c | 21 +++++++++++++++++++++ server/src/supervision.c | 19 +++++++++++++++++++ server/src/systemcontrol.c | 27 +++++++++++++++++++++++++++ server/src/timecontrol.c | 21 ++++++++++++++++++++- 5 files changed, 109 insertions(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index a4a4c13d8..8a64f47fc 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -18,6 +18,7 @@ #include #include #include +#include #include #include @@ -56,6 +57,23 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ + +void sig_handlerLogger(int signo) + { + if (signo == SIGINT) + printf("received SIGINT in Logger\n"); + printf("Shutting down Logger\n"); + exit(1); + + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); + } + + void logger_task() { char pcCommand[100]; @@ -447,6 +465,10 @@ void logger_task() { LogMessage(LOG_LEVEL_DEBUG,"Unhandled command in logger: %d",iCommand); } + + if (signal(SIGINT, sig_handlerLogger) == SIG_ERR) + printf("\ncan't catch SIGINT\n"); + } diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 0c0318bf2..fec529eb9 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -22,6 +22,7 @@ #include #include #include +#include #include #include #include @@ -205,6 +206,22 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ + void sig_handlerOC(int signo) + { + if (signo == SIGINT) + printf("received SIGINT in ObjectControl\n"); + printf("Shutting down ObjectControl\n"); + exit(1); + + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); + } + + void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) { int safety_socket_fd[MAX_OBJECTS]; @@ -1125,6 +1142,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) (void)nanosleep(&sleep_time,&ref_time); } + + if (signal(SIGINT, sig_handlerOC) == SIG_ERR) + printf("\ncan't catch SIGINT\n"); + } } diff --git a/server/src/supervision.c b/server/src/supervision.c index 1f68609d4..ccfb6e28d 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -19,6 +19,7 @@ #include #include #include +#include #include #include "util.h" @@ -52,6 +53,22 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; /* This code is a straight copy from objectcontrol.c */ +void sig_handlerSV(int signo) + { + if (signo == SIGINT) + printf("received SIGINT in Supervision\n"); + printf("Shutting down Supervision\n"); + exit(1); + + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); + } + + static void vFindObjectsInfo ( char object_traj_file [MAX_OBJECTS][MAX_FILE_PATH], char object_address_name [MAX_OBJECTS][MAX_FILE_PATH], int* nbr_objects ) @@ -901,6 +918,8 @@ void supervision_task(TimeType *GPSTime) { fflush(stdout); } + if (signal(SIGINT, sig_handlerSV) == SIG_ERR) + printf("\ncan't catch SIGINT\n"); } // while(!iExit) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 1269a1dac..3f5dd57d2 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -22,6 +22,7 @@ #include #include #include +#include #include #include @@ -170,6 +171,21 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ + void sig_handler(int signo) + { + if (signo == SIGINT) + printf("received SIGINT in SystemControl\n"); + printf("Shutting down SystemControl\n"); + exit(1); + + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); + } + void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) { @@ -1022,6 +1038,17 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) sleep_time.tv_nsec = 10000000; nanosleep(&sleep_time,&ref_time); + if (signal(SIGINT, sig_handler) == SIG_ERR) + printf("\ncan't catch SIGINT\n"); + +/* + if (signal(SIGUSR1, sig_handler) == SIG_ERR) + printf("\ncan't catch SIGUSR1\n"); + if (signal(SIGKILL, sig_handler) == SIG_ERR) + printf("\ncan't catch SIGKILL\n"); + if (signal(SIGSTOP, sig_handler) == SIG_ERR) + printf("\ncan't catch SIGSTOP\n"); +*/ } diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 6ed004496..ea8e677a2 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -17,7 +17,8 @@ #include #include #include -#include +#include +#include #include @@ -67,6 +68,24 @@ static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 de static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; +/*------------------------------------------------------------ +-- SigInt handler function. +------------------------------------------------------------*/ +void sig_handlerTimeControl(int signo) + { + if (signo == SIGINT) + printf("received SIGINT in timecontrol\n"); + printf("Shutting down timecontrol\n"); + exit(1); + + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); + } + /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ From 9ba7b79cf6b903256898de272c6b40c3ef54c0c8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 12:57:53 +0200 Subject: [PATCH 076/730] Added dependency on MQBus library --- server/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 3a12971c3..3468b6cf1 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -82,6 +82,6 @@ target_link_libraries(util rt m) target_link_libraries(util m) target_link_libraries(util rt) target_link_libraries(UserControl util objctrl MaestroLogging) -target_link_libraries(util MaestroLogging MaestroTime) +target_link_libraries(util MaestroLogging MaestroTime MQBus) target_link_libraries(TEServer util) target_link_libraries(TEServer MaestroLogging MaestroTime MQBus) From 91b3ce52453a750232d9da4715d0f15cd77a3cf0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 12:59:44 +0200 Subject: [PATCH 077/730] Started using timevals for time variables, implemented final iComm function, added function documentation --- server/inc/util.h | 7 ++++--- server/src/util.c | 12 +++++------- 2 files changed, 9 insertions(+), 10 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index de8b78dd9..decac8935 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -36,7 +36,7 @@ #define ISO_PROTOCOL_VERSION 2 #define ACK_REQ 0 -#define MBUS_MAX_DATALEN (MQ_MSG_SIZE-1) +#define MBUS_MAX_DATALEN (MQ_MSG_SIZE-1) // Message queue data minus one byte for the command //#define IPC_RECV 0x01 //#define IPC_SEND 0x02 @@ -50,6 +50,7 @@ #define MAX_UTIL_VARIBLE_SIZE 512 +// TODO: Make these constants have more descriptive names #define a 6378137.0 //meters in WGS84 #define k 298.257223563 //in WGS84, f = 1/298.257223563 #define b 6356752.3142451794975639665996337 //b = (1-f)*a @@ -684,7 +685,7 @@ typedef enum { OBC_STATE_CONNECTED, OBC_STATE_ARMED, OBC_STATE_RUNNING, - OBC_STATE_ERROR, + OBC_STATE_ERROR } OBCState_t; @@ -717,7 +718,7 @@ int iUtilGetIntParaConfFile(char* pcParameter, int* iValue); int iCommInit(void); int iCommClose(); -ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, char* timeRecvUTC); +ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, struct timeval *timeRecv); int iCommSend(const enum COMMAND iCommand, const char* data); char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); diff --git a/server/src/util.c b/server/src/util.c index c959d3e6d..3aac49ce6 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1686,24 +1686,22 @@ int iCommClose() * \param command Received command output variable * \param data Received command data output variable * \param messageSize Size of data array - * \param timeRecvUTC Receive time output variable + * \param timeRecv Receive time output variable * \return Size (in bytes) of received data */ -ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, char* timeRecvUTC) +ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, struct timeval *timeRecv) { char message[MQ_MSG_SIZE]; - struct timeval tvTime; ssize_t result = MQBusRecv(message, MQ_MSG_SIZE); if (result < 1 && errno != EAGAIN) util_error("Message queue error when receiving"); - if (timeRecvUTC != NULL) + if (timeRecv != NULL) { // Store time of receipt - TimeSetToCurrentSystemTime(&tvTime); - sprintf(timeRecvUTC, "%" PRId64, TimeGetAsUTCms(&tvTime)); + TimeSetToCurrentSystemTime(timeRecv); } if (result > 0) @@ -1852,7 +1850,7 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData) case MQBUS_OK: return 0; case MQBUS_MQ_FULL: - LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - messages may be lost"); + //LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); return 1; case MQBUS_INVALID_INPUT_ARGUMENT: LogMessage(LOG_LEVEL_WARNING, "Invalid message queue message length"); From 99f8080d285111c446e6d898128fdbc79eb5567e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 13:00:48 +0200 Subject: [PATCH 078/730] Modified calls to message bus, refactored a lot of code --- server/src/logger.c | 164 +++++++++++++++++++++++--------------------- 1 file changed, 87 insertions(+), 77 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index ca9760753..abc9e5d31 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -39,7 +39,17 @@ #define HEARTBEAT_TIME_MS 10 #define TIMESTAMP_BUFFER_LENGTH 20 #define SPECIFIC_CHAR_THRESHOLD_COUNT 10 -#define MQ_MAX_UTC_LENGTH 30 +#define MAX_UTC_TIMESTAMP_STRLEN 21 // Maximum string length of an uint64 UTC timestamp is strlen("%u",1.8447e19)+1 i.e. 21 +#define MAX_DATE_STRLEN 25 // Maximum string length of a time stamp on the format "2035;12;31;24;59;59;1000" is 25 + +#define MAX_LOG_ROW_LENGTH (MAX_DATE_STRLEN + strlen(";") + 2*(MAX_UTC_TIMESTAMP_STRLEN + strlen(";")) + strlen("255") + strlen(";") + MBUS_MAX_DATALEN + strlen("\n") + 1) + +#define ACCESS_MODE_READ "r" +#define ACCESS_MODE_WRITE "w" +#define ACCESS_MODE_WRITE_AND_READ "w+" +#define ACCESS_MODE_APPEND "a" +#define ACCESS_MODE_APPEND_AND_READ "a+" + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ @@ -59,32 +69,38 @@ static void sigint_handler(int signo); ------------------------------------------------------------*/ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { - char pcLogFile[MAX_FILE_PATH]; - char pcLogFileComp[MAX_FILE_PATH]; - char pcBuffer[MQ_MAX_MESSAGE_LENGTH+100]; - char pcRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; - char TimeStampUTCBufferRecv[MQ_MAX_UTC_LENGTH]; - char DateBuffer[MQ_MAX_MESSAGE_LENGTH]; - char pcSendBuffer[MQ_MAX_MESSAGE_LENGTH]; - char pcReadBuffer[MQ_MAX_MESSAGE_LENGTH]; - - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO,"Logger task running with PID: %d",getpid()); + char pcLogFile[MAX_FILE_PATH]; //!< Log file path and name buffer + char pcLogFileComp[MAX_FILE_PATH]; //!< CSV log file path and name buffer + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + char busSendBuffer[MBUS_MAX_DATALEN]; //!< Buffer for sending to message bus + char DateBuffer[MAX_DATE_STRLEN]; //!< Buffer for holding a timestamp in human readable text format + char pcReadBuffer[MAX_LOG_ROW_LENGTH]; //!< Buffer for reading files + char pcBuffer[MAX_LOG_ROW_LENGTH]; //!< General purpose buffer + char subStrings[MBUS_MAX_DATALEN]; + struct timeval time, recvTime; + + // Listen for commands + enum COMMAND command; + int iExit = 0; int GPSweek; FILE *filefd,*replayfd, *filefdComp; struct timespec sleep_time, ref_time; U8 isFirstInit = 1; - (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); - //(void)iCommInit(IPC_SEND,MQ_LG_1,0); + // Initialize log + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "Logger task running with PID: %d", getpid()); - /* Create folder with date as name and .log file with date as name */ + // Initialize message bus connection + if(iCommInit()) + util_error("Unable to initialize connection to message bus"); + // Create folder with date as name and .log file with date as name struct stat st = {0}; if (stat(LOG_PATH, &st) == -1) { - LogMessage(LOG_LEVEL_INFO,"Creating log directory"); + LogMessage(LOG_LEVEL_INFO, "Creating log directory"); vCreateLogFolder(LOG_PATH); } @@ -92,11 +108,8 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) (void)strcat(pcLogFileComp," "); - /* Listen for commands */ - int iCommand; - int iExit = 0; - /* Execution mode*/ + // Execution mode int LoggerExecutionMode = LOG_CONTROL_MODE; //int test =100; int RowCount = 0; @@ -105,33 +118,29 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char *src; uint64_t NewTimestamp, OldTimestamp,Timestamp; - //vCreateLogFolder("./log/"); - while(!iExit) { - bzero(pcRecvBuffer,MQ_MAX_MESSAGE_LENGTH); - bzero(TimeStampUTCBufferRecv,MQ_MAX_UTC_LENGTH); + bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - (void)iCommRecv(&iCommand,pcRecvBuffer,MQ_MAX_MESSAGE_LENGTH,TimeStampUTCBufferRecv); + (void)iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), &recvTime); - if(LoggerExecutionMode == LOG_CONTROL_MODE && iCommand != COMM_OBC_STATE && iCommand != COMM_MONI ) + if(LoggerExecutionMode == LOG_CONTROL_MODE && command != COMM_OBC_STATE && command != COMM_MONI ) { - Timestamp = atol(TimeStampUTCBufferRecv); - bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); - UtilgetDateTimefromUTCCSVformat ((int64_t) Timestamp, DateBuffer,sizeof(DateBuffer)); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); + bzero(DateBuffer, sizeof(DateBuffer)); + TimeGetAsDateTime(&recvTime, "Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); // Remove newlines in http Requests for nicer printouts. - for (int i = 0; i < strlen(pcRecvBuffer); i++){ - if(pcRecvBuffer[i] == '\n'){ - pcRecvBuffer[i] = ' '; + for (unsigned long i = 0; i < strlen(busReceiveBuffer); i++){ + if(busReceiveBuffer[i] == '\n'){ + busReceiveBuffer[i] = ' '; } } - sprintf ( pcBuffer,"%s;%s;%d;%s\n", DateBuffer,TimeStampUTCBufferRecv, iCommand, pcRecvBuffer); + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf ( pcBuffer,"%s;%ld;%d;%s\n", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command, busReceiveBuffer); - filefd = fopen(pcLogFile,"a"); + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND); if (filefd != NULL) { (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); @@ -139,13 +148,13 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else { - LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFile); + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcLogFile); } - filefdComp = fopen(pcLogFileComp,"a"); + filefdComp = fopen(pcLogFileComp, ACCESS_MODE_APPEND); if (filefdComp != NULL) { - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefdComp); fclose(filefdComp); } else @@ -155,7 +164,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } - switch(iCommand) + switch(command) { case COMM_DISCONNECT: @@ -169,13 +178,11 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_MONI: - filefd = fopen(pcLogFile, "a+"); + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); - char *str; - str = malloc(sizeof(pcRecvBuffer) + 1); - strcpy(str,pcRecvBuffer); + strcpy(subStrings,busReceiveBuffer); - char* GPSSecondOfWeek = strtok(str, ";"); + char* GPSSecondOfWeek = strtok(subStrings, ";"); int counter = 0; while (GPSSecondOfWeek != NULL && counter < 2) // Get GPS second of week @@ -185,16 +192,15 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) counter++; } - uint64_t GPSms = UtilgetGPSmsFromUTCms(UtilgetUTCmsFromGPStime(GPSweek, atoi(GPSSecondOfWeek))); //Calculate GPSms + TimeSetToGPStime(&time, (uint16_t)GPSweek, (uint32_t)(atoi(GPSSecondOfWeek)*4)); - Timestamp = atol(TimeStampUTCBufferRecv); - bzero(DateBuffer,MQ_MAX_MESSAGE_LENGTH); - UtilgetDateTimefromUTCCSVformat ((int64_t) Timestamp, DateBuffer,sizeof(DateBuffer)); - bzero(pcBuffer,MQ_MAX_MESSAGE_LENGTH+100); - sprintf ( pcBuffer,"%s;%s;%lu;%d;%s\n", DateBuffer,TimeStampUTCBufferRecv, GPSms, iCommand, pcRecvBuffer); + bzero(DateBuffer, sizeof(DateBuffer)); + TimeGetAsDateTime(&recvTime, "Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); + + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf (pcBuffer, "%s;%ld;%ld;%d;%s\n", DateBuffer, TimeGetAsUTCms(&time), TimeGetAsGPSms(&time), command, busReceiveBuffer); (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - //void)fwrite(pcBuffer,1,strlen(pcBuffer),filefdComp); fclose(filefd); @@ -202,13 +208,14 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_OSEM: - str = malloc(sizeof(pcRecvBuffer) + 1); - strcpy(str,pcRecvBuffer); + strcpy(subStrings, busReceiveBuffer); // Returns first datapoint of OSEM (GPSWeek) - char* token = strtok(pcRecvBuffer, ";"); + char* token = strtok(busReceiveBuffer, ";"); GPSweek = atoi(token); + LogMessage(LOG_LEVEL_INFO, "GPS week of OSEM: %d", GPSweek); + // Rest of OSEM if needed /* while (token != NULL) { @@ -227,17 +234,17 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_REPLAY: LoggerExecutionMode = LOG_REPLAY_MODE; - LogMessage(LOG_LEVEL_INFO,"Logger in REPLAY mode <%s>",pcRecvBuffer); - //replayfd = fopen ("log/33/event.log", "r"); - replayfd = fopen (pcRecvBuffer, "r"); + LogMessage(LOG_LEVEL_INFO, "Logger in REPLAY mode <%s>", busReceiveBuffer); + + replayfd = fopen (busReceiveBuffer, ACCESS_MODE_READ); RowCount = UtilCountFileRows(replayfd); fclose(replayfd); - //replayfd = fopen ("log/33/event.log", "r"); - replayfd = fopen (pcRecvBuffer, "r"); - LogMessage(LOG_LEVEL_INFO,"Rows: %d",RowCount);; + + replayfd = fopen (busReceiveBuffer, ACCESS_MODE_READ); + LogMessage(LOG_LEVEL_INFO, "Rows: %d", RowCount);; if(replayfd) { - UtilReadLineCntSpecChars(replayfd, pcReadBuffer);//Just read first line + UtilReadLineCntSpecChars(replayfd, pcReadBuffer); //Just read first line int SpecChars = 0, j=0; char TimestampBuffer[TIMESTAMP_BUFFER_LENGTH]; int FirstIteration = 1; @@ -245,7 +252,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //uint64_t NewTimestamp, OldTimestamp; do { - bzero(pcReadBuffer,MQ_MAX_MESSAGE_LENGTH); + bzero(pcReadBuffer, sizeof(pcReadBuffer)); SpecChars = UtilReadLineCntSpecChars(replayfd, pcReadBuffer); j++; @@ -273,18 +280,20 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /* Read to second ' ' in row = 418571059920: 3 1;0;418571059920;577776566;127813082;0;0;3600;0; */ src = strchr(pcReadBuffer, ' '); src = strchr(src+1, ' '); - bzero(pcSendBuffer,MQ_MAX_MESSAGE_LENGTH); - //strcpy(pcSendBuffer, "MONR;"); - strcat(pcSendBuffer, src+1); - (void)iCommSend(COMM_MONI, pcSendBuffer); + bzero(busSendBuffer, sizeof(busSendBuffer)); + //strcpy(busSendBuffer, "MONR;"); + strcat(busSendBuffer, src+1); + if(iCommSend(COMM_MONI, busSendBuffer) < 0) + util_error("Communication error - exiting"); + FirstIteration = 0; OldTimestamp = NewTimestamp; }; - LogMessage(LOG_LEVEL_INFO,"%d:%d:%d<%s>",RowCount,j,SpecChars,pcSendBuffer); + LogMessage(LOG_LEVEL_INFO,"%d:%d:%d<%s>",RowCount,j,SpecChars,busSendBuffer); /* bzero(TimeStampUTCBufferRecv,MQ_ETSI_LENGTH); - (void)iCommRecv(&iCommand,pcRecvBuffer,MQ_MAX_MESSAGE_LENGTH,TimeStampUTCBufferRecv); + (void)iCommRecv(&iCommand,busReceiveBuffer,MQ_MAX_MESSAGE_LENGTH,TimeStampUTCBufferRecv); if(iCommand == COMM_STOP) { @@ -297,12 +306,13 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else { - LogMessage(LOG_LEVEL_WARNING, "Failed to open file: %s", pcRecvBuffer); + LogMessage(LOG_LEVEL_WARNING, "Failed to open file: %s", busReceiveBuffer); } LogMessage(LOG_LEVEL_INFO,"Replay done"); - //(void)iCommInit(IPC_RECV_SEND,MQ_LG,0); - (void)iCommSend(COMM_CONTROL, NULL); + + if(iCommSend(COMM_CONTROL, NULL) < 0) + util_error("Communication error - exiting"); break; @@ -333,7 +343,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; default: - LogMessage(LOG_LEVEL_WARNING,"Unhandled command in logger: %d",iCommand); + LogMessage(LOG_LEVEL_WARNING,"Unhandled command in logger: %d", (char)command); } } @@ -381,7 +391,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL FILE *filefd, *fileread; char msString[10]; char sysCommand[100]; - char pcBuffer[MQ_MAX_MESSAGE_LENGTH+100]; + char pcBuffer[MAX_LOG_ROW_LENGTH]; DIR *dir; struct dirent *ent; int read; @@ -439,7 +449,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL // Print trajectory files to log LogMessage(LOG_LEVEL_DEBUG, "Printing trajectories to log"); - filefd = fopen(logFilePath, "w+"); + filefd = fopen(logFilePath, ACCESS_MODE_WRITE_AND_READ); bzero(pcBuffer, sizeof(pcBuffer)); sprintf(pcBuffer,"------------------------------------------\nWhole Trajectory files:\n------------------------------------------\n"); @@ -456,7 +466,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL strcat(pcBuffer, ent->d_name); if (access(pcBuffer, 0) == 0) { - fileread = fopen(pcBuffer, "r"); + fileread = fopen(pcBuffer, ACCESS_MODE_READ); read = fgetc(fileread); while (read != EOF) { @@ -479,7 +489,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL // Print configuration to log LogMessage(LOG_LEVEL_DEBUG, "Printing configuration to log"); - filefd = fopen(logFilePath,"a+"); + filefd = fopen(logFilePath, ACCESS_MODE_APPEND_AND_READ); bzero(pcBuffer, sizeof(pcBuffer)); sprintf(pcBuffer, "\n------------------------------------------\nWhole Config file:\n------------------------------------------\n"); @@ -490,7 +500,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL if (access(TEST_CONF_FILE, 0) == 0) { /*read the .conf file and print it in to the .log file */ - fileread = fopen(TEST_CONF_FILE,"r"); + fileread = fopen(TEST_CONF_FILE, ACCESS_MODE_READ); read = fgetc(fileread); while(read!= EOF) { From e172c3dfb7828c66f846079f92cf3bfd1ed552f8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 13:01:12 +0200 Subject: [PATCH 079/730] Modified a comment --- server/src/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/main.c b/server/src/main.c index 670dad162..adf9662e1 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -54,7 +54,7 @@ static GSDType *GSD; /*------------------------------------------------------------ -- Server modules ------------------------------------------------------------*/ -//! allModules contains the tasks to be run in the server. To enable or disable a task, add the main module function in this array +//! allModules contains the tasks to be run in the server. To enable or disable a task, add or remove the main module function in this array static const ModuleTask allModules[] = { logger_task, timecontrol_task, From 29087cb32694e2f41e22964f82c35484cef71ae1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 13:03:22 +0200 Subject: [PATCH 080/730] Changed location of exit message, changed array sizes --- server/src/timecontrol.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index de2369782..b02896162 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -87,7 +87,7 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) C8 SendData[TIME_INTERVAL_NUMBER_BYTES] = {0, 0, 3, 0xe8}; //C8 SendData[4] = {0, 0, 0, 1}; struct timespec sleep_time, ref_time; - C8 MqRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; + C8 MqRecvBuffer[MBUS_MAX_DATALEN]; struct timeval tv, ExecTime; struct tm *tm; @@ -224,7 +224,6 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); } iExit = 1; - LogMessage(LOG_LEVEL_INFO,"Time control exiting"); (void)iCommClose(); } @@ -242,6 +241,8 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) nanosleep(&sleep_time,&ref_time); } } + + LogMessage(LOG_LEVEL_INFO,"Time control exiting"); } U16 TimeControlGetMillisecond(TimeType *GPSTime) From 531960d169b05851af05ee49a72000a1da634b81 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 13:04:13 +0200 Subject: [PATCH 081/730] Modified calls to iComm functions, modified iCommand type --- server/src/supervision.c | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 7dcf98161..92aab339a 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -343,12 +343,11 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { -- Listen loop. ----------------------------------------------------------------------*/ - (void) iCommInit ( IPC_RECV , - MQ_SV , - 0 ); + if(iCommInit()) + util_error("Unable to connect to message bus"); int iExit = 0 ; - int iCommand ; + enum COMMAND iCommand ; int doInitialAlignmentLoop = 0 ; int doCorrelationtLoop = 0 ; @@ -905,7 +904,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { -- Clean upp. --------------------------------------------------*/ - (void) iCommClose(); + (void)iCommClose(); for ( iIndex = 0 ; iIndex < nbr_objects ; From d4025aab39e64d7cbc3c596005319bdf83517f8c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 13:04:39 +0200 Subject: [PATCH 082/730] Modified calls to iComm functions, modified iCommand type --- server/src/supervisorcontrol.c | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index d92eccecc..dd37ef5be 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -99,16 +99,20 @@ void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) U8 ISOMessageReadRestU8 = 0; U8 ISOMessageReceivedU8 = 0; - I32 iExit = 0, iCommand; + I32 iExit = 0; + enum COMMAND iCommand; C8 MqBuffer[SUP_MQ_MAX_SIZE]; - (void)iCommInit(IPC_RECV_SEND,MQ_SV,0); + GSD->SupChunkSize = 0; U16 IterationCounter = 0; U32 TimestampU32 = 0; LogInit(MODULE_NAME,logLevel); LogMessage( LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); - + + if(iCommInit()) + util_error("Unable to connect to message bus"); + bzero(TextBufferC8, SUP_CONTROL_BUFFER_SIZE_20); UtilSearchTextFile(TEST_CONF_FILE, "SupervisorIP=", "", TextBufferC8); bzero(SupervisorServerIpC8, SUP_CONTROL_BUFFER_SIZE_20); From 51d1f54e97c38135bdfd05dd6303d7e61698ed2e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 13:06:36 +0200 Subject: [PATCH 083/730] Added transition to error state if there is a mq bus communication error. Added automatic spamming of abort signal if in error state --- server/src/objectcontrol.c | 54 +++++++++++++++++++++++++++++++------- 1 file changed, 44 insertions(+), 10 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index f2ddcae7b..7a0cb5be1 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -213,7 +213,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) uint32_t object_tcp_port[MAX_OBJECTS]; int nbr_objects=0; int iExit = 0; - int iCommand; + enum COMMAND iCommand; char pcRecvBuffer[RECV_MESSAGE_BUFFER]; char pcTempBuffer[512]; C8 MessageBuffer[BUFFER_SIZE_3100]; @@ -265,7 +265,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) double OriginHeadingDbl; TriggActionType TAA[MAX_TRIGG_ACTIONS]; int TriggerActionCount = 0; - char pcSendBuffer[MQ_MAX_MESSAGE_LENGTH]; + char pcSendBuffer[MBUS_MAX_DATALEN]; char ObjectPort[SMALL_BUFFER_SIZE_0]; char TriggId[SMALL_BUFFER_SIZE_1]; char TriggAction[SMALL_BUFFER_SIZE_1]; @@ -333,6 +333,14 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { + if(OBCState == OBC_STATE_ERROR) + { + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + + } + if(OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) { /*HEAB*/ @@ -431,8 +439,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //printf("[ObjectControl] External trigg received\n"); fflush(stdout); ObjectControlTOMToASCII(buffer, TriggId, TriggAction, TriggDelay, 1); - bzero(buffer,OBJECT_MESS_BUFFER_SIZE); - bzero(pcSendBuffer,MQ_MAX_MESSAGE_LENGTH); + bzero(buffer, OBJECT_MESS_BUFFER_SIZE); + bzero(pcSendBuffer, sizeof(pcSendBuffer)); bzero(ObjectPort, SMALL_BUFFER_SIZE_0); sprintf(ObjectPort, "%d", object_udp_port[iIndex]); strcat(pcSendBuffer,object_address_name[iIndex]);strcat(pcSendBuffer,";"); @@ -440,7 +448,13 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) strcat(pcSendBuffer,TriggId);strcat(pcSendBuffer,";"); strcat(pcSendBuffer,TriggAction);strcat(pcSendBuffer,";"); strcat(pcSendBuffer,TriggDelay);strcat(pcSendBuffer,";"); - (void)iCommSend(COMM_TOM, pcSendBuffer); + if(iCommSend(COMM_TOM, pcSendBuffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending TOM command - entering error state"); + vSetState(&OBCState, OBC_STATE_ERROR); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + + } } } } @@ -483,7 +497,15 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_DEBUG, "Sending MONR message: %s", buffer); - if(ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) (void)iCommSend(COMM_MONI,buffer); + if(ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) + { + if(iCommSend(COMM_MONI,buffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONI command - entering error state"); + vSetState(&OBCState,OBC_STATE_ERROR); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } + } @@ -960,13 +982,18 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_INFO,"Sending OSEM"); LOG_SEND(LogBuffer, "[ObjectControl] Sending OSEM."); ObjectControlOSEMtoASCII(&OSEMData, GPSWeek, OriginLatitude, OriginLongitude, OriginAltitude ); - bzero(pcSendBuffer,MQ_MAX_MESSAGE_LENGTH); + bzero(pcSendBuffer, sizeof(pcSendBuffer)); strcat(pcSendBuffer,GPSWeek);strcat(pcSendBuffer,";"); strcat(pcSendBuffer,OriginLongitude);strcat(pcSendBuffer,";"); strcat(pcSendBuffer,OriginLatitude);strcat(pcSendBuffer,";"); strcat(pcSendBuffer,OriginAltitude); - iCommSend(COMM_OSEM,pcSendBuffer); + if(iCommSend(COMM_OSEM,pcSendBuffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OSEM command - entering error state"); + vSetState(&OBCState,OBC_STATE_ERROR); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fd[iIndex], 0); @@ -1094,8 +1121,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else if(iCommand == COMM_EXIT) { - (void)iCommClose(); iExit = 1; + iCommClose(); } else { @@ -1116,13 +1143,20 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { bzero(Buffer2, SMALL_BUFFER_SIZE_1); Buffer2[0] = OBCState; - (void)iCommSend(COMM_OBC_STATE,Buffer2); + //LogPrint("Sending: %d (%s or %u)",OBCState,Buffer2, Buffer2[0]); + if(iCommSend(COMM_OBC_STATE,Buffer2) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state"); + vSetState(&OBCState,OBC_STATE_ERROR); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } uiTimeCycle = 0; } (void)nanosleep(&sleep_time,&ref_time); } } + LogMessage(LOG_LEVEL_INFO,"Object control exiting"); } From 567c1f71a752a53984fe7a9b218fcbb684d22818 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 13:09:19 +0200 Subject: [PATCH 084/730] Added transition to error state if there is a mq bus comm error. Added mq bus spamming of abort when in error state. Modified calls to iComm functions --- server/src/systemcontrol.c | 122 +++++++++++++++++++++++++++---------- 1 file changed, 89 insertions(+), 33 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 1e204c55f..0f7bd6f1a 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -188,9 +188,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) int i,i1; char *StartPtr, *StopPtr, *CmdPtr; struct timespec tTime; - int iCommand; + enum COMMAND iCommand; char pcRecvBuffer[SC_RECV_MESSAGE_BUFFER]; - (void)iCommInit(IPC_RECV_SEND,MQ_SC,1); char ObjectIP[SMALL_BUFFER_SIZE_16]; char ObjectPort[SMALL_BUFFER_SIZE_6]; char TriggId[SMALL_BUFFER_SIZE_6]; @@ -234,6 +233,9 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO,"System control task running with PID: %i",getpid()); + if(iCommInit()) + util_error("Unable to connect to message bus"); + bzero(TextBufferC8, SMALL_BUFFER_SIZE_20); UtilSearchTextFile(SYSTEM_CONTROL_CONF_FILE_PATH, "RemoteServerMode=", "", TextBufferC8); ModeU8 = (U8)atoi(TextBufferC8); @@ -283,6 +285,12 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { + if (server_state == SERVER_STATE_ERROR) + { + iCommSend(COMM_ABORT, NULL); + continue; + } + if(ModeU8 == 0) { if(ClientSocket <= 0) @@ -321,11 +329,12 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(errno != EAGAIN && errno != EWOULDBLOCK) { LogMessage(LOG_LEVEL_ERROR,"Failed to receive from command socket"); - LogMessage(LOG_LEVEL_ERROR,"Waiting 5 sec before exiting"); + LogMessage(LOG_LEVEL_ERROR,"Waiting 5 seconds before exiting"); usleep(5000000); //Wait 5 sec before sending exit, just so ObjectControl can send abort in HEAB before exit - (void)iCommSend(COMM_EXIT,NULL); + if(iCommSend(COMM_EXIT,NULL) < 0) + util_error("Fatal communication fault when sending EXIT command"); LogMessage(LOG_LEVEL_ERROR,"System control exiting"); - exit(1); + exit(EXIT_FAILURE); } } else if(ClientResult == 0) @@ -416,6 +425,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(pcRecvBuffer,SC_RECV_MESSAGE_BUFFER); iCommRecv(&iCommand,pcRecvBuffer,SC_RECV_MESSAGE_BUFFER,NULL); + if (iCommand == COMM_OBC_STATE) { OBCStateU8 = (U8)*pcRecvBuffer; @@ -675,7 +685,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case InitializeScenario_0: if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "IDLE") != NULL) { - (void)iCommSend(COMM_INIT,pcBuffer); + if (iCommSend(COMM_INIT, pcBuffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending INIT command"); + server_state = SERVER_STATE_ERROR; + } server_state = SERVER_STATE_INWORK; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "InitializeScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); @@ -698,7 +712,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case ConnectObject_0: if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "INITIALIZED") != NULL) { - (void)iCommSend(COMM_CONNECT,pcBuffer); + if (iCommSend(COMM_CONNECT, pcBuffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending CONNECT command"); + server_state = SERVER_STATE_ERROR; + } SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "ConnectObject:", ControlResponseBuffer, 0, &ClientSocket, 0); @@ -721,7 +739,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case DisconnectObject_0: if(server_state == SERVER_STATE_IDLE) { - (void)iCommSend(COMM_DISCONNECT,pcBuffer); + if (iCommSend(COMM_DISCONNECT, pcBuffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending DISCONNECT command"); + server_state = SERVER_STATE_ERROR; + } SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DisconnectObject:", ControlResponseBuffer, 0, &ClientSocket, 0); @@ -740,7 +762,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(pcBuffer, IPC_BUFFER_SIZE); server_state = SERVER_STATE_INWORK; pcBuffer[0] = OSTM_OPT_SET_ARMED_STATE; - (void)iCommSend(COMM_ARMD,pcBuffer); + if (iCommSend(COMM_ARMD, pcBuffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ARMD command"); + server_state = SERVER_STATE_ERROR; + } bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "ArmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] Sending ARM.\n", &ClientSocket, 0); @@ -765,7 +791,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(pcBuffer, IPC_BUFFER_SIZE); server_state = SERVER_STATE_IDLE; pcBuffer[0] = OSTM_OPT_SET_DISARMED_STATE; - (void)iCommSend(COMM_ARMD,pcBuffer); + if (iCommSend(COMM_ARMD, pcBuffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ARMD command"); + server_state = SERVER_STATE_ERROR; + } bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DisarmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] Sending DISARM.\n", &ClientSocket, 0); @@ -810,7 +840,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) sprintf ( pcBuffer,"%" PRIu8 ";%" PRIu64 ";%" PRIu32 ";", 0, uiTime, DelayedStartU32); LogMessage(LOG_LEVEL_INFO,"Sending START <%s> (delayed +%s ms)",pcBuffer, SystemControlArgument[1]); - (void)iCommSend(COMM_STRT,pcBuffer); + if (iCommSend(COMM_STRT, pcBuffer) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending STRT command"); + server_state = SERVER_STATE_ERROR; + } bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); server_state = SERVER_STATE_INWORK; @@ -857,24 +891,38 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else CurrentCommandArgCounter ++; break;*/ case stop_0: - (void)iCommSend(COMM_STOP,NULL); - server_state = SERVER_STATE_IDLE; - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "stop:", ControlResponseBuffer, 0, &ClientSocket, 0); + if (iCommSend(COMM_STOP, NULL) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending STOP command"); + server_state = SERVER_STATE_ERROR; + } + else + { + server_state = SERVER_STATE_IDLE; + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "stop:", ControlResponseBuffer, 0, &ClientSocket, 0); + } break; case AbortScenario_0: if(strstr(SystemControlOBCStatesArr[OBCStateU8], "RUNNING") != NULL /* || strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL * || strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL*/ ) // Abort should only be allowed in running state { - (void)iCommSend(COMM_ABORT,NULL); - server_state = SERVER_STATE_IDLE; - SystemControlCommand = Idle_0; - if(ClientSocket >= 0) + if (iCommSend(COMM_ABORT, NULL) < 0) { - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "AbortScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ABORT command"); + server_state = SERVER_STATE_ERROR; + } + else + { + server_state = SERVER_STATE_IDLE; + SystemControlCommand = Idle_0; + if(ClientSocket >= 0) + { + bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "AbortScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); + } } } else @@ -918,17 +966,23 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) CurrentCommandArgCounter = 0; break;*/ case Exit_0: - (void)iCommSend(COMM_EXIT,NULL); - iExit = 1; - GSD->ExitU8 = 1; - usleep(1000000); - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "Exit:", ControlResponseBuffer, 0, &ClientSocket, 0); - close(ClientSocket); ClientSocket = -1; - if(USE_LOCAL_USER_CONTROL == 0) { close(ServerHandle); ServerHandle = -1;} - LogMessage(LOG_LEVEL_INFO,"Server closing"); - + if (iCommSend(COMM_EXIT, NULL) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending EXIT command"); + server_state = SERVER_STATE_ERROR; + } + else + { + iExit = 1; + GSD->ExitU8 = 1; + usleep(1000000); + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "Exit:", ControlResponseBuffer, 0, &ClientSocket, 0); + close(ClientSocket); ClientSocket = -1; + if(USE_LOCAL_USER_CONTROL == 0) { close(ServerHandle); ServerHandle = -1;} + LogMessage(LOG_LEVEL_INFO,"Server closing"); + } break; default: @@ -946,6 +1000,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } (void)iCommClose(); + + LogMessage(LOG_LEVEL_INFO,"Exiting"); } /*------------------------------------------------------------ From 6da006791ccc9d4c6f3a29afd3087e8ab3d8f367 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 14 May 2019 13:12:22 +0200 Subject: [PATCH 085/730] Started using new millisecond format specifier --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index c3417a65d..c7df31eb2 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit c3417a65dbfa0cf526b2a9ee61f4ccc239f01b04 +Subproject commit c7df31eb219abcb0de877dc14652bafd8eab4082 From 4461e47c23f1a01d6c1d4fed1474544cffdfdb9a Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Tue, 14 May 2019 16:50:07 +0200 Subject: [PATCH 086/730] DataDictionary introduced --- server/CMakeLists.txt | 3 +- server/inc/datadictionary.h | 23 +++++++++++ server/src/datadictionary.c | 74 ++++++++++++++++++++++++++++++++++ server/src/main.c | 4 +- server/src/supervisorcontrol.c | 16 ++++---- server/src/util.c | 1 + 6 files changed, 112 insertions(+), 9 deletions(-) create mode 100644 server/inc/datadictionary.h create mode 100755 server/src/datadictionary.c diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 447764967..abdf844ca 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -59,12 +59,13 @@ add_executable(TEServer src/systemcontrol.c src/timecontrol.c src/supervisorcontrol.c + src/datadictionary.c inc/logger.h inc/objectcontrol.h inc/supervision.h inc/systemcontrol.h inc/timecontrol.h - + inc/datadictionary.h inc/supervisorcontrol.h ) diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h new file mode 100644 index 000000000..eb9f3bdd0 --- /dev/null +++ b/server/inc/datadictionary.h @@ -0,0 +1,23 @@ +/*------------------------------------------------------------------------------ + -- Copyright : (C) 2018 CHRONOS II project + ------------------------------------------------------------------------------ + -- File : datadictionary.h + -- Author : Sebastian Loh Lindholm + -- Description : CHRONOS II + -- Purpose : + -- Reference : + ------------------------------------------------------------------------------*/ + +#ifndef __DATADICTIONARY_H_INCLUDED__ +#define __DATADICTIONARY_H_INCLUDED__ + +/*------------------------------------------------------------ + -- Function declarations. + ------------------------------------------------------------*/ +void DataDictionaryInitExternalSupervisorIPU32(void); +void DataDictionarySetExternalSupervisorIPU32(U32 IP); +U32 DataDictionaryGetExternalSupervisorIPU32(void); + +void DataDictionaryConstructor(void); + +#endif \ No newline at end of file diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c new file mode 100755 index 000000000..353d1702f --- /dev/null +++ b/server/src/datadictionary.c @@ -0,0 +1,74 @@ +/*------------------------------------------------------------------------------ + -- Copyright : (C) 2018 CHRONOS II project + ------------------------------------------------------------------------------ + -- File : datadictionary.c + -- Author : Sebastian Loh Lindholm + -- Description : CHRONOS II + -- Purpose : + -- Reference : + ------------------------------------------------------------------------------*/ + +/*------------------------------------------------------------ + -- Include files. + ------------------------------------------------------------*/ +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "util.h" +#include "logger.h" +#include "datadictionary.h" +#include "logging.h" + + +#define DD_CONTROL_CONF_FILE_PATH "conf/test.conf" +#define DD_CONTROL_BUFFER_SIZE_20 20 +#define DD_CONTROL_BUFFER_SIZE_52 52 +#define DD_CONTROL_TASK_PERIOD_MS 1 + +// Parameters and variables +volatile U32 DataDictionaryExternalSupervisorIPU32 = 0; // The IP address of the external supervisor + +I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); + +/*------------------------------------------------------------ + -- Functions + ------------------------------------------------------------*/ +void DataDictionaryConstructor(void) +{ + DataDictionaryInitExternalSupervisorIPU32(); +} + + +/*External Supervisor IP*/ +void DataDictionaryInitExternalSupervisorIPU32(void) +{ + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) + { + DataDictionaryExternalSupervisorIPU32 = UtilIPStringToInt(ResultBufferC8); + LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", ResultBufferC8); + } else LogMessage(LOG_LEVEL_INFO,"Supervisor IP not found!"); +} +void DataDictionarySetExternalSupervisorIPU32(U32 IP){ DataDictionaryExternalSupervisorIPU32 = IP;} +U32 DataDictionaryGetExternalSupervisorIPU32(void){ return DataDictionaryExternalSupervisorIPU32; } +/*end*/ + + + +I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) +{ + bzero(ResultBuffer, DD_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(DD_CONTROL_CONF_FILE_PATH, ParameterName, "", ResultBuffer); + return strlen(ResultBuffer); +} \ No newline at end of file diff --git a/server/src/main.c b/server/src/main.c index 745ab8685..40df97c28 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -28,7 +28,7 @@ #include "objectcontrol.h" #include "systemcontrol.h" #include "supervision.h" -//#include "remotecontrol.h" +#include "datadictionary.h" #include "timecontrol.h" #include "supervisorcontrol.h" #include "logging.h" @@ -64,6 +64,8 @@ int main(int argc, char *argv[]) GSD->ScenarioStartTimeU32 = 0; GPSTime->isTimeInitializedU8 = 0; + DataDictionaryConstructor(); + pid_t pID[8]; int iIndex = 0; diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index 042708724..1bd01a00f 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -29,6 +29,7 @@ #include "util.h" #include "logger.h" #include "logging.h" +#include "datadictionary.h" /*------------------------------------------------------------ @@ -113,13 +114,14 @@ int supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD) LogInit(MODULE_NAME,logLevel); LogMessage( LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); - bzero(TextBufferC8, SUP_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, "SupervisorIP=", "", TextBufferC8); - bzero(SupervisorServerIpC8, SUP_CONTROL_BUFFER_SIZE_20); - strcat(SupervisorServerIpC8, TextBufferC8); - - LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", TextBufferC8); - SupervisorIpU32 = UtilIPStringToInt(SupervisorServerIpC8); + //bzero(TextBufferC8, SUP_CONTROL_BUFFER_SIZE_20); + //UtilSearchTextFile(TEST_CONF_FILE, "SupervisorIP=", "", TextBufferC8); + //bzero(SupervisorServerIpC8, SUP_CONTROL_BUFFER_SIZE_20); + //strcat(SupervisorServerIpC8, TextBufferC8); + + //LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", TextBufferC8); + //SupervisorIpU32 = UtilIPStringToInt(SupervisorServerIpC8); + SupervisorIpU32 = DataDictionaryGetExternalSupervisorIPU32(); if(SupervisorIpU32 != 0) { diff --git a/server/src/util.c b/server/src/util.c index c2cdcc535..ab4dd843b 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -28,6 +28,7 @@ #include "util.h" #include "logging.h" #include "maestroTime.h" +#include "datadictionary.h" /*------------------------------------------------------------ From a64ec6ff729a23257b28c5503df62f073e15e28e Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 15 May 2019 08:46:58 +0200 Subject: [PATCH 087/730] Added basic SIGINT handling --- server/src/logger.c | 5 ++++- server/src/objectcontrol.c | 5 ++++- server/src/supervision.c | 5 ++++- server/src/systemcontrol.c | 5 ++++- server/src/timecontrol.c | 5 ++++- 5 files changed, 20 insertions(+), 5 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 8a64f47fc..101cbb34e 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -62,9 +62,12 @@ void sig_handlerLogger(int signo) { if (signo == SIGINT) printf("received SIGINT in Logger\n"); - printf("Shutting down Logger\n"); + printf("Shutting down Logger with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + //kill(iPid, SIGINT); exit(1); + if (signo == SIGUSR1) printf("received SIGUSR1\n"); if (signo == SIGKILL) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index fec529eb9..759d015bd 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -210,9 +210,12 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; { if (signo == SIGINT) printf("received SIGINT in ObjectControl\n"); - printf("Shutting down ObjectControl\n"); + printf("Shutting down ObjectControl with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + //kill(iPid, SIGINT); exit(1); + if (signo == SIGUSR1) printf("received SIGUSR1\n"); if (signo == SIGKILL) diff --git a/server/src/supervision.c b/server/src/supervision.c index ccfb6e28d..d8e1eb078 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -57,9 +57,12 @@ void sig_handlerSV(int signo) { if (signo == SIGINT) printf("received SIGINT in Supervision\n"); - printf("Shutting down Supervision\n"); + printf("Shutting down Supervision with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + //kill(iPid, SIGINT); exit(1); + if (signo == SIGUSR1) printf("received SIGUSR1\n"); if (signo == SIGKILL) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 3f5dd57d2..fc45f5916 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -175,9 +175,12 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_INFO; { if (signo == SIGINT) printf("received SIGINT in SystemControl\n"); - printf("Shutting down SystemControl\n"); + printf("Shutting down SystemControl with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + //kill(iPid, SIGINT); exit(1); + if (signo == SIGUSR1) printf("received SIGUSR1\n"); if (signo == SIGKILL) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index ea8e677a2..fc28ea312 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -75,9 +75,12 @@ void sig_handlerTimeControl(int signo) { if (signo == SIGINT) printf("received SIGINT in timecontrol\n"); - printf("Shutting down timecontrol\n"); + printf("Shutting down timecontrol with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + //kill(iPid, SIGINT); exit(1); + if (signo == SIGUSR1) printf("received SIGUSR1\n"); if (signo == SIGKILL) From 24b407ea66988e7d68697678a04569fbf0bca9ca Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 12:58:15 +0200 Subject: [PATCH 088/730] Added clean delete of message queue bus and wait for module exits in main --- server/src/main.c | 122 +++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 120 insertions(+), 2 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index adf9662e1..d0b8fde1a 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -33,6 +33,7 @@ #include "supervisorcontrol.h" #include "logging.h" #include "mqbus.h" +#include "maestroTime.h" @@ -48,6 +49,8 @@ typedef struct /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ +#define PROCESS_WAIT_TIME_MS 3000 //!< Time to wait for all modules to exit before closing message bus + static TimeType *GPSTime; static GSDType *GSD; @@ -71,7 +74,8 @@ static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); int readArgumentList(int argc, char *argv[], Options *opts); void printHelp(char* progName); int initializeMessageQueueBus(void); - +int shutdownMessageQueueBus(void); +int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]); /*------------------------------------------------------------ -- The main function. @@ -82,6 +86,7 @@ int main(int argc, char *argv[]) unsigned int moduleNumber = 0; Options options; pid_t pID[numberOfModules]; + char moduleExitStatus[numberOfModules]; if (readArgumentList(argc, argv, &options)) exit(EXIT_FAILURE); @@ -122,7 +127,14 @@ int main(int argc, char *argv[]) // Use the main fork for the final task (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); - exit(EXIT_SUCCESS); + + (void)waitForModuleExit(pID,numberOfModules,moduleExitStatus); + + LogMessage(LOG_LEVEL_INFO, "Cleaning up message bus resources"); + if(shutdownMessageQueueBus()) + util_error("Unable to successfully clean up message bus resources"); + else + exit(EXIT_SUCCESS); } /*! @@ -170,10 +182,116 @@ int initializeMessageQueueBus(void) case MQBUS_MQ_COULD_NOT_BE_DESTROYED: LogMessage(LOG_LEVEL_ERROR, "Could not delete message queue"); break; + case MQBUS_MQ_FULL: + LogMessage(LOG_LEVEL_ERROR, "Message bus slot full"); + break; + case MQBUS_WRITE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Message bus write failed"); + break; + } + return -1; +} + +/*! + * \brief shutdownMessageQueueBus Deletes all message queues + * \return 0 on success, -1 on error + */ +int shutdownMessageQueueBus(void) +{ + enum MQBUS_ERROR result = MQBusDelete(); + + // Printouts according to result + switch (result) + { + case MQBUS_OK: + LogMessage(LOG_LEVEL_DEBUG, "Deleted message queue bus"); + return 0; + default: + LogMessage(LOG_LEVEL_ERROR, "Error while deleting message bus"); + break; } return -1; } +/*! + * \brief waitForModuleExit + * \param pIDs + * \param numberOfModules + * \param moduleExitStatus + * \return + */ +int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]){ + struct timeval waitStartTime, waitedTime; + unsigned int moduleNumber,nExitedModules = 0; + int status; + + TimeSetToCurrentSystemTime(&waitStartTime); + LogMessage(LOG_LEVEL_INFO, "Waiting for all modules to exit..."); + do + { + // Loop over all modules which have not yet exited + for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) + { + if (moduleExitStatus[moduleNumber]) + continue; + + switch(waitpid(pIDs[moduleNumber], &status, WNOHANG)) + { + case -1: + util_error("wait() error"); + case 0: + // Module still running + break; + default: + // Module exited, record exit manner and increase + if (WIFEXITED(status)) + { + moduleExitStatus[moduleNumber] = 1; + nExitedModules++; + } + else + { + moduleExitStatus[moduleNumber] = -1; + nExitedModules++; + } + break; + } + } + + TimeSetToCurrentSystemTime(&waitedTime); + timersub(&waitedTime, &waitStartTime, &waitedTime); + + if (TimeGetAsUTCms(&waitedTime) > PROCESS_WAIT_TIME_MS) + { + LogMessage(LOG_LEVEL_ERROR, "Timed out while waiting for modules to exit"); + break; + } + // TODO: Sleep? + } while (nExitedModules < numberOfModules-1); + + // Loop over all exited modules to report exit manner + if (nExitedModules < numberOfModules-1) + { + LogMessage(LOG_LEVEL_WARNING,"Modules exited erroneously:"); + for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) + { + switch (moduleExitStatus[moduleNumber]) { + case 0: + LogMessage(LOG_LEVEL_WARNING,"PID %d did not exit during wait period of %.3f seconds",pIDs[moduleNumber], PROCESS_WAIT_TIME_MS/1000.0); + break; + case -1: + LogMessage(LOG_LEVEL_WARNING,"PID %d exited with an error code"); + break; + } + } + return -1; + } + else + { + LogMessage(LOG_LEVEL_INFO,"All modules exited successfully"); + return 0; + } +} /*! * \brief readArgumentList Decodes the list of input arguments and fills an options struct From ad1e8d7547201434a76c6c450129f63628e6a616 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 13:46:38 +0200 Subject: [PATCH 089/730] Added missing parameter to printout --- server/src/main.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/server/src/main.c b/server/src/main.c index d0b8fde1a..d433b9be3 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -77,6 +77,7 @@ int initializeMessageQueueBus(void); int shutdownMessageQueueBus(void); int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]); + /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ @@ -280,7 +281,7 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi LogMessage(LOG_LEVEL_WARNING,"PID %d did not exit during wait period of %.3f seconds",pIDs[moduleNumber], PROCESS_WAIT_TIME_MS/1000.0); break; case -1: - LogMessage(LOG_LEVEL_WARNING,"PID %d exited with an error code"); + LogMessage(LOG_LEVEL_WARNING,"PID %d exited with an error code",pIDs[moduleNumber]); break; } } From 1d13f17d3dfa5b9ea8b8cbb4e28bcc897d5c49b4 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 13:47:05 +0200 Subject: [PATCH 090/730] Made signal handler static --- server/src/objectcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 71c55c7c2..221b830db 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -194,7 +194,7 @@ int8_t tFromRunning(OBCState_t *currentState, OBCState_t requestedState); int8_t tFromError(OBCState_t *currentState, OBCState_t requestedState); int8_t tFromUndefined(OBCState_t *currentState, OBCState_t requestedState); -void signal_handler(int signo); +static void signal_handler(int signo); /*------------------------------------------------------------ -- Private variables From 517cec93a82170bc59882c7d6325894012e22a41 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 14:08:36 +0200 Subject: [PATCH 091/730] Improved wait for process termination --- server/src/main.c | 28 ++++++++++++++++++---------- 1 file changed, 18 insertions(+), 10 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index d433b9be3..f19dd4bd9 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -40,7 +40,7 @@ /*------------------------------------------------------------ -- Types ------------------------------------------------------------*/ -typedef void (*ModuleTask)(TimeType*, GSDType*, LOG_LEVEL); //! Function pointer type for module "main" functions +typedef void (*ModuleTask)(TimeType*, GSDType*, LOG_LEVEL); //!< Function pointer type for module "main" functions typedef struct { LOG_LEVEL commonLogLevel; @@ -50,9 +50,12 @@ typedef struct -- Defines ------------------------------------------------------------*/ #define PROCESS_WAIT_TIME_MS 3000 //!< Time to wait for all modules to exit before closing message bus +#define CHILD_POLL_PERIOD_S 2 +#define CHILD_POLL_PERIOD_NS 0 static TimeType *GPSTime; static GSDType *GSD; +static struct timespec childPollPeriodTime = {CHILD_POLL_PERIOD_S, CHILD_POLL_PERIOD_NS}; /*------------------------------------------------------------ -- Server modules @@ -76,7 +79,7 @@ void printHelp(char* progName); int initializeMessageQueueBus(void); int shutdownMessageQueueBus(void); int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]); - +void signal_handler(int signo); /*------------------------------------------------------------ -- The main function. @@ -111,7 +114,7 @@ int main(int argc, char *argv[]) exit(EXIT_FAILURE); // For all modules in allModules, start corresponding process in a fork - for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) + for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { pID[moduleNumber] = fork(); if (pID[moduleNumber] < 0) @@ -127,9 +130,11 @@ int main(int argc, char *argv[]) } // Use the main fork for the final task - (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); - - (void)waitForModuleExit(pID,numberOfModules,moduleExitStatus); + //(*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); + if (signal(SIGINT,signal_handler) == SIG_ERR) + util_error("Unable to create signal handler"); + else + (void)waitForModuleExit(pID,numberOfModules,moduleExitStatus); LogMessage(LOG_LEVEL_INFO, "Cleaning up message bus resources"); if(shutdownMessageQueueBus()) @@ -227,11 +232,11 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi int status; TimeSetToCurrentSystemTime(&waitStartTime); - LogMessage(LOG_LEVEL_INFO, "Waiting for all modules to exit..."); + LogMessage(LOG_LEVEL_INFO, "Awaiting shutdown signal..."); do { // Loop over all modules which have not yet exited - for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) + for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { if (moduleExitStatus[moduleNumber]) continue; @@ -267,8 +272,11 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi LogMessage(LOG_LEVEL_ERROR, "Timed out while waiting for modules to exit"); break; } - // TODO: Sleep? - } while (nExitedModules < numberOfModules-1); + + LogMessage(LOG_LEVEL_INFO,"zzz... "); + nanosleep(&childPollPeriodTime, NULL); + + } while (nExitedModules < numberOfModules); // Loop over all exited modules to report exit manner if (nExitedModules < numberOfModules-1) From 5001a4e91672affe9cb7049ee4f589e40d63a4b5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 15:26:22 +0200 Subject: [PATCH 092/730] Removed signal handlers --- server/src/logger.c | 26 -------------------------- server/src/main.c | 28 ++++++++++++---------------- server/src/objectcontrol.c | 27 --------------------------- server/src/supervision.c | 24 ------------------------ server/src/systemcontrol.c | 31 ------------------------------- server/src/timecontrol.c | 22 ---------------------- 6 files changed, 12 insertions(+), 146 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 487932fe0..35c95bd09 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -58,7 +58,6 @@ static void vCreateLogFolder(char logFolder[MAX_FILE_PATH]); static void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength); static int ReadLogLine(FILE *fd, char *Buffer); static int CountFileRows(FILE *fd); -static void signal_handler(int signo); /*------------------------------------------------------------ -- Private variables @@ -120,9 +119,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char *src; uint64_t NewTimestamp, OldTimestamp,Timestamp; - if (signal(SIGINT, signal_handler) == SIG_ERR) - util_error("Unable to create signal handler"); - while(!iExit) { @@ -549,25 +545,3 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL fclose(filefd); } - - -void signal_handler(int signo) -{ - if (signo == SIGINT) - { - printf("received SIGINT in Logger\n"); - printf("Shutting down Logger with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - //kill(iPid, SIGINT); - exit(1); - } - - - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); -} - diff --git a/server/src/main.c b/server/src/main.c index f19dd4bd9..24eace80f 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -56,6 +56,8 @@ typedef struct static TimeType *GPSTime; static GSDType *GSD; static struct timespec childPollPeriodTime = {CHILD_POLL_PERIOD_S, CHILD_POLL_PERIOD_NS}; +static char doShutdown = 0; +static struct timeval waitStartTime, waitedTime; /*------------------------------------------------------------ -- Server modules @@ -79,7 +81,6 @@ void printHelp(char* progName); int initializeMessageQueueBus(void); int shutdownMessageQueueBus(void); int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]); -void signal_handler(int signo); /*------------------------------------------------------------ -- The main function. @@ -114,7 +115,7 @@ int main(int argc, char *argv[]) exit(EXIT_FAILURE); // For all modules in allModules, start corresponding process in a fork - for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) + for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) { pID[moduleNumber] = fork(); if (pID[moduleNumber] < 0) @@ -130,11 +131,9 @@ int main(int argc, char *argv[]) } // Use the main fork for the final task - //(*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); - if (signal(SIGINT,signal_handler) == SIG_ERR) - util_error("Unable to create signal handler"); - else - (void)waitForModuleExit(pID,numberOfModules,moduleExitStatus); + (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); + + (void)waitForModuleExit(pID,numberOfModules,moduleExitStatus); LogMessage(LOG_LEVEL_INFO, "Cleaning up message bus resources"); if(shutdownMessageQueueBus()) @@ -227,16 +226,15 @@ int shutdownMessageQueueBus(void) * \return */ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]){ - struct timeval waitStartTime, waitedTime; unsigned int moduleNumber,nExitedModules = 0; int status; TimeSetToCurrentSystemTime(&waitStartTime); - LogMessage(LOG_LEVEL_INFO, "Awaiting shutdown signal..."); + LogMessage(LOG_LEVEL_INFO, "Waiting for modules to terminate..."); do { // Loop over all modules which have not yet exited - for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) + for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) { if (moduleExitStatus[moduleNumber]) continue; @@ -272,17 +270,14 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi LogMessage(LOG_LEVEL_ERROR, "Timed out while waiting for modules to exit"); break; } - - LogMessage(LOG_LEVEL_INFO,"zzz... "); - nanosleep(&childPollPeriodTime, NULL); - - } while (nExitedModules < numberOfModules); + // TODO: Sleep? + } while (nExitedModules < numberOfModules-1); // Loop over all exited modules to report exit manner if (nExitedModules < numberOfModules-1) { LogMessage(LOG_LEVEL_WARNING,"Modules exited erroneously:"); - for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) + for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { switch (moduleExitStatus[moduleNumber]) { case 0: @@ -364,3 +359,4 @@ void printHelp(char* progName) printf(" -v, --verbose \tcreate detailed logs\n"); printf(" -h, --help \t\tdisplay this help and exit\n"); } + diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 221b830db..9edc295d8 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -22,7 +22,6 @@ #include #include #include -#include #include #include #include @@ -194,8 +193,6 @@ int8_t tFromRunning(OBCState_t *currentState, OBCState_t requestedState); int8_t tFromError(OBCState_t *currentState, OBCState_t requestedState); int8_t tFromUndefined(OBCState_t *currentState, OBCState_t requestedState); -static void signal_handler(int signo); - /*------------------------------------------------------------ -- Private variables ------------------------------------------------------------*/ @@ -334,10 +331,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "Object control task running with PID: %i", getpid()); - // Set up signal handler - if (signal(SIGINT, signal_handler) == SIG_ERR) - util_error("Unable to create SIGINT handler"); - // Set up message bus connection if (iCommInit()) util_error("Unable to connect to message queue bus"); @@ -2795,23 +2788,3 @@ int8_t tFromUndefined(OBCState_t *currentState, OBCState_t requestedState) return -1; } -// ********* Signal handlers ***************** -void signal_handler(int signo) -{ - if (signo == SIGINT) - { - printf("received SIGINT in ObjectControl\n"); - printf("Shutting down ObjectControl with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - //kill(iPid, SIGINT); - exit(1); - } - - - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); -} diff --git a/server/src/supervision.c b/server/src/supervision.c index 100e86525..af8a132aa 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -19,7 +19,6 @@ #include #include #include -#include #include #include "supervision.h" @@ -48,27 +47,6 @@ -- Function declarations & definitions. ------------------------------------------------------------*/ -/* This code is a straight copy from objectcontrol.c */ - -void sig_handlerSV(int signo) - { - if (signo == SIGINT) - printf("received SIGINT in Supervision\n"); - printf("Shutting down Supervision with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - //kill(iPid, SIGINT); - exit(1); - - - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); - } - - static void vFindObjectsInfo ( char object_traj_file [MAX_OBJECTS][MAX_FILE_PATH], char object_address_name [MAX_OBJECTS][MAX_FILE_PATH], int* nbr_objects ) @@ -917,8 +895,6 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { fflush(stdout); } - if (signal(SIGINT, sig_handlerSV) == SIG_ERR) - printf("\ncan't catch SIGINT\n"); } // while(!iExit) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 49ceb1d42..4c825b91a 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -22,7 +22,6 @@ #include #include #include -#include #include #include @@ -168,24 +167,6 @@ static C8 SystemControlVerifyHostAddress(char* ip); /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ - void sig_handler(int signo) - { - if (signo == SIGINT) - printf("received SIGINT in SystemControl\n"); - printf("Shutting down SystemControl with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - //kill(iPid, SIGINT); - exit(1); - - - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); - } - void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { @@ -1092,18 +1073,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) sleep_time.tv_nsec = 10000000; nanosleep(&sleep_time,&ref_time); - if (signal(SIGINT, sig_handler) == SIG_ERR) - printf("\ncan't catch SIGINT\n"); - -/* - if (signal(SIGUSR1, sig_handler) == SIG_ERR) - printf("\ncan't catch SIGUSR1\n"); - if (signal(SIGKILL, sig_handler) == SIG_ERR) - printf("\ncan't catch SIGKILL\n"); - if (signal(SIGSTOP, sig_handler) == SIG_ERR) - printf("\ncan't catch SIGSTOP\n"); -*/ - } (void)iCommClose(); diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 4dbf86c0d..db09b880b 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -18,7 +18,6 @@ #include #include #include -#include #include @@ -70,27 +69,6 @@ static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 de ------------------------------------------------------------*/ #define MODULE_NAME "TimeControl" -/*------------------------------------------------------------ --- SigInt handler function. -------------------------------------------------------------*/ -void sig_handlerTimeControl(int signo) - { - if (signo == SIGINT) - printf("received SIGINT in timecontrol\n"); - printf("Shutting down timecontrol with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - //kill(iPid, SIGINT); - exit(1); - - - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); - } - /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ From c9ff185b19f54b6cdb42229e7eea45f0acbacbf2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 16:09:54 +0200 Subject: [PATCH 093/730] Added back only the sigint handler for Central --- server/src/main.c | 39 ++++++++++++++++++++++++++++----------- server/src/timecontrol.c | 3 +++ 2 files changed, 31 insertions(+), 11 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 24eace80f..ad82b1e1e 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -49,7 +49,7 @@ typedef struct /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ -#define PROCESS_WAIT_TIME_MS 3000 //!< Time to wait for all modules to exit before closing message bus +#define PROCESS_WAIT_TIMEOUT_MS 3000 //!< Time to wait for all modules to exit before closing message bus #define CHILD_POLL_PERIOD_S 2 #define CHILD_POLL_PERIOD_NS 0 @@ -81,6 +81,7 @@ void printHelp(char* progName); int initializeMessageQueueBus(void); int shutdownMessageQueueBus(void); int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]); +void signal_handler(int signo); /*------------------------------------------------------------ -- The main function. @@ -115,7 +116,7 @@ int main(int argc, char *argv[]) exit(EXIT_FAILURE); // For all modules in allModules, start corresponding process in a fork - for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) + for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { pID[moduleNumber] = fork(); if (pID[moduleNumber] < 0) @@ -130,8 +131,8 @@ int main(int argc, char *argv[]) } } - // Use the main fork for the final task - (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); + if (signal(SIGINT, signal_handler) == SIG_ERR) + util_error("Unable to create signal handler"); (void)waitForModuleExit(pID,numberOfModules,moduleExitStatus); @@ -229,12 +230,12 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi unsigned int moduleNumber,nExitedModules = 0; int status; - TimeSetToCurrentSystemTime(&waitStartTime); - LogMessage(LOG_LEVEL_INFO, "Waiting for modules to terminate..."); + bzero(moduleExitStatus,numberOfModules); + LogMessage(LOG_LEVEL_INFO, "Awaiting shutdown signal..."); do { // Loop over all modules which have not yet exited - for (moduleNumber = 0; moduleNumber < numberOfModules-1; ++moduleNumber) + for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { if (moduleExitStatus[moduleNumber]) continue; @@ -265,23 +266,23 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi TimeSetToCurrentSystemTime(&waitedTime); timersub(&waitedTime, &waitStartTime, &waitedTime); - if (TimeGetAsUTCms(&waitedTime) > PROCESS_WAIT_TIME_MS) + if (doShutdown && TimeGetAsUTCms(&waitedTime) > PROCESS_WAIT_TIMEOUT_MS) { LogMessage(LOG_LEVEL_ERROR, "Timed out while waiting for modules to exit"); break; } // TODO: Sleep? - } while (nExitedModules < numberOfModules-1); + } while (nExitedModules < numberOfModules); // Loop over all exited modules to report exit manner - if (nExitedModules < numberOfModules-1) + if (nExitedModules < numberOfModules) { LogMessage(LOG_LEVEL_WARNING,"Modules exited erroneously:"); for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { switch (moduleExitStatus[moduleNumber]) { case 0: - LogMessage(LOG_LEVEL_WARNING,"PID %d did not exit during wait period of %.3f seconds",pIDs[moduleNumber], PROCESS_WAIT_TIME_MS/1000.0); + LogMessage(LOG_LEVEL_WARNING,"PID %d did not exit during wait period of %.3f seconds",pIDs[moduleNumber], PROCESS_WAIT_TIMEOUT_MS/1000.0); break; case -1: LogMessage(LOG_LEVEL_WARNING,"PID %d exited with an error code",pIDs[moduleNumber]); @@ -360,3 +361,19 @@ void printHelp(char* progName) printf(" -h, --help \t\tdisplay this help and exit\n"); } +/*! + * \brief signal_handler + * \param signo + */ +void signal_handler(int signo) +{ + switch (signo) { + case SIGINT: + LogMessage(LOG_LEVEL_INFO,"Initiating shutdown of modules - waiting %.3f seconds before forcing shutdown", PROCESS_WAIT_TIMEOUT_MS/1000.0); + TimeSetToCurrentSystemTime(&waitStartTime); + doShutdown = 1; + break; + default: + util_error("Caught unhandled signal"); + } +} diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index db09b880b..905b2f3f9 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -100,6 +100,9 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO,"Time control task running with PID: %i",getpid()); + if(iCommInit()) + util_error("Unable to initialize message bus connection"); + GPSTime->isGPSenabled = 0; gettimeofday(&ExecTime, NULL); From 98045682f9562e197eb7f055660c8477eeb15f9b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 17:00:13 +0200 Subject: [PATCH 094/730] Handle when command data is NULL --- server/src/util.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index d1ffa67d5..d64f4d1f3 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1842,9 +1842,13 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData) { unsigned int uiMessagePrio = 0; char cpMessage[MQ_MSG_SIZE]; - unsigned long dataLength = strlen(cpData); + char hej = 0; + unsigned long dataLength = 0; enum MQBUS_ERROR sendResult; + if (cpData != NULL) + dataLength = strlen(cpData); + if (dataLength > MQ_MSG_SIZE+1) { LogMessage(LOG_LEVEL_ERROR, "Cannot send message %d of size %lu: maximum size is %lu", iCommand, dataLength+1, MQ_MSG_SIZE); From d62c561cdcd3734bfd47d9b2285665514c46b8cb Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 17:00:51 +0200 Subject: [PATCH 095/730] Added sleep time to main loop --- server/src/main.c | 46 ++++++++++++++++++++++++++++------------------ 1 file changed, 28 insertions(+), 18 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index ad82b1e1e..4a0bfcb6b 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -49,15 +49,17 @@ typedef struct /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ -#define PROCESS_WAIT_TIMEOUT_MS 3000 //!< Time to wait for all modules to exit before closing message bus -#define CHILD_POLL_PERIOD_S 2 -#define CHILD_POLL_PERIOD_NS 0 +#define PROCESS_WAIT_TIMEOUT_MS 3000 //!< Time to wait for all modules to exit before closing message bus +#define CHILD_POLL_PERIOD_S 2 //!< Time period (seconds) between process status polls when no shutdown signal has been received +#define CHILD_POLL_PERIOD_NS 0 //!< Time period (nanoseconds) between process status polls when no shutdown signal has been received +#define CHILD_POLL_PERIOD_SHUTDOWN_S 0 //!< Time period (seconds) between process status polls when a shutdown signal has been received +#define CHILD_POLL_PERIOD_SHUTDOWN_NS 1000*1000 //!< Time period (nanoseconds) between process status polls when a shutdown signal has been received static TimeType *GPSTime; static GSDType *GSD; -static struct timespec childPollPeriodTime = {CHILD_POLL_PERIOD_S, CHILD_POLL_PERIOD_NS}; -static char doShutdown = 0; -static struct timeval waitStartTime, waitedTime; +static struct timespec childPollPeriodTime = {CHILD_POLL_PERIOD_S, CHILD_POLL_PERIOD_NS}; //!< Time period between process polls +static char doShutdown = 0; //!< Exit boolean +static struct timeval waitStartTime, waitedTime; //!< Poll timeout timers /*------------------------------------------------------------ -- Server modules @@ -134,9 +136,11 @@ int main(int argc, char *argv[]) if (signal(SIGINT, signal_handler) == SIG_ERR) util_error("Unable to create signal handler"); + // Enter hold function while server is running (void)waitForModuleExit(pID,numberOfModules,moduleExitStatus); - LogMessage(LOG_LEVEL_INFO, "Cleaning up message bus resources"); + // Perform final cleanup + LogMessage(LOG_LEVEL_DEBUG, "Cleaning up message bus resources"); if(shutdownMessageQueueBus()) util_error("Unable to successfully clean up message bus resources"); else @@ -220,11 +224,12 @@ int shutdownMessageQueueBus(void) } /*! - * \brief waitForModuleExit - * \param pIDs - * \param numberOfModules - * \param moduleExitStatus - * \return + * \brief waitForModuleExit When doShutdown has been set to 1, waits a preset number of seconds for all child + * processes to exit cleanly, then returns + * \param pIDs Array holding PIDs for child processes + * \param numberOfModules Number of elements in pIDs + * \param moduleExitStatus Exit status array to hold exit status of each child + * \return 0 if all child processes exited cleanly, -1 otherwise */ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]){ unsigned int moduleNumber,nExitedModules = 0; @@ -263,6 +268,7 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi } } + // If shutdown is desired, wait specified amount of time before forcing return TimeSetToCurrentSystemTime(&waitedTime); timersub(&waitedTime, &waitStartTime, &waitedTime); @@ -271,7 +277,8 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi LogMessage(LOG_LEVEL_ERROR, "Timed out while waiting for modules to exit"); break; } - // TODO: Sleep? + + nanosleep(&childPollPeriodTime,NULL); } while (nExitedModules < numberOfModules); // Loop over all exited modules to report exit manner @@ -350,8 +357,8 @@ int readArgumentList(int argc, char *argv[], Options *opts) } /*! - * \brief printHelp - * \param progName + * \brief printHelp Prints help text with list of all possible execution options + * \param progName Name of the program as called */ void printHelp(char* progName) { @@ -362,15 +369,18 @@ void printHelp(char* progName) } /*! - * \brief signal_handler - * \param signo + * \brief signal_handler Handles signals (e.g. SIGINT) - forces exit if it catches an unimplemented signal + * \param signo Signal number */ void signal_handler(int signo) { switch (signo) { case SIGINT: - LogMessage(LOG_LEVEL_INFO,"Initiating shutdown of modules - waiting %.3f seconds before forcing shutdown", PROCESS_WAIT_TIMEOUT_MS/1000.0); + LogMessage(LOG_LEVEL_INFO,"Waiting for shutdown of all modules..."); + LogMessage(LOG_LEVEL_DEBUG,"Waiting %.3f seconds before forcing shutdown", PROCESS_WAIT_TIMEOUT_MS/1000.0); TimeSetToCurrentSystemTime(&waitStartTime); + childPollPeriodTime.tv_sec = CHILD_POLL_PERIOD_SHUTDOWN_S; + childPollPeriodTime.tv_nsec = CHILD_POLL_PERIOD_SHUTDOWN_NS; doShutdown = 1; break; default: From 2b3903ac943795a457634feffa16e5cdd4cf1c85 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 17:09:14 +0200 Subject: [PATCH 096/730] Removed include of mqueue.h library in all modules --- server/src/logger.c | 1 - server/src/objectcontrol.c | 1 - server/src/systemcontrol.c | 1 - server/src/usercontrol.c | 1 - 4 files changed, 4 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 35c95bd09..fc79180d9 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -14,7 +14,6 @@ #include "logger.h" #include #include -#include #include #include #include diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 9edc295d8..952b6345e 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -16,7 +16,6 @@ #include #include #include -#include #include #include #include diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 4c825b91a..f79f383dc 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -11,7 +11,6 @@ /*------------------------------------------------------------ -- Include files. ------------------------------------------------------------*/ -#include #include #include #include diff --git a/server/src/usercontrol.c b/server/src/usercontrol.c index 40e48c732..f3119a9bb 100755 --- a/server/src/usercontrol.c +++ b/server/src/usercontrol.c @@ -26,7 +26,6 @@ #include "maestroTime.h" /* -#include #include #include #include From acd328543f6d641414ca0218d1e375d98fac23dc Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 17:13:01 +0200 Subject: [PATCH 097/730] Removed commented out old mqueue defines --- server/inc/util.h | 4 ---- 1 file changed, 4 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index bc115557c..7c5c83a10 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -38,10 +38,6 @@ #define MBUS_MAX_DATALEN (MQ_MSG_SIZE-1) // Message queue data minus one byte for the command -//#define IPC_RECV 0x01 -//#define IPC_SEND 0x02 -//#define IPC_RECV_SEND 0x03 - #define SAFETY_CHANNEL_PORT 53240 #define CONTROL_CHANNEL_PORT 53241 From 741a7005ccf614b15e130505588b50bba6129786 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 17:54:29 +0200 Subject: [PATCH 098/730] Added handling of COMM_INV --- server/src/logger.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index fc79180d9..f60393830 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -17,7 +17,6 @@ #include #include #include -#include #include #include @@ -341,7 +340,8 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } break; - + case COMM_INV: + break; default: LogMessage(LOG_LEVEL_WARNING,"Unhandled command in logger: %d", (char)command); } From 9b03df5953c271442a1bec5a09f54b29dded8897 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 15 May 2019 17:56:35 +0200 Subject: [PATCH 099/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index c7df31eb2..0a104bd70 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit c7df31eb219abcb0de877dc14652bafd8eab4082 +Subproject commit 0a104bd70031defc96d692b35b63446ae3d77953 From 052507cb54aaea149238f67d0b146dd69412d5d2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 16 May 2019 09:31:07 +0200 Subject: [PATCH 100/730] re-added printout --- server/src/util.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index d64f4d1f3..eb8943dc7 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1959,7 +1959,7 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData) case MQBUS_OK: return 0; case MQBUS_MQ_FULL: - //LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); + LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); return 1; case MQBUS_INVALID_INPUT_ARGUMENT: LogMessage(LOG_LEVEL_WARNING, "Invalid message queue message length"); From 962db0751d9eb2f4c6d13351d5c4a31071f28d37 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 16 May 2019 13:14:35 +0200 Subject: [PATCH 101/730] Added more decoding guards to check for null pointers --- server/src/systemcontrol.c | 59 +++++++++++--------------------------- 1 file changed, 17 insertions(+), 42 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 1269a1dac..f6bca3e57 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -359,36 +359,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) CmdPtr = NULL; StringPos = pcBuffer; - /* - if (strstr(pcBuffer,"POST ") != NULL) - { - - CmdPtr = strchr(pcBuffer,'\n'); - if (CmdPtr != NULL && strstr(CmdPtr+1,"Host;") != NULL) - { - CmdPtr = strchr(CmdPtr+1,'\n'); - if (CmdPtr != NULL) - { - CmdPtr++; - StartPtr = strchr(pcBuffer, '(')+1; - //printf("pcBuffer: %s\n", pcBuffer); - while (StopPtr != NULL) - { - StopPtr = (char *)strchr(StartPtr, ','); - if(StopPtr == NULL) strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); - else strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); - StartPtr = StopPtr+1; - CurrentInputArgCount ++; - //printf("CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount-1]); - } - - SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); - } - } - else {CmdPtr = NULL; If we don't find "Host" } - } - */ - // Check so that all POST request mandatory content is contained in the message for (i = 0; i < sizeof(POSTRequestMandatoryContent)/sizeof(POSTRequestMandatoryContent[0]); ++i) { @@ -404,7 +374,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) } } - if (CmdPtr != NULL) { // It is now known that the request contains "POST" and "\r\n\r\n", so we can decode the header @@ -416,19 +385,25 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) } else if (SystemControlVerifyHostAddress(HTTPHeader.Host)) { - StartPtr = strchr(CmdPtr, '(')+1; - while (StopPtr != NULL) + StartPtr = strchr(CmdPtr, '('); + if (StartPtr == NULL || strchr(StartPtr,')') == NULL) + LogMessage(LOG_LEVEL_WARNING, "Received command not conforming to MSCP standards"); + else { - StopPtr = (char *)strchr(StartPtr, ','); - if(StopPtr == NULL) strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); - else strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); - StartPtr = StopPtr+1; - CurrentInputArgCount ++; - //printf("CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount-1]); - } - - SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); + StartPtr++; + while (StopPtr != NULL) + { + StopPtr = (char *)strchr(StartPtr, ','); + if(StopPtr == NULL) + strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); + else + strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); + StartPtr = StopPtr+1; + CurrentInputArgCount ++; + } + SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); + } } else { LogMessage(LOG_LEVEL_INFO, "Request specified host <%s> not among known local addresses",HTTPHeader.Host); From dc40f3c8bb431c0b5ddb8a18aa1863fa6b8ec1e2 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 20 May 2019 15:42:56 +0200 Subject: [PATCH 102/730] Added supervision skeleton --- server/inc/supervision.h | 6 +- server/src/main.c | 2 +- server/src/supervision.c | 918 ++------------------------------------- 3 files changed, 41 insertions(+), 885 deletions(-) diff --git a/server/inc/supervision.h b/server/inc/supervision.h index 50f56a161..4eda1c961 100755 --- a/server/inc/supervision.h +++ b/server/inc/supervision.h @@ -11,9 +11,13 @@ #ifndef __SUPERVISION_H_INCLUDED__ #define __SUPERVISION_H_INCLUDED__ + +#include +#include "util.h" + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void supervision_task(TimeType *GPSTime); +void supervision_task(TimeType *GPSTime, GSDType *GSD); #endif //__SUPERVISION_H_INCLUDED__ diff --git a/server/src/main.c b/server/src/main.c index 745ab8685..0222a23ae 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -89,7 +89,7 @@ int main(int argc, char *argv[]) } if(pID[iIndex] == 0) { - supervision_task(GPSTime); + supervision_task(GPSTime, GSD); exit(EXIT_SUCCESS); } ++iIndex; diff --git a/server/src/supervision.c b/server/src/supervision.c index 1f68609d4..84f7717a0 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -1,9 +1,9 @@ /*------------------------------------------------------------------------------ - -- Copyright : (C) 2016 CHRONOS project + -- Copyright : (C) 2018 CHRONOS II project ------------------------------------------------------------------------------ -- File : supervision.c -- Author : - -- Description : CHRONOS + -- Description : CHRONOS II -- Purpose : -- Reference : ------------------------------------------------------------------------------*/ @@ -11,910 +11,62 @@ /*------------------------------------------------------------ -- Include files. ------------------------------------------------------------*/ - - -#include -#include +#include #include -#include #include +#include +#include +#include #include -#include - -#include "util.h" -#include "supervision.h" -#include "logging.h" - -/*------------------------------------------------------------ - -- Defines - ------------------------------------------------------------*/ -#define LOCALHOST "127.0.0.1" +#include +#include +#include +#include +#include -#define LDM_SIZE 5 -#define RECV_MESSAGE_BUFFER 1024 -#define SAFETY_MARGIN_POS 0.5 -#define SAFETY_MARGIN_TIM 0.5 - -/* 34 years between 1970 and 2004, 8 days for leap year between 1970 and 2004 */ -/* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ -#define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 +#include "util.h" +#include "logger.h" -/* Difference of leap seconds between UTC and ETSI */ -#define DIFF_LEAP_SECONDS_UTC_ETSI 5 -#define MODULE_NAME "Supervisor" -static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; +#define SUPERVISION_CONTROL_CONF_FILE_PATH "conf/test.conf" +#define SUPERVISION_CONTROL_BUFFER_SIZE_20 20 +#define SUPERVISION_CONTROL_BUFFER_SIZE_52 52 +#define SUPERVISION_CONTROL_TASK_PERIOD_MS 1 /*------------------------------------------------------------ - -- Function declarations & definitions. + -- Function declarations. ------------------------------------------------------------*/ -/* This code is a straight copy from objectcontrol.c */ - -static void vFindObjectsInfo ( char object_traj_file [MAX_OBJECTS][MAX_FILE_PATH], - char object_address_name [MAX_OBJECTS][MAX_FILE_PATH], - int* nbr_objects ) -{ - DIR* traj_directory; - struct dirent* directory_entry; - int iForceObjectToLocalhost; - int i = 0; - - iForceObjectToLocalhost = 0; - - traj_directory = opendir(TRAJECTORY_PATH); - if(traj_directory == NULL) - { - util_error("ERR: Failed to open trajectory directory"); - } - - (void)iUtilGetIntParaConfFile("ForceObjectToLocalhost", - &iForceObjectToLocalhost); - - //printf("Filenames:\n"); - while ((directory_entry = readdir(traj_directory)) && - ((*nbr_objects) < MAX_OBJECTS)) - { - /* Check so it's not . or .. */ - if (strncmp(directory_entry->d_name,".",1)) - { - bzero(object_address_name[(*nbr_objects)],MAX_FILE_PATH); - //printf("Id %d = %s\n", i++, directory_entry->d_name); - bzero(object_traj_file[(*nbr_objects)],MAX_FILE_PATH); - (void)strcat(object_traj_file[(*nbr_objects)],TRAJECTORY_PATH); - (void)strcat(object_traj_file[(*nbr_objects)],directory_entry->d_name); - - if(0 == iForceObjectToLocalhost) - { - (void)strncat(object_address_name[(*nbr_objects)], - directory_entry->d_name, - strlen(directory_entry->d_name)); - } - else - { - (void)strcat(object_address_name[(*nbr_objects)],LOCALHOST); - } - - /* #ifdef DEBUG */ - /* printf ( "DBG : SV : otf = %s , oan = %s \n", */ - /* object_traj_file [(*nbr_objects)], */ - /* object_address_name [(*nbr_objects)] ); */ - /* ; */ - /* fflush(stdout); */ - /* #endif */ - - ++(*nbr_objects); - } - } - (void)closedir(traj_directory); -} /*------------------------------------------------------------ - -- Task - ------------------------------------------------------------*/ - -void supervision_task(TimeType *GPSTime) { - - char object_traj_file [ MAX_OBJECTS ][ MAX_FILE_PATH ]; - char object_address_name [ MAX_OBJECTS ][ MAX_FILE_PATH ]; - int nbr_objects = 0 ; - - FILE* fp [ MAX_OBJECTS ] ; - char bFileLine [ MAX_OBJECTS ] [3] [100] ; - char* bFileLine_p [ MAX_OBJECTS ] ; - size_t len ; - int read ; - int i ; - monitor_t traj ; - monitor_t trajs [ MAX_OBJECTS ] [3] ; - ObjectPosition deviation [ MAX_OBJECTS ] [3] ; - double distance [ MAX_OBJECTS ] [3] ; - int bestFit [ MAX_OBJECTS ] [3] ; - double align [ MAX_OBJECTS ] ; - uint64_t timeX [ MAX_OBJECTS ] ; - uint64_t time0 [ MAX_OBJECTS ] ; - int bestFitDone [ MAX_OBJECTS ] ; - - float time ; - double x ; - double y ; - double z ; - float hdg ; - float vel ; - - uint16_t iIndex = 0 ; - uint16_t jIndex = 0 ; - - uint64_t timestamp ; - int32_t latitude ; - int32_t longitude ; - int32_t altitude ; - uint16_t speed ; - uint16_t heading ; - uint8_t drivedirection ; - monitor_t monitor ; - - monitor_t ldm [ MAX_OBJECTS ] [ LDM_SIZE ] ; - int ldm_act_step [ MAX_OBJECTS ] ; - char cpBuffer [ RECV_MESSAGE_BUFFER ] ; - - - struct timespec sleep_time ; - struct timespec ref_time ; - - ObjectPosition tObjectPos ; - double dP1Lat = 0 ; - double dP1Long = 0 ; - double dP2Lat = 0 ; - double dP2Long = 0 ; - double dLat ; - double dLong ; - uint64_t dTime ; - uint64_t dTime0 ; - - char pcTempBuffer [512]; - - double devPos = 0.0; - uint64_t devTim = 0; - - struct timeval tv ; - uint64_t msSinceEpochETSI ; - LogInit(MODULE_NAME,logLevel); - - LogMessage( LOG_LEVEL_INFO, "Supervision task running with PID: %i", getpid()); - -// printf ("--------------------------------------------------\n"); -// printf ("INF : SV : Supervision started.\n"); -// printf ("--------------------------------------------------\n"); -// fflush(stdout); - - - /*---------------------------------------------------------------------- - -- Init - ----------------------------------------------------------------------*/ - - tObjectPos.x = 0; - tObjectPos.y = 0; - - for ( iIndex = 0 ; - iIndex < MAX_OBJECTS ; - ++iIndex ) - { - ldm_act_step [ iIndex ] = 0 ; - - bestFitDone [ iIndex ] = 0 ; - align [ iIndex ] = 0 ; - - for ( i = 0; - i < 3; - i++ ) { - - deviation [ iIndex ] [i] = tObjectPos ; - distance [ iIndex ] [i] = 0 ; - bestFit [ iIndex ] [i] = -1 ; - } - } - +-- The main function. +------------------------------------------------------------*/ +int supervision_task(TimeType *GPSTime, GSDType *GSD) +{ - /*---------------------------------------------------------------------- - -- Open a drive file - -- get objects; name and drive file - ----------------------------------------------------------------------*/ + I32 iExit = 0, iCommand; + C8 MqRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; + (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); - vFindObjectsInfo ( object_traj_file, - object_address_name, - &nbr_objects); - //printf ( "DGB : SV : dir nr of files = %d\n", nbr_objects ); + printf("Starting supervision control...\n"); + while(!iExit) + { - /*---------------------------------------------------------------------- - -- Read the 2 (!) first lines from each trajectory file and put into buffer. - ----------------------------------------------------------------------*/ + bzero(MqRecvBuffer,MQ_MAX_MESSAGE_LENGTH); + (void)iCommRecv(&iCommand,MqRecvBuffer,MQ_MAX_MESSAGE_LENGTH, NULL); - for ( iIndex = 0 ; - iIndex < nbr_objects ; - ++iIndex ) + if(iCommand == COMM_EXIT) { - - /* printf ( "INF : SV : Open index = %d file %s \n", */ - /* iIndex, */ - /* object_traj_file [ iIndex ] ); */ - - fp [ iIndex ] = fopen ( object_traj_file [ iIndex ], "rb"); - if ( fp [ iIndex ] == NULL ) - { - util_error("ERR: Failed to open trajectory file"); - } - - - /* Just read the first line - header line - and ignore */ - - len = sizeof(bFileLine [ iIndex ] [0]); - bzero ( &bFileLine [ iIndex ] [0], len ); - bFileLine_p [ iIndex ] = bFileLine [ iIndex ] [0]; - read = getline ( &bFileLine_p [ iIndex ], &len, fp [ iIndex ]); - - - /* Then read the next lines, the real first 'LINE' - Put the first line twice into the buffer - this will make the first line appear twice in the buffer, - first position and center position - Then read the second 'LINE' from file and put it at end of buffer, - i.e. position 3 */ - - len = sizeof(bFileLine [ iIndex ] [0]); - bzero ( &bFileLine [ iIndex ] [0], len); - bzero ( &bFileLine [ iIndex ] [1], len); - bzero ( &bFileLine [ iIndex ] [2], len); - - bFileLine_p [ iIndex ] = bFileLine [ iIndex ] [0]; - read = getline ( &bFileLine_p [ iIndex ] , - &len, - fp [ iIndex ] ); - - strcpy (bFileLine [ iIndex ] [1], - bFileLine [ iIndex ] [0]); - - bFileLine_p [ iIndex ] = bFileLine [ iIndex ] [2]; - read = getline ( &bFileLine_p [ iIndex ] , - &len , - fp [ iIndex ] ); - - for ( i = 0; - i < 3; - i++ ) - { - // printf ( "INF : SV : i = %d , s = %s", - // i, - // bFileLine [ iIndex ] [i] ); - } - - } // for ( iIndex = 0 - - - //printf ( "INF : SV : Opened all trajectory files.\n" ); - - - /*---------------------------------------------------------------------- - -- Convert all lines to internal representation, lat & long - ----------------------------------------------------------------------*/ - - for ( iIndex = 0 ; - iIndex < nbr_objects ; - ++iIndex ) { - - for ( i = 0; - i < 3; - i++ ) { - - sscanf ( &bFileLine [ iIndex ] [i] [5], - "%f;%lf;%lf;%lf;%f;%f;", - &time , - &x , - &y , - &z , - &hdg , - &vel ); - - traj2ldm ( time , - x , - y , - z , - hdg , - vel , - &traj ); - - trajs [ iIndex ] [ i ].timestamp = traj.timestamp ; - trajs [ iIndex ] [ i ].latitude = traj.latitude ; - trajs [ iIndex ] [ i ].longitude = traj.longitude ; - - //printf ( "DBG : SV : %d %d : t %" PRIu64 ", lat %d, lon %d \n", - // iIndex , - // i , - // trajs [ iIndex ] [ i ].timestamp , - // trajs [ iIndex ] [ i ].latitude , - // trajs [ iIndex ] [ i ].longitude ); + iExit = 1; + printf("supervision exiting.\n"); + (void)iCommClose(); } - } // for ( iIndex = 0 - - - /*---------------------------------------------------------------------- - -- Listen loop. - ----------------------------------------------------------------------*/ - - (void) iCommInit ( IPC_RECV , - MQ_SV , - 0 ); - - int iExit = 0 ; - int iCommand ; - int doInitialAlignmentLoop = 0 ; - int doCorrelationtLoop = 0 ; - - while ( ! iExit ) { - - bzero(cpBuffer, RECV_MESSAGE_BUFFER); - (void) iCommRecv ( &iCommand, - cpBuffer, - RECV_MESSAGE_BUFFER, NULL); - -#ifdef DEBUG1 - //printf ( "INF : SV : Received a command: %s\n", - // cpBuffer ); - //fflush(stdout); -#endif - - /*-------------------------------------------------- - -- TRIG - --------------------------------------------------*/ - - if ( iCommand == COMM_STRT ) - { - //printf ( "INF : SV : Received a START message: %s\n", - // cpBuffer ); - - for ( iIndex = 0 ; - iIndex < nbr_objects ; - ++iIndex ) - { - time0 [ iIndex ] = timeX [ iIndex ] ; - // printf ( "INF : SV : index %d time0 %" PRIu64 ".\n", - // iIndex, - // time0 [ iIndex ] ); - } - - //printf ( "INF : SV : Start correlation.\n" ); - doCorrelationtLoop = 1; - } - - - /*-------------------------------------------------- - -- ARM - --------------------------------------------------*/ - - if ( iCommand == COMM_ARMD ) - { - //printf ( "INF : SV : Received an ARM message: %s\n", - // cpBuffer ); - //printf ( "INF : SV : Start initial alignment.\n" ); - doInitialAlignmentLoop = 1; - } - - - /*-------------------------------------------------- - -- MON - --------------------------------------------------*/ - - else if ( iCommand == COMM_MONI ) - { -#ifdef DEBUG1 - //printf ( "INF : SV : Recieved MONITOR message: %s\n", - // cpBuffer ); - //fflush(stdout); -#endif - - /* Start parsing messages */ - sscanf ( cpBuffer, - "MONR;%" SCNu16 ";%" SCNu64 ";%" SCNd32 ";%" SCNd32 ";%" SCNd32 ";%" SCNu16 ";%" SCNu16 ";%" SCNu8 ";", - &iIndex, - ×tamp, - &latitude, - &longitude, - &altitude, - &speed, - &heading, - &drivedirection ); - - monitor.timestamp = timestamp ; - monitor.latitude = latitude ; - monitor.longitude = longitude ; - monitor.altitude = altitude ; - monitor.speed = speed ; - monitor.heading = heading ; - monitor.drivedirection = drivedirection ; - - /* - #ifdef DEBUG1 - printf ( "DBG : SV : Rec MON : i %d : t %" PRIu64 ", lat %d, lon %d, a %d, s %d, h %d, d %d \n", - iIndex , - monitor.timestamp , - monitor.latitude , - monitor.longitude , - monitor.altitude , - monitor.speed , - monitor.heading , - monitor.drivedirection ); - fflush(stdout); - #endif - */ - - timeX [ iIndex ] = timestamp; - - - /*------------------------------------------------------------ - -- - ------------------------------------------------------------*/ - - if ( doInitialAlignmentLoop == 1 ) - { -#ifdef DEBUG - - //printf ( "DBG : SV : Rec MON : i %d : t %" PRIu64 ", lat %d, lon %d, a %d, s %d, h %d, d %d \n", - // iIndex , - // monitor.timestamp , - // monitor.latitude , - // monitor.longitude , - // monitor.altitude , - // monitor.speed , - // monitor.heading , - // monitor.drivedirection ); - //fflush(stdout); - -#endif - - while ( bestFitDone [ iIndex ] == 0 ) - { - //printf ( "DBG : SV : Align object id %d \n", - // iIndex ); - - /* Calculate deviation (devPos) per buffer : 0 1 2 */ - - for ( i = 0 ; - i < 3 ; - i++ ) - { - dP1Lat = (double) trajs [ iIndex ] [ i ].latitude / 10000000; - dP1Long = (double) trajs [ iIndex ] [ i ].longitude / 10000000; - - dP2Lat = (double) latitude / 10000000; - dP2Long = (double) longitude / 10000000; - - dLat = dP1Lat - dP2Lat; - dLong = dP1Long - dP2Long; - -#ifdef DEBUG - //printf ( "DGB : SV : LatLong : iIndex = %d %d \n", - // iIndex , - // i ); - //printf ( " dP1Lat = %f, dP1Long = %f\n", - // dP1Lat , - // dP1Long ); - //printf ( " dP2Lat = %f, dP2Long = %f\n", - // dP2Lat , - // dP2Long ); - //printf ( " dLat = %f, dLong = %f\n", - // dLat , - // dLong ); -#endif - - tObjectPos.x = 0; - tObjectPos.y = 0; - - UtilCalcPositionDelta ( dP1Lat , - dP1Long , - dP2Lat , - dP2Long , - &tObjectPos ); - - devPos = sqrt ( tObjectPos.x * tObjectPos.x + - tObjectPos.y * tObjectPos.y ); - - deviation [ iIndex ] [ i ] = tObjectPos ; - distance [ iIndex ] [ i ] = devPos ; - -#ifdef DEBUG - //printf ( " x = %f, y = %f, devPos %f \n", - // tObjectPos.x , - // tObjectPos.y , - // devPos ); -#endif - - } // for ( i - - - if ( ( distance [ iIndex ] [ 0 ] >= distance [ iIndex ] [ 1 ] ) && - ( distance [ iIndex ] [ 1 ] <= distance [ iIndex ] [ 2 ] ) ) - { - //printf ( "DBG : SV : Initial align - Best fit on 1 - index %d ok.\n", iIndex ); - - bestFitDone [ iIndex ] = 1 ; - } else if ( distance [ iIndex ] [ 1 ] < distance [ iIndex ] [ 2 ] ) - { - //printf ( "DBG : SV : Initial align - Worse on 2 - index %d ok.\n", iIndex ); - - bestFitDone [ iIndex ] = 1 ; - } else - { - //printf ( "DBG : SV : Initial align - Shifting in a new line from trajectory file.\n" ); - - trajs [ iIndex ] [ 0 ] = trajs [ iIndex ] [ 1 ]; - trajs [ iIndex ] [ 1 ] = trajs [ iIndex ] [ 2 ]; - - bFileLine_p [ iIndex ] = bFileLine [ iIndex ] [ 2 ]; - len = sizeof(bFileLine [ iIndex ] [ 2 ]); - bzero ( &bFileLine [ iIndex ] [ 2 ], len); - read = getline ( &bFileLine_p [ iIndex ] , - &len, - fp [ iIndex ] ); - //printf ( "INF : SV : i = 2 , s = %s", - // bFileLine [ iIndex ] [ 2 ] ); - - sscanf ( &bFileLine [ iIndex ] [ 2 ] [ 5 ], - "%f;%lf;%lf;%lf;%f;%f;", - &time , - &x , - &y , - &z , - &hdg , - &vel ); - - traj2ldm ( time , - x , - y , - z , - hdg , - vel , - &traj ); - - trajs [ iIndex ] [ 2 ].timestamp = traj.timestamp ; - trajs [ iIndex ] [ 2 ].latitude = traj.latitude ; - trajs [ iIndex ] [ 2 ].longitude = traj.longitude ; - - for ( i = 0; - i < 3; - i++ ) - { - // printf ( "DBG : SV : trajs : %d %d : t %" PRIu64 ", lat %d, lon %d \n", - // iIndex , - // i , - // trajs [ iIndex ] [ i ].timestamp , - // trajs [ iIndex ] [ i ].latitude , - // trajs [ iIndex ] [ i ].longitude ); - } // for - - } // if ... else .. - - } // while ( bestFitDone - - - /* Check to see if all nbr_objects has been aligned & correlated */ - - doInitialAlignmentLoop = 0; - - for ( jIndex = 0 ; - jIndex < nbr_objects ; - ++jIndex ) - { - - // printf ( "DBG : SV : Initial align - bestFitDone index %d ok = %d.\n", - // jIndex, - // bestFitDone [ jIndex ] ); - if ( bestFitDone [ jIndex ] == 0 ) doInitialAlignmentLoop = 1; - } - - - /* Finished aligning all objects, just print status. */ - - if ( doInitialAlignmentLoop == 0 ) - { - gettimeofday ( &tv, NULL ); - msSinceEpochETSI = - (uint64_t) tv.tv_sec * 1000 + - (uint64_t) tv.tv_usec / 1000 - - MS_FROM_1970_TO_2004_NO_LEAP_SECS + - DIFF_LEAP_SECONDS_UTC_ETSI * 1000; - - //printf ( "DBG : SV : Initial align - all index ok.\n" ); - //printf ( "DBG : SV : Initial align - SV time %" PRIu64 ".\n", msSinceEpochETSI ); - //printf ( "DBG : SV : Initial align - MON time %" PRIu64 ".\n", monitor.timestamp ); - - for ( jIndex = 0 ; - jIndex < nbr_objects ; - ++jIndex ) - { - // printf ( "DBG : SV : Initial align - index %d 1.time = %" PRIu64 " .\n", - // jIndex, - // trajs [ jIndex ] [ 1 ].timestamp ); - } - } - - } // if ( doInitialAlignmentLoop - - - /*------------------------------------------------------------ - -- Supervision loop. - ------------------------------------------------------------*/ - - else if ( doCorrelationtLoop == 1 ) - { -#ifdef DEBUG1 - //printf ( "INF : SV : Corr id %d - Recieved MONITOR message: %s\n", - // iIndex, - // cpBuffer ); - //fflush(stdout); -#endif - - /* not used for the moment ..... - - ldm [ iIndex ][ ldm_act_step [ iIndex ] ] = monitor; - -#ifdef DEBUG1 - printf ( "DBG : SV : i %d, s %d: t %" PRIu64 ", lat %d, lon %d, a %d, s %d, h %d, d %d \n", - iIndex , - ldm_act_step [ iIndex ] , - ldm [ iIndex ] [ ldm_act_step [ iIndex ] ].timestamp , - ldm [ iIndex ] [ ldm_act_step [ iIndex ] ].latitude , - ldm [ iIndex ] [ ldm_act_step [ iIndex ] ].longitude , - ldm [ iIndex ] [ ldm_act_step [ iIndex ] ].altitude , - ldm [ iIndex ] [ ldm_act_step [ iIndex ] ].speed , - ldm [ iIndex ] [ ldm_act_step [ iIndex ] ].heading , - ldm [ iIndex ] [ ldm_act_step [ iIndex ] ].drivedirection ); - fflush(stdout); -#endif - - ldm_act_step [ iIndex ] = ++ldm_act_step [ iIndex ] % LDM_SIZE; - - not used for the moment ....*/ - - - gettimeofday ( &tv, NULL ); - msSinceEpochETSI = - (uint64_t) tv.tv_sec * 1000 + - (uint64_t) tv.tv_usec / 1000 - - MS_FROM_1970_TO_2004_NO_LEAP_SECS + - DIFF_LEAP_SECONDS_UTC_ETSI * 1000; - - if ( monitor.timestamp >= msSinceEpochETSI ) - { - dTime = monitor.timestamp - msSinceEpochETSI ; - } else - { - dTime = msSinceEpochETSI - monitor.timestamp ; - } - - dTime0 = monitor.timestamp - time0 [ iIndex ] ; - - - bestFitDone [ iIndex ] = 0 ; - - while ( bestFitDone [ iIndex ] == 0 ) - { - /* Calculate deviation (devPos) per buffer : 0 1 2 */ - - for ( i = 0 ; - i < 3 ; - i++ ) - { - dP1Lat = (double) trajs [ iIndex ] [ i ].latitude / 10000000; - dP1Long = (double) trajs [ iIndex ] [ i ].longitude / 10000000; - - dP2Lat = (double) monitor.latitude / 10000000; - dP2Long = (double) monitor.longitude / 10000000; - - dLat = dP1Lat - dP2Lat; - dLong = dP1Long - dP2Long; - - tObjectPos.x = 0; - tObjectPos.y = 0; - - UtilCalcPositionDelta ( dP1Lat , - dP1Long , - dP2Lat , - dP2Long , - &tObjectPos ); - - devPos = sqrt ( tObjectPos.x * tObjectPos.x + - tObjectPos.y * tObjectPos.y ); - - deviation [ iIndex ] [ i ] = tObjectPos ; - distance [ iIndex ] [ i ] = devPos ; - -#ifdef DEBUG1 - // printf ( "DGB : SV : LatLong : iIndex = %d %d \n", - // iIndex , - // i ); - // printf ( " dP1Lat = %f, dP1Long = %f\n", - // dP1Lat , - // dP1Long ); - // printf ( " dP2Lat = %f, dP2Long = %f\n", - // dP2Lat , - // dP2Long ); - // printf ( " dLat = %f, dLong = %f\n", - // dLat , - // dLong ); - // printf ( " dTime = %" PRIu64 "\n", - // dTime ); - // printf ( " dTime0 = %" PRIu64 "\n", - // dTime0 ); - // printf ( " x = %f, y = %f, devPos %f \n", - // tObjectPos.x , - // tObjectPos.y , - // devPos ); -#endif - - } // for ( i - - - if ( ( distance [ iIndex ] [ 0 ] >= distance [ iIndex ] [ 1 ] ) && - ( distance [ iIndex ] [ 1 ] <= distance [ iIndex ] [ 2 ] ) ) - { - // printf ( "DBG : SV : Correlation - Best fit on 1 - index %d ok.\n", iIndex ); - - bestFitDone [ iIndex ] = 1 ; - - } else if ( distance [ iIndex ] [ 1 ] < distance [ iIndex ] [ 2 ] ) - { - //printf ( "DBG : SV : Correlation - Worse on 2 - index %d ok.\n", iIndex ); - - bestFitDone [ iIndex ] = 1 ; - - // exit (-1); - - } else - { - //printf ( "DBG : SV : Correlation - Shifting in a new line from trajectory file.\n" ); - - // exit (-1); - - trajs [ iIndex ] [ 0 ] = trajs [ iIndex ] [ 1 ]; - trajs [ iIndex ] [ 1 ] = trajs [ iIndex ] [ 2 ]; - - bFileLine_p [ iIndex ] = bFileLine [ iIndex ] [ 2 ]; - len = sizeof(bFileLine [ iIndex ] [ 2 ]); - bzero ( &bFileLine [ iIndex ] [ 2 ], len); - read = getline ( &bFileLine_p [ iIndex ] , - &len, - fp [ iIndex ] ); - //printf ( "INF : SV : i = 2 , s = %s", - // bFileLine [ iIndex ] [ 2 ] ); - - sscanf ( &bFileLine [ iIndex ] [ 2 ] [ 5 ], - "%f;%lf;%lf;%lf;%f;%f;", - &time , - &x , - &y , - &z , - &hdg , - &vel ); - - traj2ldm ( time , - x , - y , - z , - hdg , - vel , - &traj ); - - trajs [ iIndex ] [ 2 ].timestamp = traj.timestamp ; - trajs [ iIndex ] [ 2 ].latitude = traj.latitude ; - trajs [ iIndex ] [ 2 ].longitude = traj.longitude ; - - for ( i = 0; - i < 3; - i++ ) - { - //printf ( "DBG : SV : trajs : %d %d : t %" PRIu64 ", lat %d, lon %d \n", - // iIndex , - // i , - // trajs [ iIndex ] [ i ].timestamp , - // trajs [ iIndex ] [ i ].latitude , - // trajs [ iIndex ] [ i ].longitude ); - } // for - - } // if ... else .. - - } // while ( bestFitDone - - - devPos = distance [ iIndex ] [ 1 ] ; - devTim = trajs [ iIndex ] [ 1 ].timestamp * 1000 ; - - if ( dTime0 >= devTim ) - { - devTim = dTime0 - devTim ; - } else - { - devTim = devTim - dTime0 ; - } - -#ifdef DEBUG1 - //printf ( "DGB : SV : Correlation Dev : iIndex = %d devPos %f devTim %" PRIu64 "\n", - // iIndex , - // devPos , - // devTim ); -#endif - - if ( devPos > SAFETY_MARGIN_POS || - devTim > SAFETY_MARGIN_TIM ) - { - /* printf ("INF : SV : Sending ABORT.\n"); */ - /* fflush(stdout); */ - // (void) iCommSend ( COMM_ABORT, NULL ); - } - - } // if ( doInitialAlignmentLoop == 1 ) .. else if ( doCorrelationtLoop - - } // if ( iCommand == COMM_MONI - - - /*-------------------------------------------------- - -- REPLAY - --------------------------------------------------*/ - - else if ( iCommand == COMM_REPLAY ) - { - - /* printf ( "INF : SV : Received REPLAY message: %s\n", */ - /* cpBuffer ); */ - - } - - - /*-------------------------------------------------- - -- EXIT - --------------------------------------------------*/ - - else if ( iCommand == COMM_EXIT ) - { - - //printf ( "INF : SV : Received EXIT message: %s\n", - // cpBuffer ); - - iExit = 1; - - } - - - /*-------------------------------------------------- - -- ?? - --------------------------------------------------*/ - - else - { - //printf ( "INF : SV : Unhandled command.\n" ); - //printf ( "INF : SV : Received command: %s\n", - // cpBuffer ); - fflush(stdout); - } - - } // while(!iExit) - - - /*-------------------------------------------------- - -- Clean upp. - --------------------------------------------------*/ - - (void) iCommClose(); - - for ( iIndex = 0 ; - iIndex < nbr_objects ; - ++iIndex ) { - - fclose ( fp [ iIndex ] ); } + } From 3fb0406a550a3aef9a1b6a557aebf967a5cd7423 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 20 May 2019 16:04:19 +0200 Subject: [PATCH 103/730] fixed logging --- server/src/supervision.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 84f7717a0..bf972a3af 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -27,6 +27,7 @@ #include "util.h" #include "logger.h" +#include "logging.h" #define SUPERVISION_CONTROL_CONF_FILE_PATH "conf/test.conf" @@ -51,7 +52,8 @@ int supervision_task(TimeType *GPSTime, GSDType *GSD) (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); - printf("Starting supervision control...\n"); + LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); + while(!iExit) { @@ -62,7 +64,7 @@ int supervision_task(TimeType *GPSTime, GSDType *GSD) if(iCommand == COMM_EXIT) { iExit = 1; - printf("supervision exiting.\n"); + LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); (void)iCommClose(); } From edc2a129f1200561224d543d23ac7c637f22edaa Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 20 May 2019 16:08:35 +0200 Subject: [PATCH 104/730] Changed 2018 to 2019 --- server/src/supervision.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index bf972a3af..11b821150 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -1,5 +1,5 @@ /*------------------------------------------------------------------------------ - -- Copyright : (C) 2018 CHRONOS II project + -- Copyright : (C) 2019 CHRONOS II project ------------------------------------------------------------------------------ -- File : supervision.c -- Author : From bed56459ff4d1b510e6866730b9e75932f4f7cd3 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 22 May 2019 10:15:25 +0200 Subject: [PATCH 105/730] Changing latidue to latitude --- server/conf/test.conf | 2 +- server/src/objectcontrol.c | 2 +- server/src/usercontrol.c | 2 +- server/src/util.c | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/server/conf/test.conf b/server/conf/test.conf index 093b7189e..fea96a790 100644 --- a/server/conf/test.conf +++ b/server/conf/test.conf @@ -1,4 +1,4 @@ -OrigoLatidude=57.77315060 +OrigoLatitude=57.77315060 OrigoLongitude=12.77011670 OrigoAltitude=193.114 OrigoHeading=0.0 diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 4a8ee1c9d..3066df199 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -898,7 +898,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) UtilSetObjectPositionIP(&OP[iIndex], object_address_name[iIndex]); MessageLength =ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, GPSTime, - UtilSearchTextFile(CONF_FILE_PATH, "OrigoLatidude=", "", OriginLatitude), + UtilSearchTextFile(CONF_FILE_PATH, "OrigoLatitude=", "", OriginLatitude), UtilSearchTextFile(CONF_FILE_PATH, "OrigoLongitude=", "", OriginLongitude), UtilSearchTextFile(CONF_FILE_PATH, "OrigoAltitude=", "", OriginAltitude), UtilSearchTextFile(CONF_FILE_PATH, "OrigoHeading=", "", OriginHeading), diff --git a/server/src/usercontrol.c b/server/src/usercontrol.c index 40e48c732..833d98ed9 100755 --- a/server/src/usercontrol.c +++ b/server/src/usercontrol.c @@ -395,7 +395,7 @@ int main(int argc, char *argv[]) break; case tosem_0: /*MessageLength = ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, - UtilSearchTextFile("conf/test.conf", "OrigoLatidude=", "", Latitude), + UtilSearchTextFile("conf/test.conf", "OrigoLatitude=", "", Latitude), UtilSearchTextFile("conf/test.conf", "OrigoLongitude=", "", Longitude), UtilSearchTextFile("conf/test.conf", "OrigoAltitude=", "", Altitude), UtilSearchTextFile("conf/test.conf", "OrigoHeading=", "", Heading), diff --git a/server/src/util.c b/server/src/util.c index 31209aaa8..c8c1491df 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2131,7 +2131,7 @@ void traj2ldm ( float time , ldm->heading = (uint16_t) (hdg * 100); bzero(pcTempBuffer,512); - iUtilGetParaConfFile("OrigoLatidude=", pcTempBuffer); + iUtilGetParaConfFile("OrigoLatitude=", pcTempBuffer); sscanf(pcTempBuffer, "%lf", &lat_origin); bzero(pcTempBuffer,512); From fb80c7609c3f861c3eda0e18688521c598ef4688 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 22 May 2019 12:07:33 +0200 Subject: [PATCH 106/730] Changed orig test.conf --- server/conf/test.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/conf/test.conf b/server/conf/test.conf index 093b7189e..fea96a790 100644 --- a/server/conf/test.conf +++ b/server/conf/test.conf @@ -1,4 +1,4 @@ -OrigoLatidude=57.77315060 +OrigoLatitude=57.77315060 OrigoLongitude=12.77011670 OrigoAltitude=193.114 OrigoHeading=0.0 From 2bfc0f6bb234620cbac3837196a7c2d8d882f2d5 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 23 May 2019 09:14:35 +0200 Subject: [PATCH 107/730] Updated rel/conf.test --- server/rel/conf/test.conf | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/rel/conf/test.conf b/server/rel/conf/test.conf index c94ca5479..02fdb33ed 100644 --- a/server/rel/conf/test.conf +++ b/server/rel/conf/test.conf @@ -1,4 +1,4 @@ -OrigoLatidude=57.7773602 +OrigoLatitude=57.7773602 OrigoLongitude=12.7804715 OrigoAltitude=201.485 -OrigoHeading=0.0 \ No newline at end of file +OrigoHeading=0.0 From 50df3955fadd3f06c8d79e433b902c295d3d08b0 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Mon, 27 May 2019 10:52:17 +0200 Subject: [PATCH 108/730] Fixed supercisor merge --- server/src/supervision.c | 34 +++++++++++++++++----------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index ffa7554cf..b1299c7e2 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -47,30 +47,30 @@ /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -int supervision_task(TimeType *GPSTime, GSDType *GSD) +void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { - I32 iExit = 0, iCommand; - C8 MqRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; - (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); + I32 iExit = 0; + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + enum COMMAND command; - LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); + (void)iCommInit(); + LogInit(MODULE_NAME,LOG_LEVEL_INFO); + LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); - while(!iExit) - { + while(!iExit) + { - bzero(MqRecvBuffer,MQ_MAX_MESSAGE_LENGTH); - (void)iCommRecv(&iCommand,MqRecvBuffer,MQ_MAX_MESSAGE_LENGTH, NULL); + bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); + (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if(iCommand == COMM_EXIT) - { - iExit = 1; - LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); - (void)iCommClose(); + if(command == COMM_EXIT) + { + iExit = 1; + LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); + (void)iCommClose(); + } } - } - - } From 50349812a3d11e252457f483b8090d24b71eaa8b Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Tue, 28 May 2019 09:35:01 +0200 Subject: [PATCH 109/730] DataDictionary for all parameters in test.conf and RVSS channel for Time and MONR. --- server/conf/test.conf | 33 +- server/inc/datadictionary.h | 104 ++- server/inc/objectcontrol.h | 2 +- server/inc/util.h | 56 +- server/src/datadictionary.c | 1094 +++++++++++++++++++++++++++++++- server/src/main.c | 2 - server/src/objectcontrol.c | 15 +- server/src/supervisorcontrol.c | 2 +- server/src/systemcontrol.c | 301 +++++---- server/src/timecontrol.c | 4 +- server/src/util.c | 87 +++ server/src/visualization.c | 2 +- 12 files changed, 1534 insertions(+), 168 deletions(-) diff --git a/server/conf/test.conf b/server/conf/test.conf index 093b7189e..06e0c6fc1 100644 --- a/server/conf/test.conf +++ b/server/conf/test.conf @@ -1,8 +1,7 @@ -OrigoLatidude=57.77315060 -OrigoLongitude=12.77011670 +OrigoLatidude=57.777073115 +OrigoLongitude=12.781295498333 OrigoAltitude=193.114 -OrigoHeading=0.0 -VisualizationServerName=0 +VisualizationServerName=195.0.0.86 ForceObjectToLocalhost=0 ASPMaxTimeDiff=2.5 ASPMaxTrajDiff=1.0 @@ -10,40 +9,44 @@ ASPStepBackCount=0 ASPFilterLevel=5 ASPMaxDeltaTime=0.05 ASPDebugRate=1 -RemoteServerMode=0 -RemoteServerIP=0 -RemoteServerPort=80 -RemoteServerUsername=server -RemoteServerPassword=guest TimeServerIP=0 TimeServerPort=53000 SimulatorIP=0 SimulatorTCPPort=53001 SimulatorUDPPort=53002 SimulatorMode=2 -VOILReceivers=0 -DTMReceivers=0 +VOILReceivers=192.168.0.30 +DTMReceivers=10.130.22.12, 10.130.22.9 SupervisorIP=0 SupervisorTCPPort=53010 +RVSSConfig=3 +RVSSRate=1 + +VisualizationAdapter=./DefaultVisualizationAdapter + +//OrigoHeading=0.0 +//RemoteServerMode=0 +//RemoteServerIP=88.131.114.56 +//RemoteServerPort=80 +//RemoteServerUsername=server +//RemoteServerPassword=guest + //192.168.0.191 //Visualization adap ter options ../../websocket_visualization/build/websocket_visualization -VisualizationAdapter=./DefaultVisualizationAdapter - //OrigoLatidude=57.772915 //OrigoLongitude=12.770008 //OrigoAltitude=231.919 - //OrigoLatidude=57.7773602 //OrigoLongitude=12.7804715 + //OrigoAltitude=201.485 //OrigoLatidude=57.7773716 //OrigoLongitude=12.7804629 - //OrigoLatidude=57.777360 //OrigoLongitude=12.780472 diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h index eb9f3bdd0..9598b6fb7 100644 --- a/server/inc/datadictionary.h +++ b/server/inc/datadictionary.h @@ -1,5 +1,5 @@ /*------------------------------------------------------------------------------ - -- Copyright : (C) 2018 CHRONOS II project + -- Copyright : (C) 2019 CHRONOS II project ------------------------------------------------------------------------------ -- File : datadictionary.h -- Author : Sebastian Loh Lindholm @@ -7,17 +7,109 @@ -- Purpose : -- Reference : ------------------------------------------------------------------------------*/ - #ifndef __DATADICTIONARY_H_INCLUDED__ #define __DATADICTIONARY_H_INCLUDED__ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void DataDictionaryInitExternalSupervisorIPU32(void); -void DataDictionarySetExternalSupervisorIPU32(U32 IP); -U32 DataDictionaryGetExternalSupervisorIPU32(void); +I32 DataDictionaryInitOriginLatitudeDbl(void); +I32 DataDictionarySetOriginLatitudeDbl(C8 *Latitude); +I32 DataDictionaryGetOriginLatitudeDbl(dbl *Latitude); + +I32 DataDictionaryInitOriginLongitudeDbl(void); +I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude); +I32 DataDictionaryGetOriginLongitudeDbl(dbl *Longitude); + +I32 DataDictionaryInitOriginAltitudeDbl(void); +I32 DataDictionarySetOriginAltitudeDbl(C8 *Altitude); +I32 DataDictionaryGetOriginAltitudeDbl(dbl *Altitude); + +I32 DataDictionaryInitVisualizationServerU32(void); +I32 DataDictionarySetVisualizationServerU32(C8 *IP); +I32 DataDictionaryGetVisualizationServer(U32 *IP); + +I32 DataDictionaryInitForceToLocalhostU8(void); +I32 DataDictionarySetForceToLocalhostU8(C8 *ForceLocalhost); +I32 DataDictionaryGetForceToLocalhostU8(U8 *ForceLocalhost); + +I32 DataDictionaryInitASPMaxTimeDiffDbl(void); +I32 DataDictionarySetASPMaxTimeDiffDbl(C8 *ASPMaxTimeDiff); +I32 DataDictionaryGetASPMaxTimeDiffDbl(dbl *ASPMaxTimeDiff); + +I32 DataDictionaryInitASPMaxTrajDiffDbl(void); +I32 DataDictionarySetASPMaxTrajDiffDbl(C8 *ASPMaxTimeDiff); +I32 DataDictionaryGetASPMaxTrajDiffDbl(dbl *ASPMaxTimeDiff); + +I32 DataDictionaryInitASPStepBackCountU32(void); +I32 DataDictionarySetASPStepBackCountU32(C8 *ASPStepBackCount); +I32 DataDictionaryGetASPStepBackCountU32(U32 *ASPStepBackCount); + +I32 DataDictionaryInitASPFilterLevelU16(void); +I32 DataDictionarySetASPFilterLevelU16(C8 *ASPFilterLevel); +I32 DataDictionaryGetASPFilterLevelU16(U16 *ASPFilterLevel); + +I32 DataDictionaryInitASPMaxDeltaTimeDbl(void); +I32 DataDictionarySetASPMaxDeltaTimeDbl(C8 *ASPMaxDeltaTime); +I32 DataDictionaryGetASPMaxDeltaTimeDbl(U16 *ASPMaxDeltaTime); + +I32 DataDictionaryInitTimeServerIPU32(void); +I32 DataDictionarySetTimeServerIPU32(C8 *TimeServerIP); +I32 DataDictionaryGetTimeServerIPU32(U32 *TimeServerIP); + +I32 DataDictionaryInitTimeServerPortU16(void); +I32 DataDictionarySetTimeServerPortU16(C8 *TimeServerPort); +I32 DataDictionaryGetTimeServerPortU16(U16 *TimeServerPort); + +I32 DataDictionaryInitSimulatorIPU32(void); +I32 DataDictionarySetSimulatorIPU32(C8 *SimulatorIP); +I32 DataDictionaryGetSimulatorIPU32(U32 *SimulatorIP); + +I32 DataDictionaryInitSimulatorTCPPortU16(void); +I32 DataDictionarySetSimulatorTCPPortU16(C8 *SimulatorTCPPort); +I32 DataDictionaryGetSimulatorTCPPortU16(U16 *SimulatorTCPPort); + +I32 DataDictionaryInitSimulatorUDPPortU16(void); +I32 DataDictionarySetSimulatorUDPPortU16(C8 *SimulatorUDPPort); +I32 DataDictionaryGetSimulatorUDPPortU16(U16 *SimulatorUDPPort); + +I32 DataDictionaryInitSimulatorModeU8(void); +I32 DataDictionarySetSimulatorModeU8(C8 *SimulatorMode); +I32 DataDictionaryGetSimulatorModeU8(U8 *SimulatorMode); + +I32 DataDictionaryInitVOILReceiversC8(void); +I32 DataDictionarySetVOILReceiversC8(C8 *VOILReceivers); +I32 DataDictionaryGetVOILReceiversC8(C8 *VOILReceivers); + +I32 DataDictionaryInitDTMReceiversC8(void); +I32 DataDictionarySetDTMReceiversC8(C8 *DTMReceivers); +I32 DataDictionaryGetDTMReceiversC8(C8 *DTMReceivers); + +I32 DataDictionaryInitExternalSupervisorIPU32(void); +I32 DataDictionarySetExternalSupervisorIPU32(C8 *IP); +I32 DataDictionaryGetExternalSupervisorIPU32(U32 *IP); + +I32 DataDictionaryInitSupervisorTCPPortU16(void); +I32 DataDictionarySetSupervisorTCPPortU16(C8 *SupervisorTCPPort); +I32 DataDictionaryGetSupervisorTCPPortU16(U16 *SupervisorTCPPort); + +I32 DataDictionaryInitRVSSConfigU32(void); +I32 DataDictionarySetRVSSConfigU32(U32 RVSSConfig); +I32 DataDictionaryGetRVSSConfigU32(U32 *RVSSConfig); + +I32 DataDictionaryInitRVSSRateU8(void); +I32 DataDictionarySetRVSSRateU8(U8 RVSSRate); +I32 DataDictionaryGetRVSSRateU8(U8 *RVSSRate); + +I32 DataDictionarySetRVSSAsp(ASPType *ASPData); +I32 DataDictionaryGetRVSSAsp(ASPType *ASPData); + +I32 DataDictionaryInitMiscDataC8(void); +I32 DataDictionarySetMiscDataC8(C8 *MiscData); +I32 DataDictionaryGetMiscDataC8(C8 *MiscData); + void DataDictionaryConstructor(void); -#endif \ No newline at end of file +#endif + diff --git a/server/inc/objectcontrol.h b/server/inc/objectcontrol.h index ce2bea61d..e9c287c43 100755 --- a/server/inc/objectcontrol.h +++ b/server/inc/objectcontrol.h @@ -20,7 +20,7 @@ ------------------------------------------------------------*/ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD); -I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); +I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); I32 ObjectControlBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeType *GPSTime, U8 CCStatus, U8 debug); diff --git a/server/inc/util.h b/server/inc/util.h index 77d8b946d..fccfa367a 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -103,8 +103,8 @@ #define TCP_RX_BUFFER 1024 #define MAX_ADAPTIVE_SYNC_POINTS 512 -#define USE_LOCAL_USER_CONTROL 0 -#define LOCAL_USER_CONTROL_IP "192.168.0.15" +#define USE_LOCAL_USER_CONTROL 1 +#define LOCAL_USER_CONTROL_IP "10.168.161.95" #define USE_TEST_HOST 0 #define TESTHOST_IP LOCAL_USER_CONTROL_IP #define TESTSERVER_IP LOCAL_USER_CONTROL_IP @@ -519,14 +519,16 @@ typedef struct typedef struct { - U32 MTSPU32; - dbl CurrentTimeDbl; - dbl TimeToSyncPointDbl; - dbl PrevTimeToSyncPointDbl; - I32 SyncPointIndexI32; - U32 CurrentTimeU32; - I32 BestFoundIndexI32; - U16 IterationTimeU16; + volatile U32 MessageLengthU32; + volatile U32 ChannelCodeU32; + volatile U32 MTSPU32; + volatile dbl CurrentTimeDbl; + volatile dbl TimeToSyncPointDbl; + volatile dbl PrevTimeToSyncPointDbl; + volatile I32 SyncPointIndexI32; + volatile U32 CurrentTimeU32; + volatile I32 BestFoundIndexI32; + volatile U16 IterationTimeU16; } ASPType; typedef struct @@ -687,6 +689,39 @@ typedef enum { } OBCState_t; +typedef enum { + UNDEFINED, + WRITE_OK, + READ_OK, + READ_WRITE_OK, + PARAMETER_NOTFOUND, + OUT_OF_RANGE +} ReadWriteAccess_t; + + +typedef struct +{ + volatile U32 MessageLengthU32; + volatile U32 ChannelCodeU32; + volatile U16 YearU16; + volatile U8 MonthU8; + volatile U8 DayU8; + volatile U8 HourU8; + volatile U8 MinuteU8; + volatile U8 SecondU8; + volatile U16 MillisecondU16; + volatile U32 SecondCounterU32; + volatile U64 GPSMillisecondsU64; + volatile U32 GPSMinutesU32; + volatile U16 GPSWeekU16; + volatile U32 GPSSecondsOfWeekU32; + volatile U32 GPSSecondsOfDayU32; + volatile U8 FixQualityU8; + volatile U8 NSatellitesU8; + +} RVSSTimeType; + + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ @@ -782,6 +817,7 @@ I32 UtilISOBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeType *GPS I32 UtilISOBuildTRAJMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, U8 Debug); I32 UtilISOBuildTRAJMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); I32 UtilISOBuildTRAJInfo(C8* MessageBuffer, TRAJInfoType *TRAJInfoData, U8 debug); +I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug); typedef struct { uint64_t timestamp; diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 353d1702f..151757a98 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -1,5 +1,5 @@ /*------------------------------------------------------------------------------ - -- Copyright : (C) 2018 CHRONOS II project + -- Copyright : (C) 2019 CHRONOS II project ------------------------------------------------------------------------------ -- File : datadictionary.c -- Author : Sebastian Loh Lindholm @@ -24,6 +24,7 @@ #include #include #include +#include #include "util.h" #include "logger.h" @@ -37,7 +38,31 @@ #define DD_CONTROL_TASK_PERIOD_MS 1 // Parameters and variables -volatile U32 DataDictionaryExternalSupervisorIPU32 = 0; // The IP address of the external supervisor +pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; +volatile dbl OriginLatitudeDbl = 0; +volatile dbl OriginLongitudeDbl = 0; +volatile dbl OriginAltitudeDbl = 0; +volatile U32 VisualizationServerU32 = 0; +volatile U8 ForceObjectToLocalhostU8 = 0; +volatile dbl ASPMaxTimeDiffDbl = 0; +volatile dbl ASPMaxTrajDiffDbl = 0; +volatile U32 ASPStepBackCountU32 = 0; +volatile U16 ASPFilterLevelU16 = 0; +volatile dbl ASPMaxDeltaTimeDbl = 0; +volatile U32 TimeServerIPU32 = 0; +volatile U16 TimeServerPortU16 = 0; +volatile U32 SimulatorIPU32 = 0; +volatile U16 SimulatorTCPPortU16 = 0; +volatile U16 SimulatorUDPPortU16 = 0; +volatile U8 SimulatorModeU8 = 0; +C8 VOILReceiversC8[1024]; +C8 DTMReceiversC8[1024]; +volatile U32 ExternalSupervisorIPU32 = 0; +volatile U16 SupervisorTCPPortU16 = 0; +volatile U32 DataDictionaryRVSSConfigU32 = 0; +volatile U32 DataDictionaryRVSSRateU8 = 0; +volatile ASPType ASPData; +C8 MiscDataC8[1024]; I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); @@ -46,23 +71,1072 @@ I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); ------------------------------------------------------------*/ void DataDictionaryConstructor(void) { + DataDictionaryInitOriginLatitudeDbl(); + DataDictionaryInitOriginLongitudeDbl(); + DataDictionaryInitOriginAltitudeDbl(); + DataDictionaryInitVisualizationServerU32(); + DataDictionaryInitForceToLocalhostU8(); + DataDictionaryInitASPMaxTimeDiffDbl(); + DataDictionaryInitASPMaxTrajDiffDbl(); + DataDictionaryInitASPStepBackCountU32(); + DataDictionaryInitASPFilterLevelU16(); + DataDictionaryInitASPMaxDeltaTimeDbl(); + DataDictionaryInitTimeServerIPU32(); + DataDictionaryInitTimeServerPortU16(); + DataDictionaryInitSimulatorIPU32(); + DataDictionaryInitSimulatorTCPPortU16(); + DataDictionaryInitSimulatorUDPPortU16(); + DataDictionaryInitSimulatorModeU8(); + DataDictionaryInitVOILReceiversC8(); + DataDictionaryInitDTMReceiversC8(); DataDictionaryInitExternalSupervisorIPU32(); + DataDictionaryInitRVSSConfigU32(); + DataDictionaryInitRVSSRateU8(); + DataDictionaryInitSupervisorTCPPortU16(); + DataDictionaryInitMiscDataC8(); + } +// I32 Return +// 1 = WRITE_OK +// 2 = READ_OK +// 3 = READ_WRITE_OK +// 4 = PARAMETER_NOTFOUND +// 5 = OUT_OF_RANGE + + +/*Origin Latitude*/ +I32 DataDictionaryInitOriginLatitudeDbl(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("OriginLatidude=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + OriginLatitudeDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"OriginLatitude not found!"); + } + + return Res; +} + +I32 DataDictionarySetOriginLatitudeDbl(C8 *Latitude) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("OriginLatidude", Latitude, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + OriginLatitudeDbl = atof(Latitude); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetOriginLatitudeDbl(dbl *Latitude) +{ + pthread_mutex_lock(&mutex); + *Latitude = OriginLatitudeDbl; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of Origin Latitude*/ + +/*Origin Longitude*/ +I32 DataDictionaryInitOriginLongitudeDbl(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("OriginLongitude=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + OriginLongitudeDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"OriginLongitude not found!"); + } + + return Res; +} + +I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("OriginLongitude", Longitude, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + OriginLongitudeDbl = atof(Longitude); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetOriginLongitudeDbl(dbl *Longitude) +{ + pthread_mutex_lock(&mutex); + *Longitude = OriginLatitudeDbl; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of Origin Longitude*/ + +/*Origin Altitude*/ +I32 DataDictionaryInitOriginAltitudeDbl(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("OriginAltitude=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + OriginAltitudeDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"OriginAltitude not found!"); + } + + return Res; +} + +I32 DataDictionarySetOriginAltitudeDbl(C8 *Altitude) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("OriginAltitude", Altitude, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + OriginAltitudeDbl = atof(Altitude); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetOriginAltitudeDbl(dbl *Altitude) +{ + pthread_mutex_lock(&mutex); + *Altitude = OriginAltitudeDbl; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of Origin Altitude*/ + +/*VisualizationServer*/ +I32 DataDictionaryInitVisualizationServerU32(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("VisualizationServer=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + VisualizationServerU32 = UtilIPStringToInt(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"VisualizationServer not found!"); + } + + return Res; +} + +I32 DataDictionarySetVisualizationServerU32(C8 *IP) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("VisualizationServer", IP, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + VisualizationServerU32 = UtilIPStringToInt(IP); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetVisualizationServer(U32 *IP) +{ + pthread_mutex_lock(&mutex); + *IP = VisualizationServerU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of VisualizationServer*/ + + +/*ForceToLocalhost*/ +I32 DataDictionaryInitForceToLocalhostU8(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("ForceObjectToLocalhost=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + ForceObjectToLocalhostU8 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"ForceObjectToLocalhost not found!"); + } + + return Res; +} + +I32 DataDictionarySetForceToLocalhostU8(C8 *ForceLocalhost) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("ForceObjectToLocalhost", ForceLocalhost, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + ForceObjectToLocalhostU8 = atoi(ForceLocalhost); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetForceToLocalhostU8(U8 *ForceLocalhost) +{ + pthread_mutex_lock(&mutex); + *ForceLocalhost = ForceObjectToLocalhostU8; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of ForceToLocalhost*/ + +/*ASPMaxTimeDiff*/ +I32 DataDictionaryInitASPMaxTimeDiffDbl(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("ASPMaxTimeDiff=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + ASPMaxTimeDiffDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"ASPMaxTimeDiff not found!"); + } + + return Res; +} + +I32 DataDictionarySetASPMaxTimeDiffDbl(C8 *ASPMaxTimeDiff) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("ASPMaxTimeDiff", ASPMaxTimeDiff, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + ASPMaxTimeDiffDbl = atof(ASPMaxTimeDiff); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetASPMaxTimeDiffDbl(dbl *ASPMaxTimeDiff) +{ + pthread_mutex_lock(&mutex); + *ASPMaxTimeDiff = ASPMaxTimeDiffDbl; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of ASPMaxTimeDiff*/ + +/*ASPMaxTrajDiff*/ +I32 DataDictionaryInitASPMaxTrajDiffDbl(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("ASPMaxTrajDiff=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + ASPMaxTrajDiffDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"ASPMaxTrajDiff not found!"); + } + + return Res; +} + +I32 DataDictionarySetASPMaxTrajDiffDbl(C8 *ASPMaxTrajDiff) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("ASPMaxTrajDiff", ASPMaxTrajDiff, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + ASPMaxTrajDiffDbl = atof(ASPMaxTrajDiff); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetASPMaxTrajDiffDbl(dbl *ASPMaxTrajDiff) +{ + pthread_mutex_lock(&mutex); + *ASPMaxTrajDiff = ASPMaxTrajDiffDbl; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of ASPMaxTrajDiff*/ + + +/*ASPStepBackCount*/ +I32 DataDictionaryInitASPStepBackCountU32(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("ASPStepBackCount=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + ASPStepBackCountU32 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"ASPStepBackCount not found!"); + } + + return Res; +} + +I32 DataDictionarySetASPStepBackCountU32(C8 *ASPStepBackCount) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("ASPStepBackCount", ASPStepBackCount, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + ASPStepBackCountU32 = atoi(ASPStepBackCount); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetASPStepBackCountU32(U32 *ASPStepBackCount) +{ + pthread_mutex_lock(&mutex); + *ASPStepBackCount = ASPStepBackCountU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of ASPStepBackCount*/ + +/*ASPFilterLevel*/ +I32 DataDictionaryInitASPFilterLevelU16(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("ASPFilterLevel=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + ASPFilterLevelU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"ASPFilterLevel not found!"); + } + + return Res; +} + +I32 DataDictionarySetASPFilterLevelU16(C8 *ASPFilterLevel) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + ASPFilterLevelU16 = atoi(ASPFilterLevel); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetASPFilterLevelU16(U16 *ASPFilterLevel) +{ + pthread_mutex_lock(&mutex); + *ASPFilterLevel = ASPFilterLevelU16; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of ASPFilterLevel*/ + +/*ASPMaxDeltaTime*/ +I32 DataDictionaryInitASPMaxDeltaTimeDbl(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("ASPMaxDeltaTime=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + ASPMaxDeltaTimeDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"ASPMaxDeltaTime not found!"); + } + + return Res; +} + +I32 DataDictionarySetASPMaxDeltaTimeDbl(C8 *ASPMaxDeltaTime) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("ASPMaxDeltaTime", ASPMaxDeltaTime, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + ASPMaxDeltaTimeDbl = atof(ASPMaxDeltaTime); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetASPMaxDeltaTimeDbl(U16 *ASPMaxDeltaTime) +{ + pthread_mutex_lock(&mutex); + *ASPMaxDeltaTime = ASPMaxDeltaTimeDbl; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of ASPFilterLevel*/ + + +/*TimeServerIP*/ +I32 DataDictionaryInitTimeServerIPU32(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("TimeServerIP=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + TimeServerIPU32 = UtilIPStringToInt(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"TimeServerIP not found!"); + } + + return Res; +} + +I32 DataDictionarySetTimeServerIPU32(C8 *TimeServerIP) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("TimeServerIP", TimeServerIP, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + TimeServerIPU32 = UtilIPStringToInt(TimeServerIP); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetTimeServerIPU32(U32 *TimeServerIP) +{ + pthread_mutex_lock(&mutex); + *TimeServerIP = TimeServerIPU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of TimeServerIP*/ + + +/*TimeServerPort*/ +I32 DataDictionaryInitTimeServerPortU16(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("TimeServerPort=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + TimeServerPortU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"TimeServerPort not found!"); + } + + return Res; +} + +I32 DataDictionarySetTimeServerPortU16(C8 *TimeServerPort) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("TimeServerPort", TimeServerPort, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + TimeServerPortU16 = atoi(TimeServerPort); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetTimeServerPortU16(U16 *TimeServerPort) +{ + pthread_mutex_lock(&mutex); + *TimeServerPort = TimeServerPortU16; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of TimeServerPort*/ + + +/*SimulatorIP*/ +I32 DataDictionaryInitSimulatorIPU32(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("SimulatorIP=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + SimulatorIPU32 = UtilIPStringToInt(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"SimulatorIP not found!"); + } + + return Res; +} + +I32 DataDictionarySetSimulatorIPU32(C8 *SimulatorIP) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("SimulatorIP", SimulatorIP, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + SimulatorIPU32 = UtilIPStringToInt(SimulatorIP); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetSimulatorIPU32(U32 *SimulatorIP) +{ + pthread_mutex_lock(&mutex); + *SimulatorIP = SimulatorIPU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of SimulatorIP*/ + +/*SimulatorTCPPort*/ +I32 DataDictionaryInitSimulatorTCPPortU16(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("SimulatorTCPPort=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + SimulatorTCPPortU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"SimulatorTCPPort not found!"); + } + + return Res; +} + +I32 DataDictionarySetSimulatorTCPPortU16(C8 *SimulatorTCPPort) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("SimulatorTCPPort", SimulatorTCPPort, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + SimulatorTCPPortU16 = atoi(SimulatorTCPPort); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetSimulatorTCPPortU16(U16 *SimulatorTCPPort) +{ + pthread_mutex_lock(&mutex); + *SimulatorTCPPort = SimulatorTCPPortU16; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of SimulatorTCPPort*/ + +/*SimulatorUDPPort*/ +I32 DataDictionaryInitSimulatorUDPPortU16(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("SimulatorUDPPort=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + SimulatorUDPPortU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"SimulatorUDPPort not found!"); + } + + return Res; +} + +I32 DataDictionarySetSimulatorUDPPortU16(C8 *SimulatorUDPPort) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("SimulatorUDPPort", SimulatorUDPPort, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + SimulatorUDPPortU16 = atoi(SimulatorUDPPort); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetSimulatorUDPPortU16(U16 *SimulatorUDPPort) +{ + pthread_mutex_lock(&mutex); + *SimulatorUDPPort = SimulatorUDPPortU16; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of SimulatorUDPPort*/ + +/*SimulatorMode*/ +I32 DataDictionaryInitSimulatorModeU8(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("SimulatorMode=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + SimulatorModeU8 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"SimulatorMode not found!"); + } + + return Res; +} + +I32 DataDictionarySetSimulatorModeU8(C8 *SimulatorMode) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("SimulatorMode", SimulatorMode, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + SimulatorModeU8 = atoi(SimulatorMode); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetSimulatorModeU8(U8 *SimulatorMode) +{ + pthread_mutex_lock(&mutex); + *SimulatorMode = SimulatorModeU8; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of SimulatorMode*/ + +/*VOILReceivers*/ +I32 DataDictionaryInitVOILReceiversC8(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("VOILReceivers=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + strcpy(VOILReceiversC8, ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"VOILReceivers not found!"); + } + + return Res; +} + +I32 DataDictionarySetVOILReceiversC8(C8 *VOILReceivers) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("VOILReceivers", VOILReceivers, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + strcpy(VOILReceiversC8, VOILReceivers); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetVOILReceiversC8(U8 *VOILReceivers) +{ + pthread_mutex_lock(&mutex); + strcpy(VOILReceivers, VOILReceiversC8); + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of VOILReceivers*/ + +/*DTMReceivers*/ +I32 DataDictionaryInitDTMReceiversC8(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("DTMReceivers=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + strcpy(DTMReceiversC8, ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"DTMReceivers not found!"); + } + + return Res; +} + +I32 DataDictionarySetDTMReceiversC8(C8 *DTMReceivers) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("DTMReceivers", DTMReceivers, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + strcpy(DTMReceiversC8, DTMReceivers); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetDTMReceiversC8(U8 *DTMReceivers) +{ + pthread_mutex_lock(&mutex); + strcpy(DTMReceivers, DTMReceiversC8); + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of DTMReceivers*/ /*External Supervisor IP*/ -void DataDictionaryInitExternalSupervisorIPU32(void) +I32 DataDictionaryInitExternalSupervisorIPU32(void) { + I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) + if(Res = DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) { - DataDictionaryExternalSupervisorIPU32 = UtilIPStringToInt(ResultBufferC8); - LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", ResultBufferC8); - } else LogMessage(LOG_LEVEL_INFO,"Supervisor IP not found!"); + Res = READ_OK; + pthread_mutex_lock(&mutex); + ExternalSupervisorIPU32 = UtilIPStringToInt(ResultBufferC8); + pthread_mutex_unlock(&mutex); + //LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", ResultBufferC8); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"Supervisor IP not found!"); + } + + return Res; +} + +I32 DataDictionarySetExternalSupervisorIPU32(C8 *IP) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("SupervisorIP", IP, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + ExternalSupervisorIPU32 = UtilIPStringToInt(IP); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetExternalSupervisorIPU32(U32 *IP) +{ + pthread_mutex_lock(&mutex); + *IP = ExternalSupervisorIPU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of External Supervisor IP*/ + +/*External SupervisorTCPPort*/ +I32 DataDictionaryInitSupervisorTCPPortU16(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("SupervisorTCPPort=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + SupervisorTCPPortU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"SupervisorTCPPort not found!"); + } + + return Res; +} + +I32 DataDictionarySetSupervisorTCPPortU16(C8 *SupervisorTCPPort) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("SupervisorTCPPort", SupervisorTCPPort, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + SupervisorTCPPortU16 = atoi(SupervisorTCPPort); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetSupervisorTCPPortU16(U16 *SupervisorTCPPort) +{ + pthread_mutex_lock(&mutex); + *SupervisorTCPPort = SupervisorTCPPortU16; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of External SupervisorTCPPort*/ + + + + +/*Runtime Variable Subscription Service (RVSS) Configuration*/ +I32 DataDictionaryInitRVSSConfigU32(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("RVSSConfig=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + DataDictionaryRVSSConfigU32 = atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + //LogMessage(LOG_LEVEL_INFO,"RVSSConfig: %s", ResultBufferC8); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"RVSSConfig not found!"); + } + + return Res; +} + +I32 DataDictionarySetRVSSConfigU32(U32 RVSSConfig) +{ + I32 Res; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); + sprintf(ResultBufferC8, "%" PRIu32, RVSSConfig); + + if(Res = UtilWriteConfigurationParameter("RVSSConfig", ResultBufferC8, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + DataDictionaryRVSSConfigU32 = RVSSConfig; + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetRVSSConfigU32(U32 *RVSSConfig) +{ + pthread_mutex_lock(&mutex); + *RVSSConfig = DataDictionaryRVSSConfigU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of Runtime Variable Subscription Service (RVSS) Configuration**/ + + +/*Runtime Variable Subscription Service (RVSS) Rate*/ +I32 DataDictionaryInitRVSSRateU8(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("RVSSRate=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + DataDictionaryRVSSRateU8 = (U8)atoi(ResultBufferC8); + pthread_mutex_unlock(&mutex); + //LogMessage(LOG_LEVEL_INFO,"RVSSRate: %s", ResultBufferC8); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"RVSSRate not found!"); + } + + return Res; +} + +I32 DataDictionarySetRVSSRateU8(U8 RVSSRate) +{ + I32 Res; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); + sprintf(ResultBufferC8, "%" PRIu8, RVSSRate); + + if(Res = UtilWriteConfigurationParameter("RVSSRate", ResultBufferC8, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + DataDictionaryRVSSRateU8 = RVSSRate; + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; +} + +I32 DataDictionaryGetRVSSRateU8(U8 *RVSSRate) +{ + pthread_mutex_lock(&mutex); + *RVSSRate = DataDictionaryRVSSRateU8; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of Runtime Variable Subscription Service (RVSS) Rate**/ + + +/*ASPDebug*/ +I32 DataDictionarySetRVSSAsp(ASPType *ASPD) +{ + pthread_mutex_lock(&mutex); + ASPData = *ASPD; + pthread_mutex_unlock(&mutex); + return (I32) WRITE_OK; +} + +I32 DataDictionaryGetRVSSAsp(ASPType *ASPD) +{ + pthread_mutex_lock(&mutex); + *ASPD = ASPData; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; +} +/*END ASPDebug*/ + +/*MiscData*/ +I32 DataDictionaryInitMiscDataC8(void) +{ + I32 Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + if(Res = DataDictionarySearchParameter("MiscData=", ResultBufferC8)) + { + Res = READ_OK; + pthread_mutex_lock(&mutex); + strcpy(MiscDataC8, ResultBufferC8); + pthread_mutex_unlock(&mutex); + } + else + { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_INFO,"MiscData not found!"); + } + + return Res; +} + +I32 DataDictionarySetMiscDataC8(C8 *MiscData) +{ + I32 Res; + if(Res = UtilWriteConfigurationParameter("MiscData", MiscData, 0)) + { + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + strcpy(MiscDataC8, MiscData); + pthread_mutex_unlock(&mutex); + } else Res = PARAMETER_NOTFOUND; + return Res; } -void DataDictionarySetExternalSupervisorIPU32(U32 IP){ DataDictionaryExternalSupervisorIPU32 = IP;} -U32 DataDictionaryGetExternalSupervisorIPU32(void){ return DataDictionaryExternalSupervisorIPU32; } -/*end*/ + +I32 DataDictionaryGetMiscDataC8(U8 *MiscData) +{ + pthread_mutex_lock(&mutex); + strcpy(MiscData, MiscDataC8); + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } +/*END of MiscData*/ + + + + + diff --git a/server/src/main.c b/server/src/main.c index 40df97c28..b5cbd10fb 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -64,8 +64,6 @@ int main(int argc, char *argv[]) GSD->ScenarioStartTimeU32 = 0; GPSTime->isTimeInitializedU8 = 0; - DataDictionaryConstructor(); - pid_t pID[8]; int iIndex = 0; diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 4a8ee1c9d..30d18ff50 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -31,6 +31,7 @@ #include "util.h" #include "timecontrol.h" #include "logging.h" +#include "datadictionary.h" /*------------------------------------------------------------ @@ -160,7 +161,7 @@ static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); static void vRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData); -I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); +I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); I32 ObjectControlBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeType *GPSTime, U8 CCStatus, U8 debug); @@ -545,10 +546,11 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) ASPData.SyncPointIndexI32 = OP[iIndex].SyncIndex; ASPData.IterationTimeU16 = (U16)(TimeCap2 - TimeCap1); //Build ASP debug data and set to GSD - bzero(buffer,OBJECT_MESS_BUFFER_SIZE); - ObjectControlBuildASPMessage(buffer, &ASPData, 0); - for(j = 0; j < sizeof(ASPType); j ++) GSD->ASPDebugDataU8[j] = buffer[j]; - GSD->ASPDebugDataSetU8 = 1; + //bzero(buffer,OBJECT_MESS_BUFFER_SIZE); + //ObjectControlBuildASPMessage(buffer, &ASPData, 0); + DataDictionarySetRVSSAsp(&ASPData); + //for(j = 0; j < sizeof(ASPType); j ++) GSD->ASPDebugDataU8[j] = buffer[j]; + //GSD->ASPDebugDataSetU8 = 1; if(atoi(Timestamp)%ASPDebugRate == 0) { @@ -901,7 +903,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) UtilSearchTextFile(CONF_FILE_PATH, "OrigoLatidude=", "", OriginLatitude), UtilSearchTextFile(CONF_FILE_PATH, "OrigoLongitude=", "", OriginLongitude), UtilSearchTextFile(CONF_FILE_PATH, "OrigoAltitude=", "", OriginAltitude), - UtilSearchTextFile(CONF_FILE_PATH, "OrigoHeading=", "", OriginHeading), 0); @@ -1611,7 +1612,7 @@ int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId, char *TriggAc } -I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug) +I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, U8 debug) { I32 MessageIndex = 0, i = 0; dbl Data; diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index 1bd01a00f..5ee567d88 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -121,7 +121,7 @@ int supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD) //LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", TextBufferC8); //SupervisorIpU32 = UtilIPStringToInt(SupervisorServerIpC8); - SupervisorIpU32 = DataDictionaryGetExternalSupervisorIPU32(); + DataDictionaryGetExternalSupervisorIPU32(&SupervisorIpU32); if(SupervisorIpU32 != 0) { diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index cfed3a989..a6dd4bcc9 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -30,11 +30,11 @@ #include #include -//#include "remotecontrol.h" #include "util.h" #include "systemcontrol.h" #include "timecontrol.h" #include "logging.h" +#include "datadictionary.h" @@ -53,6 +53,9 @@ typedef enum { #define SYSTEM_CONTROL_SERVICE_POLL_TIME_MS 5000 +#define SYSTEM_CONTROL_TASK_PERIOD_MS 1 +#define SYSTEM_CONTROL_RVSS_TIME_MS 10 + #define SYSTEM_CONTROL_CONTROL_PORT 54241 // Default port, control channel #define SYSTEM_CONTROL_PROCESS_PORT 54242 // Default port, process channel @@ -62,7 +65,7 @@ typedef enum { #define IPC_BUFFER_SIZE SYSTEM_CONTROL_RX_PACKET_SIZE //#define IPC_BUFFER_SIZE 1024 #define SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE 64 -#define SYSTEM_CONTROL_PROCESS_DATA_BUFFER 128 +#define SYSTEM_CONTROL_RVSS_DATA_BUFFER 128 #define SYSTEM_CONTROL_ARG_CHAR_COUNT 2 #define SYSTEM_CONTROL_COMMAND_MAX_LENGTH 32 @@ -107,6 +110,10 @@ typedef enum { #define REMOVE_FILE 1 #define KEEP_FILE 0 +#define RVSS_TIME_CHANNEL 1 +#define RVSS_MONR_CHANNEL 2 +#define RVSS_ASP_CHANNEL 8 + typedef enum { @@ -146,8 +153,10 @@ void SystemControlSendMONR(C8* LogString, I32* Sockfd, U8 Debug); static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I32 *sockfd, struct sockaddr_in* addr); //I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData, I32 Length, U8 debug); I32 SystemControlReadServerParameterList(C8 *ParameterList, U8 debug); +I32 SystemControlGetServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug); I32 SystemControlReadServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug); I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug); +I32 SystemControlSetServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug); I32 SystemControlCheckFileDirectoryExist(C8 *ParameterName, C8 *ReturnValue, U8 Debug); I32 SystemControlUploadFile(C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnValue, U8 Debug); I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnValue, U8 Debug); @@ -155,6 +164,9 @@ I32 SystemControlDeleteFileDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); I32 SystemControlBuildFileContentInfo(C8 *Path, C8 *ReturnValue, U8 Debug); I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *ReturnValue, U8 Remove, U8 Debug); I32 SystemControlCreateDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); +I32 SystemControlBuildRVSSTimeChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, TimeType *GPSTime, U8 Debug); +I32 SystemControlBuildRVSSAspChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, U8 Debug); +I32 SystemControlBuildRVSSMONRChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, C8 *MonrData, U8 Debug); /*------------------------------------------------------------ -- Private variables @@ -173,9 +185,9 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) I32 ServerHandle; I32 ClientSocket = 0; I32 ClientResult = 0; - struct sockaddr_in ProcessChannelAddr; + struct sockaddr_in RVSSChannelAddr; struct in_addr ip_addr; - I32 ProcessChannelSocket; + I32 RVSSChannelSocket; ServerState_t server_state = SERVER_STATE_UNDEFINED; SystemControlCommand_t SystemControlCommand = Idle_0; @@ -219,10 +231,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) C8 ControlResponseBuffer[SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE]; U8 OBCStateU8; C8 UserControlIPC8[SMALL_BUFFER_SIZE_20]; - C8 ProcessControlData[SYSTEM_CONTROL_PROCESS_DATA_BUFFER]; - U32 ProcessControlSendCounterU32 = 0; - U32 PCDMessageLengthU32; - U16 PCDMessageCodeU16; struct timeval now; U16 MilliU16 = 0, NowU16 = 0; U64 GPSmsU64 = 0; @@ -234,38 +242,28 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) //C8 SIDSData[128][10000][8]; - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO,"System control task running with PID: %i",getpid()); + C8 RVSSData[SYSTEM_CONTROL_RVSS_DATA_BUFFER]; + U16 RVSSSendCounterU16 = 0; + U32 RVSSConfigU32; + U32 RVSSMessageLengthU32; + U16 PCDMessageCodeU16; - bzero(TextBufferC8, SMALL_BUFFER_SIZE_20); - UtilSearchTextFile(SYSTEM_CONTROL_CONF_FILE_PATH, "RemoteServerMode=", "", TextBufferC8); - ModeU8 = (U8)atoi(TextBufferC8); + DataDictionaryConstructor(); - bzero(TextBufferC8, SMALL_BUFFER_SIZE_20); - UtilSearchTextFile(SYSTEM_CONTROL_CONF_FILE_PATH, "RemoteServerIP=", "", TextBufferC8); - bzero(ServerIPC8, SMALL_BUFFER_SIZE_20); - strcat(ServerIPC8, TextBufferC8); - bzero(TextBufferC8, SMALL_BUFFER_SIZE_20); - UtilSearchTextFile(SYSTEM_CONTROL_CONF_FILE_PATH, "RemoteServerPort=", "", TextBufferC8); - ServerPortU16 = (U16)atoi(TextBufferC8); + DataDictionaryGetRVSSConfigU32(&RVSSConfigU32); + LogMessage(LOG_LEVEL_INFO,"RVSSConfigU32 = %d", RVSSConfigU32); - bzero(TextBufferC8, SMALL_BUFFER_SIZE_20); - UtilSearchTextFile(SYSTEM_CONTROL_CONF_FILE_PATH, "RemoteServerUsername=", "", TextBufferC8); - bzero(UsernameC8, SMALL_BUFFER_SIZE_20); - strcat(UsernameC8, TextBufferC8); - - bzero(TextBufferC8, SMALL_BUFFER_SIZE_20); - UtilSearchTextFile(SYSTEM_CONTROL_CONF_FILE_PATH, "RemoteServerPassword=", "", TextBufferC8); - bzero(PasswordC8, SMALL_BUFFER_SIZE_20); - strcat(PasswordC8, TextBufferC8); - - //printf("[SystemControl] Mode: %d\n", ModeU8); - //printf("[SystemControl] Remote server IP: %s\n", ServerIPC8); - //printf("[SystemControl] Remote server port: %d\n", ServerPortU16); - //printf("[SystemControl] Username: %s\n", UsernameC8); - //printf("[SystemControl] Password: %s\n", PasswordC8); + U8 RVSSRateU8; + dbl RVSSRateDbl; + DataDictionaryGetRVSSRateU8(&RVSSRateU8); + RVSSRateDbl = RVSSRateU8; + RVSSRateDbl = (1/RVSSRateDbl)*1000; + LogMessage(LOG_LEVEL_INFO,"RVSSRateU8 = %d", RVSSRateU8); + LogInit(MODULE_NAME,logLevel); + LogMessage(LOG_LEVEL_INFO,"System control task running with PID: %i",getpid()); + if(ModeU8 == 0) { @@ -303,13 +301,13 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) bzero(UserControlIPC8, SMALL_BUFFER_SIZE_20); sprintf(UserControlIPC8, "%s", inet_ntoa(ip_addr)); LogMessage(LOG_LEVEL_INFO,"UserControl IP address is %s", inet_ntoa(ip_addr)); - SystemControlCreateProcessChannel(UserControlIPC8, SYSTEM_CONTROL_PROCESS_PORT, &ProcessChannelSocket, &ProcessChannelAddr); + SystemControlCreateProcessChannel(UserControlIPC8, SYSTEM_CONTROL_PROCESS_PORT, &RVSSChannelSocket, &RVSSChannelAddr); } if(USE_LOCAL_USER_CONTROL == 1) { ClientResult = SystemControlConnectServer(&ClientSocket, LOCAL_USER_CONTROL_IP, LOCAL_USER_CONTROL_PORT); - SystemControlCreateProcessChannel(LOCAL_USER_CONTROL_IP, SYSTEM_CONTROL_PROCESS_PORT, &ProcessChannelSocket, &ProcessChannelAddr); + SystemControlCreateProcessChannel(LOCAL_USER_CONTROL_IP, SYSTEM_CONTROL_PROCESS_PORT, &RVSSChannelSocket, &RVSSChannelAddr); } server_state = SERVER_STATE_IDLE; @@ -370,25 +368,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) */ CurrentTimeU64 = UtilgetCurrentUTCtimeMS(); TimeDiffU64 = CurrentTimeU64 - OldTimeU64; - - /* Uneccesarry checks to currently non-existing remote control serversocket. Login and session data not used either. - if(ServerSocketI32 <= 0) RemoteControlConnectServer(&ServerSocketI32, ServerIPC8, ServerPortU16); - - if(ServerSocketI32 > 0 && SessionData.SessionIdU32 <= 0) - { - RemoteControlSignIn(ServerSocketI32, "users", UsernameC8, PasswordC8, &SessionData, 0); - LogMessage(LOG_LEVEL_INFO,"SessionId: %u", SessionData.SessionIdU32); - LogMessage(LOG_LEVEL_INFO,"UserId: %u", SessionData.UserIdU32); - LogMessage(LOG_LEVEL_INFO,"Usertype: %d", SessionData.UserTypeU8); - if(SessionData.SessionIdU32 > 0) { LogMessage(LOG_LEVEL_INFO,"Sign in success!");} else { LogMessage(LOG_LEVEL_INFO,"Sign in failed!");} - } - - if(ServerSocketI32 > 0 && SessionData.SessionIdU32 > 0 && TimeDiffU64 > PollRateU64) - { - OldTimeU64 = CurrentTimeU64; - bzero(RemoteServerRxData, 1024); - RemoteControlSendServerStatus(ServerSocketI32, &SessionData, ++i1, 0); - }*/ } @@ -427,54 +406,16 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) { SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); } - - else if(iCommand == COMM_MONI){ - //printf("Monr sys %s\n", pcRecvBuffer); - C8 data[strlen(pcRecvBuffer)]; - bzero(data, strlen(data)); - strcat(data, pcRecvBuffer); - - UtilSendUDPData("SystemControl", &ProcessChannelSocket, &ProcessChannelAddr, data, sizeof(data), 0); - } - - ++ProcessControlSendCounterU32; - - if(ProcessChannelSocket != 0 && ProcessControlSendCounterU32 == 1) + else if(iCommand == COMM_MONI) { - ProcessControlSendCounterU32 = 0; - bzero(ProcessControlData, SYSTEM_CONTROL_PROCESS_DATA_BUFFER); - PCDMessageLengthU32 = 14; - PCDMessageCodeU16 = 1; - - GPSmsU64 = GPSTime->GPSMillisecondsU64 + (U64)TimeControlGetMillisecond(GPSTime); - ProcessControlData[0] = (U8)(PCDMessageLengthU32 >> 24); - ProcessControlData[1] = (U8)(PCDMessageLengthU32 >> 16); - ProcessControlData[2] = (U8)(PCDMessageLengthU32 >> 8); - ProcessControlData[3] = (U8) PCDMessageLengthU32; - ProcessControlData[4] = (U8)(PCDMessageCodeU16 >> 8); - ProcessControlData[5] = (U8) PCDMessageCodeU16; - ProcessControlData[6] = (U8)(GPSmsU64 >> 56); - ProcessControlData[7] = (U8)(GPSmsU64 >> 48); - ProcessControlData[8] = (U8)(GPSmsU64 >> 40); - ProcessControlData[9] = (U8)(GPSmsU64 >> 32); - ProcessControlData[10] = (U8)(GPSmsU64 >> 24); - ProcessControlData[11] = (U8)(GPSmsU64 >> 16); - ProcessControlData[12] = (U8)(GPSmsU64 >> 8); - ProcessControlData[13] = (U8)(GPSmsU64); - ProcessControlData[14] = server_state; - ProcessControlData[15] = OBCStateU8; - ProcessControlData[16] = (U8)(GSD->TimeControlExecTimeU16 >> 8); - ProcessControlData[17] = (U8) GSD->TimeControlExecTimeU16; - ProcessControlData[18] = (U8) GPSTime->FixQualityU8; - ProcessControlData[19] = (U8) GPSTime->NSatellitesU8; - - //SystemControlSendUDPData(&ProcessChannelSocket, &ProcessChannelAddr, ProcessControlData, PCDMessageLengthU32 + 6, 1); - UtilSendUDPData("SystemControl", &ProcessChannelSocket, &ProcessChannelAddr, ProcessControlData, PCDMessageLengthU32 + 6, 0); - + //printf("Monr sys %s\n", pcRecvBuffer); + if(RVSSConfigU32 & RVSS_MONR_CHANNEL) + { + SystemControlBuildRVSSMONRChannelMessage(RVSSData, &RVSSMessageLengthU32, pcRecvBuffer, 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); + } } - - switch(SystemControlCommand) { // can you access GetServerParameterList_0, GetServerParameter_1, SetServerParameter_2 and DISarmScenario and Exit from the GUI @@ -563,7 +504,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) { SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlReadServerParameter(SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlGetServerParameter(SystemControlArgument[0], ControlResponseBuffer, 0); SystemControlSendControlResponse(strlen(ControlResponseBuffer) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetServerParameter:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in GetServerParameter(Name)!"); SystemControlCommand = Idle_0;} break; @@ -572,7 +513,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) { SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlWriteServerParameter(SystemControlArgument[0], SystemControlArgument[1], 0); + SystemControlSetServerParameter(SystemControlArgument[0], SystemControlArgument[1], 0); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SetServerParameter:", ControlResponseBuffer, 0, &ClientSocket, 0); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in SetServerParameter(Name, Value)!"); SystemControlCommand = Idle_0;} @@ -659,14 +600,12 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) else if (ControlResponseBuffer[0] == PATH_INVALID_MISSING) { LogMessage(LOG_LEVEL_INFO,"Failed receiving file: %s", SystemControlArgument[0]); - SystemControlReceiveRxData(&ClientSocket, "/file.tmp", SystemControlArgument[1], STR_SYSTEM_CONTROL_RX_PACKET_SIZE, ControlResponseBuffer, 0); SystemControlDeleteFileDirectory("/file.tmp", ControlResponseBuffer, 0); ControlResponseBuffer[0] = PATH_INVALID_MISSING; } else { - LogMessage(LOG_LEVEL_INFO,"Receiving file: %s", SystemControlArgument[0]); SystemControlReceiveRxData(&ClientSocket, SystemControlArgument[0], SystemControlArgument[1], SystemControlArgument[2], ControlResponseBuffer, 0); } @@ -687,7 +626,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) else if(server_state == SERVER_STATE_INWORK && strstr(SystemControlOBCStatesArr[OBCStateU8], "INITIALIZED") != NULL) { SystemControlSendLog("[SystemControl] Simulate that all objects becomes successfully configured.\n", &ClientSocket, 0); - SystemControlCommand = Idle_0; server_state = SERVER_STATE_IDLE; } @@ -710,7 +648,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) else if(server_state == SERVER_STATE_INWORK && strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL) { SystemControlSendLog("[SystemControl] Simulate that all objects are connected.\n", &ClientSocket, 0); - SystemControlCommand = Idle_0; server_state = SERVER_STATE_IDLE; } @@ -942,7 +879,36 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) sleep_time.tv_sec = 0; - sleep_time.tv_nsec = 10000000; + sleep_time.tv_nsec = SYSTEM_CONTROL_TASK_PERIOD_MS*1000000; + ++ RVSSSendCounterU16; + if(RVSSSendCounterU16 >= ((U16)RVSSRateDbl)) + { + RVSSSendCounterU16 = 0; + DataDictionaryGetRVSSRateU8(&RVSSRateU8); + RVSSRateDbl = RVSSRateU8; + RVSSRateDbl = (1/RVSSRateDbl)*1000; + + if(RVSSChannelSocket != 0 && RVSSSendCounterU16 == 0 && RVSSConfigU32 > 0) + { + bzero(RVSSData, SYSTEM_CONTROL_RVSS_DATA_BUFFER); + + if(RVSSConfigU32 & RVSS_TIME_CHANNEL) + { + SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); + } + + if(RVSSConfigU32 & RVSS_ASP_CHANNEL) + { + SystemControlBuildRVSSAspChannelMessage(RVSSData, &RVSSMessageLengthU32, 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); + } + + } + + + } + nanosleep(&sleep_time,&ref_time); @@ -1297,6 +1263,48 @@ I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData } */ +I32 SystemControlGetServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug) +{ + bzero(ReturnValue, 20); + dbl ValueDbl = 0; + U32 ValueU32 = 0; + U8 ValueU8 = 0; + + if(strcmp("OrigoLatidude", ParameterName) == 0) + { + DataDictionaryGetOriginLatitudeDbl(&ValueDbl); + sprintf(ReturnValue, "%3.12f", ValueDbl); + } + else if(strcmp("OrigoLongitude", ParameterName) == 0) + { + DataDictionaryGetOriginLatitudeDbl(&ValueDbl); + sprintf(ReturnValue, "%3.12f", ValueDbl); + } + else if(strcmp("RVSSConfig", ParameterName) == 0) + { + DataDictionaryGetRVSSConfigU32(&ValueU32); + sprintf(ReturnValue, "%" PRIu32, ValueU32); + } + else if(strcmp("RVSSRate", ParameterName) == 0) + { + DataDictionaryGetRVSSRateU8(&ValueU8); + sprintf(ReturnValue, "%" PRIu8, ValueU8); + } + +} + + + +I32 SystemControlSetServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) +{ + + if(strcmp("OrigoLatidude", ParameterName) == 0) DataDictionarySetOriginLatitudeDbl(NewValue); + else if(strcmp("OrigoLongitude", ParameterName) == 0) DataDictionarySetOriginLongitudeDbl(NewValue); + else if(strcmp("RVSSConfig", ParameterName) == 0) DataDictionarySetRVSSConfigU32((U32)atoi(NewValue)); + else if(strcmp("RVSSRate", ParameterName) == 0) DataDictionarySetRVSSRateU8((U32)atoi(NewValue)); +} + + I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) { @@ -1322,7 +1330,6 @@ I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) //Open configuration file fd = fopen (SYSTEM_CONTROL_CONF_FILE_PATH, "r"); - if(fd > 0) { RowCount = UtilCountFileRows(fd); @@ -1364,7 +1371,6 @@ I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) (void)fwrite(Row,1,strlen(Row),TempFd); } } - fclose(TempFd); fclose(fd); @@ -1376,10 +1382,8 @@ I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) //Remove temporary file remove(SYSTEM_CONTROL_TEMP_CONF_FILE_PATH); - } - return 0; } @@ -1747,7 +1751,6 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *ReturnValue, U8 Remove, U8 Debug) { - FILE *fd; C8 CompletePath[SYSTEM_CONTROL_MAX_PATH_LENGTH]; bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); @@ -1803,5 +1806,77 @@ I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *Retu } + return 0; +} + + +I32 SystemControlBuildRVSSTimeChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, TimeType *GPSTime, U8 Debug) +{ + I32 MessageIndex = 0, i; + C8 *p; + + RVSSTimeType RVSSTimeData; + RVSSTimeData.MessageLengthU32 = SwapU32((U32)sizeof(RVSSTimeType)-4); + RVSSTimeData.ChannelCodeU32 = SwapU32((U32)RVSS_TIME_CHANNEL); + RVSSTimeData.YearU16 = SwapU16(GPSTime->YearU16); + RVSSTimeData.MonthU8 = GPSTime->MonthU8; + RVSSTimeData.DayU8 = GPSTime->DayU8; + RVSSTimeData.HourU8 = GPSTime->HourU8; + RVSSTimeData.MinuteU8 = GPSTime->MinuteU8; + RVSSTimeData.SecondU8 = GPSTime->SecondU8; + RVSSTimeData.MillisecondU16 = SwapU16(TimeControlGetMillisecond(GPSTime)); + RVSSTimeData.SecondCounterU32 = SwapU32(GPSTime->SecondCounterU32); + RVSSTimeData.GPSMillisecondsU64 = SwapU64(GPSTime->GPSMillisecondsU64 + (U64)TimeControlGetMillisecond(GPSTime)); + RVSSTimeData.GPSMinutesU32 = SwapU32(GPSTime->GPSMinutesU32); + RVSSTimeData.GPSWeekU16 = SwapU16(GPSTime->GPSWeekU16); + RVSSTimeData.GPSSecondsOfWeekU32 = SwapU32(GPSTime->GPSSecondsOfWeekU32); + RVSSTimeData.GPSSecondsOfDayU32 = SwapU32(GPSTime->GPSSecondsOfDayU32); + RVSSTimeData.FixQualityU8 = GPSTime->FixQualityU8; + RVSSTimeData.NSatellitesU8 = GPSTime->NSatellitesU8; + + p=(C8 *)&RVSSTimeData; + for(i=0; i> 24); + *(RVSSData+1) = (C8)(MessageLength >> 16); + *(RVSSData+2) = (C8)(MessageLength >> 8); + *(RVSSData+3) = (C8)(MessageLength); + *(RVSSData+7) = (C8)(RVSS_MONR_CHANNEL); + strcat(RVSSData+8, MonrData); + + if(Debug) + { + + } + + return 0; +} + + +I32 SystemControlBuildRVSSAspChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, U8 Debug) +{ + RVSSTimeType RVSSTimeData; + + + + return 0; } diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index b75113e32..bec718899 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -152,7 +152,7 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) GPSTime->GPSWeekU16 = (U16)(GPSTime->GPSMillisecondsU64 / WEEK_TIME_MS); GPSTime->GPSSecondsOfWeekU32 = (U32)((GPSTime->GPSMillisecondsU64 - (U64)(GPSTime->GPSWeekU16) * WEEK_TIME_MS) / 1000); GPSTime->GPSSecondsOfDayU32 = (GPSTime->GPSMillisecondsU64 % DAY_TIME_MS) / 1000; - GPSTime->GPSMinutesU32 = (GPSTime->GPSSecondsOfDayU32 / 60) % 60; + GPSTime->GPSMinutesU32 = (GPSTime->GPSMillisecondsU64 / 1000) / 60; GPSTime->isTimeInitializedU8 = 1; } @@ -213,7 +213,7 @@ int timecontrol_task(TimeType *GPSTime, GSDType *GSD) GPSTime->GPSWeekU16 ++; } else GPSTime->GPSSecondsOfWeekU32 ++; - if(GPSTime->SecondCounterU32 % 60 == 0) GPSTime->GPSMinutesU32 ++; + if(GPSTime->SecondU8 == 0) GPSTime->GPSMinutesU32 ++; } } diff --git a/server/src/util.c b/server/src/util.c index ab4dd843b..a06e55aa1 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -39,6 +39,11 @@ #define FE_WGS84 (1.0/298.257223563) // earth flattening (WGS84) #define RE_WGS84 6378137.0 // earth semimajor axis (WGS84) (m) +#define TEMP_CONF_FILE_PATH "conf/temp.conf" +#define CONF_FILE_PATH "conf/test.conf" +#define SMALL_BUFFER_SIZE_128 128 +#define SMALL_BUFFER_SIZE_64 64 + /*------------------------------------------------------------ -- Public variables ------------------------------------------------------------*/ @@ -2975,3 +2980,85 @@ I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) return 0; } + + +I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) +{ + + I32 RowCount, i; + C8 Parameter[SMALL_BUFFER_SIZE_64]; + C8 Row[SMALL_BUFFER_SIZE_128]; + C8 NewRow[SMALL_BUFFER_SIZE_128]; + FILE *fd, *TempFd; + C8 *ptr1, *ptr2; + U8 ParameterFound = 0; + bzero(Parameter, SMALL_BUFFER_SIZE_64); + + strcat(Parameter, ParameterName); + strcat(Parameter, "="); + + //Remove temporary file + remove(TEMP_CONF_FILE_PATH); + + //Create temporary file + TempFd = fopen (TEMP_CONF_FILE_PATH, "w+"); + + //Open configuration file + fd = fopen (CONF_FILE_PATH, "r"); + + if(fd > 0) + { + RowCount = UtilCountFileRows(fd); + fclose(fd); + fd = fopen (CONF_FILE_PATH, "r"); + + for(i = 0; i < RowCount; i++) + { + bzero(Row, SMALL_BUFFER_SIZE_128); + UtilReadLine(fd, Row); + + ptr1 = strstr(Row, Parameter); + ptr2 = strstr(Row, "//"); + if (ptr2 == NULL) ptr2 = ptr1; //No comment found + if(ptr1 != NULL && (U64)ptr2 >= (U64)ptr1 && ParameterFound == 0) + { + ParameterFound = 1; + bzero(NewRow, SMALL_BUFFER_SIZE_128); + strncpy(NewRow, Row, (U64)ptr1 - (U64)Row + strlen(Parameter)); + strcat(NewRow, NewValue); + if((U64)ptr2 > (U64)ptr1) + { + strcat(NewRow, " "); // Add space + strcat(NewRow, ptr2); // Add the comment + } + + if(Debug) + { + LogMessage(LOG_LEVEL_DEBUG,"Changed parameter: %s", NewRow); + } + + strcat(NewRow, "\n"); + (void)fwrite(NewRow,1,strlen(NewRow),TempFd); + + } + else + { + strcat(Row, "\n"); + (void)fwrite(Row,1,strlen(Row),TempFd); + } + } + fclose(TempFd); + fclose(fd); + + //Remove test.conf + remove(CONF_FILE_PATH); + + //Rename temp.conf to test.conf + rename(TEMP_CONF_FILE_PATH, CONF_FILE_PATH); + + //Remove temporary file + remove(TEMP_CONF_FILE_PATH); + } + + return (I32)ParameterFound; +} diff --git a/server/src/visualization.c b/server/src/visualization.c index d807ede81..a162e1099 100755 --- a/server/src/visualization.c +++ b/server/src/visualization.c @@ -136,7 +136,7 @@ static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) bzero((char *)addr, sizeof(*addr)); bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); - if(!iUtilGetParaConfFile("VisualizationServerName",pcTempBuffer)) + if(!iUtilGetParaConfFile("VisualizationServer",pcTempBuffer)) { strcat(pcTempBuffer,VISUAL_SERVER_NAME); } From b651596aa98971b05d99e2370b1d8285aec40a02 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Mon, 3 Jun 2019 09:52:11 +0200 Subject: [PATCH 110/730] OSEM data is supplied by SystemControl to ObjectControl. --- server/inc/datadictionary.h | 3 ++ server/src/datadictionary.c | 43 +++++++++++++++++++++++++++- server/src/objectcontrol.c | 57 ++++++++++++++++++++++++------------- server/src/systemcontrol.c | 28 +++++++++++------- 4 files changed, 100 insertions(+), 31 deletions(-) diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h index 9598b6fb7..8bd764fc2 100644 --- a/server/inc/datadictionary.h +++ b/server/inc/datadictionary.h @@ -16,14 +16,17 @@ I32 DataDictionaryInitOriginLatitudeDbl(void); I32 DataDictionarySetOriginLatitudeDbl(C8 *Latitude); I32 DataDictionaryGetOriginLatitudeDbl(dbl *Latitude); +I32 DataDictionaryGetOriginLatitudeC8(C8 *Latitude); I32 DataDictionaryInitOriginLongitudeDbl(void); I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude); I32 DataDictionaryGetOriginLongitudeDbl(dbl *Longitude); +I32 DataDictionaryGetOriginLongitudeC8(C8 *Longitude); I32 DataDictionaryInitOriginAltitudeDbl(void); I32 DataDictionarySetOriginAltitudeDbl(C8 *Altitude); I32 DataDictionaryGetOriginAltitudeDbl(dbl *Altitude); +I32 DataDictionaryGetOriginAltitudeC8(C8 *Altitude); I32 DataDictionaryInitVisualizationServerU32(void); I32 DataDictionarySetVisualizationServerU32(C8 *IP); diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 151757a98..eee0cd826 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -40,8 +40,11 @@ // Parameters and variables pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; volatile dbl OriginLatitudeDbl = 0; +C8 OriginLatitudeC8[DD_CONTROL_BUFFER_SIZE_20]; volatile dbl OriginLongitudeDbl = 0; +C8 OriginLongitudeC8[DD_CONTROL_BUFFER_SIZE_20]; volatile dbl OriginAltitudeDbl = 0; +C8 OriginAltitudeC8[DD_CONTROL_BUFFER_SIZE_20]; volatile U32 VisualizationServerU32 = 0; volatile U8 ForceObjectToLocalhostU8 = 0; volatile dbl ASPMaxTimeDiffDbl = 0; @@ -115,6 +118,8 @@ I32 DataDictionaryInitOriginLatitudeDbl(void) Res = READ_OK; pthread_mutex_lock(&mutex); OriginLatitudeDbl = atof(ResultBufferC8); + bzero(OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(OriginLatitudeC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -134,6 +139,8 @@ I32 DataDictionarySetOriginLatitudeDbl(C8 *Latitude) Res = WRITE_OK; pthread_mutex_lock(&mutex); OriginLatitudeDbl = atof(Latitude); + bzero(OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(OriginLatitudeC8, Latitude); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; @@ -146,6 +153,15 @@ I32 DataDictionaryGetOriginLatitudeDbl(dbl *Latitude) pthread_mutex_unlock(&mutex); return (I32) READ_OK; } + +I32 DataDictionaryGetOriginLatitudeC8(C8 *Latitude) +{ + pthread_mutex_lock(&mutex); + strcat(Latitude, OriginLatitudeC8); + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } + /*END of Origin Latitude*/ /*Origin Longitude*/ @@ -158,6 +174,8 @@ I32 DataDictionaryInitOriginLongitudeDbl(void) Res = READ_OK; pthread_mutex_lock(&mutex); OriginLongitudeDbl = atof(ResultBufferC8); + bzero(OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(OriginLongitudeC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -177,6 +195,8 @@ I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude) Res = WRITE_OK; pthread_mutex_lock(&mutex); OriginLongitudeDbl = atof(Longitude); + bzero(OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(OriginLongitudeC8, Longitude); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; @@ -185,7 +205,15 @@ I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude) I32 DataDictionaryGetOriginLongitudeDbl(dbl *Longitude) { pthread_mutex_lock(&mutex); - *Longitude = OriginLatitudeDbl; + *Longitude = OriginLongitudeDbl; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } + +I32 DataDictionaryGetOriginLongitudeC8(C8 *Longitude) +{ + pthread_mutex_lock(&mutex); + strcat(Longitude, OriginLongitudeC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -201,6 +229,8 @@ I32 DataDictionaryInitOriginAltitudeDbl(void) Res = READ_OK; pthread_mutex_lock(&mutex); OriginAltitudeDbl = atof(ResultBufferC8); + bzero(OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(OriginAltitudeC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -220,6 +250,8 @@ I32 DataDictionarySetOriginAltitudeDbl(C8 *Altitude) Res = WRITE_OK; pthread_mutex_lock(&mutex); OriginAltitudeDbl = atof(Altitude); + bzero(OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(OriginAltitudeC8, Altitude); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; @@ -232,6 +264,15 @@ I32 DataDictionaryGetOriginAltitudeDbl(dbl *Altitude) pthread_mutex_unlock(&mutex); return (I32) READ_OK; } + +I32 DataDictionaryGetOriginAltitudeC8(C8 *Altitude) +{ + pthread_mutex_lock(&mutex); + strcat(Altitude, OriginAltitudeC8); + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } + /*END of Origin Altitude*/ /*VisualizationServer*/ diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 30d18ff50..4021aa95a 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -326,7 +326,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) //GSD->OSTMSizeU8 = 0; //GSD->STRTSizeU8 = 0; //GSD->OSEMSizeU8 = 0; - U8 OSEMSentU8 = 0; + //U8 OSEMSentU8 = 0; U8 STRTSentU8 = 0; LogInit(MODULE_NAME,logLevel); @@ -885,7 +885,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) TempFd = fopen (TEMP_LOG_FILE, "w+"); } - OSEMSentU8 = 0; + //OSEMSentU8 = 0; STRTSentU8 = 0; } else if(iCommand == COMM_CONNECT && OBCState == OBC_STATE_INITIALIZED) @@ -899,10 +899,15 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) UtilSetObjectPositionIP(&OP[iIndex], object_address_name[iIndex]); +// MessageLength =ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, GPSTime, +// UtilSearchTextFile(CONF_FILE_PATH, "OrigoLatidude=", "", OriginLatitude), +// UtilSearchTextFile(CONF_FILE_PATH, "OrigoLongitude=", "", OriginLongitude), +// UtilSearchTextFile(CONF_FILE_PATH, "OrigoAltitude=", "", OriginAltitude), +// 0); MessageLength =ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, GPSTime, - UtilSearchTextFile(CONF_FILE_PATH, "OrigoLatidude=", "", OriginLatitude), - UtilSearchTextFile(CONF_FILE_PATH, "OrigoLongitude=", "", OriginLongitude), - UtilSearchTextFile(CONF_FILE_PATH, "OrigoAltitude=", "", OriginAltitude), + OriginLatitude, + OriginLongitude, + OriginAltitude, 0); @@ -963,25 +968,25 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) /* Send OSEM command in mq so that we get some information like GPSweek, origin (latitude,logitude,altitude in gps coordinates)*/ LogMessage(LOG_LEVEL_INFO,"Sending OSEM"); LOG_SEND(LogBuffer, "[ObjectControl] Sending OSEM."); - ObjectControlOSEMtoASCII(&OSEMData, GPSWeek, OriginLatitude, OriginLongitude, OriginAltitude ); - bzero(pcSendBuffer,MQ_MAX_MESSAGE_LENGTH); - strcat(pcSendBuffer,GPSWeek);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,OriginLongitude);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,OriginLatitude);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,OriginAltitude); - - iCommSend(COMM_OSEM,pcSendBuffer); UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fd[iIndex], 0); + //ObjectControlOSEMtoASCII(&OSEMData, GPSWeek, OriginLatitude, OriginLongitude, OriginAltitude ); + //bzero(pcSendBuffer,MQ_MAX_MESSAGE_LENGTH); + //strcat(pcSendBuffer,GPSWeek);strcat(pcSendBuffer,";"); + //strcat(pcSendBuffer,OriginLongitude);strcat(pcSendBuffer,";"); + //strcat(pcSendBuffer,OriginLatitude);strcat(pcSendBuffer,";"); + //strcat(pcSendBuffer,OriginAltitude); + + //iCommSend(COMM_OSEM,pcSendBuffer); //Store OSEM in GSD - if(OSEMSentU8 == 0) - { + //if(OSEMSentU8 == 0) + //{ //for(i = 0; i < MessageLength; i++) GSD->OSEMData[i] = MessageBuffer[i]; //GSD->OSEMSizeU8 = (U8)MessageLength; - OSEMSentU8 = 1; + // OSEMSentU8 = 1; //printf("OSEMSentU8 = %d\n", OSEMSentU8); - } + //} /*Here we send DOTM, if the IP-address not is found*/ @@ -1065,6 +1070,21 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) /*Set server status*/ ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY + if(DisconnectU8 == 0) vSetState(&OBCState, OBC_STATE_CONNECTED); + else if(DisconnectU8 == 1) vSetState(&OBCState, OBC_STATE_IDLE); + } + else if(iCommand == COMM_OSEM) + { + C8 *p = pcRecvBuffer, *pi = pcRecvBuffer; + for(i = 0; i < 3; i ++) + { + p = strstr(pi,";"); + if(i == 0) strncpy(OriginLatitude, pi, p-pi); + else if(i == 1) strncpy(OriginLongitude, pi, p-pi); + else if(i == 2) strncpy(OriginAltitude, pi, p-pi); + pi = p + 1; + } + OriginLatitudeDbl = atof(OriginLatitude); OriginLongitudeDbl = atof(OriginLongitude); OriginAltitudeDbl = atof(OriginAltitude); @@ -1074,9 +1094,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) OriginPosition.Longitude = OriginLongitudeDbl; OriginPosition.Altitude = OriginAltitudeDbl; OriginPosition.Heading = OriginHeadingDbl; - - if(DisconnectU8 == 0) vSetState(&OBCState, OBC_STATE_CONNECTED); - else if(DisconnectU8 == 1) vSetState(&OBCState, OBC_STATE_IDLE); } else if(iCommand == COMM_DISCONNECT) { diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index a6dd4bcc9..5d9efca69 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -119,13 +119,13 @@ typedef enum { typedef enum { Idle_0, GetServerStatus_0, ArmScenario_0, DisarmScenario_0, StartScenario_1, stop_0, AbortScenario_0, InitializeScenario_0, ConnectObject_0, DisconnectObject_0, GetServerParameterList_0, SetServerParameter_2, GetServerParameter_1, DownloadFile_1, UploadFile_3, CheckFileDirectoryExist_1, GetDirectoryContent_1, - DeleteFileDirectory_1, CreateDirectory_1, replay_1, control_0, Exit_0, start_ext_trigg_1, nocommand + DeleteFileDirectory_1, CreateDirectory_1, GetTestOrigin_0, replay_1, control_0, Exit_0, start_ext_trigg_1, nocommand } SystemControlCommand_t; const char* SystemControlCommandsArr[] = { "Idle_0", "GetServerStatus_0", "ArmScenario_0", "DisarmScenario_0", "StartScenario_1", "stop_0", "AbortScenario_0", "InitializeScenario_0", "ConnectObject_0", "DisconnectObject_0", "GetServerParameterList_0", "SetServerParameter_2", "GetServerParameter_1", "DownloadFile_1", "UploadFile_3", "CheckFileDirectoryExist_1", "GetDirectoryContent_1", - "DeleteFileDirectory_1", "CreateDirectory_1", "replay_1", "control_0", "Exit_0", "start_ext_trigg_1" + "DeleteFileDirectory_1", "CreateDirectory_1", "GetTestOrigin_0" ,"replay_1", "control_0", "Exit_0", "start_ext_trigg_1" }; const char* SystemControlStatesArr[] = { "UNDEFINED", "INITIALIZED", "IDLE", "READY", "RUNNING", "INWORK", "ERROR"}; @@ -492,13 +492,22 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) ControlResponseBuffer[1] = OBCStateU8; LogMessage(LOG_LEVEL_DEBUG,"GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); // GPSTime just ticks from 0 up shouldent it be in the global GPStime? SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetServerStatus:", ControlResponseBuffer, 2, &ClientSocket, 0); - break; + break; case GetServerParameterList_0: SystemControlCommand = Idle_0; bzero(ParameterListC8, SYSTEM_CONTROL_SERVER_PARAMETER_LIST_SIZE); SystemControlReadServerParameterList(ParameterListC8, 0); SystemControlSendControlResponse(strlen(ParameterListC8) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetServerParameterList:", ParameterListC8, strlen(ParameterListC8), &ClientSocket, 0); - break; + break; + case GetTestOrigin_0: + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + DataDictionaryGetOriginLatitudeC8(ControlResponseBuffer);strcat(ControlResponseBuffer,";"); + DataDictionaryGetOriginLongitudeC8(ControlResponseBuffer);strcat(ControlResponseBuffer,";"); + DataDictionaryGetOriginAltitudeC8(ControlResponseBuffer);strcat(ControlResponseBuffer,";"); + iCommSend(COMM_OSEM,ControlResponseBuffer); + SystemControlSendControlResponse(strlen(ParameterListC8) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetTestOrigin:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); + break; case GetServerParameter_1: if(CurrentInputArgCount == CommandArgCount) { @@ -507,7 +516,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) SystemControlGetServerParameter(SystemControlArgument[0], ControlResponseBuffer, 0); SystemControlSendControlResponse(strlen(ControlResponseBuffer) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetServerParameter:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in GetServerParameter(Name)!"); SystemControlCommand = Idle_0;} - break; + break; case SetServerParameter_2: if(CurrentInputArgCount == CommandArgCount) { @@ -517,7 +526,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SetServerParameter:", ControlResponseBuffer, 0, &ClientSocket, 0); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in SetServerParameter(Name, Value)!"); SystemControlCommand = Idle_0;} - break; + break; case CheckFileDirectoryExist_1: if(CurrentInputArgCount == CommandArgCount) { @@ -869,12 +878,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) if(USE_LOCAL_USER_CONTROL == 0) { close(ServerHandle); ServerHandle = -1;} LogMessage(LOG_LEVEL_INFO,"Server closing"); - break; + break; default: - - - break; + DataDictionaryConstructor(); + break; } From d645f8c202dfec4fe7745614cc8641c93dbc9b62 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 09:34:29 +0200 Subject: [PATCH 111/730] Added fixed polygons and TODOs --- server/src/supervision.c | 28 +++++++++++++++++++++++++++- 1 file changed, 27 insertions(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index b1299c7e2..c1860457e 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -53,6 +53,12 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + const int nPts = 4; + double poly1PtsX[nPts] = {-5, 15, 15, -5}; + double poly1PtsY[nPts] = {-10, -10, 10, 10}; + double poly2PtsX[nPts] = {-15, 5, 5, -15}; + double poly2PtsY[nPts] = {-10, -10, 10, 10}; + enum COMMAND command; (void)iCommInit(); @@ -66,11 +72,31 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if(command == COMM_EXIT) + if (command == COMM_ABORT) + { + // TODO: + } + + if (command == COMM_EXIT) { iExit = 1; LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); (void)iCommClose(); } + + switch (command) + { + case COMM_INIT: + // TODO: Read geofence file for each object and populate data structure + break; + case COMM_MONI: + // TODO: Check so that point lies outside all forbidden polygons + // TODO: Check so that point lies within all permitted polygons + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %d", command); + } } } From 5e657a135a106443218886a28370dffb2c57fd7d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 09:34:49 +0200 Subject: [PATCH 112/730] Tracking latest util --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 0a104bd70..9dd1d849a 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 0a104bd70031defc96d692b35b63446ae3d77953 +Subproject commit 9dd1d849a6311fa1bdb4f66e0b91e4113b1c33e7 From 1126e61ba2d1d9367341e9e7aab4e21295504e08 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 09:38:04 +0200 Subject: [PATCH 113/730] Added new command number to allowed MQ commands --- server/inc/util.h | 1 + 1 file changed, 1 insertion(+) diff --git a/server/inc/util.h b/server/inc/util.h index 7c5c83a10..7adea8af8 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -278,6 +278,7 @@ COMM_TRAJ_TOSUP = 17, COMM_TRAJ_FROMSUP = 18, COMM_ASP = 19, COMM_OSEM = 20, +COMM_MONR = 239, COMM_INV = 255 }; From ed7bcd5ea275a66ad48337fca3e87fcb89ba0632 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 09:42:57 +0200 Subject: [PATCH 114/730] Added message prio for new monr message, added handling in icommsend switch statement --- server/src/util.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/server/src/util.c b/server/src/util.c index 32944fc7e..6fb474e5f 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -42,6 +42,7 @@ #define PRIO_COMM_ARMD 110 #define PRIO_COMM_STOP 120 #define PRIO_COMM_MONI 80 +#define PRIO_COMM_MONR 80 #define PRIO_COMM_EXIT 140 #define PRIO_COMM_REPLAY 160 #define PRIO_COMM_CONTROL 180 @@ -1872,6 +1873,9 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData) uiMessagePrio = PRIO_COMM_MONI; cpMessage[0] = (char)COMM_MONI; break; + case COMM_MONR: + uiMessagePrio = PRIO_COMM_MONR; + cpMessage[0] = (char)COMM_MONR; case COMM_EXIT: uiMessagePrio = PRIO_COMM_EXIT; cpMessage[0] = (char)COMM_EXIT; From 736520b0d1d388cec140eb327c47421576d6affb Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 09:44:32 +0200 Subject: [PATCH 115/730] Removed some junk --- server/src/util.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index 6fb474e5f..44cbcd48d 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1839,7 +1839,6 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData) { unsigned int uiMessagePrio = 0; char cpMessage[MQ_MSG_SIZE]; - char hej = 0; unsigned long dataLength = 0; enum MQBUS_ERROR sendResult; From 50de77fcf3144110d979b4301c133242565d0951 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 10:01:46 +0200 Subject: [PATCH 116/730] Moved iCommand char writing to array to a better location --- server/src/util.c | 27 ++++++--------------------- 1 file changed, 6 insertions(+), 21 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 44cbcd48d..65335ca8f 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1858,91 +1858,76 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData) { case COMM_STRT: uiMessagePrio = PRIO_COMM_STRT; - cpMessage[0] = (char)COMM_STRT; break; case COMM_ARMD: uiMessagePrio = PRIO_COMM_ARMD; - cpMessage[0] = (char)COMM_ARMD; break; case COMM_STOP: uiMessagePrio = PRIO_COMM_STOP; - cpMessage[0] = (char)COMM_STOP; break; case COMM_MONI: uiMessagePrio = PRIO_COMM_MONI; - cpMessage[0] = (char)COMM_MONI; break; case COMM_MONR: uiMessagePrio = PRIO_COMM_MONR; - cpMessage[0] = (char)COMM_MONR; + break; case COMM_EXIT: uiMessagePrio = PRIO_COMM_EXIT; - cpMessage[0] = (char)COMM_EXIT; break; case COMM_REPLAY: uiMessagePrio = PRIO_COMM_REPLAY; - cpMessage[0] = (char)COMM_REPLAY; break; case COMM_CONTROL: uiMessagePrio = PRIO_COMM_CONTROL; - cpMessage[0] = (char)COMM_CONTROL; break; case COMM_ABORT: uiMessagePrio = PRIO_COMM_ABORT; - cpMessage[0] = (char)COMM_ABORT; break; case COMM_TOM: uiMessagePrio = PRIO_COMM_TOM; - cpMessage[0] = (char)COMM_TOM; break; case COMM_INIT: uiMessagePrio = PRIO_COMM_INIT; - cpMessage[0] = (char)COMM_INIT; break; case COMM_CONNECT: uiMessagePrio = PRIO_COMM_CONNECT; - cpMessage[0] = (char)COMM_CONNECT; break; case COMM_OBC_STATE: uiMessagePrio = PRIO_COMM_OBC_STATE; - cpMessage[0] = (char)COMM_OBC_STATE; break; case COMM_DISCONNECT: uiMessagePrio = PRIO_COMM_DISCONNECT; - cpMessage[0] = (char)COMM_DISCONNECT; break; case COMM_LOG: uiMessagePrio = PRIO_COMM_LOG; - cpMessage[0] = (char)COMM_LOG; break; case COMM_OSEM: uiMessagePrio = PRIO_COMM_OSEM; - cpMessage[0] = (char)COMM_OSEM; break; case COMM_VIOP: uiMessagePrio = PRIO_COMM_VIOP; - cpMessage[0] = (char)COMM_VIOP; break; case COMM_TRAJ: uiMessagePrio = PRIO_COMM_TRAJ; - cpMessage[0] = (char)COMM_TRAJ; break; case COMM_ASP: uiMessagePrio = PRIO_COMM_ASP; - cpMessage[0] = (char)COMM_ASP; break; case COMM_TRAJ_TOSUP: uiMessagePrio = PRIO_COMM_TRAJ_TOSUP; - cpMessage[0] = (char)COMM_TRAJ_TOSUP; break; case COMM_TRAJ_FROMSUP: uiMessagePrio = PRIO_COMM_TRAJ_FROMSUP; - cpMessage[0] = (char)COMM_TRAJ_FROMSUP; break; default: util_error("Unknown command"); } + cpMessage[0] = (char)iCommand; + + memcpy(cpMessage + sizeof(char), &dataLength, sizeof(dataLength)); + + // Append message to command if(cpData != NULL) { From d08eba762620a762f07128d03593940f8abaf467 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 10:07:00 +0200 Subject: [PATCH 117/730] Added data length to iCommSend call --- server/inc/util.h | 2 +- server/src/util.c | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 7adea8af8..d0e06eb7f 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -734,7 +734,7 @@ int iUtilGetIntParaConfFile(char* pcParameter, int* iValue); int iCommInit(void); int iCommClose(); ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, struct timeval *timeRecv); -int iCommSend(const enum COMMAND iCommand, const char* data); +int iCommSend(const enum COMMAND iCommand, const char* data, unsigned long dataLength); char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); diff --git a/server/src/util.c b/server/src/util.c index 65335ca8f..f91a7ae2a 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1833,13 +1833,13 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, stru * \brief iCommSend Sends a command over the message bus * \param iCommand Command number * \param cpData Command data + * \param dataLength Length of command data array * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error */ -int iCommSend(const enum COMMAND iCommand, const char* cpData) +int iCommSend(const enum COMMAND iCommand, const char* cpData, unsigned long dataLength) { unsigned int uiMessagePrio = 0; char cpMessage[MQ_MSG_SIZE]; - unsigned long dataLength = 0; enum MQBUS_ERROR sendResult; if (cpData != NULL) @@ -1931,7 +1931,7 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData) // Append message to command if(cpData != NULL) { - (void)strncat(&cpMessage[1], cpData, strlen(cpData)); + (void)strncat(&cpMessage[sizeof(char)+sizeof(dataLength)], cpData, strlen(cpData)); } // Send message From 3189c2316de5d279c26459ac57f9b853ec6f6fdc Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 10:12:23 +0200 Subject: [PATCH 118/730] Modified dataLength to be of size_t --- server/inc/util.h | 2 +- server/src/util.c | 9 +++------ 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index d0e06eb7f..646a0a5dc 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -734,7 +734,7 @@ int iUtilGetIntParaConfFile(char* pcParameter, int* iValue); int iCommInit(void); int iCommClose(); ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, struct timeval *timeRecv); -int iCommSend(const enum COMMAND iCommand, const char* data, unsigned long dataLength); +int iCommSend(const enum COMMAND iCommand, const char* data, size_t dataLength); char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); diff --git a/server/src/util.c b/server/src/util.c index f91a7ae2a..23333ad1c 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1836,15 +1836,12 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, stru * \param dataLength Length of command data array * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error */ -int iCommSend(const enum COMMAND iCommand, const char* cpData, unsigned long dataLength) +int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength) { unsigned int uiMessagePrio = 0; char cpMessage[MQ_MSG_SIZE]; enum MQBUS_ERROR sendResult; - if (cpData != NULL) - dataLength = strlen(cpData); - if (dataLength > MQ_MSG_SIZE+1) { LogMessage(LOG_LEVEL_ERROR, "Cannot send message %d of size %lu: maximum size is %lu", iCommand, dataLength+1, MQ_MSG_SIZE); @@ -1929,9 +1926,9 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, unsigned long dat // Append message to command - if(cpData != NULL) + if(dataLength != 0) { - (void)strncat(&cpMessage[sizeof(char)+sizeof(dataLength)], cpData, strlen(cpData)); + memcpy(cpMessage + sizeof(char) + sizeof(dataLength), cpData, dataLength); } // Send message From 5103f34cb813ecb67c688b58beb38de93f27a41a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 10:23:20 +0200 Subject: [PATCH 119/730] Modified strlen and strcpy to not use string operations --- server/src/util.c | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 23333ad1c..c0f708ba2 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1842,12 +1842,19 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength char cpMessage[MQ_MSG_SIZE]; enum MQBUS_ERROR sendResult; - if (dataLength > MQ_MSG_SIZE+1) + if (dataLength + sizeof (char) + sizeof(dataLength) > MQ_MSG_SIZE) { LogMessage(LOG_LEVEL_ERROR, "Cannot send message %d of size %lu: maximum size is %lu", iCommand, dataLength+1, MQ_MSG_SIZE); return -1; } + // Force array and its length to be coupled + if (cpData == NULL || dataLength == 0) + { + cpData = NULL; + dataLength = 0; + } + bzero(cpMessage, MQ_MSG_SIZE); // Map command to a priority @@ -1922,17 +1929,15 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength cpMessage[0] = (char)iCommand; + // Append data length to command data memcpy(cpMessage + sizeof(char), &dataLength, sizeof(dataLength)); - - // Append message to command + // Append message to command data if(dataLength != 0) - { memcpy(cpMessage + sizeof(char) + sizeof(dataLength), cpData, dataLength); - } // Send message - sendResult = MQBusSend(cpMessage, strlen(cpMessage), uiMessagePrio); + sendResult = MQBusSend(cpMessage, dataLength + sizeof(char) + sizeof(dataLength), uiMessagePrio); // Check for send success switch (sendResult) From f9db85f931197015e48612cf72e46b633ca4af15 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 10:37:37 +0200 Subject: [PATCH 120/730] Added handling of too short MQ messages in icommrecv --- server/src/util.c | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index c0f708ba2..bedab42a0 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1795,7 +1795,7 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, stru { char message[MQ_MSG_SIZE]; ssize_t result = MQBusRecv(message, MQ_MSG_SIZE); - + size_t dataLength = 0; if (result < 1 && errno != EAGAIN) util_error("Message queue error when receiving"); @@ -1806,9 +1806,9 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, stru TimeSetToCurrentSystemTime(timeRecv); } - if (result > 0) + if ( result >= (ssize_t)(sizeof (char)+sizeof(dataLength)) ) { - // A message was received: extract the command and data + // A message was received: extract the command, data length and data *command = message[0]; if((strlen(message) > 1) && (data != NULL)) { @@ -1820,6 +1820,13 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, stru strncat(data, &message[1], (unsigned long)result); } } + else if (result > 0) + { + // Message length was not long enough to hold message length + LogMessage(LOG_LEVEL_ERROR, "Received message bus message with incorrect format"); + *command = COMM_INV; + result = -1; + } else { // Result was less than 0, and errno is EAGAIN meaning no data was received From 6b50bf0e4adcdd30053e69adf2bcfc7e926973ab Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 10:47:16 +0200 Subject: [PATCH 121/730] Included header in message length --- server/src/util.c | 27 +++++++++++++++++---------- 1 file changed, 17 insertions(+), 10 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index bedab42a0..0397839a6 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1810,6 +1810,7 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, stru { // A message was received: extract the command, data length and data *command = message[0]; + memcpy(&dataLength, message + sizeof(char), sizeof(dataLength)); if((strlen(message) > 1) && (data != NULL)) { if(messageSize < result ) @@ -1848,12 +1849,7 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength unsigned int uiMessagePrio = 0; char cpMessage[MQ_MSG_SIZE]; enum MQBUS_ERROR sendResult; - - if (dataLength + sizeof (char) + sizeof(dataLength) > MQ_MSG_SIZE) - { - LogMessage(LOG_LEVEL_ERROR, "Cannot send message %d of size %lu: maximum size is %lu", iCommand, dataLength+1, MQ_MSG_SIZE); - return -1; - } + const size_t headerSize = sizeof(char) + sizeof(dataLength); // Force array and its length to be coupled if (cpData == NULL || dataLength == 0) @@ -1862,6 +1858,17 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength dataLength = 0; } + // Include header in data length + dataLength += headerSize; + + // Check if message is too large to send + if (dataLength > MQ_MSG_SIZE) + { + LogMessage(LOG_LEVEL_ERROR, "Cannot send message %d of size %lu: maximum size is %lu", iCommand, dataLength+1, MQ_MSG_SIZE); + return -1; + } + + // Clear send array bzero(cpMessage, MQ_MSG_SIZE); // Map command to a priority @@ -1936,15 +1943,15 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength cpMessage[0] = (char)iCommand; - // Append data length to command data + // Append message length to command data memcpy(cpMessage + sizeof(char), &dataLength, sizeof(dataLength)); // Append message to command data - if(dataLength != 0) - memcpy(cpMessage + sizeof(char) + sizeof(dataLength), cpData, dataLength); + if(dataLength > headerSize) + memcpy(cpMessage + headerSize, cpData, dataLength-headerSize); // Send message - sendResult = MQBusSend(cpMessage, dataLength + sizeof(char) + sizeof(dataLength), uiMessagePrio); + sendResult = MQBusSend(cpMessage, dataLength, uiMessagePrio); // Check for send success switch (sendResult) From b02d47a2ff7ea7e175a6c3c929f93dcea5d66a7a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 12:44:44 +0200 Subject: [PATCH 122/730] Modified iCommRecv to use MQ bus protocol, modified OC and util to use correct call to iCommSend --- server/inc/util.h | 4 ++-- server/src/objectcontrol.c | 6 +++--- server/src/util.c | 21 +++++++++++++++------ 3 files changed, 20 insertions(+), 11 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 646a0a5dc..2702c58f7 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -224,7 +224,7 @@ // The do - while loop makes sure that each function call is properly handled using macros #define LOG_SEND(buf, ...) \ - do {sprintf(buf,__VA_ARGS__);iCommSend(COMM_LOG,buf);printf("%s\n",buf);fflush(stdout);} while (0) + do {sprintf(buf,__VA_ARGS__);iCommSend(COMM_LOG,buf,strlen(buf)+1);LogPrint("%s",buf);fflush(stdout);} while (0) #define GetCurrentDir getcwd #define MAX_PATH_LENGTH 255 @@ -733,7 +733,7 @@ int iUtilGetIntParaConfFile(char* pcParameter, int* iValue); int iCommInit(void); int iCommClose(); -ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, struct timeval *timeRecv); +ssize_t iCommRecv(enum COMMAND *command, char* data, const size_t messageSize, struct timeval *timeRecv); int iCommSend(const enum COMMAND iCommand, const char* data, size_t dataLength); char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index b0f141ae8..45ec6afd9 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -451,7 +451,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) strcat(pcSendBuffer,TriggId);strcat(pcSendBuffer,";"); strcat(pcSendBuffer,TriggAction);strcat(pcSendBuffer,";"); strcat(pcSendBuffer,TriggDelay);strcat(pcSendBuffer,";"); - if(iCommSend(COMM_TOM, pcSendBuffer) < 0) + if(iCommSend(COMM_TOM, pcSendBuffer, strlen(pcSendBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending TOM command - entering error state"); vSetState(&OBCState, OBC_STATE_ERROR); @@ -991,7 +991,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) strcat(pcSendBuffer,OriginLatitude);strcat(pcSendBuffer,";"); strcat(pcSendBuffer,OriginAltitude); - if(iCommSend(COMM_OSEM,pcSendBuffer) < 0) + if(iCommSend(COMM_OSEM,pcSendBuffer,strlen(pcSendBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OSEM command - entering error state"); vSetState(&OBCState,OBC_STATE_ERROR); @@ -1147,7 +1147,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(Buffer2, SMALL_BUFFER_SIZE_1); Buffer2[0] = OBCState; //LogPrint("Sending: %d (%s or %u)",OBCState,Buffer2, Buffer2[0]); - if(iCommSend(COMM_OBC_STATE,Buffer2) < 0) + if(iCommSend(COMM_OBC_STATE,Buffer2,SMALL_BUFFER_SIZE_1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state"); vSetState(&OBCState,OBC_STATE_ERROR); diff --git a/server/src/util.c b/server/src/util.c index 0397839a6..c4d307414 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1791,11 +1791,12 @@ int iCommClose() * \param timeRecv Receive time output variable * \return Size (in bytes) of received data */ -ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, struct timeval *timeRecv) +ssize_t iCommRecv(enum COMMAND *command, char* data, const size_t messageSize, struct timeval *timeRecv) { char message[MQ_MSG_SIZE]; ssize_t result = MQBusRecv(message, MQ_MSG_SIZE); size_t dataLength = 0; + const size_t headerSize = sizeof(char) + sizeof(dataLength); if (result < 1 && errno != EAGAIN) util_error("Message queue error when receiving"); @@ -1811,14 +1812,22 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const int messageSize, stru // A message was received: extract the command, data length and data *command = message[0]; memcpy(&dataLength, message + sizeof(char), sizeof(dataLength)); - if((strlen(message) > 1) && (data != NULL)) + + if (dataLength != (size_t)(result) ) + { + LogMessage(LOG_LEVEL_ERROR, "Received message with invalid length specification of %d (expected %d)", dataLength, result); + *command = COMM_INV; + return 0; + } + else if ( dataLength > headerSize && data != NULL ) { - if(messageSize < result ) + if(messageSize < dataLength-headerSize ) { - LogMessage(LOG_LEVEL_WARNING, "Array too small to hold received message data"); - result = messageSize; + LogMessage(LOG_LEVEL_ERROR, "Array too small to hold received message data"); + *command = COMM_INV; + return 0; } - strncat(data, &message[1], (unsigned long)result); + memcpy(data, message+headerSize, dataLength-headerSize); } } else if (result > 0) From b4b2d1cf535391d0734c4c1aa37debeadc4458b9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 12:45:48 +0200 Subject: [PATCH 123/730] Re-added printf --- server/inc/util.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 2702c58f7..f85c1d1d3 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -224,7 +224,7 @@ // The do - while loop makes sure that each function call is properly handled using macros #define LOG_SEND(buf, ...) \ - do {sprintf(buf,__VA_ARGS__);iCommSend(COMM_LOG,buf,strlen(buf)+1);LogPrint("%s",buf);fflush(stdout);} while (0) + do {sprintf(buf,__VA_ARGS__);iCommSend(COMM_LOG,buf,strlen(buf)+1);printf("%s\n",buf);fflush(stdout);} while (0) #define GetCurrentDir getcwd #define MAX_PATH_LENGTH 255 From 1369fdbc6a54336c2cb5464be1527e3a6a0eac42 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 12:53:04 +0200 Subject: [PATCH 124/730] Modified iCommSend calls in systemcontrol --- server/src/systemcontrol.c | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index a7ec5d1f5..6ca7b7eaf 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -292,7 +292,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { if (server_state == SERVER_STATE_ERROR) { - iCommSend(COMM_ABORT, NULL); + iCommSend(COMM_ABORT, NULL, 0); continue; } @@ -336,7 +336,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_ERROR,"Failed to receive from command socket"); LogMessage(LOG_LEVEL_ERROR,"Waiting 5 seconds before exiting"); usleep(5000000); //Wait 5 sec before sending exit, just so ObjectControl can send abort in HEAB before exit - if(iCommSend(COMM_EXIT,NULL) < 0) + if(iCommSend(COMM_EXIT, NULL, 0) < 0) util_error("Fatal communication fault when sending EXIT command"); LogMessage(LOG_LEVEL_ERROR,"System control exiting"); exit(EXIT_FAILURE); @@ -736,7 +736,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case InitializeScenario_0: if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "IDLE") != NULL) { - if (iCommSend(COMM_INIT, pcBuffer) < 0) + if (iCommSend(COMM_INIT, pcBuffer, strlen(pcBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending INIT command"); server_state = SERVER_STATE_ERROR; @@ -763,7 +763,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case ConnectObject_0: if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "INITIALIZED") != NULL) { - if (iCommSend(COMM_CONNECT, pcBuffer) < 0) + if (iCommSend(COMM_CONNECT, pcBuffer, strlen(pcBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending CONNECT command"); server_state = SERVER_STATE_ERROR; @@ -790,7 +790,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case DisconnectObject_0: if(server_state == SERVER_STATE_IDLE) { - if (iCommSend(COMM_DISCONNECT, pcBuffer) < 0) + if (iCommSend(COMM_DISCONNECT, pcBuffer, strlen(pcBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending DISCONNECT command"); server_state = SERVER_STATE_ERROR; @@ -813,7 +813,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(pcBuffer, IPC_BUFFER_SIZE); server_state = SERVER_STATE_INWORK; pcBuffer[0] = OSTM_OPT_SET_ARMED_STATE; - if (iCommSend(COMM_ARMD, pcBuffer) < 0) + if (iCommSend(COMM_ARMD, pcBuffer, strlen(pcBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ARMD command"); server_state = SERVER_STATE_ERROR; @@ -824,7 +824,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else if(server_state == SERVER_STATE_INWORK && strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL) { - SystemControlSendLog("[SystemControl] Simulate that all objects becomes armed.\n", &ClientSocket, 0); + SystemControlSendLog("[SystemControl] Simulate that all objects become armed.\n", &ClientSocket, 0); SystemControlCommand = Idle_0; server_state = SERVER_STATE_IDLE; @@ -842,7 +842,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(pcBuffer, IPC_BUFFER_SIZE); server_state = SERVER_STATE_IDLE; pcBuffer[0] = OSTM_OPT_SET_DISARMED_STATE; - if (iCommSend(COMM_ARMD, pcBuffer) < 0) + if (iCommSend(COMM_ARMD, pcBuffer, strlen(pcBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ARMD command"); server_state = SERVER_STATE_ERROR; @@ -891,7 +891,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) sprintf ( pcBuffer,"%" PRIu8 ";%" PRIu64 ";%" PRIu32 ";", 0, uiTime, DelayedStartU32); LogMessage(LOG_LEVEL_INFO,"Sending START <%s> (delayed +%s ms)",pcBuffer, SystemControlArgument[1]); - if (iCommSend(COMM_STRT, pcBuffer) < 0) + if (iCommSend(COMM_STRT, pcBuffer, strlen(pcBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending STRT command"); server_state = SERVER_STATE_ERROR; @@ -942,7 +942,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else CurrentCommandArgCounter ++; break;*/ case stop_0: - if (iCommSend(COMM_STOP, NULL) < 0) + if (iCommSend(COMM_STOP, NULL, 0) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending STOP command"); server_state = SERVER_STATE_ERROR; @@ -960,7 +960,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /* || strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL * || strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL*/ ) // Abort should only be allowed in running state { - if (iCommSend(COMM_ABORT, NULL) < 0) + if (iCommSend(COMM_ABORT, NULL, 0) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ABORT command"); server_state = SERVER_STATE_ERROR; @@ -1017,7 +1017,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) CurrentCommandArgCounter = 0; break;*/ case Exit_0: - if (iCommSend(COMM_EXIT, NULL) < 0) + if (iCommSend(COMM_EXIT, NULL, 0) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending EXIT command"); server_state = SERVER_STATE_ERROR; From 851ac5f443b75327507d6256c6e2e535d9926576 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 12:55:18 +0200 Subject: [PATCH 125/730] Modified iCommSend calls in logger --- server/src/logger.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index f60393830..aeea86357 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -282,7 +282,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(busSendBuffer, sizeof(busSendBuffer)); //strcpy(busSendBuffer, "MONR;"); strcat(busSendBuffer, src+1); - if(iCommSend(COMM_MONI, busSendBuffer) < 0) + if(iCommSend(COMM_MONI, busSendBuffer, strlen(busSendBuffer)+1) < 0) util_error("Communication error - exiting"); FirstIteration = 0; @@ -310,7 +310,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_INFO,"Replay done"); - if(iCommSend(COMM_CONTROL, NULL) < 0) + if(iCommSend(COMM_CONTROL, NULL, 0) < 0) util_error("Communication error - exiting"); break; From f2bb9a72334cc1f2341d989a6bb8681165d92f48 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 12:56:07 +0200 Subject: [PATCH 126/730] Modified iCommSend calls in objectcontrol --- server/src/objectcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 45ec6afd9..6b1a28a01 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -502,7 +502,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { - if(iCommSend(COMM_MONI,buffer) < 0) + if(iCommSend(COMM_MONI,buffer,strlen(buffer)) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONI command - entering error state"); vSetState(&OBCState,OBC_STATE_ERROR); From 85808ebefa1b93d7e91becdd40bb9b5af1aa1706 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 13:52:06 +0200 Subject: [PATCH 127/730] Half-baked new function for decoding raw MONR message --- server/inc/util.h | 2 + server/src/objectcontrol.c | 9 ++++ server/src/util.c | 107 +++++++++++++++++++++++++++++++++++++ 3 files changed, 118 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index f85c1d1d3..65374ed32 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -800,6 +800,8 @@ I32 UtilISOBuildTRAJMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *H I32 UtilISOBuildTRAJMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); I32 UtilISOBuildTRAJInfo(C8* MessageBuffer, TRAJInfoType *TRAJInfoData, U8 debug); +I32 UtilPopulateMONRStruct(C8* rawMONR, MONRType *MONR, U8 debug); + typedef struct { uint64_t timestamp; int32_t latitude; diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 6b1a28a01..593ffc646 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -502,12 +502,21 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { + // Send MONR message on old (ASCII) format if(iCommSend(COMM_MONI,buffer,strlen(buffer)) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONI command - entering error state"); vSetState(&OBCState,OBC_STATE_ERROR); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } + + // Send MONR message on new byte format + if(iCommSend(COMM_MONR,0,0) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONR command - entering error state"); + vSetState(&OBCState,OBC_STATE_ERROR); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } } diff --git a/server/src/util.c b/server/src/util.c index c4d307414..acdb9d124 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2981,3 +2981,110 @@ I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) return 0; } + + + +I32 UtilPopulateMONRStruct(C8* rawMONR, MONRType *MONR, U8 debug) +{ + U16 Crc = 0, U16Data = 0; + I16 I16Data = 0; + U32 U32Data = 0; + I32 I32Data = 0; + U64 U64Data = 0; + C8 *rdPtr = rawMONR; + + memcpy(&U16Data, rdPtr, sizeof(U16Data)); + MONR->Header.SyncWordU16 = U16Data; + rdPtr += sizeof(U16Data); + + MONR->Header.TransmitterIdU8 = *(rdPtr++); + MONR->Header.MessageCounterU8 = *(rdPtr++); + MONR->Header.AckReqProtVerU8 = *(rdPtr++); + + U16Data = 0; + memcpy(&U16Data, rdPtr, sizeof(U16Data)); + rdPtr += sizeof (U16Data) + U16Data = (U16Data | *(rawMONR+6)) << 8; + U16Data = U16Data | *(rawMONR+5); + MONR->Header.MessageIdU16 = U16Data; + + U32Data = (U32Data | *(rawMONR+10)) << 8; + U32Data = (U32Data | *(rawMONR+9)) << 8; + U32Data = (U32Data | *(rawMONR+8)) << 8; + U32Data = U32Data | *(rawMONR+7); + MONR->Header.MessageLengthU32 = U32Data; + + U32Data = 0; + U32Data = (U32Data | *(rawMONR+14)) << 8; + U32Data = (U32Data | *(rawMONR+13)) << 8; + U32Data = (U32Data | *(rawMONR+12)) << 8; + U32Data = U32Data | *(rawMONR+11); + MONR->GPSSOWU32 = U32Data; + + I32Data = 0; + I32Data = (I32Data | *(rawMONR+18)) << 8; + I32Data = (I32Data | *(rawMONR+17)) << 8; + I32Data = (I32Data | *(rawMONR+16)) << 8; + I32Data = I32Data | *(rawMONR+15); + MONR->XPositionI32 = I32Data; + + + I32Data = 0; + I32Data = (I32Data | *(rawMONR+22)) << 8; + I32Data = (I32Data | *(rawMONR+21)) << 8; + I32Data = (I32Data | *(rawMONR+20)) << 8; + I32Data = I32Data | *(rawMONR+19); + MONR->YPositionI32 = I32Data; + + + I32Data = 0; + I32Data = (I32Data | *(rawMONR+26)) << 8; + I32Data = (I32Data | *(rawMONR+25)) << 8; + I32Data = (I32Data | *(rawMONR+24)) << 8; + I32Data = I32Data | *(rawMONR+23); + MONR->ZPositionI32 = I32Data; + + U16Data = 0; + U16Data = (U16Data | *(rawMONR+28)) << 8; + U16Data = U16Data | *(rawMONR+27); + MONR->HeadingU16 = U16Data; + + I16Data = 0; + I16Data = (I16Data | *(rawMONR+30)) << 8; + I16Data = I16Data | *(rawMONR+29); + MONR->LongitudinalSpeedI16 = I16Data; + + I16Data = 0; + I16Data = (I16Data | *(rawMONR+32)) << 8; + I16Data = I16Data | *(rawMONR+31); + MONR->LateralSpeedI16 = I16Data; + + I16Data = 0; + I16Data = (I16Data | *(rawMONR+34)) << 8; + I16Data = I16Data | *(rawMONR+33); + MONR->LongitudinalAccI16 = I16Data; + + I16Data = 0; + I16Data = (I16Data | *(rawMONR+36)) << 8; + I16Data = I16Data | *(rawMONR+35); + MONR->LateralAccI16 = I16Data; + + MONR->DriveDirectionU8 = *(rawMONR+37); + MONR->StateU8 = *(rawMONR+38); + MONR->ReadyToArmU8 = *(rawMONR+39); + MONR->ErrorStatusU8 = *(rawMONR+40); + + + + if(debug == 1) + { + LogMessage(LOG_LEVEL_DEBUG,"MONR:"); + LogMessage(LOG_LEVEL_DEBUG,"SyncWord = %d", MONR->Header.SyncWordU16); + LogMessage(LOG_LEVEL_DEBUG,"TransmitterId = %d", MONR->Header.TransmitterIdU8); + LogMessage(LOG_LEVEL_DEBUG,"PackageCounter = %d", MONR->Header.MessageCounterU8); + LogMessage(LOG_LEVEL_DEBUG,"AckReq = %d", MONR->Header.AckReqProtVerU8); + LogMessage(LOG_LEVEL_DEBUG,"MessageLength = %d", MONR->Header.MessageLengthU32); + } + + return 0; +} From 846ba80dd134dcafd60789e72a7cfa5ac9f4e76c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 14:10:14 +0200 Subject: [PATCH 128/730] Util function for decoding raw MONR data finished --- server/src/objectcontrol.c | 13 ++--- server/src/util.c | 103 ++++++++++++++++--------------------- 2 files changed, 52 insertions(+), 64 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 593ffc646..857594f88 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1464,12 +1464,13 @@ I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug) if(debug == 1) { - LogMessage(LOG_LEVEL_DEBUG,"MONR:"); - LogMessage(LOG_LEVEL_DEBUG,"SyncWord = %d", MONRData->Header.SyncWordU16); - LogMessage(LOG_LEVEL_DEBUG,"TransmitterId = %d", MONRData->Header.TransmitterIdU8); - LogMessage(LOG_LEVEL_DEBUG,"PackageCounter = %d", MONRData->Header.MessageCounterU8); - LogMessage(LOG_LEVEL_DEBUG,"AckReq = %d", MONRData->Header.AckReqProtVerU8); - LogMessage(LOG_LEVEL_DEBUG,"MessageLength = %d", MONRData->Header.MessageLengthU32); + LogPrint("MONR:"); + LogPrint("SyncWord = %d", MONRData->Header.SyncWordU16); + LogPrint("TransmitterId = %d", MONRData->Header.TransmitterIdU8); + LogPrint("PackageCounter = %d", MONRData->Header.MessageCounterU8); + LogPrint("AckReq = %d", MONRData->Header.AckReqProtVerU8); + LogPrint("MessageLength = %d", MONRData->Header.MessageLengthU32); + LogPrint("GPSSOW = %u",MONRData->GPSSOWU32); } return 0; diff --git a/server/src/util.c b/server/src/util.c index acdb9d124..323bbb48b 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2991,99 +2991,86 @@ I32 UtilPopulateMONRStruct(C8* rawMONR, MONRType *MONR, U8 debug) U32 U32Data = 0; I32 I32Data = 0; U64 U64Data = 0; - C8 *rdPtr = rawMONR; + C8 *rdPtr = rawMONR; // Pointer to keep track of where in rawMONR we are currently reading memcpy(&U16Data, rdPtr, sizeof(U16Data)); MONR->Header.SyncWordU16 = U16Data; rdPtr += sizeof(U16Data); + U16Data = 0; MONR->Header.TransmitterIdU8 = *(rdPtr++); MONR->Header.MessageCounterU8 = *(rdPtr++); MONR->Header.AckReqProtVerU8 = *(rdPtr++); - U16Data = 0; memcpy(&U16Data, rdPtr, sizeof(U16Data)); - rdPtr += sizeof (U16Data) - U16Data = (U16Data | *(rawMONR+6)) << 8; - U16Data = U16Data | *(rawMONR+5); MONR->Header.MessageIdU16 = U16Data; + rdPtr += sizeof(U16Data); + U16Data = 0; - U32Data = (U32Data | *(rawMONR+10)) << 8; - U32Data = (U32Data | *(rawMONR+9)) << 8; - U32Data = (U32Data | *(rawMONR+8)) << 8; - U32Data = U32Data | *(rawMONR+7); + memcpy(&U32Data, rdPtr, sizeof(U32Data)); MONR->Header.MessageLengthU32 = U32Data; - + rdPtr += sizeof(U32Data); U32Data = 0; - U32Data = (U32Data | *(rawMONR+14)) << 8; - U32Data = (U32Data | *(rawMONR+13)) << 8; - U32Data = (U32Data | *(rawMONR+12)) << 8; - U32Data = U32Data | *(rawMONR+11); + + memcpy(&U32Data, rdPtr, sizeof(U32Data)); MONR->GPSSOWU32 = U32Data; + rdPtr += sizeof(U32Data); + U32Data = 0; - I32Data = 0; - I32Data = (I32Data | *(rawMONR+18)) << 8; - I32Data = (I32Data | *(rawMONR+17)) << 8; - I32Data = (I32Data | *(rawMONR+16)) << 8; - I32Data = I32Data | *(rawMONR+15); + memcpy(&I32Data, rdPtr, sizeof(I32Data)); MONR->XPositionI32 = I32Data; - - + rdPtr += sizeof(I32Data); I32Data = 0; - I32Data = (I32Data | *(rawMONR+22)) << 8; - I32Data = (I32Data | *(rawMONR+21)) << 8; - I32Data = (I32Data | *(rawMONR+20)) << 8; - I32Data = I32Data | *(rawMONR+19); - MONR->YPositionI32 = I32Data; - + memcpy(&I32Data, rdPtr, sizeof(I32Data)); + MONR->YPositionI32 = I32Data; + rdPtr += sizeof(I32Data); I32Data = 0; - I32Data = (I32Data | *(rawMONR+26)) << 8; - I32Data = (I32Data | *(rawMONR+25)) << 8; - I32Data = (I32Data | *(rawMONR+24)) << 8; - I32Data = I32Data | *(rawMONR+23); + + memcpy(&I32Data, rdPtr, sizeof(I32Data)); MONR->ZPositionI32 = I32Data; + rdPtr += sizeof(I32Data); + I32Data = 0; - U16Data = 0; - U16Data = (U16Data | *(rawMONR+28)) << 8; - U16Data = U16Data | *(rawMONR+27); + memcpy(&U16Data, rdPtr, sizeof(U16Data)); MONR->HeadingU16 = U16Data; + rdPtr += sizeof(U16Data); + U16Data = 0; - I16Data = 0; - I16Data = (I16Data | *(rawMONR+30)) << 8; - I16Data = I16Data | *(rawMONR+29); + memcpy(&I16Data, rdPtr, sizeof(I16Data)); MONR->LongitudinalSpeedI16 = I16Data; - + rdPtr += sizeof(I16Data); I16Data = 0; - I16Data = (I16Data | *(rawMONR+32)) << 8; - I16Data = I16Data | *(rawMONR+31); - MONR->LateralSpeedI16 = I16Data; + memcpy(&I16Data, rdPtr, sizeof(I16Data)); + MONR->LateralSpeedI16 = I16Data; + rdPtr += sizeof(I16Data); I16Data = 0; - I16Data = (I16Data | *(rawMONR+34)) << 8; - I16Data = I16Data | *(rawMONR+33); - MONR->LongitudinalAccI16 = I16Data; + memcpy(&I16Data, rdPtr, sizeof(I16Data)); + MONR->LongitudinalAccI16 = I16Data; + rdPtr += sizeof(I16Data); I16Data = 0; - I16Data = (I16Data | *(rawMONR+36)) << 8; - I16Data = I16Data | *(rawMONR+35); - MONR->LateralAccI16 = I16Data; - - MONR->DriveDirectionU8 = *(rawMONR+37); - MONR->StateU8 = *(rawMONR+38); - MONR->ReadyToArmU8 = *(rawMONR+39); - MONR->ErrorStatusU8 = *(rawMONR+40); + memcpy(&I16Data, rdPtr, sizeof(I16Data)); + MONR->LateralAccI16 = I16Data; + rdPtr += sizeof(I16Data); + I16Data = 0; + MONR->DriveDirectionU8 = *(rdPtr++); + MONR->StateU8 = *(rdPtr++); + MONR->ReadyToArmU8 = *(rdPtr++); + MONR->ErrorStatusU8 = *(rdPtr++); if(debug == 1) { - LogMessage(LOG_LEVEL_DEBUG,"MONR:"); - LogMessage(LOG_LEVEL_DEBUG,"SyncWord = %d", MONR->Header.SyncWordU16); - LogMessage(LOG_LEVEL_DEBUG,"TransmitterId = %d", MONR->Header.TransmitterIdU8); - LogMessage(LOG_LEVEL_DEBUG,"PackageCounter = %d", MONR->Header.MessageCounterU8); - LogMessage(LOG_LEVEL_DEBUG,"AckReq = %d", MONR->Header.AckReqProtVerU8); - LogMessage(LOG_LEVEL_DEBUG,"MessageLength = %d", MONR->Header.MessageLengthU32); + LogPrint("MONR:"); + LogPrint("SyncWord = %d", MONR->Header.SyncWordU16); + LogPrint("TransmitterId = %d", MONR->Header.TransmitterIdU8); + LogPrint("PackageCounter = %d", MONR->Header.MessageCounterU8); + LogPrint("AckReq = %d", MONR->Header.AckReqProtVerU8); + LogPrint("MessageLength = %d", MONR->Header.MessageLengthU32); + LogPrint("GPSSOW = %u",MONR->GPSSOWU32); } return 0; From cb9d1374282407e1ac182a9c304f5a9260d00b0c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 15:40:16 +0200 Subject: [PATCH 129/730] Added sending of new MONR message --- server/src/objectcontrol.c | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 857594f88..91f24dfd6 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -34,6 +34,9 @@ -- Defines ------------------------------------------------------------*/ +// Macro for determining individual struct member sizes +#define member_sizeof(type, member) sizeof(((type *)0)->member) + #define LOCALHOST "127.0.0.1" #define RECV_MESSAGE_BUFFER 6200 @@ -83,7 +86,7 @@ #define COMMAND_MONR_CODE 6 #define COMMAND_MONR_NOFV 12 -#define COMMAND_MONR_MESSAGE_LENGTH sizeof(MONRType)-2 +#define COMMAND_MONR_MESSAGE_LENGTH sizeof(MONRType) #define COMMAND_VOIL_CODE 0xA100 //#define COMMAND_VOIL_NOFV 2 @@ -275,7 +278,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) STRTType STRTData; OSTMType OSTMData; HEABType HEABData; - MONRType MONRData; + MONRType MONRData, MONR_DATA_2; DOTMType DOTMData; TRAJInfoType TRAJInfoData; VOILType VOILData; @@ -334,6 +337,9 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (iCommInit()) util_error("Unable to connect to message queue bus"); + LogPrint("MONR bytelens: %d, %d", COMMAND_MONR_MESSAGE_LENGTH, sizeof(MONRType)); + exit(0); + while(!iExit) { if(OBCState == OBC_STATE_ERROR) @@ -463,8 +469,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } - - ObjectControlBuildMONRMessage(buffer, &MONRData, 0); + ObjectControlBuildMONRMessage(buffer, &MONRData, 1); //Store MONR in GSD //UtilSendUDPData("ObjectControl", &ObjectControlUDPSocketfdI32, &simulator_addr, &MONRData, sizeof(MONRData), 0); @@ -511,7 +516,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } // Send MONR message on new byte format - if(iCommSend(COMM_MONR,0,0) < 0) + if(iCommSend(COMM_MONR, buffer, COMMAND_MONR_MESSAGE_LENGTH) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONR command - entering error state"); vSetState(&OBCState,OBC_STATE_ERROR); From 13c6030a0b0178ca1f786f0390856d6b8df63f40 Mon Sep 17 00:00:00 2001 From: "alfred.aronsson@conmore.se" Date: Tue, 4 Jun 2019 16:49:55 +0200 Subject: [PATCH 130/730] Fixed big file creation --- server/src/logger.c | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index f60393830..729c1a3fc 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -68,7 +68,7 @@ static int CountFileRows(FILE *fd); void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { - char pcLogFile[MAX_FILE_PATH]; //!< Log file path and name buffer + char pcLogFile[MAX_FILE_PATH]= ""; //!< Log file path and name buffer char pcLogFileComp[MAX_FILE_PATH]; //!< CSV log file path and name buffer char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus char busSendBuffer[MBUS_MAX_DATALEN]; //!< Buffer for sending to message bus @@ -79,7 +79,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) struct timeval time, recvTime; // Listen for commands - enum COMMAND command; + enum COMMAND command = COMM_INV; int iExit = 0; int GPSweek; @@ -120,14 +120,16 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { + //LogPrint("Här är boven: %s, command: %d",pcLogFile, command); + bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), &recvTime); - if(LoggerExecutionMode == LOG_CONTROL_MODE && command != COMM_OBC_STATE && command != COMM_MONI ) + if(LoggerExecutionMode == LOG_CONTROL_MODE && command != COMM_OBC_STATE && command != COMM_MONI && command != COMM_INV) { bzero(DateBuffer, sizeof(DateBuffer)); - TimeGetAsDateTime(&recvTime, "Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); // Remove newlines in http Requests for nicer printouts. for (unsigned long i = 0; i < strlen(busReceiveBuffer); i++){ @@ -194,7 +196,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) TimeSetToGPStime(&time, (uint16_t)GPSweek, (uint32_t)(atoi(GPSSecondOfWeek)*4)); bzero(DateBuffer, sizeof(DateBuffer)); - TimeGetAsDateTime(&recvTime, "Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); bzero(pcBuffer, sizeof(pcBuffer)); sprintf (pcBuffer, "%s;%ld;%ld;%d;%s\n", DateBuffer, TimeGetAsUTCms(&time), TimeGetAsGPSms(&time), command, busReceiveBuffer); @@ -331,7 +333,9 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(isFirstInit) { LogMessage(LOG_LEVEL_INFO,"Initializing test log..."); + LogPrint("Innan: %s",pcLogFile); vInitializeLog(pcLogFile, sizeof(pcLogFile), pcLogFileComp, sizeof(pcLogFileComp)); + LogPrint("Efter: %s",pcLogFile); isFirstInit = 0; } else @@ -437,6 +441,8 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL (void)strcat(sysCommand, logFileDirectoryPath); (void)system(sysCommand); + // TODO: Copy geofence files + // Create filenames using date and time (void)strcpy(logFilePath, logFileDirectoryPath); (void)strcat(logFilePath, DateBuffer); From fdbc78560c53dea51d0ed16736f9a5a11ffdacdb Mon Sep 17 00:00:00 2001 From: alfaro01 <44394249+alfaro01@users.noreply.github.com> Date: Tue, 4 Jun 2019 16:53:28 +0200 Subject: [PATCH 131/730] Update logger.c removed unnecessary stuff --- server/src/logger.c | 4 ---- 1 file changed, 4 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 729c1a3fc..31f87e3c6 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -120,8 +120,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { - //LogPrint("Här är boven: %s, command: %d",pcLogFile, command); - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), &recvTime); @@ -333,9 +331,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(isFirstInit) { LogMessage(LOG_LEVEL_INFO,"Initializing test log..."); - LogPrint("Innan: %s",pcLogFile); vInitializeLog(pcLogFile, sizeof(pcLogFile), pcLogFileComp, sizeof(pcLogFileComp)); - LogPrint("Efter: %s",pcLogFile); isFirstInit = 0; } else From 99da640a306e957bd7ed923411e16cb78c6b7b6a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 17:11:39 +0200 Subject: [PATCH 132/730] Modified ray casting functions to use coordinate structs instead of double arrays --- server/inc/util.h | 2 +- server/src/util.c | 25 +++++++++++++++---------- 2 files changed, 16 insertions(+), 11 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 65374ed32..52d3495a1 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -748,7 +748,7 @@ int UtilFindCurrentTrajectoryPositionNew(ObjectPosition *OP, int StartIndex, dou int UtilSetSyncPoint(ObjectPosition *OP, double x, double y, double z, double time); float UtilCalculateTimeToSync(ObjectPosition *OP); -char UtilIsPointInPolygon(double pointX, double pointY, double * polyX, double * polyY, int nPtsInPolygon); +char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition *polygonPoints, unsigned int nPtsInPolygon); int UtilCountFileRows(FILE *fd); int UtilReadLineCntSpecChars(FILE *fd, char *Buffer); diff --git a/server/src/util.c b/server/src/util.c index 323bbb48b..278de69a7 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1036,31 +1036,36 @@ float UtilCalculateTimeToSync(ObjectPosition *OP) /*! * \brief UtilIsPointInPolygon Checks if a point lies within a polygon specified by a number of vertices using * the ray casting algorithm (see http://rosettacode.org/wiki/Ray-casting_algorithm). - * \param pointX X coordinate of the point to check - * \param pointY Y coordinate of the point to check - * \param verticesX X coordinates of the vertex points defining the polygon to check - * \param verticesY Y coordinates of the vertex points defining the polygon to check - * \param nPtsInPolygon length of the two vertex arrays + * \param point Coordinate of the point to check + * \param vertices Coordinates of the vertex points defining the polygon to check + * \param nPtsInPolygon length of the vertex array * \return true if the point lies within the polygon, false otherwise */ -char UtilIsPointInPolygon(double pointX, double pointY, double * verticesX, double * verticesY, int nPtsInPolygon) +char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition *vertices, unsigned int nPtsInPolygon) { int nIntersects = 0; + // Reshape CartesianPositions to be double arrays (TODO: make underlying functions use CartesianPositi) + double pointX = point.xCoord_m; + double pointY = point.yCoord_m; + // Count the number of intersections with the polygon - for (int i = 0; i < nPtsInPolygon-1; ++i) + for (unsigned int i = 0; i < nPtsInPolygon-1; ++i) { - if (rayFromPointIntersectsLine(pointX, pointY, verticesX[i], verticesY[i], verticesX[i+1], verticesY[i+1])) + if (rayFromPointIntersectsLine(pointX, pointY, vertices[i].xCoord_m, vertices[i].yCoord_m, + vertices[i+1].xCoord_m, vertices[i+1].yCoord_m)) { nIntersects++; } } // If the first and last points are different, the polygon segment between them must also be included - if (fabs(verticesX[0] - verticesX[nPtsInPolygon-1]) > (double)(2*FLT_EPSILON) || fabs(verticesY[0] - verticesY[nPtsInPolygon-1]) > (double)(2*FLT_EPSILON) ) + if (fabs(vertices[0].xCoord_m - vertices[nPtsInPolygon-1].xCoord_m) > (double)(2*FLT_EPSILON) + || fabs(vertices[0].yCoord_m - vertices[nPtsInPolygon-1].yCoord_m) > (double)(2*FLT_EPSILON) ) { if (rayFromPointIntersectsLine(pointX, pointY, - verticesX[0], verticesY[0], verticesX[nPtsInPolygon-1], verticesY[nPtsInPolygon-1])) + vertices[0].xCoord_m, vertices[0].yCoord_m, + vertices[nPtsInPolygon-1].xCoord_m, vertices[nPtsInPolygon-1].yCoord_m)) { nIntersects++; } From 8601a7e93189488614700bc6535d544dbf69faa0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 4 Jun 2019 17:12:44 +0200 Subject: [PATCH 133/730] Final modification to make functions double-array-less --- server/src/util.c | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 278de69a7..e6b8fa8c9 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1045,14 +1045,10 @@ char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition *vertices, { int nIntersects = 0; - // Reshape CartesianPositions to be double arrays (TODO: make underlying functions use CartesianPositi) - double pointX = point.xCoord_m; - double pointY = point.yCoord_m; - // Count the number of intersections with the polygon for (unsigned int i = 0; i < nPtsInPolygon-1; ++i) { - if (rayFromPointIntersectsLine(pointX, pointY, vertices[i].xCoord_m, vertices[i].yCoord_m, + if (rayFromPointIntersectsLine(point.xCoord_m, point.yCoord_m, vertices[i].xCoord_m, vertices[i].yCoord_m, vertices[i+1].xCoord_m, vertices[i+1].yCoord_m)) { nIntersects++; @@ -1063,7 +1059,7 @@ char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition *vertices, if (fabs(vertices[0].xCoord_m - vertices[nPtsInPolygon-1].xCoord_m) > (double)(2*FLT_EPSILON) || fabs(vertices[0].yCoord_m - vertices[nPtsInPolygon-1].yCoord_m) > (double)(2*FLT_EPSILON) ) { - if (rayFromPointIntersectsLine(pointX, pointY, + if (rayFromPointIntersectsLine(point.xCoord_m, point.yCoord_m, vertices[0].xCoord_m, vertices[0].yCoord_m, vertices[nPtsInPolygon-1].xCoord_m, vertices[nPtsInPolygon-1].yCoord_m)) { From 90d2235cf5f15cdfe27f4603fa238151a47d586c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 5 Jun 2019 10:34:27 +0200 Subject: [PATCH 134/730] Removed unnecessary variable --- server/src/objectcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 91f24dfd6..78a269b2d 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -278,7 +278,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) STRTType STRTData; OSTMType OSTMData; HEABType HEABData; - MONRType MONRData, MONR_DATA_2; + MONRType MONRData; DOTMType DOTMData; TRAJInfoType TRAJInfoData; VOILType VOILData; From fbf35db90021b1d20aa1bf6ca2758c0097a887ed Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 5 Jun 2019 10:35:13 +0200 Subject: [PATCH 135/730] Implemented function for checking geofences based on MONR --- server/src/supervision.c | 112 ++++++++++++++++++++++++++++++++++++--- util | 2 +- 2 files changed, 105 insertions(+), 9 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index c1860457e..a182b2545 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -32,17 +32,29 @@ /* 34 years between 1970 and 2004, 8 days for leap year between 1970 and 2004 */ /* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ #define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 +#define MAX_GEOFENCE_NAME_LEN 256 /* Difference of leap seconds between UTC and ETSI */ #define DIFF_LEAP_SECONDS_UTC_ETSI 5 #define MODULE_NAME "Supervisor" +/*------------------------------------------------------------ + -- Type definitions. + ------------------------------------------------------------*/ +typedef struct +{ + U16 numberOfPoints; + I8 isPermitted; + char name[MAX_GEOFENCE_NAME_LEN]; + CartesianPosition *polygonPoints; +} GeofenceType; + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ - +int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences); /*------------------------------------------------------------ -- The main function. @@ -52,12 +64,62 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + MONRType MONRMessage; + + /* TODO: replace with permanent */ const int nPts = 4; - double poly1PtsX[nPts] = {-5, 15, 15, -5}; - double poly1PtsY[nPts] = {-10, -10, 10, 10}; - double poly2PtsX[nPts] = {-15, 5, 5, -15}; - double poly2PtsY[nPts] = {-10, -10, 10, 10}; + const int nGeof = 3; + + GeofenceType geoPtrs[nGeof]; + GeofenceType perm1, perm2, forb1; + + perm1.numberOfPoints = nPts; + perm2.numberOfPoints = nPts; + forb1.numberOfPoints = nPts; + + perm1.isPermitted = 1; + perm2.isPermitted = 1; + forb1.isPermitted = 0; + + perm1.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); + perm2.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); + forb1.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); + + perm1.polygonPoints[0].xCoord_m = -5; + perm1.polygonPoints[1].xCoord_m = 15; + perm1.polygonPoints[2].xCoord_m = 15; + perm1.polygonPoints[3].xCoord_m = -5; + + perm1.polygonPoints[0].yCoord_m = -10; + perm1.polygonPoints[1].yCoord_m = 10; + perm1.polygonPoints[2].yCoord_m = 10; + perm1.polygonPoints[3].yCoord_m = -10; + + perm2.polygonPoints[0].xCoord_m = -15; + perm2.polygonPoints[1].xCoord_m = 5; + perm2.polygonPoints[2].xCoord_m = 5; + perm2.polygonPoints[3].xCoord_m = -15; + + perm2.polygonPoints[0].yCoord_m = -10; + perm2.polygonPoints[1].yCoord_m = 10; + perm2.polygonPoints[2].yCoord_m = 10; + perm2.polygonPoints[3].yCoord_m = -10; + + forb1.polygonPoints[0].xCoord_m = -1; + forb1.polygonPoints[1].xCoord_m = 1; + forb1.polygonPoints[2].xCoord_m = 1; + forb1.polygonPoints[3].xCoord_m = -1; + + forb1.polygonPoints[0].yCoord_m = -1; + forb1.polygonPoints[1].yCoord_m = -1; + forb1.polygonPoints[2].yCoord_m = 1; + forb1.polygonPoints[3].yCoord_m = 1; + + geoPtrs[0] = perm1; + geoPtrs[1] = perm2; + geoPtrs[2] = forb1; + /* end */ enum COMMAND command; @@ -89,9 +151,10 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_INIT: // TODO: Read geofence file for each object and populate data structure break; - case COMM_MONI: - // TODO: Check so that point lies outside all forbidden polygons - // TODO: Check so that point lies within all permitted polygons + case COMM_MONR: + UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); + // TODO: react to output from SupervisionCheckGeofences + SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); break; case COMM_INV: break; @@ -99,4 +162,37 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %d", command); } } + + // TODO: Temporary + free(perm1.polygonPoints); + free(perm2.polygonPoints); + free(forb1.polygonPoints); +} + +int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences) +{ + CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; + char isInPolygon = 0; + int retval = 0; + + for (int i = 0; i < numberOfGeofences; i++) + { + isInPolygon = UtilIsPointInPolygon(monrPoint, geofences[i].polygonPoints, geofences[i].numberOfPoints); + if ( (geofences[i].isPermitted && isInPolygon) + || (!geofences[i].isPermitted && !isInPolygon) ) + { + // Inside the polygon if it is permitted, alt. outside the polygon if it is forbidden: all is fine + } + else + { + if (geofences[i].isPermitted) + LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is outside the permitted area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); + else + LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is inside the forbidden area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); + + retval = -1; + } + } + + return retval; } diff --git a/util b/util index 9dd1d849a..0a104bd70 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 9dd1d849a6311fa1bdb4f66e0b91e4113b1c33e7 +Subproject commit 0a104bd70031defc96d692b35b63446ae3d77953 From 7668e375ecf03b7c55b439c98b34e1e01fddb5d1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 5 Jun 2019 10:38:50 +0200 Subject: [PATCH 136/730] Removed junk code --- server/src/objectcontrol.c | 3 --- 1 file changed, 3 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 78a269b2d..f80da49f3 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -337,9 +337,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (iCommInit()) util_error("Unable to connect to message queue bus"); - LogPrint("MONR bytelens: %d, %d", COMMAND_MONR_MESSAGE_LENGTH, sizeof(MONRType)); - exit(0); - while(!iExit) { if(OBCState == OBC_STATE_ERROR) From 564c70c3fca699d8812cefb1863fb84e34603b22 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 5 Jun 2019 10:41:29 +0200 Subject: [PATCH 137/730] Started tossing OBC state reports --- server/src/supervision.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/server/src/supervision.c b/server/src/supervision.c index a182b2545..77802c895 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -156,6 +156,8 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // TODO: react to output from SupervisionCheckGeofences SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); break; + case COMM_OBC_STATE: + break; case COMM_INV: break; default: From c2d6e8f0ec4269f3a27cedc28ae8840acfde009c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 5 Jun 2019 10:58:14 +0200 Subject: [PATCH 138/730] Added handling of messages --- server/src/logger.c | 6 ++++-- server/src/objectcontrol.c | 2 +- server/src/supervision.c | 5 ++++- 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index aeea86357..7e744e4bb 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -174,7 +174,9 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) isFirstInit = 1; break; - + case COMM_MONR: + // TODO: use new MONR message + break; case COMM_MONI: filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); @@ -343,7 +345,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_INV: break; default: - LogMessage(LOG_LEVEL_WARNING,"Unhandled command in logger: %d", (char)command); + LogMessage(LOG_LEVEL_WARNING,"Unhandled message bus command: %u", (char)command); } } diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index f80da49f3..d267a83f5 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -466,7 +466,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } - ObjectControlBuildMONRMessage(buffer, &MONRData, 1); + ObjectControlBuildMONRMessage(buffer, &MONRData, 0); //Store MONR in GSD //UtilSendUDPData("ObjectControl", &ObjectControlUDPSocketfdI32, &simulator_addr, &MONRData, sizeof(MONRData), 0); diff --git a/server/src/supervision.c b/server/src/supervision.c index 77802c895..6ee0047a7 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -151,6 +151,9 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_INIT: // TODO: Read geofence file for each object and populate data structure break; + case COMM_MONI: + // Ignore old style MONR data + break; case COMM_MONR: UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences @@ -161,7 +164,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_INV: break; default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %d", command); + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", (char)command); } } From 4661e57224de9daf7c167d553d9a10047d78e2ae Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 5 Jun 2019 11:23:21 +0200 Subject: [PATCH 139/730] Starting to transfer DataDictionary to shared memory. --- server/inc/datadictionary.h | 23 +++++---- server/inc/util.h | 37 ++++++++++++- server/src/datadictionary.c | 100 ++++++++++++++++++++---------------- server/src/logger.c | 5 ++ server/src/main.c | 1 + server/src/objectcontrol.c | 92 ++++++++++++++++++--------------- server/src/systemcontrol.c | 41 ++++++++------- server/src/util.c | 5 ++ 8 files changed, 190 insertions(+), 114 deletions(-) diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h index 8bd764fc2..0c0ca36be 100644 --- a/server/inc/datadictionary.h +++ b/server/inc/datadictionary.h @@ -10,13 +10,14 @@ #ifndef __DATADICTIONARY_H_INCLUDED__ #define __DATADICTIONARY_H_INCLUDED__ +//#include "util.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -I32 DataDictionaryInitOriginLatitudeDbl(void); -I32 DataDictionarySetOriginLatitudeDbl(C8 *Latitude); -I32 DataDictionaryGetOriginLatitudeDbl(dbl *Latitude); -I32 DataDictionaryGetOriginLatitudeC8(C8 *Latitude); +I32 DataDictionaryInitOriginLatitudeDbl(GSDType *GSD); +I32 DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude); +I32 DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude); +I32 DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude); I32 DataDictionaryInitOriginLongitudeDbl(void); I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude); @@ -48,13 +49,13 @@ I32 DataDictionaryInitASPStepBackCountU32(void); I32 DataDictionarySetASPStepBackCountU32(C8 *ASPStepBackCount); I32 DataDictionaryGetASPStepBackCountU32(U32 *ASPStepBackCount); -I32 DataDictionaryInitASPFilterLevelU16(void); -I32 DataDictionarySetASPFilterLevelU16(C8 *ASPFilterLevel); -I32 DataDictionaryGetASPFilterLevelU16(U16 *ASPFilterLevel); +I32 DataDictionaryInitASPFilterLevelDbl(void); +I32 DataDictionarySetASPFilterLevelDbl(C8 *ASPFilterLevel); +I32 DataDictionaryGetASPFilterLevelDbl(dbl *ASPFilterLevel); I32 DataDictionaryInitASPMaxDeltaTimeDbl(void); I32 DataDictionarySetASPMaxDeltaTimeDbl(C8 *ASPMaxDeltaTime); -I32 DataDictionaryGetASPMaxDeltaTimeDbl(U16 *ASPMaxDeltaTime); +I32 DataDictionaryGetASPMaxDeltaTimeDbl(dbl *ASPMaxDeltaTime); I32 DataDictionaryInitTimeServerIPU32(void); I32 DataDictionarySetTimeServerIPU32(C8 *TimeServerIP); @@ -112,7 +113,11 @@ I32 DataDictionarySetMiscDataC8(C8 *MiscData); I32 DataDictionaryGetMiscDataC8(C8 *MiscData); -void DataDictionaryConstructor(void); +I32 DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState); +U8 DataDictionaryGetOBCStateU8(GSDType *GSD); + + +void DataDictionaryConstructor(GSDType *GSD); #endif diff --git a/server/inc/util.h b/server/inc/util.h index fccfa367a..af1ca4338 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -26,6 +26,7 @@ #include #include #include +#include /*------------------------------------------------------------ -- Defines @@ -70,6 +71,7 @@ #define COMM_TRAJ_FROMSUP 18 #define COMM_ASP 19 #define COMM_OSEM 20 +#define COMM_DATA_DICT 21 #define COMM_INV 255 @@ -104,7 +106,7 @@ #define MAX_ADAPTIVE_SYNC_POINTS 512 #define USE_LOCAL_USER_CONTROL 1 -#define LOCAL_USER_CONTROL_IP "10.168.161.95" +#define LOCAL_USER_CONTROL_IP "192.168.0.7" #define USE_TEST_HOST 0 #define TESTHOST_IP LOCAL_USER_CONTROL_IP #define TESTSERVER_IP LOCAL_USER_CONTROL_IP @@ -289,7 +291,10 @@ #define ISO_MESSAGE_FOOTER_LENGTH sizeof(FooterType) - +#define DD_CONTROL_BUFFER_SIZE_1024 1024 +#define DD_CONTROL_BUFFER_SIZE_20 20 +#define DD_CONTROL_BUFFER_SIZE_52 52 +#define DD_CONTROL_TASK_PERIOD_MS 1 typedef struct { @@ -558,6 +563,34 @@ typedef struct //U8 STRTData[100]; //U8 OSEMSizeU8; //U8 OSEMData[100]; + volatile dbl OriginLatitudeDbl; + C8 OriginLatitudeC8[DD_CONTROL_BUFFER_SIZE_20]; + volatile dbl OriginLongitudeDbl; + C8 OriginLongitudeC8[DD_CONTROL_BUFFER_SIZE_20]; + volatile dbl OriginAltitudeDbl; + C8 OriginAltitudeC8[DD_CONTROL_BUFFER_SIZE_20]; + volatile U32 VisualizationServerU32; + volatile U8 ForceObjectToLocalhostU8; + volatile dbl ASPMaxTimeDiffDbl; + volatile dbl ASPMaxTrajDiffDbl; + volatile U32 ASPStepBackCountU32; + volatile dbl ASPFilterLevelDbl; + volatile dbl ASPMaxDeltaTimeDbl; + volatile U32 TimeServerIPU32; + volatile U16 TimeServerPortU16; + volatile U32 SimulatorIPU32; + volatile U16 SimulatorTCPPortU16; + volatile U16 SimulatorUDPPortU16; + volatile U8 SimulatorModeU8; + C8 VOILReceiversC8[DD_CONTROL_BUFFER_SIZE_1024]; + C8 DTMReceiversC8[DD_CONTROL_BUFFER_SIZE_1024]; + volatile U32 ExternalSupervisorIPU32; + volatile U16 SupervisorTCPPortU16; + volatile U32 DataDictionaryRVSSConfigU32; + volatile U32 DataDictionaryRVSSRateU8; + volatile ASPType ASPData; + C8 MiscDataC8[DD_CONTROL_BUFFER_SIZE_1024]; + volatile U8 OBCStateU8; } GSDType; diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index eee0cd826..b8c9be754 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -33,6 +33,7 @@ #define DD_CONTROL_CONF_FILE_PATH "conf/test.conf" +#define DD_CONTROL_BUFFER_SIZE_1024 1024 #define DD_CONTROL_BUFFER_SIZE_20 20 #define DD_CONTROL_BUFFER_SIZE_52 52 #define DD_CONTROL_TASK_PERIOD_MS 1 @@ -50,7 +51,7 @@ volatile U8 ForceObjectToLocalhostU8 = 0; volatile dbl ASPMaxTimeDiffDbl = 0; volatile dbl ASPMaxTrajDiffDbl = 0; volatile U32 ASPStepBackCountU32 = 0; -volatile U16 ASPFilterLevelU16 = 0; +volatile dbl ASPFilterLevelDbl = 0; volatile dbl ASPMaxDeltaTimeDbl = 0; volatile U32 TimeServerIPU32 = 0; volatile U16 TimeServerPortU16 = 0; @@ -58,23 +59,24 @@ volatile U32 SimulatorIPU32 = 0; volatile U16 SimulatorTCPPortU16 = 0; volatile U16 SimulatorUDPPortU16 = 0; volatile U8 SimulatorModeU8 = 0; -C8 VOILReceiversC8[1024]; -C8 DTMReceiversC8[1024]; +C8 VOILReceiversC8[DD_CONTROL_BUFFER_SIZE_1024]; +C8 DTMReceiversC8[DD_CONTROL_BUFFER_SIZE_1024]; volatile U32 ExternalSupervisorIPU32 = 0; volatile U16 SupervisorTCPPortU16 = 0; volatile U32 DataDictionaryRVSSConfigU32 = 0; volatile U32 DataDictionaryRVSSRateU8 = 0; volatile ASPType ASPData; -C8 MiscDataC8[1024]; +C8 MiscDataC8[DD_CONTROL_BUFFER_SIZE_1024]; +volatile U8 OBCStateU8 = 0; I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); /*------------------------------------------------------------ -- Functions ------------------------------------------------------------*/ -void DataDictionaryConstructor(void) +void DataDictionaryConstructor(GSDType *GSD) { - DataDictionaryInitOriginLatitudeDbl(); + DataDictionaryInitOriginLatitudeDbl(GSD); DataDictionaryInitOriginLongitudeDbl(); DataDictionaryInitOriginAltitudeDbl(); DataDictionaryInitVisualizationServerU32(); @@ -82,7 +84,7 @@ void DataDictionaryConstructor(void) DataDictionaryInitASPMaxTimeDiffDbl(); DataDictionaryInitASPMaxTrajDiffDbl(); DataDictionaryInitASPStepBackCountU32(); - DataDictionaryInitASPFilterLevelU16(); + DataDictionaryInitASPFilterLevelDbl(); DataDictionaryInitASPMaxDeltaTimeDbl(); DataDictionaryInitTimeServerIPU32(); DataDictionaryInitTimeServerPortU16(); @@ -97,7 +99,7 @@ void DataDictionaryConstructor(void) DataDictionaryInitRVSSRateU8(); DataDictionaryInitSupervisorTCPPortU16(); DataDictionaryInitMiscDataC8(); - + DataDictionarySetOBCStateU8(GSD, OBC_STATE_IDLE); } // I32 Return @@ -109,17 +111,17 @@ void DataDictionaryConstructor(void) /*Origin Latitude*/ -I32 DataDictionaryInitOriginLatitudeDbl(void) +I32 DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("OriginLatidude=", ResultBufferC8)) + if(Res = DataDictionarySearchParameter("OrigoLatidude=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&mutex); - OriginLatitudeDbl = atof(ResultBufferC8); - bzero(OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(OriginLatitudeC8, ResultBufferC8); + GSD->OriginLatitudeDbl = atof(ResultBufferC8); + bzero(GSD->OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginLatitudeC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -131,33 +133,33 @@ I32 DataDictionaryInitOriginLatitudeDbl(void) return Res; } -I32 DataDictionarySetOriginLatitudeDbl(C8 *Latitude) +I32 DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) { I32 Res; - if(Res = UtilWriteConfigurationParameter("OriginLatidude", Latitude, 0)) + if(Res = UtilWriteConfigurationParameter("OrigoLatidude", Latitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - OriginLatitudeDbl = atof(Latitude); - bzero(OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(OriginLatitudeC8, Latitude); + GSD->OriginLatitudeDbl = atof(Latitude); + bzero(GSD->OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginLatitudeC8, Latitude); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetOriginLatitudeDbl(dbl *Latitude) +I32 DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude) { pthread_mutex_lock(&mutex); - *Latitude = OriginLatitudeDbl; + *Latitude = GSD->OriginLatitudeDbl; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } -I32 DataDictionaryGetOriginLatitudeC8(C8 *Latitude) +I32 DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude) { pthread_mutex_lock(&mutex); - strcat(Latitude, OriginLatitudeC8); + strcat(Latitude, GSD->OriginLatitudeC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -169,7 +171,7 @@ I32 DataDictionaryInitOriginLongitudeDbl(void) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("OriginLongitude=", ResultBufferC8)) + if(Res = DataDictionarySearchParameter("OrigoLongitude=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&mutex); @@ -190,7 +192,7 @@ I32 DataDictionaryInitOriginLongitudeDbl(void) I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude) { I32 Res; - if(Res = UtilWriteConfigurationParameter("OriginLongitude", Longitude, 0)) + if(Res = UtilWriteConfigurationParameter("OrigoLongitude", Longitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); @@ -224,7 +226,7 @@ I32 DataDictionaryInitOriginAltitudeDbl(void) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("OriginAltitude=", ResultBufferC8)) + if(Res = DataDictionarySearchParameter("OrigoAltitude=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&mutex); @@ -245,7 +247,7 @@ I32 DataDictionaryInitOriginAltitudeDbl(void) I32 DataDictionarySetOriginAltitudeDbl(C8 *Altitude) { I32 Res; - if(Res = UtilWriteConfigurationParameter("OriginAltitude", Altitude, 0)) + if(Res = UtilWriteConfigurationParameter("OrigoAltitude", Altitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); @@ -280,7 +282,7 @@ I32 DataDictionaryInitVisualizationServerU32(void) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("VisualizationServer=", ResultBufferC8)) + if(Res = DataDictionarySearchParameter("VisualizationServerName=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&mutex); @@ -290,7 +292,7 @@ I32 DataDictionaryInitVisualizationServerU32(void) else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"VisualizationServer not found!"); + LogMessage(LOG_LEVEL_INFO,"VisualizationServerName not found!"); } return Res; @@ -299,7 +301,7 @@ I32 DataDictionaryInitVisualizationServerU32(void) I32 DataDictionarySetVisualizationServerU32(C8 *IP) { I32 Res; - if(Res = UtilWriteConfigurationParameter("VisualizationServer", IP, 0)) + if(Res = UtilWriteConfigurationParameter("VisualizationServerName", IP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); @@ -493,7 +495,7 @@ I32 DataDictionaryGetASPStepBackCountU32(U32 *ASPStepBackCount) /*END of ASPStepBackCount*/ /*ASPFilterLevel*/ -I32 DataDictionaryInitASPFilterLevelU16(void) +I32 DataDictionaryInitASPFilterLevelDbl(void) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -501,7 +503,7 @@ I32 DataDictionaryInitASPFilterLevelU16(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - ASPFilterLevelU16 = atoi(ResultBufferC8); + ASPFilterLevelDbl = atof(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -513,23 +515,23 @@ I32 DataDictionaryInitASPFilterLevelU16(void) return Res; } -I32 DataDictionarySetASPFilterLevelU16(C8 *ASPFilterLevel) +I32 DataDictionarySetASPFilterLevelDbl(C8 *ASPFilterLevel) { I32 Res; if(Res = UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - ASPFilterLevelU16 = atoi(ASPFilterLevel); + ASPFilterLevelDbl = atof(ASPFilterLevel); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetASPFilterLevelU16(U16 *ASPFilterLevel) +I32 DataDictionaryGetASPFilterLevelDbl(dbl *ASPFilterLevel) { pthread_mutex_lock(&mutex); - *ASPFilterLevel = ASPFilterLevelU16; + *ASPFilterLevel = ASPFilterLevelDbl; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -569,7 +571,7 @@ I32 DataDictionarySetASPMaxDeltaTimeDbl(C8 *ASPMaxDeltaTime) return Res; } -I32 DataDictionaryGetASPMaxDeltaTimeDbl(U16 *ASPMaxDeltaTime) +I32 DataDictionaryGetASPMaxDeltaTimeDbl(dbl *ASPMaxDeltaTime) { pthread_mutex_lock(&mutex); *ASPMaxDeltaTime = ASPMaxDeltaTimeDbl; @@ -843,7 +845,7 @@ I32 DataDictionaryGetSimulatorModeU8(U8 *SimulatorMode) I32 DataDictionaryInitVOILReceiversC8(void) { I32 Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; if(Res = DataDictionarySearchParameter("VOILReceivers=", ResultBufferC8)) { Res = READ_OK; @@ -886,7 +888,7 @@ I32 DataDictionaryGetVOILReceiversC8(U8 *VOILReceivers) I32 DataDictionaryInitDTMReceiversC8(void) { I32 Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; if(Res = DataDictionarySearchParameter("DTMReceivers=", ResultBufferC8)) { Res = READ_OK; @@ -894,7 +896,7 @@ I32 DataDictionaryInitDTMReceiversC8(void) strcpy(DTMReceiversC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } - else +else { Res = PARAMETER_NOTFOUND; LogMessage(LOG_LEVEL_INFO,"DTMReceivers not found!"); @@ -1159,6 +1161,7 @@ I32 DataDictionarySetMiscDataC8(C8 *MiscData) { Res = WRITE_OK; pthread_mutex_lock(&mutex); + bzero(MiscDataC8, DD_CONTROL_BUFFER_SIZE_1024); strcpy(MiscDataC8, MiscData); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; @@ -1175,11 +1178,22 @@ I32 DataDictionaryGetMiscDataC8(U8 *MiscData) /*END of MiscData*/ +/*OBCState*/ +I32 DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState) +{ + I32 Res; + Res = WRITE_OK; + pthread_mutex_lock(&mutex); + GSD->OBCStateU8 = OBCState; + pthread_mutex_unlock(&mutex); + return Res; +} - - - - +U8 DataDictionaryGetOBCStateU8(GSDType *GSD) +{ + return GSD->OBCStateU8; + } +/*END OBCState*/ I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) { diff --git a/server/src/logger.c b/server/src/logger.c index 68357365b..d68ead9e4 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -335,6 +335,11 @@ void logger_task() break; + case COMM_DATA_DICT: + + LogMessage(LOG_LEVEL_INFO,"Notification that DataDictionary has been modified."); + break; + default: LogMessage(LOG_LEVEL_WARNING,"Unhandled command in logger: %d",iCommand); } diff --git a/server/src/main.c b/server/src/main.c index b5cbd10fb..2c1badc93 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -66,6 +66,7 @@ int main(int argc, char *argv[]) pid_t pID[8]; int iIndex = 0; + DataDictionaryConstructor(GSD); LogMessage( LOG_LEVEL_INFO, "Central started"); diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 4021aa95a..5ce02ece6 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -223,7 +223,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) C8 MessageBuffer[BUFFER_SIZE_3100]; int iIndex = 0, i=0; struct timespec sleep_time, ref_time; - int iForceObjectToLocalhost = 0; + U8 iForceObjectToLocalhostU8 = 0; FILE *fd; char Id[SMALL_BUFFER_SIZE_0]; @@ -294,10 +294,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) AdaptiveSyncPoint ASP[MAX_ADAPTIVE_SYNC_POINTS]; int SyncPointCount = 0; int SearchStartIndex = 0; - double ASPMaxTimeDiff = 0; - double ASPMaxTrajDiff = 0; - double ASPFilterLevel = 0; - double ASPMaxDeltaTime = 0; + double ASPMaxTimeDiffDbl = 0; + double ASPMaxTrajDiffDbl = 0; + double ASPFilterLevelDbl = 0; + double ASPMaxDeltaTimeDbl = 0; int ASPDebugRate = 1; int ASPStepBackCount = 0; @@ -332,11 +332,14 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "Object control task running with PID: %i", getpid()); - (void)iCommInit(IPC_RECV_SEND,MQ_OC,1); - + DataDictionarySetOBCStateU8(GSD, OBCState); + (void)iCommInit(IPC_RECV_SEND,MQ_OC,1); + while(!iExit) { + + if(OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) { /*HEAB*/ @@ -514,7 +517,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) ASPData.CurrentTimeU32 = CurrentTimeU32; ASPData.CurrentTimeDbl = (((double)CurrentTimeU32-(double)StartTimeU32)/1000); SearchStartIndex = OP[iIndex].BestFoundTrajectoryIndex - ASPStepBackCount; - UtilFindCurrentTrajectoryPosition(&OP[iIndex], SearchStartIndex, ASPData.CurrentTimeDbl, ASPMaxTrajDiff, ASPMaxTimeDiff, 0); + UtilFindCurrentTrajectoryPosition(&OP[iIndex], SearchStartIndex, ASPData.CurrentTimeDbl, ASPMaxTrajDiffDbl, ASPMaxTimeDiffDbl, 0); ASPData.BestFoundIndexI32 = OP[iIndex].BestFoundTrajectoryIndex; if(OP[iIndex].BestFoundTrajectoryIndex != TRAJ_POSITION_NOT_FOUND) @@ -522,10 +525,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) ASPData.TimeToSyncPointDbl = UtilCalculateTimeToSync(&OP[iIndex]); if(ASPData.TimeToSyncPointDbl > 0) { - if(ASPData.PrevTimeToSyncPointDbl != 0 && ASPFilterLevel > 0) + if(ASPData.PrevTimeToSyncPointDbl != 0 && ASPFilterLevelDbl > 0) { - if(ASPData.TimeToSyncPointDbl/ASPData.PrevTimeToSyncPointDbl > (1 + ASPFilterLevel/100)) ASPData.TimeToSyncPointDbl = ASPData.PrevTimeToSyncPointDbl + ASPMaxDeltaTime;//TimeToSyncPoint*ASPFilterLevel/500; - else if(ASPData.TimeToSyncPointDbl/ASPData.PrevTimeToSyncPointDbl < (1 - ASPFilterLevel/100)) ASPData.TimeToSyncPointDbl = ASPData.PrevTimeToSyncPointDbl - ASPMaxDeltaTime;//TimeToSyncPoint*ASPFilterLevel/500; + if(ASPData.TimeToSyncPointDbl/ASPData.PrevTimeToSyncPointDbl > (1 + ASPFilterLevelDbl/100)) ASPData.TimeToSyncPointDbl = ASPData.PrevTimeToSyncPointDbl + ASPMaxDeltaTimeDbl;//TimeToSyncPoint*ASPFilterLevelDbl/500; + else if(ASPData.TimeToSyncPointDbl/ASPData.PrevTimeToSyncPointDbl < (1 - ASPFilterLevelDbl/100)) ASPData.TimeToSyncPointDbl = ASPData.PrevTimeToSyncPointDbl - ASPMaxDeltaTimeDbl;//TimeToSyncPoint*ASPFilterLevelDbl/500; } ASPData.MTSPU32 = CurrentTimeU32 + (U32)(ASPData.TimeToSyncPointDbl*4000); @@ -797,13 +800,13 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) /* Get objects; name and drive file */ nbr_objects = 0; vFindObjectsInfo(object_traj_file,object_address_name,&nbr_objects); - (void)iUtilGetIntParaConfFile("ForceObjectToLocalhost",&iForceObjectToLocalhost); - LogMessage(LOG_LEVEL_INFO,"ForceObjectToLocalhost = %d", iForceObjectToLocalhost); - LOG_SEND(LogBuffer, "[ObjectControl] ForceObjectToLocalhost = %d", iForceObjectToLocalhost); +// (void)iUtilGetIntParaConfFile("ForceObjectToLocalhost",&iForceObjectToLocalhostU8); +// LogMessage(LOG_LEVEL_INFO,"ForceObjectToLocalhost = %d", iForceObjectToLocalhostU8); +// LOG_SEND(LogBuffer, "[ObjectControl] ForceObjectToLocalhost = %d", iForceObjectToLocalhostU8); for(iIndex=0;iIndex= HEARTBEAT_TIME_MS/TASK_PERIOD_MS) { + bzero(Buffer2, SMALL_BUFFER_SIZE_1); Buffer2[0] = OBCState; (void)iCommSend(COMM_OBC_STATE,Buffer2); + uiTimeCycle = 0; } diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 5d9efca69..152e3e987 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -153,10 +153,10 @@ void SystemControlSendMONR(C8* LogString, I32* Sockfd, U8 Debug); static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I32 *sockfd, struct sockaddr_in* addr); //I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData, I32 Length, U8 debug); I32 SystemControlReadServerParameterList(C8 *ParameterList, U8 debug); -I32 SystemControlGetServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug); +I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnValue, U8 Debug); I32 SystemControlReadServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug); I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug); -I32 SystemControlSetServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug); +I32 SystemControlSetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *NewValue, U8 Debug); I32 SystemControlCheckFileDirectoryExist(C8 *ParameterName, C8 *ReturnValue, U8 Debug); I32 SystemControlUploadFile(C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnValue, U8 Debug); I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnValue, U8 Debug); @@ -248,8 +248,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) U32 RVSSMessageLengthU32; U16 PCDMessageCodeU16; - DataDictionaryConstructor(); - DataDictionaryGetRVSSConfigU32(&RVSSConfigU32); LogMessage(LOG_LEVEL_INFO,"RVSSConfigU32 = %d", RVSSConfigU32); @@ -281,6 +279,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) } + U8 d1; while(!iExit) { @@ -291,6 +290,10 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) if(server_state == SERVER_STATE_UNDEFINED) { //Do some initialization + + //Send COMM_DATA_DICT to notify to update data from DataDictionary + iCommSend(COMM_DATA_DICT,ControlResponseBuffer); + server_state = SERVER_STATE_INITIALIZED; } @@ -382,7 +385,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s, PreviousCommand: %s", SystemControlStatesArr[server_state], SystemControlOBCStatesArr[OBCStateU8], SystemControlCommandsArr[PreviousSystemControlCommand]); bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); ControlResponseBuffer[0] = server_state; - ControlResponseBuffer[1] = OBCStateU8; + ControlResponseBuffer[1] = DataDictionaryGetOBCStateU8(GSD);//OBCStateU8; SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetServerStatus:", ControlResponseBuffer, 2, &ClientSocket, 0); SystemControlCommand = PreviousSystemControlCommand; } @@ -416,6 +419,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) } } + switch(SystemControlCommand) { // can you access GetServerParameterList_0, GetServerParameter_1, SetServerParameter_2 and DISarmScenario and Exit from the GUI @@ -485,11 +489,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) break; case GetServerStatus_0: - LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s",SystemControlStatesArr[server_state], SystemControlOBCStatesArr[OBCStateU8]); + LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s, %d",SystemControlStatesArr[server_state], SystemControlOBCStatesArr[OBCStateU8], DataDictionaryGetOBCStateU8(GSD)); SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); ControlResponseBuffer[0] = server_state; - ControlResponseBuffer[1] = OBCStateU8; + ControlResponseBuffer[1] = DataDictionaryGetOBCStateU8(GSD); //OBCStateU8; LogMessage(LOG_LEVEL_DEBUG,"GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); // GPSTime just ticks from 0 up shouldent it be in the global GPStime? SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetServerStatus:", ControlResponseBuffer, 2, &ClientSocket, 0); break; @@ -502,7 +506,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) case GetTestOrigin_0: SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - DataDictionaryGetOriginLatitudeC8(ControlResponseBuffer);strcat(ControlResponseBuffer,";"); + DataDictionaryGetOriginLatitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); DataDictionaryGetOriginLongitudeC8(ControlResponseBuffer);strcat(ControlResponseBuffer,";"); DataDictionaryGetOriginAltitudeC8(ControlResponseBuffer);strcat(ControlResponseBuffer,";"); iCommSend(COMM_OSEM,ControlResponseBuffer); @@ -513,7 +517,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) { SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlGetServerParameter(SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlGetServerParameter(GSD, SystemControlArgument[0], ControlResponseBuffer, 0); SystemControlSendControlResponse(strlen(ControlResponseBuffer) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetServerParameter:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in GetServerParameter(Name)!"); SystemControlCommand = Idle_0;} break; @@ -522,8 +526,10 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) { SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSetServerParameter(SystemControlArgument[0], SystemControlArgument[1], 0); + SystemControlSetServerParameter(GSD, SystemControlArgument[0], SystemControlArgument[1], 0); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SetServerParameter:", ControlResponseBuffer, 0, &ClientSocket, 0); + //Send COMM_DATA_DICT to notify to update data from DataDictionary + iCommSend(COMM_DATA_DICT,ControlResponseBuffer); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in SetServerParameter(Name, Value)!"); SystemControlCommand = Idle_0;} break; @@ -881,7 +887,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) break; default: - DataDictionaryConstructor(); + break; } @@ -902,7 +908,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) if(RVSSConfigU32 & RVSS_TIME_CHANNEL) { - SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 0); + SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 1); UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); } @@ -1271,7 +1277,7 @@ I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData } */ -I32 SystemControlGetServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug) +I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnValue, U8 Debug) { bzero(ReturnValue, 20); dbl ValueDbl = 0; @@ -1280,12 +1286,12 @@ I32 SystemControlGetServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug if(strcmp("OrigoLatidude", ParameterName) == 0) { - DataDictionaryGetOriginLatitudeDbl(&ValueDbl); + DataDictionaryGetOriginLatitudeDbl(GSD, &ValueDbl); sprintf(ReturnValue, "%3.12f", ValueDbl); } else if(strcmp("OrigoLongitude", ParameterName) == 0) { - DataDictionaryGetOriginLatitudeDbl(&ValueDbl); + DataDictionaryGetOriginLongitudeDbl(&ValueDbl); sprintf(ReturnValue, "%3.12f", ValueDbl); } else if(strcmp("RVSSConfig", ParameterName) == 0) @@ -1303,10 +1309,9 @@ I32 SystemControlGetServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug -I32 SystemControlSetServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) +I32 SystemControlSetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *NewValue, U8 Debug) { - - if(strcmp("OrigoLatidude", ParameterName) == 0) DataDictionarySetOriginLatitudeDbl(NewValue); + if(strcmp("OrigoLatidude", ParameterName) == 0) DataDictionarySetOriginLatitudeDbl(GSD, NewValue); else if(strcmp("OrigoLongitude", ParameterName) == 0) DataDictionarySetOriginLongitudeDbl(NewValue); else if(strcmp("RVSSConfig", ParameterName) == 0) DataDictionarySetRVSSConfigU32((U32)atoi(NewValue)); else if(strcmp("RVSSRate", ParameterName) == 0) DataDictionarySetRVSSRateU8((U32)atoi(NewValue)); diff --git a/server/src/util.c b/server/src/util.c index a06e55aa1..5d0f91e55 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1969,6 +1969,11 @@ int iCommSend(const int iCommand,const char* cpData) uiMessagePrio = 80; cpMessage[0] = (char)COMM_TRAJ_FROMSUP; } + else if (iCommand == COMM_DATA_DICT) + { + uiMessagePrio = 100; + cpMessage[0] = (char)COMM_DATA_DICT; + } else { util_error("Unknown command"); From f3d53250877afaa484fe01bd206fbabb221b9f05 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 5 Jun 2019 12:34:11 +0200 Subject: [PATCH 140/730] added dir parser function --- server/src/supervision.c | 28 +++++++++++++++++++++++++--- 1 file changed, 25 insertions(+), 3 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 77802c895..bb6eb10f0 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -18,6 +18,7 @@ #include #include #include +#include #include #include @@ -27,13 +28,11 @@ #include "supervision.h" - - /* 34 years between 1970 and 2004, 8 days for leap year between 1970 and 2004 */ /* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ #define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 #define MAX_GEOFENCE_NAME_LEN 256 - +#define FENCE_DIRECTORY "./fence/" /* Difference of leap seconds between UTC and ETSI */ #define DIFF_LEAP_SECONDS_UTC_ETSI 5 @@ -55,6 +54,7 @@ typedef struct -- Function declarations. ------------------------------------------------------------*/ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences); +int loadGeofences(); /*------------------------------------------------------------ -- The main function. @@ -150,6 +150,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { case COMM_INIT: // TODO: Read geofence file for each object and populate data structure + loadGeofences(); break; case COMM_MONR: UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); @@ -171,6 +172,27 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) free(forb1.polygonPoints); } +int loadGeofences(){ + LogMessage(LOG_LEVEL_INFO,"Loading Geofences"); + + int len; + struct dirent *pDirent; + DIR *pDir; + + pDir = opendir (FENCE_DIRECTORY); + if (pDir == NULL) { + LogMessage(LOG_LEVEL_INFO,"Cannot open directory"); + return 1; + } + + while ((pDirent = readdir(pDir)) != NULL) { + LogMessage(LOG_LEVEL_INFO,"[%s]\n", pDirent->d_name); + } + closedir (pDir); + return 0; + +} + int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences) { CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; From 2b11884f0284e6918b2f48deafe015fb98a129dd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 5 Jun 2019 12:35:59 +0200 Subject: [PATCH 141/730] Forced type of command byte --- server/src/util.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index e6b8fa8c9..cb9c69458 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1811,7 +1811,7 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const size_t messageSize, s if ( result >= (ssize_t)(sizeof (char)+sizeof(dataLength)) ) { // A message was received: extract the command, data length and data - *command = message[0]; + *command = (unsigned char)message[0]; memcpy(&dataLength, message + sizeof(char), sizeof(dataLength)); if (dataLength != (size_t)(result) ) From a0d52f9477a88d5e595f32e07d55956c2461dc0f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 5 Jun 2019 12:38:09 +0200 Subject: [PATCH 142/730] Removed unnecessary type cast --- server/src/logger.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index 7e744e4bb..4d3df5c6a 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -345,7 +345,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_INV: break; default: - LogMessage(LOG_LEVEL_WARNING,"Unhandled message bus command: %u", (char)command); + LogMessage(LOG_LEVEL_WARNING,"Unhandled message bus command: %u", command); } } From 8b2709808d2411e7ce7799dcafe109a973b21bad Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 5 Jun 2019 12:38:38 +0200 Subject: [PATCH 143/730] Added handling of MQ command --- server/src/supervision.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 6ee0047a7..9caf0cbfa 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -161,10 +161,12 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_OBC_STATE: break; + case COMM_LOG: + break; case COMM_INV: break; default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", (char)command); + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } } From d8608b5d6a6600fad4b43ce083ee2b368ee1e09b Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 5 Jun 2019 16:10:38 +0200 Subject: [PATCH 144/730] More parsing --- server/inc/supervision.h | 1 - server/src/logger.c | 3 -- server/src/supervision.c | 86 ++++++++++++++++++++-------------------- 3 files changed, 42 insertions(+), 48 deletions(-) diff --git a/server/inc/supervision.h b/server/inc/supervision.h index 58f883693..089a062f3 100755 --- a/server/inc/supervision.h +++ b/server/inc/supervision.h @@ -20,5 +20,4 @@ ------------------------------------------------------------*/ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); - #endif //__SUPERVISION_H_INCLUDED__ diff --git a/server/src/logger.c b/server/src/logger.c index aeea86357..6bd1c3d78 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -106,8 +106,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) (void)strcat(pcLogFile," "); (void)strcat(pcLogFileComp," "); - - // Execution mode int LoggerExecutionMode = LOG_CONTROL_MODE; //int test =100; @@ -119,7 +117,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), &recvTime); diff --git a/server/src/supervision.c b/server/src/supervision.c index bb6eb10f0..251809116 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -54,7 +54,9 @@ typedef struct -- Function declarations. ------------------------------------------------------------*/ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences); -int loadGeofences(); +int loadGeofences(GeofenceType *geofences, int *numberOfGeofences); +int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int *numberOfGeofences); + /*------------------------------------------------------------ -- The main function. @@ -66,12 +68,12 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus MONRType MONRMessage; + int nGeof = 0; + GeofenceType* geoPtrs; - /* TODO: replace with permanent */ + /* TODO: replace with permanent const int nPts = 4; - const int nGeof = 3; - GeofenceType geoPtrs[nGeof]; GeofenceType perm1, perm2, forb1; perm1.numberOfPoints = nPts; @@ -86,39 +88,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) perm2.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); forb1.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); - perm1.polygonPoints[0].xCoord_m = -5; - perm1.polygonPoints[1].xCoord_m = 15; - perm1.polygonPoints[2].xCoord_m = 15; - perm1.polygonPoints[3].xCoord_m = -5; - - perm1.polygonPoints[0].yCoord_m = -10; - perm1.polygonPoints[1].yCoord_m = 10; - perm1.polygonPoints[2].yCoord_m = 10; - perm1.polygonPoints[3].yCoord_m = -10; - - perm2.polygonPoints[0].xCoord_m = -15; - perm2.polygonPoints[1].xCoord_m = 5; - perm2.polygonPoints[2].xCoord_m = 5; - perm2.polygonPoints[3].xCoord_m = -15; - - perm2.polygonPoints[0].yCoord_m = -10; - perm2.polygonPoints[1].yCoord_m = 10; - perm2.polygonPoints[2].yCoord_m = 10; - perm2.polygonPoints[3].yCoord_m = -10; - - forb1.polygonPoints[0].xCoord_m = -1; - forb1.polygonPoints[1].xCoord_m = 1; - forb1.polygonPoints[2].xCoord_m = 1; - forb1.polygonPoints[3].xCoord_m = -1; - - forb1.polygonPoints[0].yCoord_m = -1; - forb1.polygonPoints[1].yCoord_m = -1; - forb1.polygonPoints[2].yCoord_m = 1; - forb1.polygonPoints[3].yCoord_m = 1; - - geoPtrs[0] = perm1; - geoPtrs[1] = perm2; - geoPtrs[2] = forb1; + /* end */ enum COMMAND command; @@ -150,7 +120,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { case COMM_INIT: // TODO: Read geofence file for each object and populate data structure - loadGeofences(); + loadGeofences(geoPtrs, nGeof); break; case COMM_MONR: UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); @@ -165,14 +135,9 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %d", command); } } - - // TODO: Temporary - free(perm1.polygonPoints); - free(perm2.polygonPoints); - free(forb1.polygonPoints); } -int loadGeofences(){ +int loadGeofences(GeofenceType *geofences, int *numberOfGeofences){ LogMessage(LOG_LEVEL_INFO,"Loading Geofences"); int len; @@ -187,12 +152,45 @@ int loadGeofences(){ while ((pDirent = readdir(pDir)) != NULL) { LogMessage(LOG_LEVEL_INFO,"[%s]\n", pDirent->d_name); + + //TODO: double check if .geofence file + parseGeofencefile(pDirent->d_name, geofences, numberOfGeofences); } closedir (pDir); return 0; } +int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int *numberOfGeofences){ + + char pcFileNameBuffer[MAX_FILE_PATH] = ""; + strcat(pcFileNameBuffer, FENCE_DIRECTORY); + strcat(pcFileNameBuffer, geofenceFile); + + FILE *fp; + char str[MAX_FILE_PATH]; + + fp = fopen(pcFileNameBuffer, "r"); + if ( fp != NULL ) + { + char line [ 128 ]; /* or other suitable maximum line size */ + /*while ( fgets ( line, sizeof line, fp ) != NULL ) /* read a line */ + { + fputs ( line, stdout ); /* write the line */ + LogMessage(LOG_LEVEL_INFO,"Looping...."); + strcpy(geofences[0].name, line); + LogMessage(LOG_LEVEL_INFO, geofences[0].name); + + } + fclose ( fp ); + } + else + { + perror ( pcFileNameBuffer ); /* why didn't the file open? */ + } + return 0; +} + int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences) { CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; From 95bf5bcc24dfad11631c9d62d7386ec9d943281d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 10 Jun 2019 10:02:17 +0200 Subject: [PATCH 145/730] Added a todo in the function --- server/src/util.c | 1 + 1 file changed, 1 insertion(+) diff --git a/server/src/util.c b/server/src/util.c index cb9c69458..69cf263b9 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2987,6 +2987,7 @@ I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) I32 UtilPopulateMONRStruct(C8* rawMONR, MONRType *MONR, U8 debug) { + // TODO: size of rawMONR U16 Crc = 0, U16Data = 0; I16 I16Data = 0; U32 U32Data = 0; From b3caeb4c170f57dd77564e8a86f6d3351e11d02c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 10 Jun 2019 10:03:18 +0200 Subject: [PATCH 146/730] Made the geofences have coordinates which are easy to check --- server/src/supervision.c | 68 +++++++++++++++++++++------------------- 1 file changed, 36 insertions(+), 32 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 9caf0cbfa..3ff56bf16 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -86,41 +86,45 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) perm2.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); forb1.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); - perm1.polygonPoints[0].xCoord_m = -5; - perm1.polygonPoints[1].xCoord_m = 15; - perm1.polygonPoints[2].xCoord_m = 15; - perm1.polygonPoints[3].xCoord_m = -5; - - perm1.polygonPoints[0].yCoord_m = -10; - perm1.polygonPoints[1].yCoord_m = 10; - perm1.polygonPoints[2].yCoord_m = 10; - perm1.polygonPoints[3].yCoord_m = -10; - - perm2.polygonPoints[0].xCoord_m = -15; - perm2.polygonPoints[1].xCoord_m = 5; - perm2.polygonPoints[2].xCoord_m = 5; - perm2.polygonPoints[3].xCoord_m = -15; - - perm2.polygonPoints[0].yCoord_m = -10; - perm2.polygonPoints[1].yCoord_m = 10; - perm2.polygonPoints[2].yCoord_m = 10; - perm2.polygonPoints[3].yCoord_m = -10; - - forb1.polygonPoints[0].xCoord_m = -1; - forb1.polygonPoints[1].xCoord_m = 1; - forb1.polygonPoints[2].xCoord_m = 1; - forb1.polygonPoints[3].xCoord_m = -1; - - forb1.polygonPoints[0].yCoord_m = -1; - forb1.polygonPoints[1].yCoord_m = -1; - forb1.polygonPoints[2].yCoord_m = 1; - forb1.polygonPoints[3].yCoord_m = 1; + perm1.polygonPoints[0].xCoord_m = -100; + perm1.polygonPoints[1].xCoord_m = 80; + perm1.polygonPoints[2].xCoord_m = 80; + perm1.polygonPoints[3].xCoord_m = -100; + + perm1.polygonPoints[0].yCoord_m = -100; + perm1.polygonPoints[1].yCoord_m = -100; + perm1.polygonPoints[2].yCoord_m = 60; + perm1.polygonPoints[3].yCoord_m = 60; + + perm2.polygonPoints[0].xCoord_m = -100; + perm2.polygonPoints[1].xCoord_m = 100; + perm2.polygonPoints[2].xCoord_m = 100; + perm2.polygonPoints[3].xCoord_m = -100; + + perm2.polygonPoints[0].yCoord_m = -25; + perm2.polygonPoints[1].yCoord_m = -25; + perm2.polygonPoints[2].yCoord_m = 100; + perm2.polygonPoints[3].yCoord_m = 100; + + forb1.polygonPoints[0].xCoord_m = 40; + forb1.polygonPoints[1].xCoord_m = 50; + forb1.polygonPoints[2].xCoord_m = 50; + forb1.polygonPoints[3].xCoord_m = 40; + + forb1.polygonPoints[0].yCoord_m = 50; + forb1.polygonPoints[1].yCoord_m = 50; + forb1.polygonPoints[2].yCoord_m = 60; + forb1.polygonPoints[3].yCoord_m = 60; geoPtrs[0] = perm1; geoPtrs[1] = perm2; geoPtrs[2] = forb1; /* end */ + perm1.name[0] = '1'; + perm2.name[0] = '2'; + forb1.name[0] = 'f'; + enum COMMAND command; (void)iCommInit(); @@ -178,7 +182,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences) { - CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; + const CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; char isInPolygon = 0; int retval = 0; @@ -193,9 +197,9 @@ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char n else { if (geofences[i].isPermitted) - LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is outside the permitted area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); + LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is outside a permitted area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); else - LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is inside the forbidden area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); + LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is inside a forbidden area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); retval = -1; } From b8d2a65acb16be6cfb0e87f827299c6813515c30 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 10 Jun 2019 10:05:52 +0200 Subject: [PATCH 147/730] Made OC send the un-ASCIIed MONR message --- server/src/objectcontrol.c | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 91f24dfd6..945b5c942 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -468,6 +468,17 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } + if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) + { + // Send MONR message on new byte format + LogMessage(LOG_LEVEL_DEBUG, "Sending raw MONR message", buffer); + if(iCommSend(COMM_MONR, buffer, COMMAND_MONR_MESSAGE_LENGTH) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONR command - entering error state"); + vSetState(&OBCState,OBC_STATE_ERROR); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } + } ObjectControlBuildMONRMessage(buffer, &MONRData, 1); @@ -514,14 +525,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) vSetState(&OBCState,OBC_STATE_ERROR); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } - - // Send MONR message on new byte format - if(iCommSend(COMM_MONR, buffer, COMMAND_MONR_MESSAGE_LENGTH) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONR command - entering error state"); - vSetState(&OBCState,OBC_STATE_ERROR); - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - } } From f200dc85239526ba495db77d0efc0d895ea29b57 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 10 Jun 2019 11:06:26 +0200 Subject: [PATCH 148/730] Added array length to function call --- server/inc/util.h | 4 ++-- server/src/util.c | 19 ++++++++++++++++--- 2 files changed, 18 insertions(+), 5 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 65374ed32..adb7fb4d1 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -732,7 +732,7 @@ int iUtilGetParaConfFile(char* pcParameter, char* pcValue); int iUtilGetIntParaConfFile(char* pcParameter, int* iValue); int iCommInit(void); -int iCommClose(); +int iCommClose(void); ssize_t iCommRecv(enum COMMAND *command, char* data, const size_t messageSize, struct timeval *timeRecv); int iCommSend(const enum COMMAND iCommand, const char* data, size_t dataLength); @@ -800,7 +800,7 @@ I32 UtilISOBuildTRAJMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *H I32 UtilISOBuildTRAJMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); I32 UtilISOBuildTRAJInfo(C8* MessageBuffer, TRAJInfoType *TRAJInfoData, U8 debug); -I32 UtilPopulateMONRStruct(C8* rawMONR, MONRType *MONR, U8 debug); +I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 debug); typedef struct { uint64_t timestamp; diff --git a/server/src/util.c b/server/src/util.c index 323bbb48b..7b00918c7 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1815,7 +1815,7 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const size_t messageSize, s if (dataLength != (size_t)(result) ) { - LogMessage(LOG_LEVEL_ERROR, "Received message with invalid length specification of %d (expected %d)", dataLength, result); + LogMessage(LOG_LEVEL_ERROR, "Received message with invalid length specification field: %d bytes, but %d bytes were received", dataLength, result); *command = COMM_INV; return 0; } @@ -2983,8 +2983,15 @@ I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) } - -I32 UtilPopulateMONRStruct(C8* rawMONR, MONRType *MONR, U8 debug) +/*! + * \brief UtilPopulateMONRStruct Takes an array of raw MONR data and fills a MONRType struct with the content + * \param rawMONR Array of raw MONR data + * \param rawMONRsize Size of raw MONR data array + * \param MONR Struct where MONR data should be placed + * \param debug Boolean enabling debug printouts + * \return -1 on failure, 0 on success + */ +I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 debug) { U16 Crc = 0, U16Data = 0; I16 I16Data = 0; @@ -2993,6 +3000,12 @@ I32 UtilPopulateMONRStruct(C8* rawMONR, MONRType *MONR, U8 debug) U64 U64Data = 0; C8 *rdPtr = rawMONR; // Pointer to keep track of where in rawMONR we are currently reading + if (rawMONRsize < sizeof (MONRType)) + { + LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data"); + return -1; + } + memcpy(&U16Data, rdPtr, sizeof(U16Data)); MONR->Header.SyncWordU16 = U16Data; rdPtr += sizeof(U16Data); From 0af2d2aa6995f473abd0c897a49079b8ef5ad516 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 10 Jun 2019 12:54:13 +0200 Subject: [PATCH 149/730] Added check before reading files --- server/src/util.c | 90 +++++++++++++++++++++++++++-------------------- 1 file changed, 51 insertions(+), 39 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 32944fc7e..3bf81a7d9 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1633,53 +1633,65 @@ int UtilReadLine(FILE *fd, char *Buffer) C8 * UtilSearchTextFile(C8 *Filename, C8 *Text1, C8 *Text2, C8 *Result) { - FILE *fd; + FILE *fd; - char RowBuffer[MAX_ROW_SIZE]; - char DataBuffer[MAX_ROW_SIZE]; - char *PtrText1; - char *PtrText2; - int Length; - U8 Found = 0; + char RowBuffer[MAX_ROW_SIZE]; + char DataBuffer[MAX_ROW_SIZE]; + char *PtrText1; + char *PtrText2; + int Length; + U8 Found = 0; + int RowCount = 0; - fd = fopen (Filename, "r"); - int RowCount = UtilCountFileRows(fd); - fclose(fd); + fd = fopen (Filename, "r"); - fd = fopen (Filename, "r"); - if(fd > 0) - { - do + if (fd == NULL){ + sprintf(RowBuffer, "Unable to open file <%s>", Filename); + util_error(RowBuffer); + } + + RowCount = UtilCountFileRows(fd); + fclose(fd); + + fd = fopen (Filename, "r"); + if(fd != NULL) { - bzero(RowBuffer, MAX_ROW_SIZE); - UtilReadLineCntSpecChars(fd, RowBuffer); - bzero(DataBuffer, MAX_ROW_SIZE); - PtrText1 = strstr(RowBuffer, (const char *)Text1); - if(PtrText1 != NULL) - { - if(strlen(Text2) > 0) - { - PtrText2 = strstr((const char *)(PtrText1+1), (const char *)Text2); - if(PtrText2 != NULL) - { - strncpy(Result, PtrText1+strlen(Text1), strlen(RowBuffer) - strlen(Text1) - strlen(Text2)); - } - } - else + do { - strncpy(Result, PtrText1+strlen(Text1), strlen(RowBuffer) - strlen(Text1)); - } - Found = 1; - } - RowCount--; + bzero(RowBuffer, MAX_ROW_SIZE); + UtilReadLineCntSpecChars(fd, RowBuffer); + bzero(DataBuffer, MAX_ROW_SIZE); + PtrText1 = strstr(RowBuffer, (const char *)Text1); + if(PtrText1 != NULL) + { + if(strlen(Text2) > 0) + { + PtrText2 = strstr((const char *)(PtrText1+1), (const char *)Text2); + if(PtrText2 != NULL) + { + strncpy(Result, PtrText1+strlen(Text1), strlen(RowBuffer) - strlen(Text1) - strlen(Text2)); + } + } + else + { + strncpy(Result, PtrText1+strlen(Text1), strlen(RowBuffer) - strlen(Text1)); + } + Found = 1; + } + RowCount--; - } while(Found == 0 && RowCount >= 0); + } while(Found == 0 && RowCount >= 0); - fclose(fd); - } + fclose(fd); + } + else + { + sprintf(RowBuffer, "Unable to open file <%s>", Filename); + util_error(RowBuffer); + } - //printf("String found: %s\n", Result); - return Result; + //printf("String found: %s\n", Result); + return Result; } From a9ea8c7dcc2e3a4a9551936d652a27ead2c47d92 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 10 Jun 2019 16:35:44 +0200 Subject: [PATCH 150/730] Parsing file, errors in structs --- server/inc/supervision.h | 1 - server/src/supervision.c | 121 +++++++++++++++++++++++++++++++-------- 2 files changed, 96 insertions(+), 26 deletions(-) diff --git a/server/inc/supervision.h b/server/inc/supervision.h index 089a062f3..8f35056c8 100755 --- a/server/inc/supervision.h +++ b/server/inc/supervision.h @@ -19,5 +19,4 @@ -- Function declarations. ------------------------------------------------------------*/ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); - #endif //__SUPERVISION_H_INCLUDED__ diff --git a/server/src/supervision.c b/server/src/supervision.c index 251809116..381b6d16b 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -49,13 +49,13 @@ typedef struct CartesianPosition *polygonPoints; } GeofenceType; - +int nGeof = 0; /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences); -int loadGeofences(GeofenceType *geofences, int *numberOfGeofences); -int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int *numberOfGeofences); +int loadGeofences(GeofenceType *geofences); +int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index); /*------------------------------------------------------------ @@ -68,8 +68,10 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus MONRType MONRMessage; - int nGeof = 0; - GeofenceType* geoPtrs; + GeofenceType *geoPtrs; + geoPtrs = malloc(sizeof (GeofenceType)); + + /* TODO: replace with permanent const int nPts = 4; @@ -99,14 +101,18 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { - - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); if (command == COMM_ABORT) { // TODO: + + } + + if( command == COMM_CONNECT){ + printf("nnConnected...\n"); + printf("\nnGeof: %d\n", nGeof); } if (command == COMM_EXIT) @@ -120,7 +126,10 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { case COMM_INIT: // TODO: Read geofence file for each object and populate data structure - loadGeofences(geoPtrs, nGeof); + loadGeofences(geoPtrs); + + printf("Geof: %d\n", nGeof); + break; case COMM_MONR: UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); @@ -137,10 +146,9 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } -int loadGeofences(GeofenceType *geofences, int *numberOfGeofences){ +int loadGeofences(GeofenceType *geofences){ LogMessage(LOG_LEVEL_INFO,"Loading Geofences"); - int len; struct dirent *pDirent; DIR *pDir; @@ -151,42 +159,105 @@ int loadGeofences(GeofenceType *geofences, int *numberOfGeofences){ } while ((pDirent = readdir(pDir)) != NULL) { - LogMessage(LOG_LEVEL_INFO,"[%s]\n", pDirent->d_name); + LogMessage(LOG_LEVEL_INFO,"Opening [%s]\n", pDirent->d_name); + + const char *ext = strrchr(pDirent->d_name, '.'); + if(!ext || ext == pDirent->d_name){ + printf("Not a valid file"); + } + else{ + nGeof++; + geofences = realloc(geofences, (sizeof(GeofenceType) * (int)nGeof)); + + int index = nGeof - 1; + parseGeofencefile(pDirent->d_name, geofences, index); - //TODO: double check if .geofence file - parseGeofencefile(pDirent->d_name, geofences, numberOfGeofences); + } } + closedir (pDir); return 0; } -int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int *numberOfGeofences){ +int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ char pcFileNameBuffer[MAX_FILE_PATH] = ""; strcat(pcFileNameBuffer, FENCE_DIRECTORY); strcat(pcFileNameBuffer, geofenceFile); FILE *fp; - char str[MAX_FILE_PATH]; + char *line = NULL; + size_t len = 0; + ssize_t read; + fp = fopen(pcFileNameBuffer, "r"); if ( fp != NULL ) { - char line [ 128 ]; /* or other suitable maximum line size */ - /*while ( fgets ( line, sizeof line, fp ) != NULL ) /* read a line */ - { - fputs ( line, stdout ); /* write the line */ - LogMessage(LOG_LEVEL_INFO,"Looping...."); - strcpy(geofences[0].name, line); - LogMessage(LOG_LEVEL_INFO, geofences[0].name); - - } + while ((read = getline(&line, &len, fp)) != -1) { + //printf("Retrieved line of length %u :\n", read); + //printf("%s", line); + + + + + char delim[] = ";"; + char *ptr = strtok(line, delim); + int pointCount = 0; + + while (ptr != NULL) + { + if(strcmp( ptr, "GEOFENCE" ) == 0){ //PARSE HEADER + ptr = strtok(NULL, delim); + printf("Name: %s\n", ptr); + strcpy (geofences[ index ].name, ptr); + + ptr = strtok(NULL, delim); + printf("PointCount: %s\n", ptr); + geofences[ index ].numberOfPoints = atoi(ptr); + + geofences[index].polygonPoints = (CartesianPosition*)malloc(geofences[ index ].numberOfPoints*sizeof(CartesianPosition)); // allocate for points + + ptr = strtok(NULL, delim); + + if(strcmp( ptr, "permitted" ) == 0){ + geofences[ index ].isPermitted = 1; + }else { + geofences[ index ].isPermitted = 0; + } + + printf("Type: %s\n", ptr); + + //strcpy (geofences[ index ].isPermitted, ptr); + ptr = strtok(NULL, delim); + printf("Min Height: %s\n", ptr); + ptr = strtok(NULL, delim); + printf("Max Height: %s\n", ptr); + ptr = strtok(NULL, delim); + } + + if(strcmp( ptr, "LINE" ) == 0){ + ptr = strtok(NULL, delim); + printf("X: %s\n", ptr); + geofences[index].polygonPoints[pointCount].xCoord_m = 0.12345; + + + ptr = strtok(NULL, delim); + printf("Y: %s\n", ptr); + + geofences[index].polygonPoints[pointCount].yCoord_m = 0.12345; + pointCount++; + } + ptr = strtok(NULL, delim); + } + } + LogMessage(LOG_LEVEL_INFO, "Closed [%s]\n", pcFileNameBuffer); fclose ( fp ); } else { - perror ( pcFileNameBuffer ); /* why didn't the file open? */ + perror ( pcFileNameBuffer ); } return 0; } From ed560f87f6f5f59e52b3093678c2b561ddeb1d3c Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Mon, 10 Jun 2019 16:55:35 +0200 Subject: [PATCH 151/730] DataDictionary updated, SystemControl support strings as parameters from GUC. --- server/inc/datadictionary.h | 190 +++++++-------- server/inc/util.h | 6 +- server/src/datadictionary.c | 421 +++++++++++++++++---------------- server/src/objectcontrol.c | 26 +- server/src/supervisorcontrol.c | 9 +- server/src/systemcontrol.c | 199 ++++++++++++++-- 6 files changed, 519 insertions(+), 332 deletions(-) diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h index 0c0ca36be..f8cc2da95 100644 --- a/server/inc/datadictionary.h +++ b/server/inc/datadictionary.h @@ -19,104 +19,106 @@ I32 DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude); I32 DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude); I32 DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude); -I32 DataDictionaryInitOriginLongitudeDbl(void); -I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude); -I32 DataDictionaryGetOriginLongitudeDbl(dbl *Longitude); -I32 DataDictionaryGetOriginLongitudeC8(C8 *Longitude); - -I32 DataDictionaryInitOriginAltitudeDbl(void); -I32 DataDictionarySetOriginAltitudeDbl(C8 *Altitude); -I32 DataDictionaryGetOriginAltitudeDbl(dbl *Altitude); -I32 DataDictionaryGetOriginAltitudeC8(C8 *Altitude); - -I32 DataDictionaryInitVisualizationServerU32(void); -I32 DataDictionarySetVisualizationServerU32(C8 *IP); -I32 DataDictionaryGetVisualizationServer(U32 *IP); - -I32 DataDictionaryInitForceToLocalhostU8(void); -I32 DataDictionarySetForceToLocalhostU8(C8 *ForceLocalhost); -I32 DataDictionaryGetForceToLocalhostU8(U8 *ForceLocalhost); - -I32 DataDictionaryInitASPMaxTimeDiffDbl(void); -I32 DataDictionarySetASPMaxTimeDiffDbl(C8 *ASPMaxTimeDiff); -I32 DataDictionaryGetASPMaxTimeDiffDbl(dbl *ASPMaxTimeDiff); - -I32 DataDictionaryInitASPMaxTrajDiffDbl(void); -I32 DataDictionarySetASPMaxTrajDiffDbl(C8 *ASPMaxTimeDiff); -I32 DataDictionaryGetASPMaxTrajDiffDbl(dbl *ASPMaxTimeDiff); - -I32 DataDictionaryInitASPStepBackCountU32(void); -I32 DataDictionarySetASPStepBackCountU32(C8 *ASPStepBackCount); -I32 DataDictionaryGetASPStepBackCountU32(U32 *ASPStepBackCount); - -I32 DataDictionaryInitASPFilterLevelDbl(void); -I32 DataDictionarySetASPFilterLevelDbl(C8 *ASPFilterLevel); -I32 DataDictionaryGetASPFilterLevelDbl(dbl *ASPFilterLevel); - -I32 DataDictionaryInitASPMaxDeltaTimeDbl(void); -I32 DataDictionarySetASPMaxDeltaTimeDbl(C8 *ASPMaxDeltaTime); -I32 DataDictionaryGetASPMaxDeltaTimeDbl(dbl *ASPMaxDeltaTime); - -I32 DataDictionaryInitTimeServerIPU32(void); -I32 DataDictionarySetTimeServerIPU32(C8 *TimeServerIP); -I32 DataDictionaryGetTimeServerIPU32(U32 *TimeServerIP); - -I32 DataDictionaryInitTimeServerPortU16(void); -I32 DataDictionarySetTimeServerPortU16(C8 *TimeServerPort); -I32 DataDictionaryGetTimeServerPortU16(U16 *TimeServerPort); - -I32 DataDictionaryInitSimulatorIPU32(void); -I32 DataDictionarySetSimulatorIPU32(C8 *SimulatorIP); -I32 DataDictionaryGetSimulatorIPU32(U32 *SimulatorIP); - -I32 DataDictionaryInitSimulatorTCPPortU16(void); -I32 DataDictionarySetSimulatorTCPPortU16(C8 *SimulatorTCPPort); -I32 DataDictionaryGetSimulatorTCPPortU16(U16 *SimulatorTCPPort); - -I32 DataDictionaryInitSimulatorUDPPortU16(void); -I32 DataDictionarySetSimulatorUDPPortU16(C8 *SimulatorUDPPort); -I32 DataDictionaryGetSimulatorUDPPortU16(U16 *SimulatorUDPPort); - -I32 DataDictionaryInitSimulatorModeU8(void); -I32 DataDictionarySetSimulatorModeU8(C8 *SimulatorMode); -I32 DataDictionaryGetSimulatorModeU8(U8 *SimulatorMode); - -I32 DataDictionaryInitVOILReceiversC8(void); -I32 DataDictionarySetVOILReceiversC8(C8 *VOILReceivers); -I32 DataDictionaryGetVOILReceiversC8(C8 *VOILReceivers); - -I32 DataDictionaryInitDTMReceiversC8(void); -I32 DataDictionarySetDTMReceiversC8(C8 *DTMReceivers); -I32 DataDictionaryGetDTMReceiversC8(C8 *DTMReceivers); - -I32 DataDictionaryInitExternalSupervisorIPU32(void); -I32 DataDictionarySetExternalSupervisorIPU32(C8 *IP); -I32 DataDictionaryGetExternalSupervisorIPU32(U32 *IP); - -I32 DataDictionaryInitSupervisorTCPPortU16(void); -I32 DataDictionarySetSupervisorTCPPortU16(C8 *SupervisorTCPPort); -I32 DataDictionaryGetSupervisorTCPPortU16(U16 *SupervisorTCPPort); - -I32 DataDictionaryInitRVSSConfigU32(void); -I32 DataDictionarySetRVSSConfigU32(U32 RVSSConfig); -I32 DataDictionaryGetRVSSConfigU32(U32 *RVSSConfig); - -I32 DataDictionaryInitRVSSRateU8(void); -I32 DataDictionarySetRVSSRateU8(U8 RVSSRate); -I32 DataDictionaryGetRVSSRateU8(U8 *RVSSRate); - -I32 DataDictionarySetRVSSAsp(ASPType *ASPData); -I32 DataDictionaryGetRVSSAsp(ASPType *ASPData); - -I32 DataDictionaryInitMiscDataC8(void); -I32 DataDictionarySetMiscDataC8(C8 *MiscData); -I32 DataDictionaryGetMiscDataC8(C8 *MiscData); - +I32 DataDictionaryInitOriginLongitudeDbl(GSDType *GSD); +I32 DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude); +I32 DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude); +I32 DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude); + +I32 DataDictionaryInitOriginAltitudeDbl(GSDType *GSD); +I32 DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude); +I32 DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude); +I32 DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude); + +I32 DataDictionaryInitVisualizationServerU32(GSDType *GSD); +I32 DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP); +I32 DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP); +I32 DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP); + +I32 DataDictionaryInitForceToLocalhostU8(GSDType *GSD); +I32 DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost); +I32 DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost); + +I32 DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD); +I32 DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff); +I32 DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff); + +I32 DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD); +I32 DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff); +I32 DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff); + +I32 DataDictionaryInitASPStepBackCountU32(GSDType *GSD); +I32 DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount); +I32 DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount); + +I32 DataDictionaryInitASPFilterLevelDbl(GSDType *GSD); +I32 DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel); +I32 DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel); + +I32 DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD); +I32 DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime); +I32 DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime); + +I32 DataDictionaryInitTimeServerIPU32(GSDType *GSD); +I32 DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP); +I32 DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP); +I32 DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP); + +I32 DataDictionaryInitTimeServerPortU16(GSDType *GSD); +I32 DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort); +I32 DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort); + +I32 DataDictionaryInitSimulatorIPU32(GSDType *GSD); +I32 DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP); +I32 DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP); +I32 DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP); + +I32 DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD); +I32 DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort); +I32 DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort); + +I32 DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD); +I32 DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort); +I32 DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort); + +I32 DataDictionaryInitSimulatorModeU8(GSDType *GSD); +I32 DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode); +I32 DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode); + +I32 DataDictionaryInitVOILReceiversC8(GSDType *GSD); +I32 DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers); +I32 DataDictionaryGetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers); + +I32 DataDictionaryInitDTMReceiversC8(GSDType *GSD); +I32 DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers); +I32 DataDictionaryGetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers); + +I32 DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD); +I32 DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP); +I32 DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP); +I32 DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP); + +I32 DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD); +I32 DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort); +I32 DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort); + +I32 DataDictionaryInitRVSSConfigU32(GSDType *GSD); +I32 DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig); +I32 DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig); + +I32 DataDictionaryInitRVSSRateU8(GSDType *GSD); +I32 DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate); +I32 DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate); + +I32 DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPData); +I32 DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPData); + +I32 DataDictionaryInitMiscDataC8(GSDType *GSD); +I32 DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData); +I32 DataDictionaryGetMiscDataC8(GSDType *GSD, C8 *MiscData); I32 DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState); U8 DataDictionaryGetOBCStateU8(GSDType *GSD); - void DataDictionaryConstructor(GSDType *GSD); #endif diff --git a/server/inc/util.h b/server/inc/util.h index af1ca4338..9b3a531e5 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -105,7 +105,7 @@ #define TCP_RX_BUFFER 1024 #define MAX_ADAPTIVE_SYNC_POINTS 512 -#define USE_LOCAL_USER_CONTROL 1 +#define USE_LOCAL_USER_CONTROL 0 #define LOCAL_USER_CONTROL_IP "192.168.0.7" #define USE_TEST_HOST 0 #define TESTHOST_IP LOCAL_USER_CONTROL_IP @@ -570,6 +570,7 @@ typedef struct volatile dbl OriginAltitudeDbl; C8 OriginAltitudeC8[DD_CONTROL_BUFFER_SIZE_20]; volatile U32 VisualizationServerU32; + C8 VisualizationServerC8[DD_CONTROL_BUFFER_SIZE_20]; volatile U8 ForceObjectToLocalhostU8; volatile dbl ASPMaxTimeDiffDbl; volatile dbl ASPMaxTrajDiffDbl; @@ -577,14 +578,17 @@ typedef struct volatile dbl ASPFilterLevelDbl; volatile dbl ASPMaxDeltaTimeDbl; volatile U32 TimeServerIPU32; + C8 TimeServerIPC8[DD_CONTROL_BUFFER_SIZE_20]; volatile U16 TimeServerPortU16; volatile U32 SimulatorIPU32; + C8 SimulatorIPC8[DD_CONTROL_BUFFER_SIZE_20]; volatile U16 SimulatorTCPPortU16; volatile U16 SimulatorUDPPortU16; volatile U8 SimulatorModeU8; C8 VOILReceiversC8[DD_CONTROL_BUFFER_SIZE_1024]; C8 DTMReceiversC8[DD_CONTROL_BUFFER_SIZE_1024]; volatile U32 ExternalSupervisorIPU32; + C8 ExternalSupervisorIPC8[DD_CONTROL_BUFFER_SIZE_20]; volatile U16 SupervisorTCPPortU16; volatile U32 DataDictionaryRVSSConfigU32; volatile U32 DataDictionaryRVSSRateU8; diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index b8c9be754..74c537664 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -40,34 +40,6 @@ // Parameters and variables pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; -volatile dbl OriginLatitudeDbl = 0; -C8 OriginLatitudeC8[DD_CONTROL_BUFFER_SIZE_20]; -volatile dbl OriginLongitudeDbl = 0; -C8 OriginLongitudeC8[DD_CONTROL_BUFFER_SIZE_20]; -volatile dbl OriginAltitudeDbl = 0; -C8 OriginAltitudeC8[DD_CONTROL_BUFFER_SIZE_20]; -volatile U32 VisualizationServerU32 = 0; -volatile U8 ForceObjectToLocalhostU8 = 0; -volatile dbl ASPMaxTimeDiffDbl = 0; -volatile dbl ASPMaxTrajDiffDbl = 0; -volatile U32 ASPStepBackCountU32 = 0; -volatile dbl ASPFilterLevelDbl = 0; -volatile dbl ASPMaxDeltaTimeDbl = 0; -volatile U32 TimeServerIPU32 = 0; -volatile U16 TimeServerPortU16 = 0; -volatile U32 SimulatorIPU32 = 0; -volatile U16 SimulatorTCPPortU16 = 0; -volatile U16 SimulatorUDPPortU16 = 0; -volatile U8 SimulatorModeU8 = 0; -C8 VOILReceiversC8[DD_CONTROL_BUFFER_SIZE_1024]; -C8 DTMReceiversC8[DD_CONTROL_BUFFER_SIZE_1024]; -volatile U32 ExternalSupervisorIPU32 = 0; -volatile U16 SupervisorTCPPortU16 = 0; -volatile U32 DataDictionaryRVSSConfigU32 = 0; -volatile U32 DataDictionaryRVSSRateU8 = 0; -volatile ASPType ASPData; -C8 MiscDataC8[DD_CONTROL_BUFFER_SIZE_1024]; -volatile U8 OBCStateU8 = 0; I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); @@ -77,28 +49,28 @@ I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); void DataDictionaryConstructor(GSDType *GSD) { DataDictionaryInitOriginLatitudeDbl(GSD); - DataDictionaryInitOriginLongitudeDbl(); - DataDictionaryInitOriginAltitudeDbl(); - DataDictionaryInitVisualizationServerU32(); - DataDictionaryInitForceToLocalhostU8(); - DataDictionaryInitASPMaxTimeDiffDbl(); - DataDictionaryInitASPMaxTrajDiffDbl(); - DataDictionaryInitASPStepBackCountU32(); - DataDictionaryInitASPFilterLevelDbl(); - DataDictionaryInitASPMaxDeltaTimeDbl(); - DataDictionaryInitTimeServerIPU32(); - DataDictionaryInitTimeServerPortU16(); - DataDictionaryInitSimulatorIPU32(); - DataDictionaryInitSimulatorTCPPortU16(); - DataDictionaryInitSimulatorUDPPortU16(); - DataDictionaryInitSimulatorModeU8(); - DataDictionaryInitVOILReceiversC8(); - DataDictionaryInitDTMReceiversC8(); - DataDictionaryInitExternalSupervisorIPU32(); - DataDictionaryInitRVSSConfigU32(); - DataDictionaryInitRVSSRateU8(); - DataDictionaryInitSupervisorTCPPortU16(); - DataDictionaryInitMiscDataC8(); + DataDictionaryInitOriginLongitudeDbl(GSD); + DataDictionaryInitOriginAltitudeDbl(GSD); + DataDictionaryInitVisualizationServerU32(GSD); + DataDictionaryInitForceToLocalhostU8(GSD); + DataDictionaryInitASPMaxTimeDiffDbl(GSD); + DataDictionaryInitASPMaxTrajDiffDbl(GSD); + DataDictionaryInitASPStepBackCountU32(GSD); + DataDictionaryInitASPFilterLevelDbl(GSD); + DataDictionaryInitASPMaxDeltaTimeDbl(GSD); + DataDictionaryInitTimeServerIPU32(GSD); + DataDictionaryInitTimeServerPortU16(GSD); + DataDictionaryInitSimulatorIPU32(GSD); + DataDictionaryInitSimulatorTCPPortU16(GSD); + DataDictionaryInitSimulatorUDPPortU16(GSD); + DataDictionaryInitSimulatorModeU8(GSD); + DataDictionaryInitVOILReceiversC8(GSD); + DataDictionaryInitDTMReceiversC8(GSD); + DataDictionaryInitExternalSupervisorIPU32(GSD); + DataDictionaryInitRVSSConfigU32(GSD); + DataDictionaryInitRVSSRateU8(GSD); + DataDictionaryInitSupervisorTCPPortU16(GSD); + DataDictionaryInitMiscDataC8(GSD); DataDictionarySetOBCStateU8(GSD, OBC_STATE_IDLE); } @@ -167,7 +139,7 @@ I32 DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude) /*END of Origin Latitude*/ /*Origin Longitude*/ -I32 DataDictionaryInitOriginLongitudeDbl(void) +I32 DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -175,9 +147,9 @@ I32 DataDictionaryInitOriginLongitudeDbl(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - OriginLongitudeDbl = atof(ResultBufferC8); - bzero(OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(OriginLongitudeC8, ResultBufferC8); + GSD->OriginLongitudeDbl = atof(ResultBufferC8); + bzero(GSD->OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginLongitudeC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -189,40 +161,40 @@ I32 DataDictionaryInitOriginLongitudeDbl(void) return Res; } -I32 DataDictionarySetOriginLongitudeDbl(C8 *Longitude) +I32 DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude) { I32 Res; if(Res = UtilWriteConfigurationParameter("OrigoLongitude", Longitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - OriginLongitudeDbl = atof(Longitude); - bzero(OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(OriginLongitudeC8, Longitude); + GSD->OriginLongitudeDbl = atof(Longitude); + bzero(GSD->OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginLongitudeC8, Longitude); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetOriginLongitudeDbl(dbl *Longitude) +I32 DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude) { pthread_mutex_lock(&mutex); - *Longitude = OriginLongitudeDbl; + *Longitude = GSD->OriginLongitudeDbl; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } -I32 DataDictionaryGetOriginLongitudeC8(C8 *Longitude) +I32 DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude) { pthread_mutex_lock(&mutex); - strcat(Longitude, OriginLongitudeC8); + strcat(Longitude, GSD->OriginLongitudeC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of Origin Longitude*/ /*Origin Altitude*/ -I32 DataDictionaryInitOriginAltitudeDbl(void) +I32 DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -230,9 +202,9 @@ I32 DataDictionaryInitOriginAltitudeDbl(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - OriginAltitudeDbl = atof(ResultBufferC8); - bzero(OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(OriginAltitudeC8, ResultBufferC8); + GSD->OriginAltitudeDbl = atof(ResultBufferC8); + bzero(GSD->OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginAltitudeC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -244,33 +216,33 @@ I32 DataDictionaryInitOriginAltitudeDbl(void) return Res; } -I32 DataDictionarySetOriginAltitudeDbl(C8 *Altitude) +I32 DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) { I32 Res; if(Res = UtilWriteConfigurationParameter("OrigoAltitude", Altitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - OriginAltitudeDbl = atof(Altitude); - bzero(OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(OriginAltitudeC8, Altitude); + GSD->OriginAltitudeDbl = atof(Altitude); + bzero(GSD->OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginAltitudeC8, Altitude); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetOriginAltitudeDbl(dbl *Altitude) +I32 DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude) { pthread_mutex_lock(&mutex); - *Altitude = OriginAltitudeDbl; + *Altitude = GSD->OriginAltitudeDbl; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } -I32 DataDictionaryGetOriginAltitudeC8(C8 *Altitude) +I32 DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude) { pthread_mutex_lock(&mutex); - strcat(Altitude, OriginAltitudeC8); + strcat(Altitude, GSD->OriginAltitudeC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -278,7 +250,7 @@ I32 DataDictionaryGetOriginAltitudeC8(C8 *Altitude) /*END of Origin Altitude*/ /*VisualizationServer*/ -I32 DataDictionaryInitVisualizationServerU32(void) +I32 DataDictionaryInitVisualizationServerU32(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -286,7 +258,9 @@ I32 DataDictionaryInitVisualizationServerU32(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - VisualizationServerU32 = UtilIPStringToInt(ResultBufferC8); + GSD->VisualizationServerU32 = UtilIPStringToInt(ResultBufferC8); + bzero(GSD->VisualizationServerC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->VisualizationServerC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -298,31 +272,43 @@ I32 DataDictionaryInitVisualizationServerU32(void) return Res; } -I32 DataDictionarySetVisualizationServerU32(C8 *IP) +I32 DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) { I32 Res; if(Res = UtilWriteConfigurationParameter("VisualizationServerName", IP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - VisualizationServerU32 = UtilIPStringToInt(IP); + GSD->VisualizationServerU32 = UtilIPStringToInt(IP); + bzero(GSD->VisualizationServerC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->VisualizationServerC8, IP); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetVisualizationServer(U32 *IP) +I32 DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) { pthread_mutex_lock(&mutex); - *IP = VisualizationServerU32; + *IP = GSD->VisualizationServerU32; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } + + +I32 DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP) +{ + pthread_mutex_lock(&mutex); + strcat(IP, GSD->VisualizationServerC8); + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; +} + /*END of VisualizationServer*/ /*ForceToLocalhost*/ -I32 DataDictionaryInitForceToLocalhostU8(void) +I32 DataDictionaryInitForceToLocalhostU8(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -330,7 +316,7 @@ I32 DataDictionaryInitForceToLocalhostU8(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - ForceObjectToLocalhostU8 = atoi(ResultBufferC8); + GSD->ForceObjectToLocalhostU8 = atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -342,30 +328,30 @@ I32 DataDictionaryInitForceToLocalhostU8(void) return Res; } -I32 DataDictionarySetForceToLocalhostU8(C8 *ForceLocalhost) +I32 DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost) { I32 Res; if(Res = UtilWriteConfigurationParameter("ForceObjectToLocalhost", ForceLocalhost, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - ForceObjectToLocalhostU8 = atoi(ForceLocalhost); + GSD->ForceObjectToLocalhostU8 = atoi(ForceLocalhost); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetForceToLocalhostU8(U8 *ForceLocalhost) +I32 DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost) { pthread_mutex_lock(&mutex); - *ForceLocalhost = ForceObjectToLocalhostU8; + *ForceLocalhost = GSD->ForceObjectToLocalhostU8; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of ForceToLocalhost*/ /*ASPMaxTimeDiff*/ -I32 DataDictionaryInitASPMaxTimeDiffDbl(void) +I32 DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -373,7 +359,7 @@ I32 DataDictionaryInitASPMaxTimeDiffDbl(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - ASPMaxTimeDiffDbl = atof(ResultBufferC8); + GSD->ASPMaxTimeDiffDbl = atof(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -385,30 +371,30 @@ I32 DataDictionaryInitASPMaxTimeDiffDbl(void) return Res; } -I32 DataDictionarySetASPMaxTimeDiffDbl(C8 *ASPMaxTimeDiff) +I32 DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff) { I32 Res; if(Res = UtilWriteConfigurationParameter("ASPMaxTimeDiff", ASPMaxTimeDiff, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - ASPMaxTimeDiffDbl = atof(ASPMaxTimeDiff); + GSD->ASPMaxTimeDiffDbl = atof(ASPMaxTimeDiff); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetASPMaxTimeDiffDbl(dbl *ASPMaxTimeDiff) +I32 DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff) { pthread_mutex_lock(&mutex); - *ASPMaxTimeDiff = ASPMaxTimeDiffDbl; + *ASPMaxTimeDiff = GSD->ASPMaxTimeDiffDbl; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of ASPMaxTimeDiff*/ /*ASPMaxTrajDiff*/ -I32 DataDictionaryInitASPMaxTrajDiffDbl(void) +I32 DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -416,7 +402,7 @@ I32 DataDictionaryInitASPMaxTrajDiffDbl(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - ASPMaxTrajDiffDbl = atof(ResultBufferC8); + GSD->ASPMaxTrajDiffDbl = atof(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -428,23 +414,23 @@ I32 DataDictionaryInitASPMaxTrajDiffDbl(void) return Res; } -I32 DataDictionarySetASPMaxTrajDiffDbl(C8 *ASPMaxTrajDiff) +I32 DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTrajDiff) { I32 Res; if(Res = UtilWriteConfigurationParameter("ASPMaxTrajDiff", ASPMaxTrajDiff, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - ASPMaxTrajDiffDbl = atof(ASPMaxTrajDiff); + GSD->ASPMaxTrajDiffDbl = atof(ASPMaxTrajDiff); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetASPMaxTrajDiffDbl(dbl *ASPMaxTrajDiff) +I32 DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTrajDiff) { pthread_mutex_lock(&mutex); - *ASPMaxTrajDiff = ASPMaxTrajDiffDbl; + *ASPMaxTrajDiff = GSD->ASPMaxTrajDiffDbl; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -452,7 +438,7 @@ I32 DataDictionaryGetASPMaxTrajDiffDbl(dbl *ASPMaxTrajDiff) /*ASPStepBackCount*/ -I32 DataDictionaryInitASPStepBackCountU32(void) +I32 DataDictionaryInitASPStepBackCountU32(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -460,7 +446,7 @@ I32 DataDictionaryInitASPStepBackCountU32(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - ASPStepBackCountU32 = atoi(ResultBufferC8); + GSD->ASPStepBackCountU32 = atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -472,30 +458,30 @@ I32 DataDictionaryInitASPStepBackCountU32(void) return Res; } -I32 DataDictionarySetASPStepBackCountU32(C8 *ASPStepBackCount) +I32 DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount) { I32 Res; if(Res = UtilWriteConfigurationParameter("ASPStepBackCount", ASPStepBackCount, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - ASPStepBackCountU32 = atoi(ASPStepBackCount); + GSD->ASPStepBackCountU32 = atoi(ASPStepBackCount); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetASPStepBackCountU32(U32 *ASPStepBackCount) +I32 DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount) { pthread_mutex_lock(&mutex); - *ASPStepBackCount = ASPStepBackCountU32; + *ASPStepBackCount = GSD->ASPStepBackCountU32; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of ASPStepBackCount*/ /*ASPFilterLevel*/ -I32 DataDictionaryInitASPFilterLevelDbl(void) +I32 DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -503,7 +489,7 @@ I32 DataDictionaryInitASPFilterLevelDbl(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - ASPFilterLevelDbl = atof(ResultBufferC8); + GSD->ASPFilterLevelDbl = atof(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -515,30 +501,30 @@ I32 DataDictionaryInitASPFilterLevelDbl(void) return Res; } -I32 DataDictionarySetASPFilterLevelDbl(C8 *ASPFilterLevel) +I32 DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel) { I32 Res; if(Res = UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - ASPFilterLevelDbl = atof(ASPFilterLevel); + GSD->ASPFilterLevelDbl = atof(ASPFilterLevel); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetASPFilterLevelDbl(dbl *ASPFilterLevel) +I32 DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel) { pthread_mutex_lock(&mutex); - *ASPFilterLevel = ASPFilterLevelDbl; + *ASPFilterLevel = GSD->ASPFilterLevelDbl; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of ASPFilterLevel*/ /*ASPMaxDeltaTime*/ -I32 DataDictionaryInitASPMaxDeltaTimeDbl(void) +I32 DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -546,7 +532,7 @@ I32 DataDictionaryInitASPMaxDeltaTimeDbl(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - ASPMaxDeltaTimeDbl = atof(ResultBufferC8); + GSD->ASPMaxDeltaTimeDbl = atof(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -558,23 +544,23 @@ I32 DataDictionaryInitASPMaxDeltaTimeDbl(void) return Res; } -I32 DataDictionarySetASPMaxDeltaTimeDbl(C8 *ASPMaxDeltaTime) +I32 DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime) { I32 Res; if(Res = UtilWriteConfigurationParameter("ASPMaxDeltaTime", ASPMaxDeltaTime, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - ASPMaxDeltaTimeDbl = atof(ASPMaxDeltaTime); + GSD->ASPMaxDeltaTimeDbl = atof(ASPMaxDeltaTime); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetASPMaxDeltaTimeDbl(dbl *ASPMaxDeltaTime) +I32 DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime) { pthread_mutex_lock(&mutex); - *ASPMaxDeltaTime = ASPMaxDeltaTimeDbl; + *ASPMaxDeltaTime = GSD->ASPMaxDeltaTimeDbl; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -582,7 +568,7 @@ I32 DataDictionaryGetASPMaxDeltaTimeDbl(dbl *ASPMaxDeltaTime) /*TimeServerIP*/ -I32 DataDictionaryInitTimeServerIPU32(void) +I32 DataDictionaryInitTimeServerIPU32(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -590,7 +576,9 @@ I32 DataDictionaryInitTimeServerIPU32(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - TimeServerIPU32 = UtilIPStringToInt(ResultBufferC8); + GSD->TimeServerIPU32 = UtilIPStringToInt(ResultBufferC8); + bzero(GSD->TimeServerIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->TimeServerIPC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -602,31 +590,42 @@ I32 DataDictionaryInitTimeServerIPU32(void) return Res; } -I32 DataDictionarySetTimeServerIPU32(C8 *TimeServerIP) +I32 DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP) { I32 Res; if(Res = UtilWriteConfigurationParameter("TimeServerIP", TimeServerIP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - TimeServerIPU32 = UtilIPStringToInt(TimeServerIP); + GSD->TimeServerIPU32 = UtilIPStringToInt(TimeServerIP); + bzero(GSD->TimeServerIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->TimeServerIPC8, TimeServerIP); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetTimeServerIPU32(U32 *TimeServerIP) +I32 DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP) +{ + pthread_mutex_lock(&mutex); + *TimeServerIP = GSD->TimeServerIPU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } + +I32 DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP) { pthread_mutex_lock(&mutex); - *TimeServerIP = TimeServerIPU32; + strcat(TimeServerIP, GSD->TimeServerIPC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } + /*END of TimeServerIP*/ /*TimeServerPort*/ -I32 DataDictionaryInitTimeServerPortU16(void) +I32 DataDictionaryInitTimeServerPortU16(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -634,7 +633,7 @@ I32 DataDictionaryInitTimeServerPortU16(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - TimeServerPortU16 = atoi(ResultBufferC8); + GSD->TimeServerPortU16 = atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -646,23 +645,23 @@ I32 DataDictionaryInitTimeServerPortU16(void) return Res; } -I32 DataDictionarySetTimeServerPortU16(C8 *TimeServerPort) +I32 DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort) { I32 Res; if(Res = UtilWriteConfigurationParameter("TimeServerPort", TimeServerPort, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - TimeServerPortU16 = atoi(TimeServerPort); + GSD->TimeServerPortU16 = atoi(TimeServerPort); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetTimeServerPortU16(U16 *TimeServerPort) +I32 DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort) { pthread_mutex_lock(&mutex); - *TimeServerPort = TimeServerPortU16; + *TimeServerPort = GSD->TimeServerPortU16; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -670,7 +669,7 @@ I32 DataDictionaryGetTimeServerPortU16(U16 *TimeServerPort) /*SimulatorIP*/ -I32 DataDictionaryInitSimulatorIPU32(void) +I32 DataDictionaryInitSimulatorIPU32(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -678,7 +677,9 @@ I32 DataDictionaryInitSimulatorIPU32(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - SimulatorIPU32 = UtilIPStringToInt(ResultBufferC8); + GSD->SimulatorIPU32 = UtilIPStringToInt(ResultBufferC8); + bzero(GSD->SimulatorIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->SimulatorIPC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -690,30 +691,40 @@ I32 DataDictionaryInitSimulatorIPU32(void) return Res; } -I32 DataDictionarySetSimulatorIPU32(C8 *SimulatorIP) +I32 DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) { I32 Res; if(Res = UtilWriteConfigurationParameter("SimulatorIP", SimulatorIP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - SimulatorIPU32 = UtilIPStringToInt(SimulatorIP); + GSD->SimulatorIPU32 = UtilIPStringToInt(SimulatorIP); + bzero(GSD->SimulatorIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->SimulatorIPC8, SimulatorIP); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetSimulatorIPU32(U32 *SimulatorIP) +I32 DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP) +{ + pthread_mutex_lock(&mutex); + *SimulatorIP = GSD->SimulatorIPU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } + +I32 DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP) { pthread_mutex_lock(&mutex); - *SimulatorIP = SimulatorIPU32; + strcat(SimulatorIP, GSD->SimulatorIPC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of SimulatorIP*/ /*SimulatorTCPPort*/ -I32 DataDictionaryInitSimulatorTCPPortU16(void) +I32 DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -721,7 +732,7 @@ I32 DataDictionaryInitSimulatorTCPPortU16(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - SimulatorTCPPortU16 = atoi(ResultBufferC8); + GSD->SimulatorTCPPortU16 = atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -733,30 +744,30 @@ I32 DataDictionaryInitSimulatorTCPPortU16(void) return Res; } -I32 DataDictionarySetSimulatorTCPPortU16(C8 *SimulatorTCPPort) +I32 DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort) { I32 Res; if(Res = UtilWriteConfigurationParameter("SimulatorTCPPort", SimulatorTCPPort, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - SimulatorTCPPortU16 = atoi(SimulatorTCPPort); + GSD->SimulatorTCPPortU16 = atoi(SimulatorTCPPort); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetSimulatorTCPPortU16(U16 *SimulatorTCPPort) +I32 DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort) { pthread_mutex_lock(&mutex); - *SimulatorTCPPort = SimulatorTCPPortU16; + *SimulatorTCPPort = GSD->SimulatorTCPPortU16; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of SimulatorTCPPort*/ /*SimulatorUDPPort*/ -I32 DataDictionaryInitSimulatorUDPPortU16(void) +I32 DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -764,7 +775,7 @@ I32 DataDictionaryInitSimulatorUDPPortU16(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - SimulatorUDPPortU16 = atoi(ResultBufferC8); + GSD->SimulatorUDPPortU16 = atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -776,30 +787,30 @@ I32 DataDictionaryInitSimulatorUDPPortU16(void) return Res; } -I32 DataDictionarySetSimulatorUDPPortU16(C8 *SimulatorUDPPort) +I32 DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort) { I32 Res; if(Res = UtilWriteConfigurationParameter("SimulatorUDPPort", SimulatorUDPPort, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - SimulatorUDPPortU16 = atoi(SimulatorUDPPort); + GSD->SimulatorUDPPortU16 = atoi(SimulatorUDPPort); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetSimulatorUDPPortU16(U16 *SimulatorUDPPort) +I32 DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort) { pthread_mutex_lock(&mutex); - *SimulatorUDPPort = SimulatorUDPPortU16; + *SimulatorUDPPort = GSD->SimulatorUDPPortU16; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of SimulatorUDPPort*/ /*SimulatorMode*/ -I32 DataDictionaryInitSimulatorModeU8(void) +I32 DataDictionaryInitSimulatorModeU8(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -807,7 +818,7 @@ I32 DataDictionaryInitSimulatorModeU8(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - SimulatorModeU8 = atoi(ResultBufferC8); + GSD->SimulatorModeU8 = atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -819,30 +830,30 @@ I32 DataDictionaryInitSimulatorModeU8(void) return Res; } -I32 DataDictionarySetSimulatorModeU8(C8 *SimulatorMode) +I32 DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode) { I32 Res; if(Res = UtilWriteConfigurationParameter("SimulatorMode", SimulatorMode, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - SimulatorModeU8 = atoi(SimulatorMode); + GSD->SimulatorModeU8 = atoi(SimulatorMode); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetSimulatorModeU8(U8 *SimulatorMode) +I32 DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode) { pthread_mutex_lock(&mutex); - *SimulatorMode = SimulatorModeU8; + *SimulatorMode = GSD->SimulatorModeU8; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of SimulatorMode*/ /*VOILReceivers*/ -I32 DataDictionaryInitVOILReceiversC8(void) +I32 DataDictionaryInitVOILReceiversC8(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; @@ -850,7 +861,7 @@ I32 DataDictionaryInitVOILReceiversC8(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - strcpy(VOILReceiversC8, ResultBufferC8); + strcpy(GSD->VOILReceiversC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -862,30 +873,30 @@ I32 DataDictionaryInitVOILReceiversC8(void) return Res; } -I32 DataDictionarySetVOILReceiversC8(C8 *VOILReceivers) +I32 DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers) { I32 Res; if(Res = UtilWriteConfigurationParameter("VOILReceivers", VOILReceivers, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - strcpy(VOILReceiversC8, VOILReceivers); + strcpy(GSD->VOILReceiversC8, VOILReceivers); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetVOILReceiversC8(U8 *VOILReceivers) +I32 DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceivers) { pthread_mutex_lock(&mutex); - strcpy(VOILReceivers, VOILReceiversC8); + strcpy(VOILReceivers, GSD->VOILReceiversC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of VOILReceivers*/ /*DTMReceivers*/ -I32 DataDictionaryInitDTMReceiversC8(void) +I32 DataDictionaryInitDTMReceiversC8(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; @@ -893,7 +904,7 @@ I32 DataDictionaryInitDTMReceiversC8(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - strcpy(DTMReceiversC8, ResultBufferC8); + strcpy(GSD->DTMReceiversC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -905,30 +916,30 @@ else return Res; } -I32 DataDictionarySetDTMReceiversC8(C8 *DTMReceivers) +I32 DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers) { I32 Res; if(Res = UtilWriteConfigurationParameter("DTMReceivers", DTMReceivers, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - strcpy(DTMReceiversC8, DTMReceivers); + strcpy(GSD->DTMReceiversC8, DTMReceivers); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetDTMReceiversC8(U8 *DTMReceivers) +I32 DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers) { pthread_mutex_lock(&mutex); - strcpy(DTMReceivers, DTMReceiversC8); + strcpy(DTMReceivers, GSD->DTMReceiversC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of DTMReceivers*/ /*External Supervisor IP*/ -I32 DataDictionaryInitExternalSupervisorIPU32(void) +I32 DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -936,7 +947,9 @@ I32 DataDictionaryInitExternalSupervisorIPU32(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - ExternalSupervisorIPU32 = UtilIPStringToInt(ResultBufferC8); + GSD->ExternalSupervisorIPU32 = UtilIPStringToInt(ResultBufferC8); + bzero(GSD->ExternalSupervisorIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->ExternalSupervisorIPC8, ResultBufferC8); pthread_mutex_unlock(&mutex); //LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", ResultBufferC8); } @@ -949,30 +962,40 @@ I32 DataDictionaryInitExternalSupervisorIPU32(void) return Res; } -I32 DataDictionarySetExternalSupervisorIPU32(C8 *IP) +I32 DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) { I32 Res; if(Res = UtilWriteConfigurationParameter("SupervisorIP", IP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - ExternalSupervisorIPU32 = UtilIPStringToInt(IP); + GSD->ExternalSupervisorIPU32 = UtilIPStringToInt(IP); + bzero(GSD->ExternalSupervisorIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->ExternalSupervisorIPC8, IP); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetExternalSupervisorIPU32(U32 *IP) +I32 DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP) +{ + pthread_mutex_lock(&mutex); + *IP = GSD->ExternalSupervisorIPU32; + pthread_mutex_unlock(&mutex); + return (I32) READ_OK; + } + +I32 DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP) { pthread_mutex_lock(&mutex); - *IP = ExternalSupervisorIPU32; + strcat(IP, GSD->ExternalSupervisorIPC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END of External Supervisor IP*/ /*External SupervisorTCPPort*/ -I32 DataDictionaryInitSupervisorTCPPortU16(void) +I32 DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -980,7 +1003,7 @@ I32 DataDictionaryInitSupervisorTCPPortU16(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - SupervisorTCPPortU16 = atoi(ResultBufferC8); + GSD->SupervisorTCPPortU16 = atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -992,23 +1015,23 @@ I32 DataDictionaryInitSupervisorTCPPortU16(void) return Res; } -I32 DataDictionarySetSupervisorTCPPortU16(C8 *SupervisorTCPPort) +I32 DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort) { I32 Res; if(Res = UtilWriteConfigurationParameter("SupervisorTCPPort", SupervisorTCPPort, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - SupervisorTCPPortU16 = atoi(SupervisorTCPPort); + GSD->SupervisorTCPPortU16 = atoi(SupervisorTCPPort); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetSupervisorTCPPortU16(U16 *SupervisorTCPPort) +I32 DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort) { pthread_mutex_lock(&mutex); - *SupervisorTCPPort = SupervisorTCPPortU16; + *SupervisorTCPPort = GSD->SupervisorTCPPortU16; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -1018,7 +1041,7 @@ I32 DataDictionaryGetSupervisorTCPPortU16(U16 *SupervisorTCPPort) /*Runtime Variable Subscription Service (RVSS) Configuration*/ -I32 DataDictionaryInitRVSSConfigU32(void) +I32 DataDictionaryInitRVSSConfigU32(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -1026,7 +1049,7 @@ I32 DataDictionaryInitRVSSConfigU32(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - DataDictionaryRVSSConfigU32 = atoi(ResultBufferC8); + GSD->DataDictionaryRVSSConfigU32 = atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); //LogMessage(LOG_LEVEL_INFO,"RVSSConfig: %s", ResultBufferC8); } @@ -1039,7 +1062,7 @@ I32 DataDictionaryInitRVSSConfigU32(void) return Res; } -I32 DataDictionarySetRVSSConfigU32(U32 RVSSConfig) +I32 DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) { I32 Res; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -1050,16 +1073,16 @@ I32 DataDictionarySetRVSSConfigU32(U32 RVSSConfig) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - DataDictionaryRVSSConfigU32 = RVSSConfig; + GSD->DataDictionaryRVSSConfigU32 = RVSSConfig; pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetRVSSConfigU32(U32 *RVSSConfig) +I32 DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig) { pthread_mutex_lock(&mutex); - *RVSSConfig = DataDictionaryRVSSConfigU32; + *RVSSConfig = GSD->DataDictionaryRVSSConfigU32; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -1067,7 +1090,7 @@ I32 DataDictionaryGetRVSSConfigU32(U32 *RVSSConfig) /*Runtime Variable Subscription Service (RVSS) Rate*/ -I32 DataDictionaryInitRVSSRateU8(void) +I32 DataDictionaryInitRVSSRateU8(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -1075,7 +1098,7 @@ I32 DataDictionaryInitRVSSRateU8(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - DataDictionaryRVSSRateU8 = (U8)atoi(ResultBufferC8); + GSD->DataDictionaryRVSSRateU8 = (U8)atoi(ResultBufferC8); pthread_mutex_unlock(&mutex); //LogMessage(LOG_LEVEL_INFO,"RVSSRate: %s", ResultBufferC8); } @@ -1088,7 +1111,7 @@ I32 DataDictionaryInitRVSSRateU8(void) return Res; } -I32 DataDictionarySetRVSSRateU8(U8 RVSSRate) +I32 DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) { I32 Res; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -1099,16 +1122,16 @@ I32 DataDictionarySetRVSSRateU8(U8 RVSSRate) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - DataDictionaryRVSSRateU8 = RVSSRate; + GSD->DataDictionaryRVSSRateU8 = RVSSRate; pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetRVSSRateU8(U8 *RVSSRate) +I32 DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) { pthread_mutex_lock(&mutex); - *RVSSRate = DataDictionaryRVSSRateU8; + *RVSSRate = GSD->DataDictionaryRVSSRateU8; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } @@ -1116,25 +1139,25 @@ I32 DataDictionaryGetRVSSRateU8(U8 *RVSSRate) /*ASPDebug*/ -I32 DataDictionarySetRVSSAsp(ASPType *ASPD) +I32 DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPD) { pthread_mutex_lock(&mutex); - ASPData = *ASPD; + GSD->ASPData = *ASPD; pthread_mutex_unlock(&mutex); return (I32) WRITE_OK; } -I32 DataDictionaryGetRVSSAsp(ASPType *ASPD) +I32 DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPD) { pthread_mutex_lock(&mutex); - *ASPD = ASPData; + *ASPD = GSD->ASPData; pthread_mutex_unlock(&mutex); return (I32) READ_OK; } /*END ASPDebug*/ /*MiscData*/ -I32 DataDictionaryInitMiscDataC8(void) +I32 DataDictionaryInitMiscDataC8(GSDType *GSD) { I32 Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; @@ -1142,7 +1165,7 @@ I32 DataDictionaryInitMiscDataC8(void) { Res = READ_OK; pthread_mutex_lock(&mutex); - strcpy(MiscDataC8, ResultBufferC8); + strcpy(GSD->MiscDataC8, ResultBufferC8); pthread_mutex_unlock(&mutex); } else @@ -1154,24 +1177,24 @@ I32 DataDictionaryInitMiscDataC8(void) return Res; } -I32 DataDictionarySetMiscDataC8(C8 *MiscData) +I32 DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) { I32 Res; if(Res = UtilWriteConfigurationParameter("MiscData", MiscData, 0)) { Res = WRITE_OK; pthread_mutex_lock(&mutex); - bzero(MiscDataC8, DD_CONTROL_BUFFER_SIZE_1024); - strcpy(MiscDataC8, MiscData); + bzero(GSD->MiscDataC8, DD_CONTROL_BUFFER_SIZE_1024); + strcpy(GSD->MiscDataC8, MiscData); pthread_mutex_unlock(&mutex); } else Res = PARAMETER_NOTFOUND; return Res; } -I32 DataDictionaryGetMiscDataC8(U8 *MiscData) +I32 DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData) { pthread_mutex_lock(&mutex); - strcpy(MiscData, MiscDataC8); + strcpy(MiscData, GSD->MiscDataC8); pthread_mutex_unlock(&mutex); return (I32) READ_OK; } diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 5ce02ece6..56631637a 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -551,7 +551,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) //Build ASP debug data and set to GSD //bzero(buffer,OBJECT_MESS_BUFFER_SIZE); //ObjectControlBuildASPMessage(buffer, &ASPData, 0); - DataDictionarySetRVSSAsp(&ASPData); + DataDictionarySetRVSSAsp(GSD, &ASPData); //for(j = 0; j < sizeof(ASPType); j ++) GSD->ASPDebugDataU8[j] = buffer[j]; //GSD->ASPDebugDataSetU8 = 1; @@ -1069,12 +1069,12 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) } */ DataDictionaryGetOriginLatitudeC8(GSD, OriginLatitude); - DataDictionaryGetOriginLongitudeC8(OriginLongitude); - DataDictionaryGetOriginAltitudeC8(OriginAltitude); + DataDictionaryGetOriginLongitudeC8(GSD, OriginLongitude); + DataDictionaryGetOriginAltitudeC8(GSD, OriginAltitude); DataDictionaryGetOriginLatitudeDbl(GSD, &OriginLatitudeDbl); - DataDictionaryGetOriginLongitudeDbl(&OriginLongitudeDbl); - DataDictionaryGetOriginAltitudeDbl(&OriginAltitudeDbl); + DataDictionaryGetOriginLongitudeDbl(GSD, &OriginLongitudeDbl); + DataDictionaryGetOriginAltitudeDbl(GSD, &OriginAltitudeDbl); OriginLatitudeDbl = atof(OriginLatitude); OriginLongitudeDbl = atof(OriginLongitude); @@ -1085,20 +1085,20 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) OriginPosition.Altitude = OriginAltitudeDbl; OriginPosition.Heading = OriginHeadingDbl; - DataDictionaryGetForceToLocalhostU8(&iForceObjectToLocalhostU8); + DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); LogMessage(LOG_LEVEL_INFO,"ForceObjectToLocalhost = %d", iForceObjectToLocalhostU8); LOG_SEND(LogBuffer, "[ObjectControl] ForceObjectToLocalhost = %d", iForceObjectToLocalhostU8); - DataDictionaryGetASPMaxTimeDiffDbl(&ASPMaxTimeDiffDbl); - DataDictionaryGetASPMaxTrajDiffDbl(&ASPMaxTrajDiffDbl); - DataDictionaryGetASPStepBackCountU32(&ASPStepBackCount); - DataDictionaryGetASPFilterLevelDbl(&ASPFilterLevelDbl); - DataDictionaryGetASPMaxDeltaTimeDbl(&ASPMaxDeltaTimeDbl); + DataDictionaryGetASPMaxTimeDiffDbl(GSD, &ASPMaxTimeDiffDbl); + DataDictionaryGetASPMaxTrajDiffDbl(GSD, &ASPMaxTrajDiffDbl); + DataDictionaryGetASPStepBackCountU32(GSD, &ASPStepBackCount); + DataDictionaryGetASPFilterLevelDbl(GSD, &ASPFilterLevelDbl); + DataDictionaryGetASPMaxDeltaTimeDbl(GSD, &ASPMaxDeltaTimeDbl); ASPDebugRate = 1; bzero(VOILReceivers, SMALL_BUFFER_SIZE_254); - DataDictionaryGetVOILReceiversC8(VOILReceivers); + DataDictionaryGetVOILReceiversC8(GSD, VOILReceivers); bzero(DTMReceivers, SMALL_BUFFER_SIZE_254); - DataDictionaryGetDTMReceiversC8(DTMReceivers); + DataDictionaryGetDTMReceiversC8(GSD, DTMReceivers); } else if(iCommand == COMM_DISCONNECT) diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index 5ee567d88..52daf4970 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -114,14 +114,7 @@ int supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD) LogInit(MODULE_NAME,logLevel); LogMessage( LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); - //bzero(TextBufferC8, SUP_CONTROL_BUFFER_SIZE_20); - //UtilSearchTextFile(TEST_CONF_FILE, "SupervisorIP=", "", TextBufferC8); - //bzero(SupervisorServerIpC8, SUP_CONTROL_BUFFER_SIZE_20); - //strcat(SupervisorServerIpC8, TextBufferC8); - - //LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", TextBufferC8); - //SupervisorIpU32 = UtilIPStringToInt(SupervisorServerIpC8); - DataDictionaryGetExternalSupervisorIPU32(&SupervisorIpU32); + DataDictionaryGetExternalSupervisorIPU32(GSD, &SupervisorIpU32); if(SupervisorIpU32 != 0) { diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 152e3e987..3944ce9db 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -247,14 +247,17 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) U32 RVSSConfigU32; U32 RVSSMessageLengthU32; U16 PCDMessageCodeU16; + U8 FnuttFoundU8 = 0; + C8 *StartFnuttPtr; + C8 *EndFnuttPtr; - DataDictionaryGetRVSSConfigU32(&RVSSConfigU32); + DataDictionaryGetRVSSConfigU32(GSD, &RVSSConfigU32); LogMessage(LOG_LEVEL_INFO,"RVSSConfigU32 = %d", RVSSConfigU32); U8 RVSSRateU8; dbl RVSSRateDbl; - DataDictionaryGetRVSSRateU8(&RVSSRateU8); + DataDictionaryGetRVSSRateU8(GSD, &RVSSRateU8); RVSSRateDbl = RVSSRateU8; RVSSRateDbl = (1/RVSSRateDbl)*1000; LogMessage(LOG_LEVEL_INFO,"RVSSRateU8 = %d", RVSSRateU8); @@ -354,12 +357,65 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) while (StopPtr != NULL) { StopPtr = (char *)strchr(StartPtr, ','); - if(StopPtr == NULL) strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); - else strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); - StartPtr = StopPtr+1; - CurrentInputArgCount ++; - //printf("CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount-1]); + + //Check for fnutts + if(StopPtr != NULL) + { + StartFnuttPtr = NULL; + EndFnuttPtr = NULL; + + i = 0; + while(i < StopPtr-StartPtr) + { + if(*(StartPtr+i) == '"') FnuttFoundU8 = 1; + i ++; + } + + if(FnuttFoundU8 == 1) + { + i = 0; + while(StartFnuttPtr == NULL || EndFnuttPtr == NULL) + { + if(*(StartPtr+i) == '"' && StartFnuttPtr == NULL) StartFnuttPtr = StartPtr+i+1; + else if (*(StartPtr+i) == '"' && EndFnuttPtr == NULL) EndFnuttPtr = StartPtr+i; + i ++; + if(i > strlen(pcBuffer)) + { + StartFnuttPtr = pcBuffer; + EndFnuttPtr = pcBuffer; + FnuttFoundU8 = 0; + } + } + //printf("Fnutt length: %ld\n", (uint64_t)EndFnuttPtr - (uint64_t)StartFnuttPtr); + } + } + + if(FnuttFoundU8 == 1) + { + + FnuttFoundU8 = 0; + strncpy(SystemControlArgument[CurrentInputArgCount], StartFnuttPtr, (uint64_t)EndFnuttPtr - (uint64_t)StartFnuttPtr); + //printf("Between fnutts: %s\n", SystemControlArgument[CurrentInputArgCount]); + StartPtr = EndFnuttPtr + 1; + //printf("1. CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount]); + //CurrentInputArgCount ++; + + } + else if(StopPtr == NULL) + { + strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); + //printf("2. CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount]); + CurrentInputArgCount ++; + } + else + { + strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); + StartPtr = StopPtr+1; + //printf("3. CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount]); + CurrentInputArgCount ++; + } } + //printf("4. CurrentInputArgCount=%d\n", CurrentInputArgCount); SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); } @@ -507,8 +563,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); DataDictionaryGetOriginLatitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); - DataDictionaryGetOriginLongitudeC8(ControlResponseBuffer);strcat(ControlResponseBuffer,";"); - DataDictionaryGetOriginAltitudeC8(ControlResponseBuffer);strcat(ControlResponseBuffer,";"); + DataDictionaryGetOriginLongitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); + DataDictionaryGetOriginAltitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); iCommSend(COMM_OSEM,ControlResponseBuffer); SystemControlSendControlResponse(strlen(ParameterListC8) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetTestOrigin:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); break; @@ -526,7 +582,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) { SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSetServerParameter(GSD, SystemControlArgument[0], SystemControlArgument[1], 0); + SystemControlSetServerParameter(GSD, SystemControlArgument[0], SystemControlArgument[1], 1); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SetServerParameter:", ControlResponseBuffer, 0, &ClientSocket, 0); //Send COMM_DATA_DICT to notify to update data from DataDictionary iCommSend(COMM_DATA_DICT,ControlResponseBuffer); @@ -898,7 +954,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD) if(RVSSSendCounterU16 >= ((U16)RVSSRateDbl)) { RVSSSendCounterU16 = 0; - DataDictionaryGetRVSSRateU8(&RVSSRateU8); + DataDictionaryGetRVSSRateU8(GSD, &RVSSRateU8); RVSSRateDbl = RVSSRateU8; RVSSRateDbl = (1/RVSSRateDbl)*1000; @@ -1282,6 +1338,7 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV bzero(ReturnValue, 20); dbl ValueDbl = 0; U32 ValueU32 = 0; + U16 ValueU16 = 0; U8 ValueU8 = 0; if(strcmp("OrigoLatidude", ParameterName) == 0) @@ -1291,17 +1348,105 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV } else if(strcmp("OrigoLongitude", ParameterName) == 0) { - DataDictionaryGetOriginLongitudeDbl(&ValueDbl); + DataDictionaryGetOriginLongitudeDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.12f", ValueDbl); + } + else if(strcmp("OrigoAltitude", ParameterName) == 0) + { + DataDictionaryGetOriginAltitudeDbl(GSD, &ValueDbl); sprintf(ReturnValue, "%3.12f", ValueDbl); } + else if(strcmp("VisualizationServerName", ParameterName) == 0) + { + DataDictionaryGetVisualizationServerC8(GSD, ReturnValue); + } + else if(strcmp("ForceObjectToLocalhost", ParameterName) == 0) + { + DataDictionaryGetForceToLocalhostU8(GSD, &ValueU8); + sprintf(ReturnValue, "%" PRIu8, ValueU8); + } + else if(strcmp("ASPMaxTimeDiff", ParameterName) == 0) + { + DataDictionaryGetASPMaxTimeDiffDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.3f" , ValueDbl); + } + else if(strcmp("ASPMaxTrajDiff", ParameterName) == 0) + { + DataDictionaryGetASPMaxTrajDiffDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.3f" , ValueDbl); + } + else if(strcmp("ASPStepBackCount", ParameterName) == 0) + { + DataDictionaryGetASPStepBackCountU32(GSD, &ValueU32); + sprintf(ReturnValue, "%" PRIu32 , ValueU32); + } + else if(strcmp("ASPFilterLevel", ParameterName) == 0) + { + DataDictionaryGetASPFilterLevelDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.3f" , ValueDbl); + } + else if(strcmp("ASPMaxDeltaTime", ParameterName) == 0) + { + DataDictionaryGetASPMaxDeltaTimeDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.3f" , ValueDbl); + } + else if(strcmp("TimeServerIP", ParameterName) == 0) + { + DataDictionaryGetTimeServerIPC8(GSD, ReturnValue); + } + else if(strcmp("TimeServerPort", ParameterName) == 0) + { + DataDictionaryGetTimeServerPortU16(GSD, &ValueU16); + sprintf(ReturnValue, "%" PRIu16 , ValueU16); + } + else if(strcmp("SimulatorIP", ParameterName) == 0) + { + DataDictionaryGetSimulatorIPC8(GSD, ReturnValue); + } + else if(strcmp("SimulatorTCPPort", ParameterName) == 0) + { + DataDictionaryGetSimulatorTCPPortU16(GSD, &ValueU16); + sprintf(ReturnValue, "%" PRIu16 , ValueU16); + } + else if(strcmp("SimulatorUDPPort", ParameterName) == 0) + { + DataDictionaryGetSimulatorUDPPortU16(GSD, &ValueU16); + sprintf(ReturnValue, "%" PRIu16 , ValueU16); + } + else if(strcmp("SimulatorMode", ParameterName) == 0) + { + DataDictionaryGetSimulatorModeU8(GSD, &ValueU8); + sprintf(ReturnValue, "%" PRIu8 , ValueU8); + } + else if(strcmp("VOILReceivers", ParameterName) == 0) + { + DataDictionaryGetVOILReceiversC8(GSD, ReturnValue); + } + else if(strcmp("DTMReceivers", ParameterName) == 0) + { + DataDictionaryGetDTMReceiversC8(GSD, ReturnValue); + } + else if(strcmp("SupervisorIP", ParameterName) == 0) + { + DataDictionaryGetExternalSupervisorIPC8(GSD, ReturnValue); + } + else if(strcmp("SupervisorTCPPort", ParameterName) == 0) + { + DataDictionaryGetSupervisorTCPPortU16(GSD, &ValueU16); + sprintf(ReturnValue, "%" PRIu16 , ValueU16); + } + else if(strcmp("MiscData", ParameterName) == 0) + { + DataDictionaryGetMiscDataC8(GSD, ReturnValue); + } else if(strcmp("RVSSConfig", ParameterName) == 0) { - DataDictionaryGetRVSSConfigU32(&ValueU32); + DataDictionaryGetRVSSConfigU32(GSD, &ValueU32); sprintf(ReturnValue, "%" PRIu32, ValueU32); } else if(strcmp("RVSSRate", ParameterName) == 0) { - DataDictionaryGetRVSSRateU8(&ValueU8); + DataDictionaryGetRVSSRateU8(GSD, &ValueU8); sprintf(ReturnValue, "%" PRIu8, ValueU8); } @@ -1311,10 +1456,30 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV I32 SystemControlSetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *NewValue, U8 Debug) { + if(Debug) printf("[SystemControl] SetServerParameter: %s = %s\n", ParameterName, NewValue); if(strcmp("OrigoLatidude", ParameterName) == 0) DataDictionarySetOriginLatitudeDbl(GSD, NewValue); - else if(strcmp("OrigoLongitude", ParameterName) == 0) DataDictionarySetOriginLongitudeDbl(NewValue); - else if(strcmp("RVSSConfig", ParameterName) == 0) DataDictionarySetRVSSConfigU32((U32)atoi(NewValue)); - else if(strcmp("RVSSRate", ParameterName) == 0) DataDictionarySetRVSSRateU8((U32)atoi(NewValue)); + else if(strcmp("OrigoLongitude", ParameterName) == 0) DataDictionarySetOriginLongitudeDbl(GSD, NewValue); + else if(strcmp("OrigoAltitude", ParameterName) == 0) DataDictionarySetOriginAltitudeDbl(GSD, NewValue); + else if(strcmp("VisualizationServerName", ParameterName) == 0) DataDictionarySetVisualizationServerU32(GSD, NewValue); + else if(strcmp("ForceObjectToLocalhost", ParameterName) == 0) DataDictionarySetForceToLocalhostU8(GSD, NewValue); + else if(strcmp("ASPMaxTimeDiff", ParameterName) == 0) DataDictionarySetASPMaxTimeDiffDbl(GSD, NewValue); + else if(strcmp("ASPMaxTrajDiff", ParameterName) == 0) DataDictionarySetASPMaxTrajDiffDbl(GSD, NewValue); + else if(strcmp("ASPStepBackCount", ParameterName) == 0) DataDictionarySetASPStepBackCountU32(GSD, NewValue); + else if(strcmp("ASPFilterLevel", ParameterName) == 0) DataDictionarySetASPFilterLevelDbl(GSD, NewValue); + else if(strcmp("ASPMaxDeltaTime", ParameterName) == 0) DataDictionarySetASPMaxDeltaTimeDbl(GSD, NewValue); + else if(strcmp("TimeServerIP", ParameterName) == 0) DataDictionarySetTimeServerIPU32(GSD, NewValue); + else if(strcmp("TimeServerPort", ParameterName) == 0) DataDictionarySetTimeServerPortU16(GSD, NewValue); + else if(strcmp("SimulatorIP", ParameterName) == 0) DataDictionarySetSimulatorIPU32(GSD, NewValue); + else if(strcmp("SimulatorTCPPort", ParameterName) == 0) DataDictionarySetSimulatorTCPPortU16(GSD, NewValue); + else if(strcmp("SimulatorUDPPort", ParameterName) == 0) DataDictionarySetSimulatorUDPPortU16(GSD, NewValue); + else if(strcmp("SimulatorMode", ParameterName) == 0) DataDictionarySetSimulatorModeU8(GSD, NewValue); + else if(strcmp("VOILReceivers", ParameterName) == 0) DataDictionarySetVOILReceiversC8(GSD, NewValue); + else if(strcmp("DTMReceivers", ParameterName) == 0) DataDictionarySetDTMReceiversC8(GSD, NewValue); + else if(strcmp("SupervisorIP", ParameterName) == 0) DataDictionarySetExternalSupervisorIPU32(GSD, NewValue); + else if(strcmp("SupervisorTCPPort", ParameterName) == 0) DataDictionarySetSupervisorTCPPortU16(GSD, NewValue); + else if(strcmp("MiscData", ParameterName) == 0) DataDictionarySetMiscDataC8(GSD, NewValue); + else if(strcmp("RVSSConfig", ParameterName) == 0) DataDictionarySetRVSSConfigU32(GSD, (U32)atoi(NewValue)); + else if(strcmp("RVSSRate", ParameterName) == 0) DataDictionarySetRVSSRateU8(GSD, (U32)atoi(NewValue)); } From e37427ffe9bcf871b4ba1979d40ab4d2e4c53ffc Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 11 Jun 2019 13:31:06 +0200 Subject: [PATCH 152/730] Parsing geofeces --- server/src/supervision.c | 123 +++++++++++++++++++++------------------ 1 file changed, 67 insertions(+), 56 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 381b6d16b..a90411743 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -49,12 +49,11 @@ typedef struct CartesianPosition *polygonPoints; } GeofenceType; -int nGeof = 0; /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences); -int loadGeofences(GeofenceType *geofences); +int loadGeofences(GeofenceType *geofences, int *nGeof); int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index); @@ -68,8 +67,9 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus MONRType MONRMessage; + int nGeof = 0; GeofenceType *geoPtrs; - geoPtrs = malloc(sizeof (GeofenceType)); + geoPtrs = (GeofenceType*)malloc(sizeof (GeofenceType) * 10); @@ -111,13 +111,13 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } if( command == COMM_CONNECT){ - printf("nnConnected...\n"); - printf("\nnGeof: %d\n", nGeof); + } if (command == COMM_EXIT) { iExit = 1; + free(geoPtrs); LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); (void)iCommClose(); } @@ -126,15 +126,37 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { case COMM_INIT: // TODO: Read geofence file for each object and populate data structure - loadGeofences(geoPtrs); + loadGeofences(geoPtrs, &nGeof); + + + /*DEBUG PRINT*/ + printf("\nParsing finished with %d objects \n", nGeof); + + for (int i = 0; i < nGeof; i++) { + printf("Namn: %s\n", geoPtrs[i].name); + printf("Coordinates: %d\n", geoPtrs[i].numberOfPoints); - printf("Geof: %d\n", nGeof); + if(geoPtrs[i].isPermitted == 1){ + printf("Type: Permitted\n"); + } + else{ + printf("Type: Forbidden\n"); + } + + printf("Points: \n"); + + for (int j = 0; j < geoPtrs[i].numberOfPoints; j++) { + printf("X: %f\n", geoPtrs[i].polygonPoints[j].xCoord_m); + printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); + } + } break; case COMM_MONR: UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); + break; case COMM_OBC_STATE: break; @@ -146,38 +168,30 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } -int loadGeofences(GeofenceType *geofences){ +int loadGeofences(GeofenceType *geofences, int *nGeof){ LogMessage(LOG_LEVEL_INFO,"Loading Geofences"); + struct dirent *pDirent; + DIR *pDir; - struct dirent *pDirent; - DIR *pDir; - - pDir = opendir (FENCE_DIRECTORY); - if (pDir == NULL) { - LogMessage(LOG_LEVEL_INFO,"Cannot open directory"); - return 1; - } - - while ((pDirent = readdir(pDir)) != NULL) { - LogMessage(LOG_LEVEL_INFO,"Opening [%s]\n", pDirent->d_name); - - const char *ext = strrchr(pDirent->d_name, '.'); - if(!ext || ext == pDirent->d_name){ - printf("Not a valid file"); - } - else{ - nGeof++; - geofences = realloc(geofences, (sizeof(GeofenceType) * (int)nGeof)); - - int index = nGeof - 1; - parseGeofencefile(pDirent->d_name, geofences, index); + pDir = opendir (FENCE_DIRECTORY); + if (pDir == NULL) { + LogMessage(LOG_LEVEL_INFO,"Cannot open Geofence directory"); + return 1; + } - } + while ((pDirent = readdir(pDir)) != NULL) { + const char *ext = strrchr(pDirent->d_name, '.'); + if(strcmp(ext, ".geofence") != 0){ + LogMessage(LOG_LEVEL_INFO, "File [%s] is not a valid .geofencefence file\n", pDirent->d_name); + } + else{ + LogMessage(LOG_LEVEL_INFO,"Opening [%s]\n", pDirent->d_name); + parseGeofencefile(pDirent->d_name, geofences, *nGeof); + (*nGeof)++; + } } - closedir (pDir); return 0; - } int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ @@ -191,67 +205,64 @@ int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ size_t len = 0; ssize_t read; - fp = fopen(pcFileNameBuffer, "r"); if ( fp != NULL ) { while ((read = getline(&line, &len, fp)) != -1) { - //printf("Retrieved line of length %u :\n", read); - //printf("%s", line); - - - - + static int lineCount = 0; char delim[] = ";"; char *ptr = strtok(line, delim); - int pointCount = 0; while (ptr != NULL) { if(strcmp( ptr, "GEOFENCE" ) == 0){ //PARSE HEADER + lineCount = 0; + ptr = strtok(NULL, delim); - printf("Name: %s\n", ptr); strcpy (geofences[ index ].name, ptr); ptr = strtok(NULL, delim); - printf("PointCount: %s\n", ptr); geofences[ index ].numberOfPoints = atoi(ptr); - geofences[index].polygonPoints = (CartesianPosition*)malloc(geofences[ index ].numberOfPoints*sizeof(CartesianPosition)); // allocate for points - + geofences[index].polygonPoints = (CartesianPosition*)malloc(geofences[ index ].numberOfPoints*sizeof(CartesianPosition)); ptr = strtok(NULL, delim); if(strcmp( ptr, "permitted" ) == 0){ geofences[ index ].isPermitted = 1; - }else { + } + else + { geofences[ index ].isPermitted = 0; } - printf("Type: %s\n", ptr); - - //strcpy (geofences[ index ].isPermitted, ptr); ptr = strtok(NULL, delim); - printf("Min Height: %s\n", ptr); + // printf("Min Height: %s\n", ptr); ptr = strtok(NULL, delim); - printf("Max Height: %s\n", ptr); + // printf("Max Height: %s\n", ptr); ptr = strtok(NULL, delim); } if(strcmp( ptr, "LINE" ) == 0){ ptr = strtok(NULL, delim); - printf("X: %s\n", ptr); - geofences[index].polygonPoints[pointCount].xCoord_m = 0.12345; + // printf("X: %s\n", ptr); + geofences[index].polygonPoints[lineCount].xCoord_m = atof(ptr); + printf("Saved X value: %f\n", geofences[index].polygonPoints[lineCount].xCoord_m); ptr = strtok(NULL, delim); - printf("Y: %s\n", ptr); + // printf("Y: %s\n", ptr); + + geofences[index].polygonPoints[lineCount].yCoord_m = atof(ptr); + - geofences[index].polygonPoints[pointCount].yCoord_m = 0.12345; - pointCount++; + lineCount++; } ptr = strtok(NULL, delim); + } + } + LogMessage(LOG_LEVEL_INFO, "Closed [%s]\n", pcFileNameBuffer); fclose ( fp ); } From a01eed9aa6bfd2e386a4038201f5d055210da8c1 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 11 Jun 2019 13:38:16 +0200 Subject: [PATCH 153/730] Cleanup --- server/src/supervision.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index a90411743..4981ba86c 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -129,7 +129,8 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) loadGeofences(geoPtrs, &nGeof); - /*DEBUG PRINT*/ + /*DEBUG PRINT PARSED GEOFECES*/ + /* printf("\nParsing finished with %d objects \n", nGeof); for (int i = 0; i < nGeof; i++) { @@ -150,9 +151,12 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); } } + */ break; case COMM_MONR: + LogMessage(LOG_LEVEL_WARNING, "MONR :)"); + UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); From b87abb36eaeb36380367c9854252ce1071b2714c Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 11 Jun 2019 13:48:22 +0200 Subject: [PATCH 154/730] Removed some debug commetns --- server/src/supervision.c | 52 ---------------------------------------- 1 file changed, 52 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 4981ba86c..0a10f362e 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -71,28 +71,6 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) GeofenceType *geoPtrs; geoPtrs = (GeofenceType*)malloc(sizeof (GeofenceType) * 10); - - - /* TODO: replace with permanent - const int nPts = 4; - - GeofenceType perm1, perm2, forb1; - - perm1.numberOfPoints = nPts; - perm2.numberOfPoints = nPts; - forb1.numberOfPoints = nPts; - - perm1.isPermitted = 1; - perm2.isPermitted = 1; - forb1.isPermitted = 0; - - perm1.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); - perm2.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); - forb1.polygonPoints = (CartesianPosition*)malloc(nPts*sizeof(CartesianPosition)); - - - /* end */ - enum COMMAND command; (void)iCommInit(); @@ -125,38 +103,9 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) switch (command) { case COMM_INIT: - // TODO: Read geofence file for each object and populate data structure loadGeofences(geoPtrs, &nGeof); - - - /*DEBUG PRINT PARSED GEOFECES*/ - /* - printf("\nParsing finished with %d objects \n", nGeof); - - for (int i = 0; i < nGeof; i++) { - printf("Namn: %s\n", geoPtrs[i].name); - printf("Coordinates: %d\n", geoPtrs[i].numberOfPoints); - - if(geoPtrs[i].isPermitted == 1){ - printf("Type: Permitted\n"); - } - else{ - printf("Type: Forbidden\n"); - } - - printf("Points: \n"); - - for (int j = 0; j < geoPtrs[i].numberOfPoints; j++) { - printf("X: %f\n", geoPtrs[i].polygonPoints[j].xCoord_m); - printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); - } - } - */ - break; case COMM_MONR: - LogMessage(LOG_LEVEL_WARNING, "MONR :)"); - UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); @@ -264,7 +213,6 @@ int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ ptr = strtok(NULL, delim); } - } LogMessage(LOG_LEVEL_INFO, "Closed [%s]\n", pcFileNameBuffer); From b74eaaa3dc42328cc1b988c6f81e369c89c250db Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 11 Jun 2019 14:11:04 +0200 Subject: [PATCH 155/730] Forgot one debug comment --- server/inc/supervision.h | 2 ++ server/src/supervision.c | 18 ++++++++++++++++-- 2 files changed, 18 insertions(+), 2 deletions(-) diff --git a/server/inc/supervision.h b/server/inc/supervision.h index 8f35056c8..58f883693 100755 --- a/server/inc/supervision.h +++ b/server/inc/supervision.h @@ -19,4 +19,6 @@ -- Function declarations. ------------------------------------------------------------*/ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); + + #endif //__SUPERVISION_H_INCLUDED__ diff --git a/server/src/supervision.c b/server/src/supervision.c index 451fe35e5..850affc7a 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -104,6 +104,22 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { case COMM_INIT: loadGeofences(geoPtrs, &nGeof); + + for (int i = 0; i < nGeof; i++) { + printf("Namn: %s\n", geoPtrs[i].name); + printf("Coordinates: %d\n", geoPtrs[i].numberOfPoints); + if(geoPtrs[i].isPermitted == 1){ + printf("Type: Permitted\n"); + } + else{ + printf("Type: Forbidden\n"); + } + printf("Points: \n"); + for (int j = 0; j < geoPtrs[i].numberOfPoints; j++) { + printf("X: %f\n", geoPtrs[i].polygonPoints[j].xCoord_m); + printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); + } + } break; case COMM_MONI: // Ignore old style MONR data @@ -205,8 +221,6 @@ int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ // printf("X: %s\n", ptr); geofences[index].polygonPoints[lineCount].xCoord_m = atof(ptr); - - printf("Saved X value: %f\n", geofences[index].polygonPoints[lineCount].xCoord_m); ptr = strtok(NULL, delim); // printf("Y: %s\n", ptr); From 4b6b1994235ed92bc13ee2c5749da4859a0aa185 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Tue, 11 Jun 2019 15:17:57 +0200 Subject: [PATCH 156/730] Updating to use DataDictionary functions. --- server/conf/test.conf | 10 +++++----- server/src/objectcontrol.c | 11 +---------- server/src/timecontrol.c | 17 +++++++---------- 3 files changed, 13 insertions(+), 25 deletions(-) diff --git a/server/conf/test.conf b/server/conf/test.conf index 06e0c6fc1..20ce92115 100644 --- a/server/conf/test.conf +++ b/server/conf/test.conf @@ -4,23 +4,23 @@ OrigoAltitude=193.114 VisualizationServerName=195.0.0.86 ForceObjectToLocalhost=0 ASPMaxTimeDiff=2.5 -ASPMaxTrajDiff=1.0 +ASPMaxTrajDiff=1.52 ASPStepBackCount=0 ASPFilterLevel=5 ASPMaxDeltaTime=0.05 -ASPDebugRate=1 TimeServerIP=0 TimeServerPort=53000 SimulatorIP=0 SimulatorTCPPort=53001 SimulatorUDPPort=53002 -SimulatorMode=2 -VOILReceivers=192.168.0.30 -DTMReceivers=10.130.22.12, 10.130.22.9 +SimulatorMode=1 +VOILReceivers=192.168.5.15, 22.43.66.3 +DTMReceivers=10.130.23.69, 1.130.22.88 SupervisorIP=0 SupervisorTCPPort=53010 RVSSConfig=3 RVSSRate=1 +MiscData=This can be anything... VisualizationAdapter=./DefaultVisualizationAdapter diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 56631637a..1b1db9139 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -800,9 +800,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD) /* Get objects; name and drive file */ nbr_objects = 0; vFindObjectsInfo(object_traj_file,object_address_name,&nbr_objects); -// (void)iUtilGetIntParaConfFile("ForceObjectToLocalhost",&iForceObjectToLocalhostU8); -// LogMessage(LOG_LEVEL_INFO,"ForceObjectToLocalhost = %d", iForceObjectToLocalhostU8); -// LOG_SEND(LogBuffer, "[ObjectControl] ForceObjectToLocalhost = %d", iForceObjectToLocalhostU8); + DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); for(iIndex=0;iIndex Date: Tue, 11 Jun 2019 18:53:31 +0200 Subject: [PATCH 157/730] Removed old style call to iComm functino --- server/src/objectcontrol.c | 2 -- 1 file changed, 2 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d63c8d4a1..67917e2c6 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -339,8 +339,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Set up message bus connection if (iCommInit()) util_error("Unable to connect to message queue bus"); - - (void)iCommInit(IPC_RECV_SEND,MQ_OC,1); while(!iExit) { From 115405865f69dca014ae0f1898a81125f23722b8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 11 Jun 2019 18:55:08 +0200 Subject: [PATCH 158/730] Merged fnutt searching changes with robust decoding changes --- server/src/systemcontrol.c | 119 +++++++++++++++---------------------- 1 file changed, 48 insertions(+), 71 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index d0d997d52..4331e982d 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -200,7 +200,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) ObjectPosition OP; int i,i1; - char *StartPtr, *StopPtr, *CmdPtr, *StringPos; + char *StartPtr, *StopPtr, *CmdPtr, *OpeningQuotationMarkPtr, *ClosingQuotationMarkPtr, *StringPos; struct timespec tTime; enum COMMAND iCommand; char pcRecvBuffer[SC_RECV_MESSAGE_BUFFER]; @@ -247,9 +247,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) U32 RVSSConfigU32; U32 RVSSMessageLengthU32; U16 PCDMessageCodeU16; - U8 FnuttFoundU8 = 0; - C8 *StartFnuttPtr; - C8 *EndFnuttPtr; LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO,"System control task running with PID: %i",getpid()); @@ -303,7 +300,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //Do some initialization //Send COMM_DATA_DICT to notify to update data from DataDictionary - iCommSend(COMM_DATA_DICT,ControlResponseBuffer); + iCommSend(COMM_DATA_DICT, ControlResponseBuffer, sizeof(ControlResponseBuffer)); server_state = SERVER_STATE_INITIALIZED; } @@ -356,7 +353,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else if(ClientResult > 0 && ClientResult < SYSTEM_CONTROL_TOTAL_COMMAND_MAX_LENGTH) { - + // TODO: Move this entire decoding process into a separate function for(i = 0; i < SYSTEM_CONTROL_ARG_MAX_COUNT; i ++ ) bzero(SystemControlArgument[i],SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH); @@ -369,65 +366,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Check so that all POST request mandatory content is contained in the message for (i = 0; i < sizeof(POSTRequestMandatoryContent)/sizeof(POSTRequestMandatoryContent[0]); ++i) { -// FIXAFIXAFIXA <<<<<<< feature_DataDictionaryAndRVSS - StopPtr = (char *)strchr(StartPtr, ','); - - //Check for fnutts - if(StopPtr != NULL) - { - StartFnuttPtr = NULL; - EndFnuttPtr = NULL; - - i = 0; - while(i < StopPtr-StartPtr) - { - if(*(StartPtr+i) == '"') FnuttFoundU8 = 1; - i ++; - } - if(FnuttFoundU8 == 1) - { - i = 0; - while(StartFnuttPtr == NULL || EndFnuttPtr == NULL) - { - if(*(StartPtr+i) == '"' && StartFnuttPtr == NULL) StartFnuttPtr = StartPtr+i+1; - else if (*(StartPtr+i) == '"' && EndFnuttPtr == NULL) EndFnuttPtr = StartPtr+i; - i ++; - if(i > strlen(pcBuffer)) - { - StartFnuttPtr = pcBuffer; - EndFnuttPtr = pcBuffer; - FnuttFoundU8 = 0; - } - } - //printf("Fnutt length: %ld\n", (uint64_t)EndFnuttPtr - (uint64_t)StartFnuttPtr); - } - } - - if(FnuttFoundU8 == 1) - { - - FnuttFoundU8 = 0; - strncpy(SystemControlArgument[CurrentInputArgCount], StartFnuttPtr, (uint64_t)EndFnuttPtr - (uint64_t)StartFnuttPtr); - //printf("Between fnutts: %s\n", SystemControlArgument[CurrentInputArgCount]); - StartPtr = EndFnuttPtr + 1; - //printf("1. CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount]); - //CurrentInputArgCount ++; - - } - else if(StopPtr == NULL) - { - strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); - //printf("2. CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount]); - CurrentInputArgCount ++; - } - else - { - strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); - StartPtr = StopPtr+1; - //printf("3. CurrentInputArgCount=%d, value=%s\n", CurrentInputArgCount, SystemControlArgument[CurrentInputArgCount]); - CurrentInputArgCount ++; -// FIXAFIXAFIXA ======= StringPos = strstr(StringPos,POSTRequestMandatoryContent[i]); if (StringPos == NULL) { @@ -437,10 +376,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) else { CmdPtr = StringPos + strlen(POSTRequestMandatoryContent[i]); -// FIXAFIXAFIXA >>>>>>> dev } } - //printf("4. CurrentInputArgCount=%d\n", CurrentInputArgCount); if (CmdPtr != NULL) { @@ -453,7 +390,10 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else if (SystemControlVerifyHostAddress(HTTPHeader.Host)) { + // Find opening parenthesis StartPtr = strchr(CmdPtr, '('); + + // If there was no opening or closing parenthesis, the format is not correct if (StartPtr == NULL || strchr(StartPtr,')') == NULL) LogMessage(LOG_LEVEL_WARNING, "Received command not conforming to MSCP standards"); else @@ -462,15 +402,52 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while (StopPtr != NULL) { StopPtr = (char *)strchr(StartPtr, ','); - if(StopPtr == NULL) + + // If there are no commas past this point, just copy the rest + if (StopPtr == NULL) + { strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); + } + // Otherwise, check if the comma we found was inside quotation marks else - strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); + { + OpeningQuotationMarkPtr = (char *)strchr(StartPtr,'"'); + + if (OpeningQuotationMarkPtr == NULL) + { + // It was not within quotation marks: copy until the next comma + strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); + } + else if (OpeningQuotationMarkPtr != NULL && OpeningQuotationMarkPtr < StopPtr) + { + // A quotation mark was found and it was before the next comma: find the closing quotation mark + ClosingQuotationMarkPtr = (char *)strchr(OpeningQuotationMarkPtr+1,'"'); + + + if (ClosingQuotationMarkPtr == NULL) + { + CmdPtr = NULL; + StopPtr = NULL; + LogMessage(LOG_LEVEL_WARNING,"Received MSCP command with single quotation mark"); + break; + } + else + { + // Copy all arguments within quotation marks including the quotation marks + strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)(ClosingQuotationMarkPtr+1) - (uint64_t)StartPtr); + // Find next comma after closing quotation mark + StopPtr = strchr(ClosingQuotationMarkPtr, ','); + } + } + } StartPtr = StopPtr+1; CurrentInputArgCount ++; } - SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); + if (CmdPtr != NULL) + SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); + else + LogMessage(LOG_LEVEL_WARNING, "Invalid MSCP command received"); } } else { @@ -629,7 +606,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) DataDictionaryGetOriginLatitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); DataDictionaryGetOriginLongitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); DataDictionaryGetOriginAltitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); - iCommSend(COMM_OSEM,ControlResponseBuffer); + iCommSend(COMM_OSEM, ControlResponseBuffer, sizeof(ControlResponseBuffer)); SystemControlSendControlResponse(strlen(ParameterListC8) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetTestOrigin:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); break; case GetServerParameter_1: @@ -649,7 +626,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) SystemControlSetServerParameter(GSD, SystemControlArgument[0], SystemControlArgument[1], 1); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SetServerParameter:", ControlResponseBuffer, 0, &ClientSocket, 0); //Send COMM_DATA_DICT to notify to update data from DataDictionary - iCommSend(COMM_DATA_DICT,ControlResponseBuffer); + iCommSend(COMM_DATA_DICT, ControlResponseBuffer, sizeof(ControlResponseBuffer)); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in SetServerParameter(Name, Value)!"); SystemControlCommand = Idle_0;} break; From 376350d25d272575c8683f09bec016a16ad6bbd5 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 12 Jun 2019 09:57:35 +0200 Subject: [PATCH 159/730] Addressed issues in pullrequest --- server/src/supervision.c | 105 +++++++++++++++++++++++++-------------- 1 file changed, 67 insertions(+), 38 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 850affc7a..920a3ffad 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -32,7 +32,7 @@ /* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ #define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 #define MAX_GEOFENCE_NAME_LEN 256 -#define FENCE_DIRECTORY "./fence/" +#define FENCE_DIRECTORY "./geofence/" /* Difference of leap seconds between UTC and ETSI */ #define DIFF_LEAP_SECONDS_UTC_ETSI 5 @@ -52,10 +52,12 @@ typedef struct /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences); -int loadGeofences(GeofenceType *geofences, int *nGeof); -int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index); +int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences); +int loadGeofenceFiles(GeofenceType *geofences, unsigned int *nGeof); +int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int index); +void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof); +void printFences(GeofenceType *geoFence, unsigned int nGeof); /*------------------------------------------------------------ -- The main function. @@ -67,9 +69,8 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus MONRType MONRMessage; - int nGeof = 0; - GeofenceType *geoPtrs; - geoPtrs = (GeofenceType*)malloc(sizeof (GeofenceType) * 10); + unsigned int nGeof = 0; + GeofenceType *geoPtrs = (GeofenceType*)malloc(sizeof (GeofenceType)); enum COMMAND command; @@ -95,7 +96,9 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (command == COMM_EXIT) { iExit = 1; - free(geoPtrs); + + freeGeofences(geoPtrs, &nGeof); + LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); (void)iCommClose(); } @@ -103,23 +106,8 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) switch (command) { case COMM_INIT: - loadGeofences(geoPtrs, &nGeof); - - for (int i = 0; i < nGeof; i++) { - printf("Namn: %s\n", geoPtrs[i].name); - printf("Coordinates: %d\n", geoPtrs[i].numberOfPoints); - if(geoPtrs[i].isPermitted == 1){ - printf("Type: Permitted\n"); - } - else{ - printf("Type: Forbidden\n"); - } - printf("Points: \n"); - for (int j = 0; j < geoPtrs[i].numberOfPoints; j++) { - printf("X: %f\n", geoPtrs[i].polygonPoints[j].xCoord_m); - printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); - } - } + loadGeofenceFiles(geoPtrs, &nGeof); + break; case COMM_MONI: // Ignore old style MONR data @@ -142,7 +130,13 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } -int loadGeofences(GeofenceType *geofences, int *nGeof){ +/*! +* \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). +* \param *geofences A pointer to geofence struct used for saving data +* \param *nGeof A pointer to count number of geofences loaded. +* +*/ +int loadGeofenceFiles(GeofenceType *geofences, unsigned int *nGeof){ LogMessage(LOG_LEVEL_INFO,"Loading Geofences"); struct dirent *pDirent; DIR *pDir; @@ -156,19 +150,32 @@ int loadGeofences(GeofenceType *geofences, int *nGeof){ while ((pDirent = readdir(pDir)) != NULL) { const char *ext = strrchr(pDirent->d_name, '.'); if(strcmp(ext, ".geofence") != 0){ - LogMessage(LOG_LEVEL_INFO, "File [%s] is not a valid .geofencefence file\n", pDirent->d_name); + LogMessage(LOG_LEVEL_INFO, "File [%s] is not a valid .geofencefence file", pDirent->d_name); } else{ - LogMessage(LOG_LEVEL_INFO,"Opening [%s]\n", pDirent->d_name); - parseGeofencefile(pDirent->d_name, geofences, *nGeof); + LogMessage(LOG_LEVEL_INFO,"Opening [%s]", pDirent->d_name); + LogMessage(LOG_LEVEL_INFO,"Geof size [%d]", *nGeof); + + geofences = (GeofenceType *)realloc(geofences, ((*nGeof)+1) * sizeof (GeofenceType)); + + + parseGeofenceFile(pDirent->d_name, geofences, *nGeof); (*nGeof)++; } - } + } closedir (pDir); return 0; } -int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ + +/*! +* \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). +* \param *geofenceFile A string containing a .geofence filename. +* \param *geofences A pointer to the geofence struct used for saving data. +* * \param index An integer used to keep track of which index to store data in. +* +*/ +int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int index){ char pcFileNameBuffer[MAX_FILE_PATH] = ""; strcat(pcFileNameBuffer, FENCE_DIRECTORY); @@ -193,6 +200,7 @@ int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ lineCount = 0; ptr = strtok(NULL, delim); + LogPrint("ptr: %c-%c-%c",ptr[0],ptr[1],ptr[2]); strcpy (geofences[ index ].name, ptr); ptr = strtok(NULL, delim); @@ -218,14 +226,10 @@ int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ if(strcmp( ptr, "LINE" ) == 0){ ptr = strtok(NULL, delim); - // printf("X: %s\n", ptr); geofences[index].polygonPoints[lineCount].xCoord_m = atof(ptr); ptr = strtok(NULL, delim); - // printf("Y: %s\n", ptr); - - geofences[index].polygonPoints[lineCount].yCoord_m = atof(ptr); - + geofences[index].polygonPoints[lineCount].yCoord_m = atof(ptr); lineCount++; } @@ -239,12 +243,12 @@ int parseGeofencefile(char* geofenceFile, GeofenceType *geofences, int index){ } else { - perror ( pcFileNameBuffer ); + util_error( pcFileNameBuffer ); } return 0; } -int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char numberOfGeofences) +int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences) { const CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; char isInPolygon = 0; @@ -271,3 +275,28 @@ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, char n return retval; } + +void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof){ + for(int i=0; i<*nGeof;i++){ + free(geoFence[i].polygonPoints); + } + free(geoFence); +} + +void printFences(GeofenceType *geoPtrs, unsigned int nGeof){ + for (int i = 0; i < nGeof; i++) { + printf("Namn: %s\n", geoPtrs[i].name); + printf("Coordinates: %d\n", geoPtrs[i].numberOfPoints); + if(geoPtrs[i].isPermitted == 1){ + printf("Type: Permitted\n"); + } + else{ + printf("Type: Forbidden\n"); + } + printf("Points: \n"); + for (int j = 0; j < geoPtrs[i].numberOfPoints; j++) { + printf("X: %f\n", geoPtrs[i].polygonPoints[j].xCoord_m); + printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); + } + } +} From 2444eefce110ccb1d438ff51c14386b35a368b98 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 12 Jun 2019 10:38:23 +0200 Subject: [PATCH 160/730] Removed exit(0) --- server/src/objectcontrol.c | 4 ---- server/src/systemcontrol.c | 8 ++++---- 2 files changed, 4 insertions(+), 8 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 945b5c942..4ab86b20d 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -337,9 +337,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (iCommInit()) util_error("Unable to connect to message queue bus"); - LogPrint("MONR bytelens: %d, %d", COMMAND_MONR_MESSAGE_LENGTH, sizeof(MONRType)); - exit(0); - while(!iExit) { if(OBCState == OBC_STATE_ERROR) @@ -1163,7 +1160,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { bzero(Buffer2, SMALL_BUFFER_SIZE_1); Buffer2[0] = OBCState; - //LogPrint("Sending: %d (%s or %u)",OBCState,Buffer2, Buffer2[0]); if(iCommSend(COMM_OBC_STATE,Buffer2,SMALL_BUFFER_SIZE_1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state"); diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 6ca7b7eaf..d1cfe654b 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -487,10 +487,10 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else if(iCommand == COMM_MONI){ - //printf("Monr sys %s\n", pcRecvBuffer); - C8 data[strlen(pcRecvBuffer)]; - bzero(data, strlen(data)); - strcat(data, pcRecvBuffer); + printf("Monr sys %s\n", pcRecvBuffer); + C8 data[strlen(pcRecvBuffer)]; + bzero(data, strlen(data)); + strcat(data, pcRecvBuffer); UtilSendUDPData("SystemControl", &ProcessChannelSocket, &ProcessChannelAddr, data, sizeof(data), 0); } From c2d82488eadb1caa7dfbb7c184497081f698cf80 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 12 Jun 2019 12:30:32 +0200 Subject: [PATCH 161/730] one off test branch --- server/src/supervision.c | 1 + 1 file changed, 1 insertion(+) diff --git a/server/src/supervision.c b/server/src/supervision.c index 920a3ffad..d1b1a7d34 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -239,6 +239,7 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int } LogMessage(LOG_LEVEL_INFO, "Closed [%s]\n", pcFileNameBuffer); + fclose ( fp ); } else From 2f7db69e8e274425363a5e39fe6c88a8593b7f57 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 12 Jun 2019 12:47:22 +0200 Subject: [PATCH 162/730] Fixed missing argument --- server/src/supervision.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index d1b1a7d34..da2bfd7d8 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -113,7 +113,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Ignore old style MONR data break; case COMM_MONR: - UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); + UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); From 64fa58c95a6c108de047ccf3387503cc96f15213 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 12 Jun 2019 17:34:17 +0200 Subject: [PATCH 163/730] Added guard to check for empty polygons --- server/src/util.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index ce5ad1443..8c6a359c8 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1045,6 +1045,11 @@ char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition *vertices, { int nIntersects = 0; + if (nPtsInPolygon == 0) + { + return -1; + } + // Count the number of intersections with the polygon for (unsigned int i = 0; i < nPtsInPolygon-1; ++i) { @@ -1054,7 +1059,6 @@ char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition *vertices, nIntersects++; } } - // If the first and last points are different, the polygon segment between them must also be included if (fabs(vertices[0].xCoord_m - vertices[nPtsInPolygon-1].xCoord_m) > (double)(2*FLT_EPSILON) || fabs(vertices[0].yCoord_m - vertices[nPtsInPolygon-1].yCoord_m) > (double)(2*FLT_EPSILON) ) From d32f0df35411a9ebd9c4bdaf8be9ec0749404aea Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 12 Jun 2019 17:34:40 +0200 Subject: [PATCH 164/730] Corrected a printout --- server/src/objectcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d0f7816ec..4b892ea4d 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -468,7 +468,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { // Send MONR message on new byte format - LogMessage(LOG_LEVEL_DEBUG, "Sending raw MONR message", buffer); + LogMessage(LOG_LEVEL_INFO, "Sending raw MONR message"); if(iCommSend(COMM_MONR, buffer, COMMAND_MONR_MESSAGE_LENGTH) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONR command - entering error state"); From 8422702d070cf7b9dd09c43e79faf2101a6ab106 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 12 Jun 2019 17:35:06 +0200 Subject: [PATCH 165/730] Removed said printout --- server/src/objectcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 4b892ea4d..e182efb8e 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -468,7 +468,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { // Send MONR message on new byte format - LogMessage(LOG_LEVEL_INFO, "Sending raw MONR message"); + //LogMessage(LOG_LEVEL_INFO, "Sending raw MONR message"); if(iCommSend(COMM_MONR, buffer, COMMAND_MONR_MESSAGE_LENGTH) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONR command - entering error state"); From 9c85bb863ab5e5152a5628bb3ce2a9cd5a6d0ea9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 12 Jun 2019 17:35:38 +0200 Subject: [PATCH 166/730] Fixed dynamic allocation of structs --- server/src/supervision.c | 285 ++++++++++++++++++++++----------------- 1 file changed, 164 insertions(+), 121 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index da2bfd7d8..30c664977 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -32,7 +32,7 @@ /* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ #define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 #define MAX_GEOFENCE_NAME_LEN 256 -#define FENCE_DIRECTORY "./geofence/" +#define GEOFENCE_DIRECTORY "./geofence/" /* Difference of leap seconds between UTC and ETSI */ #define DIFF_LEAP_SECONDS_UTC_ETSI 5 @@ -53,8 +53,8 @@ typedef struct -- Function declarations. ------------------------------------------------------------*/ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences); -int loadGeofenceFiles(GeofenceType *geofences, unsigned int *nGeof); -int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int index); +int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof); +int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence); void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof); void printFences(GeofenceType *geoFence, unsigned int nGeof); @@ -69,8 +69,8 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus MONRType MONRMessage; - unsigned int nGeof = 0; - GeofenceType *geoPtrs = (GeofenceType*)malloc(sizeof (GeofenceType)); + unsigned int numberOfGeofences = 0; + GeofenceType *geofenceArray = NULL; enum COMMAND command; @@ -82,22 +82,17 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if (command == COMM_ABORT) { // TODO: } - if( command == COMM_CONNECT){ - - } - if (command == COMM_EXIT) { iExit = 1; - freeGeofences(geoPtrs, &nGeof); + freeGeofences(geofenceArray, &numberOfGeofences); LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); (void)iCommClose(); @@ -106,8 +101,11 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) switch (command) { case COMM_INIT: - loadGeofenceFiles(geoPtrs, &nGeof); + if (geofenceArray != NULL) + freeGeofences(geofenceArray, &numberOfGeofences); + if (loadGeofenceFiles(&geofenceArray, &numberOfGeofences) == -1) + util_error("Unable to load geofences"); break; case COMM_MONI: // Ignore old style MONR data @@ -115,11 +113,13 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_MONR: UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences - SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); + SupervisionCheckGeofences(MONRMessage, geofenceArray, numberOfGeofences); break; case COMM_OBC_STATE: break; + case COMM_CONNECT: + break; case COMM_LOG: break; case COMM_INV: @@ -136,49 +136,84 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) * \param *nGeof A pointer to count number of geofences loaded. * */ -int loadGeofenceFiles(GeofenceType *geofences, unsigned int *nGeof){ - LogMessage(LOG_LEVEL_INFO,"Loading Geofences"); - struct dirent *pDirent; - DIR *pDir; - - pDir = opendir (FENCE_DIRECTORY); - if (pDir == NULL) { - LogMessage(LOG_LEVEL_INFO,"Cannot open Geofence directory"); - return 1; +int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof){ + + struct dirent *pDirent; + DIR *pDir; + char *ext; + unsigned int n = 0; + + LogMessage(LOG_LEVEL_DEBUG,"Loading geofences"); + + pDir = opendir (GEOFENCE_DIRECTORY); + if (pDir == NULL) { + LogMessage(LOG_LEVEL_ERROR,"Cannot open geofence directory"); + return -1; + } + + // Count the nuber of geofence files in the directory + while ((pDirent = readdir(pDir)) != NULL) + { + ext = strrchr(pDirent->d_name, '.'); + if(strcmp(ext, ".geofence") == 0) + { + n++; } + } + closedir (pDir); + *nGeof = n; - while ((pDirent = readdir(pDir)) != NULL) { - const char *ext = strrchr(pDirent->d_name, '.'); - if(strcmp(ext, ".geofence") != 0){ - LogMessage(LOG_LEVEL_INFO, "File [%s] is not a valid .geofencefence file", pDirent->d_name); - } - else{ - LogMessage(LOG_LEVEL_INFO,"Opening [%s]", pDirent->d_name); - LogMessage(LOG_LEVEL_INFO,"Geof size [%d]", *nGeof); + *geofences = (GeofenceType *)malloc(n * sizeof (GeofenceType)); + + if (*geofences == NULL) + { + LogMessage(LOG_LEVEL_ERROR,"Unable to allocate memory for geofences"); + return -1; + } - geofences = (GeofenceType *)realloc(geofences, ((*nGeof)+1) * sizeof (GeofenceType)); + LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", *nGeof); + pDir = opendir (GEOFENCE_DIRECTORY); + if (pDir == NULL) { + LogMessage(LOG_LEVEL_ERROR,"Cannot open geofence directory"); + return -1; + } - parseGeofenceFile(pDirent->d_name, geofences, *nGeof); - (*nGeof)++; - } - } - closedir (pDir); - return 0; + n = 0; + while ((pDirent = readdir(pDir)) != NULL) { + ext = strrchr(pDirent->d_name, '.'); + if(strcmp(ext, ".geofence") != 0 && strcmp(pDirent->d_name,".") != 0 && strcmp(pDirent->d_name,"..") != 0) + { + LogMessage(LOG_LEVEL_WARNING, "File <%s> is not a valid .geofence file", pDirent->d_name); + } + else + { + if(parseGeofenceFile(pDirent->d_name, (*geofences)+n) == -1) + { + closedir(pDir); + return -1; + } + n++; + } + } + closedir (pDir); + LogMessage(LOG_LEVEL_INFO, "Loaded %d geofences",*nGeof); + + return 0; } /*! * \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). * \param *geofenceFile A string containing a .geofence filename. -* \param *geofences A pointer to the geofence struct used for saving data. +* \param *geofence A pointer to the geofence struct used for saving data. * * \param index An integer used to keep track of which index to store data in. * */ -int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int index){ +int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ char pcFileNameBuffer[MAX_FILE_PATH] = ""; - strcat(pcFileNameBuffer, FENCE_DIRECTORY); + strcat(pcFileNameBuffer, GEOFENCE_DIRECTORY); strcat(pcFileNameBuffer, geofenceFile); FILE *fp; @@ -186,78 +221,98 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int size_t len = 0; ssize_t read; + LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofenceFile); fp = fopen(pcFileNameBuffer, "r"); - if ( fp != NULL ) - { - while ((read = getline(&line, &len, fp)) != -1) { - static int lineCount = 0; - char delim[] = ";"; - char *ptr = strtok(line, delim); - - while (ptr != NULL) - { - if(strcmp( ptr, "GEOFENCE" ) == 0){ //PARSE HEADER - lineCount = 0; - - ptr = strtok(NULL, delim); - LogPrint("ptr: %c-%c-%c",ptr[0],ptr[1],ptr[2]); - strcpy (geofences[ index ].name, ptr); - - ptr = strtok(NULL, delim); - geofences[ index ].numberOfPoints = atoi(ptr); - - geofences[index].polygonPoints = (CartesianPosition*)malloc(geofences[ index ].numberOfPoints*sizeof(CartesianPosition)); - ptr = strtok(NULL, delim); - - if(strcmp( ptr, "permitted" ) == 0){ - geofences[ index ].isPermitted = 1; - } - else - { - geofences[ index ].isPermitted = 0; - } - - ptr = strtok(NULL, delim); - // printf("Min Height: %s\n", ptr); - ptr = strtok(NULL, delim); - // printf("Max Height: %s\n", ptr); - ptr = strtok(NULL, delim); - } - - if(strcmp( ptr, "LINE" ) == 0){ - ptr = strtok(NULL, delim); - geofences[index].polygonPoints[lineCount].xCoord_m = atof(ptr); - - ptr = strtok(NULL, delim); - geofences[index].polygonPoints[lineCount].yCoord_m = atof(ptr); - - lineCount++; - } - ptr = strtok(NULL, delim); - - } - } - - LogMessage(LOG_LEVEL_INFO, "Closed [%s]\n", pcFileNameBuffer); - - fclose ( fp ); - } - else - { - util_error( pcFileNameBuffer ); + if ( fp != NULL ) + { + while ((read = getline(&line, &len, fp)) != -1) { + static int lineCount = 0; + char delim[] = ";"; + char *ptr = strtok(line, delim); + + while (ptr != NULL) + { + if(strcmp( ptr, "GEOFENCE" ) == 0){ //PARSE HEADER + lineCount = 0; + + ptr = strtok(NULL, delim); + strcpy (geofence->name, ptr); + + ptr = strtok(NULL, delim); + geofence->numberOfPoints = atoi(ptr); + + geofence->polygonPoints = (CartesianPosition*)malloc(geofence->numberOfPoints*sizeof(CartesianPosition)); + if (geofence->polygonPoints == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for coordinate array"); + return -1; + } + ptr = strtok(NULL, delim); + + if(strcmp( ptr, "permitted" ) == 0){ + geofence->isPermitted = 1; + } + else + { + geofence->isPermitted = 0; + } + + ptr = strtok(NULL, delim); + // printf("Min Height: %s\n", ptr); + ptr = strtok(NULL, delim); + // printf("Max Height: %s\n", ptr); + ptr = strtok(NULL, delim); + } + + if(strcmp( ptr, "LINE" ) == 0){ + ptr = strtok(NULL, delim); + geofence->polygonPoints[lineCount].xCoord_m = atof(ptr); + + ptr = strtok(NULL, delim); + geofence->polygonPoints[lineCount].yCoord_m = atof(ptr); + + lineCount++; + } + ptr = strtok(NULL, delim); + + } } + + + fclose ( fp ); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcFileNameBuffer); + return -1; + } return 0; } +/*! + * \brief SupervisionCheckGeofences + * \param MONRdata + * \param geofences + * \param numberOfGeofences + * \return + */ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences) { const CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; char isInPolygon = 0; int retval = 0; - for (int i = 0; i < numberOfGeofences; i++) + for (unsigned int i = 0; i < numberOfGeofences; i++) { isInPolygon = UtilIsPointInPolygon(monrPoint, geofences[i].polygonPoints, geofences[i].numberOfPoints); + + if (isInPolygon == -1) + { + LogMessage(LOG_LEVEL_WARNING,"No points in polygon"); + return -1; + } + if ( (geofences[i].isPermitted && isInPolygon) || (!geofences[i].isPermitted && !isInPolygon) ) { @@ -277,27 +332,15 @@ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsign return retval; } -void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof){ - for(int i=0; i<*nGeof;i++){ - free(geoFence[i].polygonPoints); +/*! + * \brief freeGeofences + * \param geofences + * \param nGeof + */ +void freeGeofences(GeofenceType *geofences, unsigned int *nGeof){ + for(unsigned int i = 0; i < *nGeof; i++){ + free(geofences[i].polygonPoints); } - free(geoFence); -} - -void printFences(GeofenceType *geoPtrs, unsigned int nGeof){ - for (int i = 0; i < nGeof; i++) { - printf("Namn: %s\n", geoPtrs[i].name); - printf("Coordinates: %d\n", geoPtrs[i].numberOfPoints); - if(geoPtrs[i].isPermitted == 1){ - printf("Type: Permitted\n"); - } - else{ - printf("Type: Forbidden\n"); - } - printf("Points: \n"); - for (int j = 0; j < geoPtrs[i].numberOfPoints; j++) { - printf("X: %f\n", geoPtrs[i].polygonPoints[j].xCoord_m); - printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); - } - } + free(geofences); + *nGeof = 0; } From 9d00e87d26a9c07b9c414ac80d6d01718f97efd1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 13 Jun 2019 13:00:31 +0200 Subject: [PATCH 167/730] Stopped including quotation marks from MSCP parameter --- server/src/systemcontrol.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 4331e982d..d27b9093b 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -434,7 +434,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) else { // Copy all arguments within quotation marks including the quotation marks - strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)(ClosingQuotationMarkPtr+1) - (uint64_t)StartPtr); + strncpy(SystemControlArgument[CurrentInputArgCount], OpeningQuotationMarkPtr+1, (uint64_t)(ClosingQuotationMarkPtr) - (uint64_t)(OpeningQuotationMarkPtr+1)); + LogPrint("inside fnutts: <%s>",SystemControlArgument[CurrentInputArgCount]); // Find next comma after closing quotation mark StopPtr = strchr(ClosingQuotationMarkPtr, ','); } From 65a3976ded1f8b880ff87ee47636d4ada3192d90 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 13 Jun 2019 13:01:39 +0200 Subject: [PATCH 168/730] Removed printouts --- server/src/systemcontrol.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index d27b9093b..b85d0e330 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -435,7 +435,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { // Copy all arguments within quotation marks including the quotation marks strncpy(SystemControlArgument[CurrentInputArgCount], OpeningQuotationMarkPtr+1, (uint64_t)(ClosingQuotationMarkPtr) - (uint64_t)(OpeningQuotationMarkPtr+1)); - LogPrint("inside fnutts: <%s>",SystemControlArgument[CurrentInputArgCount]); // Find next comma after closing quotation mark StopPtr = strchr(ClosingQuotationMarkPtr, ','); } From f4d426e5f52122e9b4955b482120edad17a2e8cc Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 13 Jun 2019 16:01:36 +0200 Subject: [PATCH 169/730] Added sigint handler for logger --- server/src/logger.c | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/server/src/logger.c b/server/src/logger.c index 43d2062ef..c280efc95 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -17,6 +17,7 @@ #include #include #include + #include #include #include @@ -65,6 +66,24 @@ static int CountFileRows(FILE *fd); /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ +void sig_handlerLogger(int signo) +{ + if (signo == SIGINT) + printf("received SIGINT in Logger\n"); + printf("Shutting down Logger with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + //kill(iPid, SIGINT); + exit(1); + + + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); +} + void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { @@ -345,6 +364,9 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_WARNING,"Unhandled message bus command: %u", command); } + if (signal(SIGINT, sig_handlerLogger) == SIG_ERR) + printf("\ncan't catch SIGINT\n"); + } (void)iCommClose(); From e6d7686b94434559ae078162b541184232bcfbe9 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 13 Jun 2019 16:02:04 +0200 Subject: [PATCH 170/730] Added sigint handler for objectcontrol.c --- server/src/objectcontrol.c | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d0f7816ec..0b65c54e3 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -16,6 +16,7 @@ #include #include #include +#include #include #include #include @@ -204,6 +205,23 @@ int8_t tFromUndefined(OBCState_t *currentState, OBCState_t requestedState); /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ +void sig_handlerOC(int signo) + { + if (signo == SIGINT) + printf("received SIGINT in ObjectControl\n"); + printf("Shutting down ObjectControl with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + //kill(iPid, SIGINT); + exit(1); + + + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); +} void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { @@ -1172,6 +1190,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) (void)nanosleep(&sleep_time,&ref_time); } + if (signal(SIGINT, sig_handlerOC) == SIG_ERR) + printf("\ncan't catch SIGINT\n"); } LogMessage(LOG_LEVEL_INFO,"Object control exiting"); From 1746dfa9b5fa5e84225bf414930b5794565f82cd Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 13 Jun 2019 16:02:40 +0200 Subject: [PATCH 171/730] Added sigint handler for supervision.c --- server/src/supervision.c | 26 ++++++++++++++++++++++++-- 1 file changed, 24 insertions(+), 2 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 920a3ffad..881fcf9cf 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -19,7 +19,7 @@ #include #include #include - +#include #include #include #include @@ -59,6 +59,26 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof); void printFences(GeofenceType *geoFence, unsigned int nGeof); + +/*------------------------------------------------------------ +-- Public functions +------------------------------------------------------------*/ +void sig_handlerSV(int signo) + { + if (signo == SIGINT) + printf("received SIGINT in Supervision\n"); + printf("Shutting down Supervision with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + //kill(iPid, SIGINT); + exit(1); + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); +} + /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ @@ -113,7 +133,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Ignore old style MONR data break; case COMM_MONR: - UtilPopulateMONRStruct(busReceiveBuffer, &MONRMessage, 0); + UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); @@ -127,6 +147,8 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) default: LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } + if (signal(SIGINT, sig_handlerSV) == SIG_ERR) + printf("\ncan't catch SIGINT\n"); } } From 65b77ab0e47127e6dccf9684872f113b0621241c Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 13 Jun 2019 16:03:13 +0200 Subject: [PATCH 172/730] Added sigint handler for systemcontrol.c --- server/src/systemcontrol.c | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index d1cfe654b..67f430eae 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -21,6 +21,7 @@ #include #include #include +#include #include #include @@ -166,6 +167,21 @@ static C8 SystemControlVerifyHostAddress(char* ip); /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ +void sig_handler(int signo) + { + if (signo == SIGINT) + printf("received SIGINT in SystemControl\n"); + printf("Shutting down SystemControl with pid: %d\n", getpid()); + pid_t iPid = getpid(); /* Process gets its id.*/ + exit(1); + + if (signo == SIGUSR1) + printf("received SIGUSR1\n"); + if (signo == SIGKILL) + printf("received SIGKILL\n"); + if (signo == SIGSTOP) + printf("received SIGSTOP\n"); +} void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { @@ -1047,6 +1063,10 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) sleep_time.tv_nsec = 10000000; nanosleep(&sleep_time,&ref_time); + + if (signal(SIGINT, sig_handler) == SIG_ERR) + printf("\ncan't catch SIGINT\n"); + } (void)iCommClose(); From 67a5f5e3e379ee5d0e34739979cc13d399280119 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 13 Jun 2019 16:20:00 +0200 Subject: [PATCH 173/730] Updated supervision.c to latest version, merge somehow got older version --- server/src/supervision.c | 293 ++++++++++++++++++++++----------------- 1 file changed, 168 insertions(+), 125 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 881fcf9cf..4fa88e4a9 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -32,9 +32,7 @@ /* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ #define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 #define MAX_GEOFENCE_NAME_LEN 256 -#define FENCE_DIRECTORY "./geofence/" -/* Difference of leap seconds between UTC and ETSI */ -#define DIFF_LEAP_SECONDS_UTC_ETSI 5 +#define GEOFENCE_DIRECTORY "./geofence/" #define MODULE_NAME "Supervisor" @@ -49,17 +47,17 @@ typedef struct CartesianPosition *polygonPoints; } GeofenceType; + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ + int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences); -int loadGeofenceFiles(GeofenceType *geofences, unsigned int *nGeof); -int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int index); +int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof); +int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence); void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof); void printFences(GeofenceType *geoFence, unsigned int nGeof); - - /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ @@ -89,8 +87,8 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus MONRType MONRMessage; - unsigned int nGeof = 0; - GeofenceType *geoPtrs = (GeofenceType*)malloc(sizeof (GeofenceType)); + unsigned int numberOfGeofences = 0; + GeofenceType *geofenceArray = NULL; enum COMMAND command; @@ -102,22 +100,17 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if (command == COMM_ABORT) { // TODO: } - if( command == COMM_CONNECT){ - - } - if (command == COMM_EXIT) { iExit = 1; - freeGeofences(geoPtrs, &nGeof); + freeGeofences(geofenceArray, &numberOfGeofences); LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); (void)iCommClose(); @@ -126,7 +119,11 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) switch (command) { case COMM_INIT: - loadGeofenceFiles(geoPtrs, &nGeof); + if (geofenceArray != NULL) + freeGeofences(geofenceArray, &numberOfGeofences); + + if (loadGeofenceFiles(&geofenceArray, &numberOfGeofences) == -1) + util_error("Unable to load geofences"); break; case COMM_MONI: @@ -135,11 +132,13 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_MONR: UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences - SupervisionCheckGeofences(MONRMessage, geoPtrs, nGeof); + SupervisionCheckGeofences(MONRMessage, geofenceArray, numberOfGeofences); break; case COMM_OBC_STATE: break; + case COMM_CONNECT: + break; case COMM_LOG: break; case COMM_INV: @@ -158,49 +157,84 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) * \param *nGeof A pointer to count number of geofences loaded. * */ -int loadGeofenceFiles(GeofenceType *geofences, unsigned int *nGeof){ - LogMessage(LOG_LEVEL_INFO,"Loading Geofences"); - struct dirent *pDirent; - DIR *pDir; - - pDir = opendir (FENCE_DIRECTORY); - if (pDir == NULL) { - LogMessage(LOG_LEVEL_INFO,"Cannot open Geofence directory"); - return 1; +int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof){ + + struct dirent *pDirent; + DIR *pDir; + char *ext; + unsigned int n = 0; + + LogMessage(LOG_LEVEL_DEBUG,"Loading geofences"); + + pDir = opendir (GEOFENCE_DIRECTORY); + if (pDir == NULL) { + LogMessage(LOG_LEVEL_ERROR,"Cannot open geofence directory"); + return -1; + } + + // Count the nuber of geofence files in the directory + while ((pDirent = readdir(pDir)) != NULL) + { + ext = strrchr(pDirent->d_name, '.'); + if(strcmp(ext, ".geofence") == 0) + { + n++; } + } + closedir (pDir); + *nGeof = n; - while ((pDirent = readdir(pDir)) != NULL) { - const char *ext = strrchr(pDirent->d_name, '.'); - if(strcmp(ext, ".geofence") != 0){ - LogMessage(LOG_LEVEL_INFO, "File [%s] is not a valid .geofencefence file", pDirent->d_name); - } - else{ - LogMessage(LOG_LEVEL_INFO,"Opening [%s]", pDirent->d_name); - LogMessage(LOG_LEVEL_INFO,"Geof size [%d]", *nGeof); + *geofences = (GeofenceType *)malloc(n * sizeof (GeofenceType)); + + if (*geofences == NULL) + { + LogMessage(LOG_LEVEL_ERROR,"Unable to allocate memory for geofences"); + return -1; + } - geofences = (GeofenceType *)realloc(geofences, ((*nGeof)+1) * sizeof (GeofenceType)); + LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", *nGeof); + + pDir = opendir (GEOFENCE_DIRECTORY); + if (pDir == NULL) { + LogMessage(LOG_LEVEL_ERROR,"Cannot open geofence directory"); + return -1; + } + n = 0; + while ((pDirent = readdir(pDir)) != NULL) { + ext = strrchr(pDirent->d_name, '.'); + if(strcmp(ext, ".geofence") != 0 && strcmp(pDirent->d_name,".") != 0 && strcmp(pDirent->d_name,"..") != 0) + { + LogMessage(LOG_LEVEL_WARNING, "File <%s> is not a valid .geofence file", pDirent->d_name); + } + else + { + if(parseGeofenceFile(pDirent->d_name, (*geofences)+n) == -1) + { + closedir(pDir); + return -1; + } + n++; + } + } + closedir (pDir); + LogMessage(LOG_LEVEL_INFO, "Loaded %d geofences",*nGeof); - parseGeofenceFile(pDirent->d_name, geofences, *nGeof); - (*nGeof)++; - } - } - closedir (pDir); - return 0; + return 0; } /*! * \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). * \param *geofenceFile A string containing a .geofence filename. -* \param *geofences A pointer to the geofence struct used for saving data. +* \param *geofence A pointer to the geofence struct used for saving data. * * \param index An integer used to keep track of which index to store data in. * */ -int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int index){ +int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ char pcFileNameBuffer[MAX_FILE_PATH] = ""; - strcat(pcFileNameBuffer, FENCE_DIRECTORY); + strcat(pcFileNameBuffer, GEOFENCE_DIRECTORY); strcat(pcFileNameBuffer, geofenceFile); FILE *fp; @@ -208,77 +242,98 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofences, unsigned int size_t len = 0; ssize_t read; + LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofenceFile); fp = fopen(pcFileNameBuffer, "r"); - if ( fp != NULL ) - { - while ((read = getline(&line, &len, fp)) != -1) { - static int lineCount = 0; - char delim[] = ";"; - char *ptr = strtok(line, delim); - - while (ptr != NULL) - { - if(strcmp( ptr, "GEOFENCE" ) == 0){ //PARSE HEADER - lineCount = 0; - - ptr = strtok(NULL, delim); - LogPrint("ptr: %c-%c-%c",ptr[0],ptr[1],ptr[2]); - strcpy (geofences[ index ].name, ptr); - - ptr = strtok(NULL, delim); - geofences[ index ].numberOfPoints = atoi(ptr); - - geofences[index].polygonPoints = (CartesianPosition*)malloc(geofences[ index ].numberOfPoints*sizeof(CartesianPosition)); - ptr = strtok(NULL, delim); - - if(strcmp( ptr, "permitted" ) == 0){ - geofences[ index ].isPermitted = 1; - } - else - { - geofences[ index ].isPermitted = 0; - } - - ptr = strtok(NULL, delim); - // printf("Min Height: %s\n", ptr); - ptr = strtok(NULL, delim); - // printf("Max Height: %s\n", ptr); - ptr = strtok(NULL, delim); - } - - if(strcmp( ptr, "LINE" ) == 0){ - ptr = strtok(NULL, delim); - geofences[index].polygonPoints[lineCount].xCoord_m = atof(ptr); - - ptr = strtok(NULL, delim); - geofences[index].polygonPoints[lineCount].yCoord_m = atof(ptr); - - lineCount++; - } - ptr = strtok(NULL, delim); - - } - } - - LogMessage(LOG_LEVEL_INFO, "Closed [%s]\n", pcFileNameBuffer); - fclose ( fp ); - } - else - { - util_error( pcFileNameBuffer ); + if ( fp != NULL ) + { + while ((read = getline(&line, &len, fp)) != -1) { + static int lineCount = 0; + char delim[] = ";"; + char *ptr = strtok(line, delim); + + while (ptr != NULL) + { + if(strcmp( ptr, "GEOFENCE" ) == 0){ //PARSE HEADER + lineCount = 0; + + ptr = strtok(NULL, delim); + strcpy (geofence->name, ptr); + + ptr = strtok(NULL, delim); + geofence->numberOfPoints = atoi(ptr); + + geofence->polygonPoints = (CartesianPosition*)malloc(geofence->numberOfPoints*sizeof(CartesianPosition)); + if (geofence->polygonPoints == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for coordinate array"); + return -1; + } + ptr = strtok(NULL, delim); + + if(strcmp( ptr, "permitted" ) == 0){ + geofence->isPermitted = 1; + } + else + { + geofence->isPermitted = 0; + } + + ptr = strtok(NULL, delim); + // printf("Min Height: %s\n", ptr); + ptr = strtok(NULL, delim); + // printf("Max Height: %s\n", ptr); + ptr = strtok(NULL, delim); + } + + if(strcmp( ptr, "LINE" ) == 0){ + ptr = strtok(NULL, delim); + geofence->polygonPoints[lineCount].xCoord_m = atof(ptr); + + ptr = strtok(NULL, delim); + geofence->polygonPoints[lineCount].yCoord_m = atof(ptr); + + lineCount++; + } + ptr = strtok(NULL, delim); + + } } + + + fclose ( fp ); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcFileNameBuffer); + return -1; + } return 0; } +/*! + * \brief SupervisionCheckGeofences Checks all geofences to verify that the point represented by the MONR data lies within all permitted geofences and outside all forbidden geofences + * \param MONRdata MONR struct containing the object coordinate data + * \param geofences Struct array containing all geofences + * \param numberOfGeofences Length of struct array + * \return 1 if MONR coordinate violates a geofence, 0 if not. -1 on error + */ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences) { const CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; char isInPolygon = 0; int retval = 0; - for (int i = 0; i < numberOfGeofences; i++) + for (unsigned int i = 0; i < numberOfGeofences; i++) { isInPolygon = UtilIsPointInPolygon(monrPoint, geofences[i].polygonPoints, geofences[i].numberOfPoints); + + if (isInPolygon == -1) + { + LogMessage(LOG_LEVEL_WARNING,"No points in polygon"); + return -1; + } + if ( (geofences[i].isPermitted && isInPolygon) || (!geofences[i].isPermitted && !isInPolygon) ) { @@ -291,34 +346,22 @@ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsign else LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is inside a forbidden area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); - retval = -1; + retval = 1; } } return retval; } -void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof){ - for(int i=0; i<*nGeof;i++){ - free(geoFence[i].polygonPoints); +/*! + * \brief freeGeofences Frees allocated memory for geofence struct array + * \param geofences Struct array containing geofences + * \param nGeofences Length of struct array + */ +void freeGeofences(GeofenceType *geofences, unsigned int *nGeofences){ + for(unsigned int i = 0; i < *nGeofences; i++){ + free(geofences[i].polygonPoints); } - free(geoFence); -} - -void printFences(GeofenceType *geoPtrs, unsigned int nGeof){ - for (int i = 0; i < nGeof; i++) { - printf("Namn: %s\n", geoPtrs[i].name); - printf("Coordinates: %d\n", geoPtrs[i].numberOfPoints); - if(geoPtrs[i].isPermitted == 1){ - printf("Type: Permitted\n"); - } - else{ - printf("Type: Forbidden\n"); - } - printf("Points: \n"); - for (int j = 0; j < geoPtrs[i].numberOfPoints; j++) { - printf("X: %f\n", geoPtrs[i].polygonPoints[j].xCoord_m); - printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); - } - } + free(geofences); + *nGeofences = 0; } From 5c2f2b2b8abcee1ba621862db4db8d51a3691ba0 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 13 Jun 2019 16:28:53 +0200 Subject: [PATCH 174/730] code formatting --- server/src/logger.c | 4 ---- server/src/supervision.c | 7 ------- 2 files changed, 11 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index c280efc95..e15e2f185 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -71,11 +71,7 @@ void sig_handlerLogger(int signo) if (signo == SIGINT) printf("received SIGINT in Logger\n"); printf("Shutting down Logger with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - //kill(iPid, SIGINT); exit(1); - - if (signo == SIGUSR1) printf("received SIGUSR1\n"); if (signo == SIGKILL) diff --git a/server/src/supervision.c b/server/src/supervision.c index 928c34f88..bf8d47c36 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -66,8 +66,6 @@ void sig_handlerSV(int signo) if (signo == SIGINT) printf("received SIGINT in Supervision\n"); printf("Shutting down Supervision with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - //kill(iPid, SIGINT); exit(1); if (signo == SIGUSR1) printf("received SIGUSR1\n"); @@ -362,13 +360,9 @@ void freeGeofences(GeofenceType *geofences, unsigned int *nGeofences){ for(unsigned int i = 0; i < *nGeofences; i++){ free(geofences[i].polygonPoints); } -<<<<<<< HEAD free(geofences); *nGeofences = 0; } -======= - free(geoFence); -} void printFences(GeofenceType *geoPtrs, unsigned int nGeof){ for (int i = 0; i < nGeof; i++) { @@ -387,4 +381,3 @@ void printFences(GeofenceType *geoPtrs, unsigned int nGeof){ } } } ->>>>>>> 1380760fa4e8c6d172adff106542e6b4ae94d838 From 99c6e12d18c13867e63a3b5a783e8837977a3c28 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Thu, 13 Jun 2019 16:35:22 +0200 Subject: [PATCH 175/730] Did changes according to Lukas comments in the PuuuuullRequest. --- server/inc/datadictionary.h | 4 +- server/inc/util.h | 7 +- server/src/datadictionary.c | 504 +++++++++++++++++++----------------- server/src/objectcontrol.c | 2 - server/src/systemcontrol.c | 29 ++- server/src/util.c | 16 +- 6 files changed, 310 insertions(+), 252 deletions(-) diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h index f8cc2da95..4e170efaf 100644 --- a/server/inc/datadictionary.h +++ b/server/inc/datadictionary.h @@ -10,7 +10,7 @@ #ifndef __DATADICTIONARY_H_INCLUDED__ #define __DATADICTIONARY_H_INCLUDED__ -//#include "util.h" +#include "util.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ @@ -119,7 +119,7 @@ I32 DataDictionaryGetMiscDataC8(GSDType *GSD, C8 *MiscData); I32 DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState); U8 DataDictionaryGetOBCStateU8(GSDType *GSD); -void DataDictionaryConstructor(GSDType *GSD); +I32 DataDictionaryConstructor(GSDType *GSD); #endif diff --git a/server/inc/util.h b/server/inc/util.h index 900c8e470..8b7d30948 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -25,7 +25,6 @@ #include #include #include -#include #include "mqbus.h" /*------------------------------------------------------------ @@ -582,13 +581,11 @@ typedef struct volatile U32 ExternalSupervisorIPU32; C8 ExternalSupervisorIPC8[DD_CONTROL_BUFFER_SIZE_20]; volatile U16 SupervisorTCPPortU16; - volatile U32 DataDictionaryRVSSConfigU32; - volatile U32 DataDictionaryRVSSRateU8; + U32 DataDictionaryRVSSConfigU32; + U32 DataDictionaryRVSSRateU8; volatile ASPType ASPData; C8 MiscDataC8[DD_CONTROL_BUFFER_SIZE_1024]; volatile U8 OBCStateU8; - - } GSDType; diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 74c537664..f3f253544 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -11,67 +11,87 @@ /*------------------------------------------------------------ -- Include files. ------------------------------------------------------------*/ -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include +#include #include -#include "util.h" -#include "logger.h" #include "datadictionary.h" #include "logging.h" +// Parameters and variables +pthread_mutex_t OriginLatitudeMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t OriginLongitudeMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t OriginAltitudeMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t VisualizationServerMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t ForceObjectToLocalhostMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t ASPMaxTimeDiffMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t ASPMaxTrajDiffMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t ASPStepBackCountMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t ASPFilterLevelMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t ASPMaxDeltaTimeMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t TimeServerIPMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t TimeServerPortMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t SimulatorIPMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t SimulatorTCPPortMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t SimulatorUDPPortMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t SimulatorModeMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t VOILReceiversMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t DTMReceiversMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t ExternalSupervisorIPMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t SupervisorTCPPortMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t DataDictionaryRVSSConfigMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t DataDictionaryRVSSRateMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t ASPDataMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t MiscDataMutex = PTHREAD_MUTEX_INITIALIZER; +pthread_mutex_t OBCStateMutex = PTHREAD_MUTEX_INITIALIZER; + -#define DD_CONTROL_CONF_FILE_PATH "conf/test.conf" -#define DD_CONTROL_BUFFER_SIZE_1024 1024 -#define DD_CONTROL_BUFFER_SIZE_20 20 -#define DD_CONTROL_BUFFER_SIZE_52 52 -#define DD_CONTROL_TASK_PERIOD_MS 1 -// Parameters and variables -pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); /*------------------------------------------------------------ -- Functions ------------------------------------------------------------*/ -void DataDictionaryConstructor(GSDType *GSD) -{ - DataDictionaryInitOriginLatitudeDbl(GSD); - DataDictionaryInitOriginLongitudeDbl(GSD); - DataDictionaryInitOriginAltitudeDbl(GSD); - DataDictionaryInitVisualizationServerU32(GSD); - DataDictionaryInitForceToLocalhostU8(GSD); - DataDictionaryInitASPMaxTimeDiffDbl(GSD); - DataDictionaryInitASPMaxTrajDiffDbl(GSD); - DataDictionaryInitASPStepBackCountU32(GSD); - DataDictionaryInitASPFilterLevelDbl(GSD); - DataDictionaryInitASPMaxDeltaTimeDbl(GSD); - DataDictionaryInitTimeServerIPU32(GSD); - DataDictionaryInitTimeServerPortU16(GSD); - DataDictionaryInitSimulatorIPU32(GSD); - DataDictionaryInitSimulatorTCPPortU16(GSD); - DataDictionaryInitSimulatorUDPPortU16(GSD); - DataDictionaryInitSimulatorModeU8(GSD); - DataDictionaryInitVOILReceiversC8(GSD); - DataDictionaryInitDTMReceiversC8(GSD); - DataDictionaryInitExternalSupervisorIPU32(GSD); - DataDictionaryInitRVSSConfigU32(GSD); - DataDictionaryInitRVSSRateU8(GSD); - DataDictionaryInitSupervisorTCPPortU16(GSD); - DataDictionaryInitMiscDataC8(GSD); - DataDictionarySetOBCStateU8(GSD, OBC_STATE_IDLE); + + +/* +DataDictionaryConstructor initialize data hold by DataDictionary. +Initialization data that is configurable is stored in test.conf. + +- If return data (I32) not is READ_OK is a parameter missing +- *GSD pointer to global data +*/ +I32 DataDictionaryConstructor(GSDType *GSD) +{ + I32 Res; + + Res = DataDictionaryInitOriginLatitudeDbl(GSD); + if(Res == READ_OK) Res = DataDictionaryInitOriginLongitudeDbl(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitOriginAltitudeDbl(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitVisualizationServerU32(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitForceToLocalhostU8(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitASPMaxTimeDiffDbl(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitASPMaxTrajDiffDbl(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitASPStepBackCountU32(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitASPFilterLevelDbl(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitASPMaxDeltaTimeDbl(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitTimeServerIPU32(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitTimeServerPortU16(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitSimulatorIPU32(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitSimulatorTCPPortU16(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitSimulatorUDPPortU16(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitSimulatorModeU8(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitVOILReceiversC8(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitDTMReceiversC8(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitExternalSupervisorIPU32(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitRVSSConfigU32(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitRVSSRateU8(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitSupervisorTCPPortU16(GSD); + else if(Res == READ_OK) Res = DataDictionaryInitMiscDataC8(GSD); + + DataDictionarySetOBCStateU8(GSD, OBC_STATE_UNDEFINED); + + return Res; } // I32 Return @@ -90,16 +110,16 @@ I32 DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) if(Res = DataDictionarySearchParameter("OrigoLatidude=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginLatitudeMutex); GSD->OriginLatitudeDbl = atof(ResultBufferC8); bzero(GSD->OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->OriginLatitudeC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginLatitudeMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"OriginLatitude not found!"); + LogMessage(LOG_LEVEL_ERROR,"OriginLatitude not found!"); } return Res; @@ -111,28 +131,28 @@ I32 DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) if(Res = UtilWriteConfigurationParameter("OrigoLatidude", Latitude, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginLatitudeMutex); GSD->OriginLatitudeDbl = atof(Latitude); bzero(GSD->OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->OriginLatitudeC8, Latitude); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginLatitudeMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginLatitudeMutex); *Latitude = GSD->OriginLatitudeDbl; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginLatitudeMutex); return (I32) READ_OK; } I32 DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginLatitudeMutex); strcat(Latitude, GSD->OriginLatitudeC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginLatitudeMutex); return (I32) READ_OK; } @@ -146,16 +166,16 @@ I32 DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) if(Res = DataDictionarySearchParameter("OrigoLongitude=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginLongitudeMutex); GSD->OriginLongitudeDbl = atof(ResultBufferC8); bzero(GSD->OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->OriginLongitudeC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginLongitudeMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"OriginLongitude not found!"); + LogMessage(LOG_LEVEL_ERROR,"OriginLongitude not found!"); } return Res; @@ -167,28 +187,28 @@ I32 DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude) if(Res = UtilWriteConfigurationParameter("OrigoLongitude", Longitude, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginLongitudeMutex); GSD->OriginLongitudeDbl = atof(Longitude); bzero(GSD->OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->OriginLongitudeC8, Longitude); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginLongitudeMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginLongitudeMutex); *Longitude = GSD->OriginLongitudeDbl; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginLongitudeMutex); return (I32) READ_OK; } I32 DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginLongitudeMutex); strcat(Longitude, GSD->OriginLongitudeC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginLongitudeMutex); return (I32) READ_OK; } /*END of Origin Longitude*/ @@ -201,16 +221,16 @@ I32 DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) if(Res = DataDictionarySearchParameter("OrigoAltitude=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginAltitudeMutex); GSD->OriginAltitudeDbl = atof(ResultBufferC8); bzero(GSD->OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->OriginAltitudeC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginAltitudeMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"OriginAltitude not found!"); + LogMessage(LOG_LEVEL_ERROR,"OriginAltitude not found!"); } return Res; @@ -222,28 +242,28 @@ I32 DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) if(Res = UtilWriteConfigurationParameter("OrigoAltitude", Altitude, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginAltitudeMutex); GSD->OriginAltitudeDbl = atof(Altitude); bzero(GSD->OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->OriginAltitudeC8, Altitude); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginAltitudeMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginAltitudeMutex); *Altitude = GSD->OriginAltitudeDbl; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginAltitudeMutex); return (I32) READ_OK; } I32 DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OriginAltitudeMutex); strcat(Altitude, GSD->OriginAltitudeC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OriginAltitudeMutex); return (I32) READ_OK; } @@ -257,16 +277,16 @@ I32 DataDictionaryInitVisualizationServerU32(GSDType *GSD) if(Res = DataDictionarySearchParameter("VisualizationServerName=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&VisualizationServerMutex); GSD->VisualizationServerU32 = UtilIPStringToInt(ResultBufferC8); bzero(GSD->VisualizationServerC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->VisualizationServerC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&VisualizationServerMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"VisualizationServerName not found!"); + LogMessage(LOG_LEVEL_ERROR,"VisualizationServerName not found!"); } return Res; @@ -278,29 +298,29 @@ I32 DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) if(Res = UtilWriteConfigurationParameter("VisualizationServerName", IP, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&VisualizationServerMutex); GSD->VisualizationServerU32 = UtilIPStringToInt(IP); bzero(GSD->VisualizationServerC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->VisualizationServerC8, IP); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&VisualizationServerMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&VisualizationServerMutex); *IP = GSD->VisualizationServerU32; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&VisualizationServerMutex); return (I32) READ_OK; } I32 DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&VisualizationServerMutex); strcat(IP, GSD->VisualizationServerC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&VisualizationServerMutex); return (I32) READ_OK; } @@ -315,14 +335,14 @@ I32 DataDictionaryInitForceToLocalhostU8(GSDType *GSD) if(Res = DataDictionarySearchParameter("ForceObjectToLocalhost=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ForceObjectToLocalhostMutex); GSD->ForceObjectToLocalhostU8 = atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ForceObjectToLocalhostMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"ForceObjectToLocalhost not found!"); + LogMessage(LOG_LEVEL_ERROR,"ForceObjectToLocalhost not found!"); } return Res; @@ -334,18 +354,18 @@ I32 DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost) if(Res = UtilWriteConfigurationParameter("ForceObjectToLocalhost", ForceLocalhost, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ForceObjectToLocalhostMutex); GSD->ForceObjectToLocalhostU8 = atoi(ForceLocalhost); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ForceObjectToLocalhostMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ForceObjectToLocalhostMutex); *ForceLocalhost = GSD->ForceObjectToLocalhostU8; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ForceObjectToLocalhostMutex); return (I32) READ_OK; } /*END of ForceToLocalhost*/ @@ -358,14 +378,14 @@ I32 DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) if(Res = DataDictionarySearchParameter("ASPMaxTimeDiff=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxTimeDiffMutex); GSD->ASPMaxTimeDiffDbl = atof(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxTimeDiffMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"ASPMaxTimeDiff not found!"); + LogMessage(LOG_LEVEL_ERROR,"ASPMaxTimeDiff not found!"); } return Res; @@ -377,18 +397,18 @@ I32 DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff) if(Res = UtilWriteConfigurationParameter("ASPMaxTimeDiff", ASPMaxTimeDiff, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxTimeDiffMutex); GSD->ASPMaxTimeDiffDbl = atof(ASPMaxTimeDiff); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxTimeDiffMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxTimeDiffMutex); *ASPMaxTimeDiff = GSD->ASPMaxTimeDiffDbl; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxTimeDiffMutex); return (I32) READ_OK; } /*END of ASPMaxTimeDiff*/ @@ -401,14 +421,14 @@ I32 DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) if(Res = DataDictionarySearchParameter("ASPMaxTrajDiff=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxTrajDiffMutex); GSD->ASPMaxTrajDiffDbl = atof(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxTrajDiffMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"ASPMaxTrajDiff not found!"); + LogMessage(LOG_LEVEL_ERROR,"ASPMaxTrajDiff not found!"); } return Res; @@ -420,18 +440,18 @@ I32 DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTrajDiff) if(Res = UtilWriteConfigurationParameter("ASPMaxTrajDiff", ASPMaxTrajDiff, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxTrajDiffMutex); GSD->ASPMaxTrajDiffDbl = atof(ASPMaxTrajDiff); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxTrajDiffMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTrajDiff) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxTrajDiffMutex); *ASPMaxTrajDiff = GSD->ASPMaxTrajDiffDbl; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxTrajDiffMutex); return (I32) READ_OK; } /*END of ASPMaxTrajDiff*/ @@ -445,14 +465,14 @@ I32 DataDictionaryInitASPStepBackCountU32(GSDType *GSD) if(Res = DataDictionarySearchParameter("ASPStepBackCount=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPStepBackCountMutex); GSD->ASPStepBackCountU32 = atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPStepBackCountMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"ASPStepBackCount not found!"); + LogMessage(LOG_LEVEL_ERROR,"ASPStepBackCount not found!"); } return Res; @@ -464,18 +484,18 @@ I32 DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount) if(Res = UtilWriteConfigurationParameter("ASPStepBackCount", ASPStepBackCount, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPStepBackCountMutex); GSD->ASPStepBackCountU32 = atoi(ASPStepBackCount); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPStepBackCountMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPStepBackCountMutex); *ASPStepBackCount = GSD->ASPStepBackCountU32; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPStepBackCountMutex); return (I32) READ_OK; } /*END of ASPStepBackCount*/ @@ -488,14 +508,14 @@ I32 DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) if(Res = DataDictionarySearchParameter("ASPFilterLevel=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPFilterLevelMutex); GSD->ASPFilterLevelDbl = atof(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPFilterLevelMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"ASPFilterLevel not found!"); + LogMessage(LOG_LEVEL_ERROR,"ASPFilterLevel not found!"); } return Res; @@ -507,18 +527,18 @@ I32 DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel) if(Res = UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPFilterLevelMutex); GSD->ASPFilterLevelDbl = atof(ASPFilterLevel); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPFilterLevelMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPFilterLevelMutex); *ASPFilterLevel = GSD->ASPFilterLevelDbl; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPFilterLevelMutex); return (I32) READ_OK; } /*END of ASPFilterLevel*/ @@ -531,14 +551,14 @@ I32 DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) if(Res = DataDictionarySearchParameter("ASPMaxDeltaTime=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxDeltaTimeMutex); GSD->ASPMaxDeltaTimeDbl = atof(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"ASPMaxDeltaTime not found!"); + LogMessage(LOG_LEVEL_ERROR,"ASPMaxDeltaTime not found!"); } return Res; @@ -550,18 +570,18 @@ I32 DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime) if(Res = UtilWriteConfigurationParameter("ASPMaxDeltaTime", ASPMaxDeltaTime, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxDeltaTimeMutex); GSD->ASPMaxDeltaTimeDbl = atof(ASPMaxDeltaTime); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPMaxDeltaTimeMutex); *ASPMaxDeltaTime = GSD->ASPMaxDeltaTimeDbl; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); return (I32) READ_OK; } /*END of ASPFilterLevel*/ @@ -575,16 +595,16 @@ I32 DataDictionaryInitTimeServerIPU32(GSDType *GSD) if(Res = DataDictionarySearchParameter("TimeServerIP=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&TimeServerIPMutex); GSD->TimeServerIPU32 = UtilIPStringToInt(ResultBufferC8); bzero(GSD->TimeServerIPC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->TimeServerIPC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&TimeServerIPMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"TimeServerIP not found!"); + LogMessage(LOG_LEVEL_ERROR,"TimeServerIP not found!"); } return Res; @@ -596,28 +616,28 @@ I32 DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP) if(Res = UtilWriteConfigurationParameter("TimeServerIP", TimeServerIP, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&TimeServerIPMutex); GSD->TimeServerIPU32 = UtilIPStringToInt(TimeServerIP); bzero(GSD->TimeServerIPC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->TimeServerIPC8, TimeServerIP); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&TimeServerIPMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&TimeServerIPMutex); *TimeServerIP = GSD->TimeServerIPU32; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&TimeServerIPMutex); return (I32) READ_OK; } I32 DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&TimeServerIPMutex); strcat(TimeServerIP, GSD->TimeServerIPC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&TimeServerIPMutex); return (I32) READ_OK; } @@ -632,14 +652,14 @@ I32 DataDictionaryInitTimeServerPortU16(GSDType *GSD) if(Res = DataDictionarySearchParameter("TimeServerPort=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&TimeServerPortMutex); GSD->TimeServerPortU16 = atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&TimeServerPortMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"TimeServerPort not found!"); + LogMessage(LOG_LEVEL_ERROR,"TimeServerPort not found!"); } return Res; @@ -651,18 +671,18 @@ I32 DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort) if(Res = UtilWriteConfigurationParameter("TimeServerPort", TimeServerPort, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&TimeServerPortMutex); GSD->TimeServerPortU16 = atoi(TimeServerPort); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&TimeServerPortMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&TimeServerPortMutex); *TimeServerPort = GSD->TimeServerPortU16; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&TimeServerPortMutex); return (I32) READ_OK; } /*END of TimeServerPort*/ @@ -676,16 +696,16 @@ I32 DataDictionaryInitSimulatorIPU32(GSDType *GSD) if(Res = DataDictionarySearchParameter("SimulatorIP=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorIPMutex); GSD->SimulatorIPU32 = UtilIPStringToInt(ResultBufferC8); bzero(GSD->SimulatorIPC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->SimulatorIPC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorIPMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"SimulatorIP not found!"); + LogMessage(LOG_LEVEL_ERROR,"SimulatorIP not found!"); } return Res; @@ -697,28 +717,28 @@ I32 DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) if(Res = UtilWriteConfigurationParameter("SimulatorIP", SimulatorIP, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorIPMutex); GSD->SimulatorIPU32 = UtilIPStringToInt(SimulatorIP); bzero(GSD->SimulatorIPC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->SimulatorIPC8, SimulatorIP); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorIPMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorIPMutex); *SimulatorIP = GSD->SimulatorIPU32; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorIPMutex); return (I32) READ_OK; } I32 DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorIPMutex); strcat(SimulatorIP, GSD->SimulatorIPC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorIPMutex); return (I32) READ_OK; } /*END of SimulatorIP*/ @@ -731,14 +751,14 @@ I32 DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) if(Res = DataDictionarySearchParameter("SimulatorTCPPort=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorTCPPortMutex); GSD->SimulatorTCPPortU16 = atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorTCPPortMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"SimulatorTCPPort not found!"); + LogMessage(LOG_LEVEL_ERROR,"SimulatorTCPPort not found!"); } return Res; @@ -750,18 +770,18 @@ I32 DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort) if(Res = UtilWriteConfigurationParameter("SimulatorTCPPort", SimulatorTCPPort, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorTCPPortMutex); GSD->SimulatorTCPPortU16 = atoi(SimulatorTCPPort); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorTCPPortMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorTCPPortMutex); *SimulatorTCPPort = GSD->SimulatorTCPPortU16; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorTCPPortMutex); return (I32) READ_OK; } /*END of SimulatorTCPPort*/ @@ -774,14 +794,14 @@ I32 DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) if(Res = DataDictionarySearchParameter("SimulatorUDPPort=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorUDPPortMutex); GSD->SimulatorUDPPortU16 = atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorUDPPortMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"SimulatorUDPPort not found!"); + LogMessage(LOG_LEVEL_ERROR,"SimulatorUDPPort not found!"); } return Res; @@ -793,18 +813,18 @@ I32 DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort) if(Res = UtilWriteConfigurationParameter("SimulatorUDPPort", SimulatorUDPPort, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorUDPPortMutex); GSD->SimulatorUDPPortU16 = atoi(SimulatorUDPPort); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorUDPPortMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorUDPPortMutex); *SimulatorUDPPort = GSD->SimulatorUDPPortU16; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorUDPPortMutex); return (I32) READ_OK; } /*END of SimulatorUDPPort*/ @@ -817,14 +837,14 @@ I32 DataDictionaryInitSimulatorModeU8(GSDType *GSD) if(Res = DataDictionarySearchParameter("SimulatorMode=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorModeMutex); GSD->SimulatorModeU8 = atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorModeMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"SimulatorMode not found!"); + LogMessage(LOG_LEVEL_ERROR,"SimulatorMode not found!"); } return Res; @@ -836,18 +856,18 @@ I32 DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode) if(Res = UtilWriteConfigurationParameter("SimulatorMode", SimulatorMode, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorModeMutex); GSD->SimulatorModeU8 = atoi(SimulatorMode); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorModeMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SimulatorModeMutex); *SimulatorMode = GSD->SimulatorModeU8; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SimulatorModeMutex); return (I32) READ_OK; } /*END of SimulatorMode*/ @@ -860,14 +880,14 @@ I32 DataDictionaryInitVOILReceiversC8(GSDType *GSD) if(Res = DataDictionarySearchParameter("VOILReceivers=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&VOILReceiversMutex); strcpy(GSD->VOILReceiversC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&VOILReceiversMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"VOILReceivers not found!"); + LogMessage(LOG_LEVEL_ERROR,"VOILReceivers not found!"); } return Res; @@ -879,18 +899,18 @@ I32 DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers) if(Res = UtilWriteConfigurationParameter("VOILReceivers", VOILReceivers, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&VOILReceiversMutex); strcpy(GSD->VOILReceiversC8, VOILReceivers); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&VOILReceiversMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceivers) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&VOILReceiversMutex); strcpy(VOILReceivers, GSD->VOILReceiversC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&VOILReceiversMutex); return (I32) READ_OK; } /*END of VOILReceivers*/ @@ -903,14 +923,14 @@ I32 DataDictionaryInitDTMReceiversC8(GSDType *GSD) if(Res = DataDictionarySearchParameter("DTMReceivers=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DTMReceiversMutex); strcpy(GSD->DTMReceiversC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&DTMReceiversMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"DTMReceivers not found!"); + LogMessage(LOG_LEVEL_ERROR,"DTMReceivers not found!"); } return Res; @@ -922,18 +942,18 @@ I32 DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers) if(Res = UtilWriteConfigurationParameter("DTMReceivers", DTMReceivers, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DTMReceiversMutex); strcpy(GSD->DTMReceiversC8, DTMReceivers); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&DTMReceiversMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DTMReceiversMutex); strcpy(DTMReceivers, GSD->DTMReceiversC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&DTMReceiversMutex); return (I32) READ_OK; } /*END of DTMReceivers*/ @@ -946,17 +966,17 @@ I32 DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) if(Res = DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ExternalSupervisorIPMutex); GSD->ExternalSupervisorIPU32 = UtilIPStringToInt(ResultBufferC8); bzero(GSD->ExternalSupervisorIPC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->ExternalSupervisorIPC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); - //LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", ResultBufferC8); + pthread_mutex_unlock(&ExternalSupervisorIPMutex); + //LogMessage(LOG_LEVEL_ERROR,"Supervisor IP: %s", ResultBufferC8); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"Supervisor IP not found!"); + LogMessage(LOG_LEVEL_ERROR,"Supervisor IP not found!"); } return Res; @@ -968,28 +988,28 @@ I32 DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) if(Res = UtilWriteConfigurationParameter("SupervisorIP", IP, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ExternalSupervisorIPMutex); GSD->ExternalSupervisorIPU32 = UtilIPStringToInt(IP); bzero(GSD->ExternalSupervisorIPC8, DD_CONTROL_BUFFER_SIZE_20); strcat(GSD->ExternalSupervisorIPC8, IP); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ExternalSupervisorIPMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ExternalSupervisorIPMutex); *IP = GSD->ExternalSupervisorIPU32; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ExternalSupervisorIPMutex); return (I32) READ_OK; } I32 DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ExternalSupervisorIPMutex); strcat(IP, GSD->ExternalSupervisorIPC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ExternalSupervisorIPMutex); return (I32) READ_OK; } /*END of External Supervisor IP*/ @@ -1002,14 +1022,14 @@ I32 DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) if(Res = DataDictionarySearchParameter("SupervisorTCPPort=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SupervisorTCPPortMutex); GSD->SupervisorTCPPortU16 = atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SupervisorTCPPortMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"SupervisorTCPPort not found!"); + LogMessage(LOG_LEVEL_ERROR,"SupervisorTCPPort not found!"); } return Res; @@ -1021,25 +1041,22 @@ I32 DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort) if(Res = UtilWriteConfigurationParameter("SupervisorTCPPort", SupervisorTCPPort, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SupervisorTCPPortMutex); GSD->SupervisorTCPPortU16 = atoi(SupervisorTCPPort); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SupervisorTCPPortMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&SupervisorTCPPortMutex); *SupervisorTCPPort = GSD->SupervisorTCPPortU16; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&SupervisorTCPPortMutex); return (I32) READ_OK; } /*END of External SupervisorTCPPort*/ - - - /*Runtime Variable Subscription Service (RVSS) Configuration*/ I32 DataDictionaryInitRVSSConfigU32(GSDType *GSD) { @@ -1048,15 +1065,15 @@ I32 DataDictionaryInitRVSSConfigU32(GSDType *GSD) if(Res = DataDictionarySearchParameter("RVSSConfig=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); GSD->DataDictionaryRVSSConfigU32 = atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); - //LogMessage(LOG_LEVEL_INFO,"RVSSConfig: %s", ResultBufferC8); + pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); + //LogMessage(LOG_LEVEL_ERROR,"RVSSConfig: %s", ResultBufferC8); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"RVSSConfig not found!"); + LogMessage(LOG_LEVEL_ERROR,"RVSSConfig not found!"); } return Res; @@ -1072,18 +1089,18 @@ I32 DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) if(Res = UtilWriteConfigurationParameter("RVSSConfig", ResultBufferC8, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); GSD->DataDictionaryRVSSConfigU32 = RVSSConfig; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); *RVSSConfig = GSD->DataDictionaryRVSSConfigU32; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); return (I32) READ_OK; } /*END of Runtime Variable Subscription Service (RVSS) Configuration**/ @@ -1097,15 +1114,15 @@ I32 DataDictionaryInitRVSSRateU8(GSDType *GSD) if(Res = DataDictionarySearchParameter("RVSSRate=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DataDictionaryRVSSRateMutex); GSD->DataDictionaryRVSSRateU8 = (U8)atoi(ResultBufferC8); - pthread_mutex_unlock(&mutex); - //LogMessage(LOG_LEVEL_INFO,"RVSSRate: %s", ResultBufferC8); + pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); + //LogMessage(LOG_LEVEL_ERROR,"RVSSRate: %s", ResultBufferC8); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"RVSSRate not found!"); + LogMessage(LOG_LEVEL_ERROR,"RVSSRate not found!"); } return Res; @@ -1121,18 +1138,18 @@ I32 DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) if(Res = UtilWriteConfigurationParameter("RVSSRate", ResultBufferC8, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DataDictionaryRVSSRateMutex); GSD->DataDictionaryRVSSRateU8 = RVSSRate; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&DataDictionaryRVSSRateMutex); *RVSSRate = GSD->DataDictionaryRVSSRateU8; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); return (I32) READ_OK; } /*END of Runtime Variable Subscription Service (RVSS) Rate**/ @@ -1141,17 +1158,17 @@ I32 DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) /*ASPDebug*/ I32 DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPD) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPDataMutex); GSD->ASPData = *ASPD; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPDataMutex); return (I32) WRITE_OK; } I32 DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPD) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&ASPDataMutex); *ASPD = GSD->ASPData; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&ASPDataMutex); return (I32) READ_OK; } /*END ASPDebug*/ @@ -1164,14 +1181,14 @@ I32 DataDictionaryInitMiscDataC8(GSDType *GSD) if(Res = DataDictionarySearchParameter("MiscData=", ResultBufferC8)) { Res = READ_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&MiscDataMutex); strcpy(GSD->MiscDataC8, ResultBufferC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&MiscDataMutex); } else { Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_INFO,"MiscData not found!"); + LogMessage(LOG_LEVEL_ERROR,"MiscData not found!"); } return Res; @@ -1183,19 +1200,19 @@ I32 DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) if(Res = UtilWriteConfigurationParameter("MiscData", MiscData, 0)) { Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&MiscDataMutex); bzero(GSD->MiscDataC8, DD_CONTROL_BUFFER_SIZE_1024); strcpy(GSD->MiscDataC8, MiscData); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&MiscDataMutex); } else Res = PARAMETER_NOTFOUND; return Res; } I32 DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData) { - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&MiscDataMutex); strcpy(MiscData, GSD->MiscDataC8); - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&MiscDataMutex); return (I32) READ_OK; } /*END of MiscData*/ @@ -1206,21 +1223,34 @@ I32 DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState) { I32 Res; Res = WRITE_OK; - pthread_mutex_lock(&mutex); + pthread_mutex_lock(&OBCStateMutex); GSD->OBCStateU8 = OBCState; - pthread_mutex_unlock(&mutex); + pthread_mutex_unlock(&OBCStateMutex); return Res; } U8 DataDictionaryGetOBCStateU8(GSDType *GSD) { - return GSD->OBCStateU8; + U8 Ret; + pthread_mutex_lock(&OBCStateMutex); + Ret = GSD->OBCStateU8; + pthread_mutex_unlock(&OBCStateMutex); + + return Ret; } /*END OBCState*/ + +/* +DataDictionarySearchParameter searches for parameters in the file test.conf and returns +the parameter value. + +- *ParameterName the name of the parameter in test.conf +- *ResultBuffer the value of the parameter. +*/ I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) { bzero(ResultBuffer, DD_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(DD_CONTROL_CONF_FILE_PATH, ParameterName, "", ResultBuffer); + UtilSearchTextFile(TEST_CONF_FILE, ParameterName, "", ResultBuffer); return strlen(ResultBuffer); } \ No newline at end of file diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 67917e2c6..10dd38ec9 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -587,8 +587,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //bzero(buffer,OBJECT_MESS_BUFFER_SIZE); //ObjectControlBuildASPMessage(buffer, &ASPData, 0); DataDictionarySetRVSSAsp(GSD, &ASPData); - //for(j = 0; j < sizeof(ASPType); j ++) GSD->ASPDebugDataU8[j] = buffer[j]; - //GSD->ASPDebugDataSetU8 = 1; if(atoi(Timestamp)%ASPDebugRate == 0) { diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index b85d0e330..fc97cdf44 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -281,7 +281,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } - U8 d1; // TODO: Delete? while(!iExit) { @@ -2131,6 +2130,15 @@ I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *Retu } +/* +SystemControlBuildRVSSTimeChannelMessage builds a message from data in *GPSTime. The message is stored in *RVSSData. +See the architecture document for the protocol of RVSS. + +- *RVSSData the buffer the message +- *RVSSDataLengthU32 the length of the message +- *GPSTime current time data +- Debug enable(1)/disable(0) debug printouts (Not used) +*/ I32 SystemControlBuildRVSSTimeChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, TimeType *GPSTime, U8 Debug) { I32 MessageIndex = 0, i; @@ -2167,6 +2175,15 @@ I32 SystemControlBuildRVSSTimeChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU3 return 0; } +/* +SystemControlBuildRVSSMONRChannelMessage builds a message from data in *MonrData. The message is stored in *RVSSData. +See the architecture document for the protocol of RVSS. + +- *RVSSData the buffer the message +- *RVSSDataLengthU32 the length of the message +- *MonrData MONR data from an object +- Debug enable(1)/disable(0) debug printouts (Not used) +*/ I32 SystemControlBuildRVSSMONRChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, C8 *MonrData, U8 Debug) { @@ -2192,6 +2209,16 @@ I32 SystemControlBuildRVSSMONRChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU3 } +/* +SystemControlBuildRVSSAspChannelMessage shall be used for sending ASP-debug data. The message is stored in *RVSSData. +See the architecture document for the protocol of RVSS. + +- *RVSSData the buffer the message +- *RVSSDataLengthU32 the length of the message +- *ASPdata TBD +- Debug enable(1)/disable(0) debug printouts (Not used) +*/ + I32 SystemControlBuildRVSSAspChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, U8 Debug) { RVSSTimeType RVSSTimeData; diff --git a/server/src/util.c b/server/src/util.c index 5a0523f4b..4f27caf72 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -39,7 +39,7 @@ #define RE_WGS84 6378137.0 // earth semimajor axis (WGS84) (m) #define TEMP_CONF_FILE_PATH "conf/temp.conf" -#define CONF_FILE_PATH "conf/test.conf" +//#define CONF_FILE_PATH "conf/test.conf" #define SMALL_BUFFER_SIZE_128 128 #define SMALL_BUFFER_SIZE_64 64 @@ -2994,7 +2994,13 @@ I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) } +/* +UtilWriteConfigurationParameter updates parameters in the file test.conf. +- *ParameterName the name of the parameter in test.conf +- *NewValue the value of the parameter. +- Debug enable(1)/disable(0) debug printouts +*/ I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) { @@ -3017,13 +3023,13 @@ I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) TempFd = fopen (TEMP_CONF_FILE_PATH, "w+"); //Open configuration file - fd = fopen (CONF_FILE_PATH, "r"); + fd = fopen (TEST_CONF_FILE, "r"); if(fd > 0) { RowCount = UtilCountFileRows(fd); fclose(fd); - fd = fopen (CONF_FILE_PATH, "r"); + fd = fopen (TEST_CONF_FILE, "r"); for(i = 0; i < RowCount; i++) { @@ -3064,10 +3070,10 @@ I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) fclose(fd); //Remove test.conf - remove(CONF_FILE_PATH); + remove(TEST_CONF_FILE); //Rename temp.conf to test.conf - rename(TEMP_CONF_FILE_PATH, CONF_FILE_PATH); + rename(TEMP_CONF_FILE_PATH, TEST_CONF_FILE); //Remove temporary file remove(TEMP_CONF_FILE_PATH); From 10d59d503d0fc63fa2711b01ea6a1df5e9ef529b Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Thu, 13 Jun 2019 16:38:15 +0200 Subject: [PATCH 176/730] Util update. --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 0a104bd70..63e3faec5 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 0a104bd70031defc96d692b35b63446ae3d77953 +Subproject commit 63e3faec5f014d71337b45b1b5540f180cb4d59b From 40397f13129b3127781c057868e1b593441ddebe Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 13 Jun 2019 17:22:40 +0200 Subject: [PATCH 177/730] Added printout warning --- server/src/systemcontrol.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index d1cfe654b..c356cd71a 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -419,6 +419,10 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_WARNING,"Received badly formatted HTTP request: <%s>, must contain \"POST\" and \"\\r\\n\\r\\n\"",pcBuffer); } } + else + { + LogMessage(LOG_LEVEL_WARNING, "Ignored received TCP message which was too large to handle"); + } } else if(ModeU8 == 1) { /* use util.c function to call time From 1806387c8ad1997bc298dfd985d7c62af8d4dd72 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 13 Jun 2019 17:30:04 +0200 Subject: [PATCH 178/730] Resized TCP receive buffer --- server/src/systemcontrol.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index c356cd71a..055ad3851 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -67,8 +67,9 @@ typedef enum { #define SYSTEM_CONTROL_COMMAND_MAX_LENGTH 32 #define SYSTEM_CONTROL_ARG_MAX_COUNT 6 #define SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH 32 -#define SYSTEM_CONTROL_TOTAL_COMMAND_MAX_LENGTH SYSTEM_CONTROL_ARG_CHAR_COUNT + SYSTEM_CONTROL_COMMAND_MAX_LENGTH + SYSTEM_CONTROL_ARG_MAX_COUNT*SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH +//#define SYSTEM_CONTROL_TOTAL_COMMAND_MAX_LENGTH SYSTEM_CONTROL_ARG_CHAR_COUNT + SYSTEM_CONTROL_COMMAND_MAX_LENGTH + SYSTEM_CONTROL_ARG_MAX_COUNT*SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH //#define SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH 80 +#define TCP_RECV_BUFFER_SIZE 2048 #define OSTM_OPT_SET_ARMED_STATE 2 #define OSTM_OPT_SET_DISARMED_STATE 3 @@ -352,7 +353,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) SystemControlCommand = AbortScenario_0; //Oops no client is connected, go to AbortScenario_0 server_state == SERVER_STATE_UNDEFINED; // TODO: Should this be an assignment? } - else if(ClientResult > 0 && ClientResult < SYSTEM_CONTROL_TOTAL_COMMAND_MAX_LENGTH) + else if(ClientResult > 0 && ClientResult < TCP_RECV_BUFFER_SIZE) { for(i = 0; i < SYSTEM_CONTROL_ARG_MAX_COUNT; i ++ ) From a364a5c3caa3fcd1453b48d457ad0ae9b70d8281 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 13 Jun 2019 17:57:19 +0200 Subject: [PATCH 179/730] Made timecontrol empty its message bus --- server/src/timecontrol.c | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 905b2f3f9..63392b64c 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -97,6 +97,9 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) U16 CurrentMilliSecondU16, PrevMilliSecondU16; U8 CycleCount = 0; + enum COMMAND command; + char busReceiveBuffer[MBUS_MAX_DATALEN]; + LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO,"Time control task running with PID: %i",getpid()); @@ -159,6 +162,9 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { + // Ignore any commands received, just empty the bus + iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), NULL); + gettimeofday(&ExecTime, NULL); CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); if(CurrentMilliSecondU16 < PrevMilliSecondU16) From 27ddac6fa632209efcb904e0b1932e1a696842c5 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 14 Jun 2019 09:55:10 +0200 Subject: [PATCH 180/730] Create MaestroICON.svg --- server/build/icon/MaestroICON.svg | 1 + 1 file changed, 1 insertion(+) create mode 100644 server/build/icon/MaestroICON.svg diff --git a/server/build/icon/MaestroICON.svg b/server/build/icon/MaestroICON.svg new file mode 100644 index 000000000..5b8fc55ca --- /dev/null +++ b/server/build/icon/MaestroICON.svg @@ -0,0 +1 @@ +MaestroICON From 0f8ceaee06177063b5ef52f49a13d496b43a9ee7 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 14 Jun 2019 09:55:56 +0200 Subject: [PATCH 181/730] Added MaestroICON.png --- server/build/icon/MaestroICON.png | Bin 0 -> 2995 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 server/build/icon/MaestroICON.png diff --git a/server/build/icon/MaestroICON.png b/server/build/icon/MaestroICON.png new file mode 100644 index 0000000000000000000000000000000000000000..c776bb6b74d01895cddbd51966a50fb26054f4f7 GIT binary patch literal 2995 zcmZ8jX*d-A8nq6|7A3~gA0WMpIvnlM$vi|T&?EG^*Ty;Ien zdQmQU!OT!(WS3cfgM4x^N}IjIk`9H6m&(FRJTd z;QNUN-v=4&5+=5T7O}jjTNrdXU|Zo$RiUrtZhsd~gtn6&aw?IZOisiS3?cn&Ki`7H zf8c)cDgvj38g2wBf~&vGdGMv!chX}hS^^#**CG;mF`2Q7wOv%Bqv-B_<{7dn-Go(7 zLd5F4Qxf4F^OK6RsVlU2jIX;R%CnFmoiw%`!_2R7MpLGp&zPW3<(L9$+ zE`Hm-cD%r|ZaStf=4YK^Ks|Aqt@WFgc6I&n@{>k=AaHhBY+cX@{EEd*hG7CTwRzY) zgxn>7K90>SFOsKxPl8%~Cyr+sSO6*lk=yN$3$f42&IN<=fES4K9 zN+COGoLnx^$5u_#9wI{ap)X&K-cXuYpv@s3&v{tRr?*P~<1`}N3IRjfYgryeM#_Ip z@0ChEJ`DIxc?B}^>fhKI%?+BH)@+&H|AtF2`^ zoht3w5bdJn;NVF;YU-ho*`0r!F()jl;91du=)k&2TNDm7+TC8V+o>fk0C+4{ta3xI z&fV~E(lCF}P2W_#aoE8u?-UZp<|aeUfy#txoe;;d^2!6A1r#xAx*MBq3xERiomCI* ztwLS@@{lC`=-s^uNC|0ZAMK0PN-k)Pd~5WR&qQ0e^;&~)74eG~`c@xMadj-$vW00f z&ar+bAdbo8AXF_+LXp)c^blea^f~4Bv-94mxl%)+XiS*TmJVAi5*4kD%Z=AIbCKBT zq%rlJ(UQyn`vLLh=}_aG++D(_LcVbBmJ_UKMe67oJ-ZBW;Mmi!Y)=Xw`$CeZrvwfL za%Oo%CysB|O(!@!HNLOKTe4vAAswnP>i+Bs$1P#PRwuN%2C=MYqekr}En#!a+RD#j zWyk56-~2?C{m2kjtkWRuuWk;CvXb%h;k%I^)`>TUiRLhHlsNWIfH${XwQ=8`n|*CE zzI;?rzlbhLhP8Y|poCr61UQsY0sRNBPyA19S8S9mqO@`T8~4JH@je<=93$M-rD50!o-TLqhryHnF78Q4 z6PZ%tD4&(!Bfisx*~!Dj8WsC=-U_);n!_Xi4&4Fa7?@99LyPhr=)q zNY1qeCt6=ql|}eKWf3eYvWSKYJXQMB+tL3g3)BY}RItn8^IB{#yWcV?oMw55HJ0PI z_X=|Wrt%ZC-m6dcdv74CkM{tdzjpSNnydT@N3C;O&vtwlb0?nAef|<#J{KJ-)$2df zX*c}LSu7N}%2{#a5);^NpC0ys+@h~wUR$gg6-16=6qHOb0t2E0PE-q;FQ2(H(G|mSN z>^j}b4SnuPax+0SaZJTqZ>b0yx!dYNHW!ccDyvN!Oo;*{y=fP1w!4U?ily4uDE+pB z8)2&x4)l~Ne1{rl2`L%EXc}}sg=9NxtE-iDKNB9Em7wM|TN8O|dQ&)x#>%b?prXAy zqL0DMERC#)nV>EYjp4NN6{rQae^8oyWawl&*GOb{vOZL^y38<6M|QfAVh;0TGzyK_ zxt*s{k|xkjDCbzVU^Z#n=|-=;UzCk?^RSiiDX(#jl&^=R4#Q3eeL{d0u1Zl+>?~OH zfeFZbvk_H@gdY@7!G&B$wzAkH0$U%6=ix3)lNS zZzNrF9sjjzW;B%ne~<{HAI3eUy3nQFpWOfJo4*4Iu1P_HCyEPVwQS!myt1g{?%R#{ zh)Sw2e;%H4xW~h0$VjC90LI28z9{1o^1l!=)%E`hcnCMl{h8rDWBQ0!vI;SQRQ*&% zEpTLif`y)X|339sbK7s;{1*(2e^@l>e>45vgM@T;Uev`R35#Af9|fr1JD)aQw04$f z5Z#Z%2mTZ>*By~Z57?Yf(zF11^%l5ltWj^b)?CUwR?|bR|lQ_m25?`+A6n zs)%2dYNLiUB761GM;B8%4k_tpqlpr3C(kmy6*uw`xpvVj0_}qQ?64wK1RPY%aMBZF z;l3&2DDEuf-nd<%V3 zX*}u$dOoWr*;tJ7kscRC%$F+4&0q(D<#RXf(ILsh;a3RJfqjJ3q_CAydc+TLeRvk)BM!kX_?)4?J&b-VCMl2VB|xmM7JB z3ZlkwRT_8X27}E{u_Ow#%-J-I2 z)%NGop+oOz#XqMM{?8KldtLpBd%NGxW4{1vhDtgcJ$24wWGFca-olENMQnzZa0zAp zpPhc#bfl#I{2q2&GAQ5`M(oNLdU@o#`j#!-b?z=u3fJdGg%jq^qO6z}zi7!6g`?Op w!C+R(nx(-(X-6d%%@U3sLAudPWWQ*%7WrI566>2Tu5dC Date: Fri, 14 Jun 2019 09:57:10 +0200 Subject: [PATCH 182/730] Prettier README.md --- README.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 3a92fbe3b..e2d7c42c9 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,10 @@ -# Chronos test server +# Maestro + + +The Maestro server is a communication hub for all test objects. The server monitors and controls the test objects and is also responsible for creating logfiles. + +
+
## How to build and run the server From 0c628d82da6b4db2b34019a1ff73e289de6ca562 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 14 Jun 2019 10:01:27 +0200 Subject: [PATCH 183/730] Update README.md --- README.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/README.md b/README.md index e2d7c42c9..51563b15b 100644 --- a/README.md +++ b/README.md @@ -6,8 +6,17 @@ The Maestro server is a communication hub for all test objects. The server monit

+To build Maestro either usie the build script "buildMaestro.sh" or follow the guide below. + + ## How to build and run the server +Clone the repo and make sure you run the following command to update all submodules: + +```sh +git submodule update --init --recursive +``` + Navigate to the the repo and enter the build folder ```sh From d3986ce66d691425731e40599e664632dab49e19 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 14 Jun 2019 10:01:54 +0200 Subject: [PATCH 184/730] Delete MaestroICON.png --- server/build/icon/MaestroICON.png | Bin 2995 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 server/build/icon/MaestroICON.png diff --git a/server/build/icon/MaestroICON.png b/server/build/icon/MaestroICON.png deleted file mode 100644 index c776bb6b74d01895cddbd51966a50fb26054f4f7..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2995 zcmZ8jX*d-A8nq6|7A3~gA0WMpIvnlM$vi|T&?EG^*Ty;Ien 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+++ b/README.md @@ -1,5 +1,5 @@ # Maestro - + The Maestro server is a communication hub for all test objects. The server monitors and controls the test objects and is also responsible for creating logfiles. From 6cb120ad274da45595f6bdb444c8ca7af9a3ee27 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Fri, 14 Jun 2019 11:19:07 +0200 Subject: [PATCH 191/730] Included an empty citscontrol task to the server. --- server/CMakeLists.txt | 10 +++++++++- server/inc/citscontrol.h | 7 ++++--- server/src/citscontrol.c | 41 ++++++++++++++++++++++------------------ server/src/main.c | 4 +++- 4 files changed, 39 insertions(+), 23 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 45df85201..968d9d6b9 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -56,6 +56,13 @@ add_executable(UserControl src/usercontrol.c ) +# TODO: Make citscontrol into a separate program that is started when the server starts +#add_executable(CitsControl +# inc/citscontrol.h +# src/citscontrol.c +#) + + # add the executable add_executable(TEServer src/main.c @@ -64,13 +71,14 @@ add_executable(TEServer src/supervision.c src/systemcontrol.c src/timecontrol.c + src/citscontrol.c src/supervisorcontrol.c inc/logger.h inc/objectcontrol.h inc/supervision.h inc/systemcontrol.h inc/timecontrol.h - + inc/citscontrol.h inc/supervisorcontrol.h ) diff --git a/server/inc/citscontrol.h b/server/inc/citscontrol.h index edafbe0de..c6c84821d 100755 --- a/server/inc/citscontrol.h +++ b/server/inc/citscontrol.h @@ -11,12 +11,13 @@ #ifndef __CITSCONTROL_H_INCLUDED__ #define __CITSCONTROL_H_INCLUDED__ - +#include "util.h" +#include "logging.h" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -int citscontrol_task(TimeType *GPSTime, GSDType *GSD); +void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); -#endif \ No newline at end of file +#endif diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 96c3cf544..986adb0c3 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -11,6 +11,8 @@ /*------------------------------------------------------------ -- Include files. ------------------------------------------------------------*/ + + #include #include #include @@ -25,15 +27,15 @@ #include #include -#include "util.h" -#include "logger.h" - +#include "citscontrol.h" #define CITS_CONTROL_CONF_FILE_PATH "conf/test.conf" #define CITS_CONTROL_BUFFER_SIZE_20 20 #define CITS_CONTROL_BUFFER_SIZE_52 52 #define CITS_CONTROL_TASK_PERIOD_MS 1 +#define MODULE_NAME "CitsControl" + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ @@ -43,30 +45,33 @@ /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -int citscontrol_task(TimeType *GPSTime, GSDType *GSD) +void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { - I32 iExit = 0, iCommand; - C8 MqRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; - (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); + I32 iExit = 0; + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + enum COMMAND command; + LogInit(MODULE_NAME,LOG_LEVEL_INFO); + LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); - printf("Starting cits control...\n"); - while(!iExit) - { + (void)iCommInit(); - bzero(MqRecvBuffer,MQ_MAX_MESSAGE_LENGTH); - (void)iCommRecv(&iCommand,MqRecvBuffer,MQ_MAX_MESSAGE_LENGTH, NULL); - if(iCommand == COMM_EXIT) + printf("Starting cits control...\n"); + while(!iExit) { - iExit = 1; - printf("citscontrol exiting.\n"); - (void)iCommClose(); - } - } + bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); + (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); + if(command == COMM_EXIT) + { + iExit = 1; + printf("citscontrol exiting.\n"); + (void)iCommClose(); + } + } } diff --git a/server/src/main.c b/server/src/main.c index 948fcfeb6..862ede37a 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -31,6 +31,7 @@ //#include "remotecontrol.h" #include "timecontrol.h" #include "supervisorcontrol.h" +#include "citscontrol.h" #include "logging.h" #include "mqbus.h" #include "maestroTime.h" @@ -71,7 +72,8 @@ static const ModuleTask allModules[] = { supervision_task, supervisorcontrol_task, systemcontrol_task, - objectcontrol_task + objectcontrol_task, + citscontrol_task }; static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); From 08184f8aea254b8080a7c81b3fa4c81855e8f8df Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 14 Jun 2019 12:47:46 +0200 Subject: [PATCH 192/730] Removed printFences --- server/src/supervision.c | 19 ------------------- 1 file changed, 19 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index bf8d47c36..d8f7fdd23 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -57,7 +57,6 @@ int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof); int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence); void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof); -void printFences(GeofenceType *geoFence, unsigned int nGeof); /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ @@ -363,21 +362,3 @@ void freeGeofences(GeofenceType *geofences, unsigned int *nGeofences){ free(geofences); *nGeofences = 0; } - -void printFences(GeofenceType *geoPtrs, unsigned int nGeof){ - for (int i = 0; i < nGeof; i++) { - printf("Namn: %s\n", geoPtrs[i].name); - printf("Coordinates: %d\n", geoPtrs[i].numberOfPoints); - if(geoPtrs[i].isPermitted == 1){ - printf("Type: Permitted\n"); - } - else{ - printf("Type: Forbidden\n"); - } - printf("Points: \n"); - for (int j = 0; j < geoPtrs[i].numberOfPoints; j++) { - printf("X: %f\n", geoPtrs[i].polygonPoints[j].xCoord_m); - printf("Y: %f\n", geoPtrs[i].polygonPoints[j].yCoord_m); - } - } -} From 5655f4e8fc017bff06b8dfd10109c51519eda236 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 14 Jun 2019 13:34:24 +0200 Subject: [PATCH 193/730] Added some guards in case files could not be opened --- server/src/logger.c | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 43d2062ef..52154d080 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -425,9 +425,13 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL // Check if ./traj directory exists if ((dir = opendir(TRAJECTORY_PATH)) == NULL) - LogMessage(LOG_LEVEL_ERROR,"No traj directory <%s> exists - wrong path or access denied",TRAJECTORY_PATH); + { + sprintf(sysCommand,"Unable to open traj directory <%s>",TRAJECTORY_PATH); + util_error(sysCommand); + } else closedir(dir); + // Copy trajectory files to subdirectory LogMessage(LOG_LEVEL_INFO, "Copying trajectory files to log directory"); (void)strcpy(sysCommand, "cp -R "); @@ -484,7 +488,8 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL } else { - LogMessage(LOG_LEVEL_ERROR, "No traj directory <%s> exists - wrong path or access denied", TRAJECTORY_PATH); + sprintf(sysCommand,"Unable to open traj directory <%s>",TRAJECTORY_PATH); + util_error(sysCommand); } fclose(filefd); @@ -512,7 +517,8 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL } else { - LogMessage(LOG_LEVEL_ERROR, "Failed to open <%s>", TEST_CONF_FILE); + sprintf(sysCommand,"Unable to open <%s>",TEST_CONF_FILE); + util_error(sysCommand); } // Add some information about the standard log file format and what is what in the MONR message From da0b2add98aeffd9a85aa9d9e28ac59f815f006d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 14 Jun 2019 15:39:09 +0200 Subject: [PATCH 194/730] Moved all command logging to a separate function included in the switch statement --- server/src/logger.c | 184 +++++++++++++++++++++++--------------------- 1 file changed, 96 insertions(+), 88 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 52154d080..65d68bdaa 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -56,6 +56,7 @@ static void vCreateLogFolder(char logFolder[MAX_FILE_PATH]); static void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength); static int ReadLogLine(FILE *fd, char *Buffer); static int CountFileRows(FILE *fd); +void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); /*------------------------------------------------------------ -- Private variables @@ -68,7 +69,7 @@ static int CountFileRows(FILE *fd); void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { - char pcLogFile[MAX_FILE_PATH]= ""; //!< Log file path and name buffer + char pcLogFile[MAX_FILE_PATH]; //!< Log file path and name buffer char pcLogFileComp[MAX_FILE_PATH]; //!< CSV log file path and name buffer char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus char busSendBuffer[MBUS_MAX_DATALEN]; //!< Buffer for sending to message bus @@ -78,6 +79,8 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char subStrings[MBUS_MAX_DATALEN]; struct timeval time, recvTime; + struct stat st = {0}; + // Listen for commands enum COMMAND command = COMM_INV; int iExit = 0; @@ -87,6 +90,10 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) struct timespec sleep_time, ref_time; U8 isFirstInit = 1; + // Execution mode + int LoggerExecutionMode = LOG_CONTROL_MODE; + int RowCount = 0; + // Initialize log LogInit(MODULE_NAME, logLevel); LogMessage(LOG_LEVEL_INFO, "Logger task running with PID: %d", getpid()); @@ -95,25 +102,13 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(iCommInit()) util_error("Unable to initialize connection to message bus"); - // Create folder with date as name and .log file with date as name - struct stat st = {0}; - if (stat(LOG_PATH, &st) == -1) - { - LogMessage(LOG_LEVEL_INFO, "Creating log directory"); - vCreateLogFolder(LOG_PATH); - } + // Create log directory if it does not exist + vCreateLogFolder(LOG_PATH); - (void)strcat(pcLogFile," "); - (void)strcat(pcLogFileComp," "); - - // Execution mode - int LoggerExecutionMode = LOG_CONTROL_MODE; - //int test =100; - int RowCount = 0; // our time char *find_time; char *src; - uint64_t NewTimestamp, OldTimestamp,Timestamp; + uint64_t NewTimestamp, OldTimestamp, Timestamp; while(!iExit) { @@ -121,61 +116,49 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) (void)iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), &recvTime); - if(LoggerExecutionMode == LOG_CONTROL_MODE && command != COMM_OBC_STATE && command != COMM_MONI && command != COMM_INV) + switch(command) { - bzero(DateBuffer, sizeof(DateBuffer)); - TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); - - // Remove newlines in http Requests for nicer printouts. - for (unsigned long i = 0; i < strlen(busReceiveBuffer); i++){ - if(busReceiveBuffer[i] == '\n'){ - busReceiveBuffer[i] = ' '; - } - } - - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf ( pcBuffer,"%s;%ld;%d;%s\n", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command, busReceiveBuffer); + case COMM_ABORT: + isFirstInit = 1; + break; - filefd = fopen(pcLogFile, ACCESS_MODE_APPEND); - if (filefd != NULL) + case COMM_INIT: + if(isFirstInit) { - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - fclose(filefd); + LogMessage(LOG_LEVEL_INFO,"Initializing test log..."); + vInitializeLog(pcLogFile, sizeof(pcLogFile), pcLogFileComp, sizeof(pcLogFileComp)); + isFirstInit = 0; } else { - LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcLogFile); + LogMessage(LOG_LEVEL_WARNING,"Received unexpected INIT command"); } - filefdComp = fopen(pcLogFileComp, ACCESS_MODE_APPEND); - if (filefdComp != NULL) - { - (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefdComp); - fclose(filefdComp); - } - else - { - LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFileComp); - } + break; - } + case COMM_STRT: + case COMM_ARMD: + case COMM_STOP: + case COMM_TOM: + case COMM_CONNECT: + case COMM_VIOP: + case COMM_TRAJ: + case COMM_TRAJ_TOSUP: + case COMM_TRAJ_FROMSUP: + case COMM_ASP: + case COMM_LOG: + vLogCommand(command, busReceiveBuffer, recvTime, pcLogFile, pcLogFileComp); + break; - switch(command) - { case COMM_DISCONNECT: - isFirstInit = 1; break; - case COMM_ABORT: - - isFirstInit = 1; - break; case COMM_MONR: // TODO: use new MONR message break; - case COMM_MONI: + case COMM_MONI: filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); strcpy(subStrings,busReceiveBuffer); @@ -205,7 +188,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_OSEM: - strcpy(subStrings, busReceiveBuffer); // Returns first datapoint of OSEM (GPSWeek) @@ -225,12 +207,10 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_OBC_STATE: - LogMessage(LOG_LEVEL_DEBUG,"Disregarding object control state reporting"); break; case COMM_REPLAY: - LoggerExecutionMode = LOG_REPLAY_MODE; LogMessage(LOG_LEVEL_INFO, "Logger in REPLAY mode <%s>", busReceiveBuffer); @@ -315,30 +295,14 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_CONTROL: - LoggerExecutionMode = LOG_CONTROL_MODE; LogMessage(LOG_LEVEL_INFO,"Logger in CONTROL mode"); break; case COMM_EXIT: - iExit = 1; break; - case COMM_INIT: - - if(isFirstInit) - { - LogMessage(LOG_LEVEL_INFO,"Initializing test log..."); - vInitializeLog(pcLogFile, sizeof(pcLogFile), pcLogFileComp, sizeof(pcLogFileComp)); - isFirstInit = 0; - } - else - { - LogMessage(LOG_LEVEL_WARNING,"Received unexpected INIT command"); - } - - break; case COMM_INV: break; default: @@ -358,28 +322,24 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -- Private functions ------------------------------------------------------------*/ - void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) { int iResult; - DIR* directory; - struct dirent *directory_entry; - int iMaxFolder = 0; - - directory = opendir(logFolder); + struct stat st = {0}; - // If the directory does not exist, create it - if(directory == NULL) - { - iResult = mkdir(logFolder, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH); - if (iResult < 0) - { - util_error("Failed to create LOG dir"); + // Create log directory if it does not exist + if (stat(logFolder, &st) == -1) { + if (errno == ENOENT) { + LogMessage(LOG_LEVEL_INFO, "Creating log directory <%s>", logFolder); + iResult = mkdir(logFolder, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH); + if (iResult < 0) { + util_error("Unable to create log directory"); + } + } + else { + util_error("Unable to stat log directory"); } } - - (void)closedir(directory); - } void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength) @@ -551,3 +511,51 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL fclose(filefd); } + +/*! + * \brief vLogCommand Logs a command with associated data to two log files + * \param command Message bus command number + * \param commandData Null terminated string of command data + * \param recvTime Time when command was received + * \param pcLogFile Path to log file + * \param pcLogFileComp Path to .csv log file + */ +void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp) +{ + FILE *filefd; + char DateBuffer[MAX_DATE_STRLEN]; + + bzero(DateBuffer, sizeof(DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); + + // Remove newlines in HTTP requests for nicer printouts. + for (unsigned long i = 0; i < strlen(commandData); i++){ + if(commandData[i] == '\n'){ + commandData[i] = ' '; + } + } + + // Write to log file + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND); + if (filefd != NULL) + { + fprintf(filefd,"%s;%ld;%u;%s\n", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command, commandData); + fclose(filefd); + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcLogFile); + } + + // Write to .csv file + filefd = fopen(pcLogFileComp, ACCESS_MODE_APPEND); + if (filefd != NULL) + { + fprintf(filefd,"%s;%ld;%u;%s\n", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command, commandData); + fclose(filefd); + } + else + { + LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFileComp); + } +} From fc8c6b4bac33d62544c410c843218512514369c9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 14 Jun 2019 15:43:35 +0200 Subject: [PATCH 195/730] Added warning printout when unable to log command --- server/src/logger.c | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index 65d68bdaa..84e72fcd1 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -147,7 +147,10 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_TRAJ_FROMSUP: case COMM_ASP: case COMM_LOG: - vLogCommand(command, busReceiveBuffer, recvTime, pcLogFile, pcLogFileComp); + if (!isFirstInit) + vLogCommand(command, busReceiveBuffer, recvTime, pcLogFile, pcLogFileComp); + else + LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); break; case COMM_DISCONNECT: From 2a09c9c41b87d65e23a6555a83a5d33aa1c90c02 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 14 Jun 2019 17:46:22 +0200 Subject: [PATCH 196/730] Added logger decoder for COMM_MONR --- server/inc/util.h | 10 ++++---- server/src/logger.c | 52 ++++++++++++++++++++++++++++++++++++-- server/src/objectcontrol.c | 20 +++++++-------- server/src/util.c | 9 +++---- 4 files changed, 69 insertions(+), 22 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index ba1d72587..31ffbd8ce 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -336,7 +336,7 @@ typedef struct U16 GPSWeekU16; U16 GPSSOWValueIdU16; U16 GPSSOWContentLengthU16; - U32 GPSSOWU32; + U32 GPSQmsOfWeekU32; U16 MaxWayDeviationValueIdU16; U16 MaxWayDeviationContentLengthU16; U16 MaxWayDeviationU16; @@ -403,7 +403,7 @@ typedef struct HeaderType Header; //U16 HeabStructValueIdU16; //U16 HeabStructContentLengthU16; - U32 GPSSOWU32; + U32 GPSQmsOfWeekU32; U8 CCStatusU8; } HEABType; //16 bytes @@ -412,7 +412,7 @@ typedef struct HeaderType Header; //U16 MonrStructValueIdU16; //U16 MonrStructContentLengthU16; - U32 GPSSOWU32; + U32 GPSQmsOfWeekU32; I32 XPositionI32; I32 YPositionI32; I32 ZPositionI32; @@ -647,7 +647,7 @@ typedef struct typedef struct { HeaderType Header; - U32 GPSSOWU32; + U32 GPSQmsOfWeekU32; U8 WorldStateU8; U8 ObjectCountU8; Sim1Type SimObjects[16]; @@ -659,7 +659,7 @@ typedef struct { U16 MessageIdU16; U32 ObjectIPU32; - U32 GPSSOWU32; + U32 GPSQmsOfWeekU32; I32 XPositionI32; I32 YPositionI32; I32 ZPositionI32; diff --git a/server/src/logger.c b/server/src/logger.c index 84e72fcd1..5fe8a15bf 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -57,6 +57,7 @@ static void vInitializeLog(char * logFilePath, unsigned int filePathLength, char static int ReadLogLine(FILE *fd, char *Buffer); static int CountFileRows(FILE *fd); void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); +void vLogMonitorData(char *commandData, ssize_t commandDatalen, timeval recvTime, char *pcLogFile, char *pcLogFileComp); /*------------------------------------------------------------ -- Private variables @@ -83,6 +84,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Listen for commands enum COMMAND command = COMM_INV; + ssize_t receivedBytes = 0; int iExit = 0; int GPSweek; @@ -114,7 +116,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - (void)iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), &recvTime); + receivedBytes = iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), &recvTime); switch(command) { @@ -158,7 +160,10 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_MONR: - // TODO: use new MONR message + if(!isFirstInit) + vLogMonitorData(busReceiveBuffer,receivedBytes,recvTime,pcLogFile,pcLogFileComp); + else + LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); break; case COMM_MONI: @@ -562,3 +567,46 @@ void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTim LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFileComp); } } + +/*! + * \brief vLogMonitorData Logs a raw MONR message in a human-readable format to the selected log + * \param commandData Data accompanying the message bus message + * \param commandDatalen Length of the commandData array + * \param pcLogFile Log file to write to + * \param pcLogFileComp Secondary log file to write to (currently not used) + */ +void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp) +{ + FILE *filefd; + char DateBuffer[MAX_DATE_STRLEN]; + MONRType monr; + struct timeval monrTime, systemTime; + const int debug = 0; + + if (commandDatalen < 0) + return; + + TimeSetToCurrentSystemTime(&systemTime); + + UtilPopulateMONRStruct(commandData, (size_t)(commandDatalen), &monr, debug); + TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(&systemTime), monr.GPSQmsOfWeekU32); + + bzero(DateBuffer, sizeof(DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); + + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); + if (filefd == NULL) + { + LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFile); + return; + } + + fprintf(filefd, "%s;%ld;%ld;%d;", DateBuffer, TimeGetAsUTCms(&monrTime), TimeGetAsGPSms(&monrTime), (char)COMM_MONR); + fprintf(filefd, "%u;%u;", monr.Header.TransmitterIdU8, monr.GPSQmsOfWeekU32); + fprintf(filefd, "%d;%d;%d;%u;",monr.XPositionI32, monr.YPositionI32, monr.ZPositionI32, monr.HeadingU16); + fprintf(filefd, "%d;%d;", monr.LongitudinalSpeedI16, monr.LateralSpeedI16); + fprintf(filefd, "%d;%d;", monr.LongitudinalAccI16, monr.LateralAccI16); + fprintf(filefd, "%u;%u;%u;%u;\n", monr.DriveDirectionU8, monr.StateU8, monr.ReadyToArmU8, monr.ErrorStatusU8); + + fclose(filefd); +} diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index e182efb8e..8ecf9c0a9 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1269,7 +1269,7 @@ I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* Sim VOILData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; VOILData->Header.MessageIdU16 = COMMAND_VOIL_CODE; VOILData->Header.MessageLengthU32 = ObjectCount*sizeof(Sim1Type) + 6 - COMMAND_MESSAGE_HEADER_LENGTH; - VOILData->GPSSOWU32 = GPSSOW; + VOILData->GPSQmsOfWeekU32 = GPSSOW; VOILData->WorldStateU8 = DynamicWorldState; VOILData->ObjectCountU8 = ObjectCount; VOILData->SimObjects[0].ObjectIdU8 = ObjectId; @@ -1409,7 +1409,7 @@ I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug) U32Data = (U32Data | *(MonrData+13)) << 8; U32Data = (U32Data | *(MonrData+12)) << 8; U32Data = U32Data | *(MonrData+11); - MONRData->GPSSOWU32 = U32Data; + MONRData->GPSQmsOfWeekU32 = U32Data; I32Data = 0; I32Data = (I32Data | *(MonrData+18)) << 8; @@ -1474,7 +1474,7 @@ I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug) LogPrint("PackageCounter = %d", MONRData->Header.MessageCounterU8); LogPrint("AckReq = %d", MONRData->Header.AckReqProtVerU8); LogPrint("MessageLength = %d", MONRData->Header.MessageLengthU32); - LogPrint("GPSSOW = %u",MONRData->GPSSOWU32); + LogPrint("GPSSOW = %u",MONRData->GPSQmsOfWeekU32); } return 0; @@ -1517,9 +1517,9 @@ I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I3 MonrValueU64 = 0; //for(i = 0; i <= 5; i++, j++) MonrValueU64 = *(MonrData+j) | (MonrValueU64 << 8); ConvertGPStoUTC = - sprintf(Timestamp, "%" PRIu32, MONRData->GPSSOWU32); + sprintf(Timestamp, "%" PRIu32, MONRData->GPSQmsOfWeekU32); - if(debug && MONRData->GPSSOWU32%400 == 0) + if(debug && MONRData->GPSQmsOfWeekU32%400 == 0) { LogMessage(LOG_LEVEL_DEBUG,"MONR = %x-%x-%x-%x-%x-%x-%d-%d-%d-%d-%d-%d-%d-%d-%d-%d", MONRData->Header.MessageIdU16, @@ -1528,7 +1528,7 @@ I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I3 MONRData->Header.MessageCounterU8, MONRData->Header.AckReqProtVerU8, MONRData->Header.MessageLengthU32, - MONRData->GPSSOWU32, + MONRData->GPSQmsOfWeekU32, MONRData->XPositionI32, MONRData->YPositionI32, MONRData->ZPositionI32, @@ -1692,7 +1692,7 @@ I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeTyp OSEMData->GPSWeekU16 = GPSTime->GPSWeekU16; OSEMData->GPSSOWValueIdU16 = VALUE_ID_GPS_SECOND_OF_WEEK; OSEMData->GPSSOWContentLengthU16 = 4; - OSEMData->GPSSOWU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + GPSTime->MillisecondU16) << 2) + GPSTime->MicroSecondU16; + OSEMData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + GPSTime->MillisecondU16) << 2) + GPSTime->MicroSecondU16; OSEMData->MaxWayDeviationValueIdU16 = VALUE_ID_MAX_WAY_DEVIATION; OSEMData->MaxWayDeviationContentLengthU16 = 2; OSEMData->MaxWayDeviationU16 = 65535; @@ -1706,7 +1706,7 @@ I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeTyp if (!GPSTime->isGPSenabled) { OSEMData->DateU32 = UtilgetIntDateFromMS(UtilgetCurrentUTCtimeMS()); - UtilgetCurrentGPStime(&OSEMData->GPSWeekU16,&OSEMData->GPSSOWU32); + UtilgetCurrentGPStime(&OSEMData->GPSWeekU16,&OSEMData->GPSQmsOfWeekU32); } p=(C8 *)OSEMData; @@ -1869,11 +1869,11 @@ I32 ObjectControlBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeTyp HEABData->Header.MessageLengthU32 = sizeof(HEABType) - sizeof(HeaderType); //HEABData->HeabStructValueIdU16 = 0; //HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; - HEABData->GPSSOWU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + (U32)TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; + HEABData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + (U32)TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; HEABData->CCStatusU8 = CCStatus; if(!GPSTime->isGPSenabled){ - UtilgetCurrentGPStime(NULL,&HEABData->GPSSOWU32); + UtilgetCurrentGPStime(NULL,&HEABData->GPSQmsOfWeekU32); } p=(C8 *)HEABData; diff --git a/server/src/util.c b/server/src/util.c index 3771c36b2..da7cd3947 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2623,11 +2623,11 @@ I32 UtilISOBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeType *GPS HEABData->Header.MessageLengthU32 = sizeof(HEABType) - sizeof(HeaderType); //HEABData->HeabStructValueIdU16 = 0; //HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; - HEABData->GPSSOWU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + (U32)UtilGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; + HEABData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + (U32)UtilGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; HEABData->CCStatusU8 = CCStatus; if(!GPSTime->isGPSenabled){ - UtilgetCurrentGPStime(NULL,&HEABData->GPSSOWU32); + UtilgetCurrentGPStime(NULL,&HEABData->GPSQmsOfWeekU32); } p=(C8 *)HEABData; @@ -3010,7 +3010,6 @@ I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) */ I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 debug) { - // TODO: size of rawMONR U16 Crc = 0, U16Data = 0; I16 I16Data = 0; U32 U32Data = 0; @@ -3044,7 +3043,7 @@ I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 d U32Data = 0; memcpy(&U32Data, rdPtr, sizeof(U32Data)); - MONR->GPSSOWU32 = U32Data; + MONR->GPSQmsOfWeekU32 = U32Data; rdPtr += sizeof(U32Data); U32Data = 0; @@ -3101,7 +3100,7 @@ I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 d LogPrint("PackageCounter = %d", MONR->Header.MessageCounterU8); LogPrint("AckReq = %d", MONR->Header.AckReqProtVerU8); LogPrint("MessageLength = %d", MONR->Header.MessageLengthU32); - LogPrint("GPSSOW = %u",MONR->GPSSOWU32); + LogPrint("GPSSOW = %u",MONR->GPSQmsOfWeekU32); } return 0; From de7a01374faa42e8691bd55b8d5a39e87468a240 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 14 Jun 2019 17:47:36 +0200 Subject: [PATCH 197/730] Removed logging of COMM_MONI --- server/src/logger.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index 5fe8a15bf..012150f0e 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -167,6 +167,8 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_MONI: + LogMessage(LOG_LEVEL_DEBUG, "Disregarding old MONR data"); + /* TODO: Delete this (superseded by COMM_MONR) filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); strcpy(subStrings,busReceiveBuffer); @@ -192,7 +194,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); fclose(filefd); - + */ break; case COMM_OSEM: From 4bb713e046c353d5a55b8fb3301f83d2b645e1fb Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 14 Jun 2019 17:50:07 +0200 Subject: [PATCH 198/730] Fixed missing struct --- server/src/logger.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index 012150f0e..50abd4b20 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -57,7 +57,7 @@ static void vInitializeLog(char * logFilePath, unsigned int filePathLength, char static int ReadLogLine(FILE *fd, char *Buffer); static int CountFileRows(FILE *fd); void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); -void vLogMonitorData(char *commandData, ssize_t commandDatalen, timeval recvTime, char *pcLogFile, char *pcLogFileComp); +void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); /*------------------------------------------------------------ -- Private variables From 0dd74cbee7308b47af827781181db04d400bb945 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 14 Jun 2019 17:51:32 +0200 Subject: [PATCH 199/730] Removed unused variables --- server/src/logger.c | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 50abd4b20..b09b5d7c4 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -74,13 +74,9 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char pcLogFileComp[MAX_FILE_PATH]; //!< CSV log file path and name buffer char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus char busSendBuffer[MBUS_MAX_DATALEN]; //!< Buffer for sending to message bus - char DateBuffer[MAX_DATE_STRLEN]; //!< Buffer for holding a timestamp in human readable text format char pcReadBuffer[MAX_LOG_ROW_LENGTH]; //!< Buffer for reading files - char pcBuffer[MAX_LOG_ROW_LENGTH]; //!< General purpose buffer char subStrings[MBUS_MAX_DATALEN]; - struct timeval time, recvTime; - - struct stat st = {0}; + struct timeval recvTime; // Listen for commands enum COMMAND command = COMM_INV; @@ -88,7 +84,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) int iExit = 0; int GPSweek; - FILE *filefd,*replayfd, *filefdComp; + FILE *replayfd; struct timespec sleep_time, ref_time; U8 isFirstInit = 1; @@ -108,9 +104,8 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) vCreateLogFolder(LOG_PATH); // our time - char *find_time; char *src; - uint64_t NewTimestamp, OldTimestamp, Timestamp; + uint64_t NewTimestamp, OldTimestamp; while(!iExit) { @@ -352,6 +347,7 @@ void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) } } + void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength) { struct timeval tvTime; From 5eac0f7617dd501a7d81f5800fc4de4751210e8a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 17 Jun 2019 09:32:36 +0200 Subject: [PATCH 200/730] Fixed non static warnings --- server/src/datadictionary.c | 52 ++++++++++++++++++------------------- 1 file changed, 26 insertions(+), 26 deletions(-) diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index f3f253544..1b94aedb0 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -18,31 +18,31 @@ #include "logging.h" // Parameters and variables -pthread_mutex_t OriginLatitudeMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t OriginLongitudeMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t OriginAltitudeMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t VisualizationServerMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t ForceObjectToLocalhostMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t ASPMaxTimeDiffMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t ASPMaxTrajDiffMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t ASPStepBackCountMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t ASPFilterLevelMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t ASPMaxDeltaTimeMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t TimeServerIPMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t TimeServerPortMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t SimulatorIPMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t SimulatorTCPPortMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t SimulatorUDPPortMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t SimulatorModeMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t VOILReceiversMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t DTMReceiversMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t ExternalSupervisorIPMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t SupervisorTCPPortMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t DataDictionaryRVSSConfigMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t DataDictionaryRVSSRateMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t ASPDataMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t MiscDataMutex = PTHREAD_MUTEX_INITIALIZER; -pthread_mutex_t OBCStateMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t OriginLatitudeMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t OriginLongitudeMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t OriginAltitudeMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t VisualizationServerMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t ForceObjectToLocalhostMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t ASPMaxTimeDiffMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t ASPMaxTrajDiffMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t ASPStepBackCountMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t ASPFilterLevelMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t ASPMaxDeltaTimeMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t TimeServerIPMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t TimeServerPortMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t SimulatorIPMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t SimulatorTCPPortMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t SimulatorUDPPortMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t SimulatorModeMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t VOILReceiversMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t DTMReceiversMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t ExternalSupervisorIPMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t SupervisorTCPPortMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t DataDictionaryRVSSConfigMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t DataDictionaryRVSSRateMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t ASPDataMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t MiscDataMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t OBCStateMutex = PTHREAD_MUTEX_INITIALIZER; @@ -1253,4 +1253,4 @@ I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) bzero(ResultBuffer, DD_CONTROL_BUFFER_SIZE_20); UtilSearchTextFile(TEST_CONF_FILE, ParameterName, "", ResultBuffer); return strlen(ResultBuffer); -} \ No newline at end of file +} From 6b1f56bf299b7671bfa7855edd111571b6594fc3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 17 Jun 2019 09:53:45 +0200 Subject: [PATCH 201/730] Fixed type conflict warnings --- server/inc/datadictionary.h | 208 +++++++++++----------- server/src/datadictionary.c | 344 ++++++++++++++++++------------------ 2 files changed, 272 insertions(+), 280 deletions(-) diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h index 4e170efaf..fbc64393c 100644 --- a/server/inc/datadictionary.h +++ b/server/inc/datadictionary.h @@ -14,112 +14,112 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -I32 DataDictionaryInitOriginLatitudeDbl(GSDType *GSD); -I32 DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude); -I32 DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude); -I32 DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude); - -I32 DataDictionaryInitOriginLongitudeDbl(GSDType *GSD); -I32 DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude); -I32 DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude); -I32 DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude); - -I32 DataDictionaryInitOriginAltitudeDbl(GSDType *GSD); -I32 DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude); -I32 DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude); -I32 DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude); - -I32 DataDictionaryInitVisualizationServerU32(GSDType *GSD); -I32 DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP); -I32 DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP); -I32 DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP); - -I32 DataDictionaryInitForceToLocalhostU8(GSDType *GSD); -I32 DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost); -I32 DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost); - -I32 DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD); -I32 DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff); -I32 DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff); - -I32 DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD); -I32 DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff); -I32 DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff); - -I32 DataDictionaryInitASPStepBackCountU32(GSDType *GSD); -I32 DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount); -I32 DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount); - -I32 DataDictionaryInitASPFilterLevelDbl(GSDType *GSD); -I32 DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel); -I32 DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel); - -I32 DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD); -I32 DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime); -I32 DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime); - -I32 DataDictionaryInitTimeServerIPU32(GSDType *GSD); -I32 DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP); -I32 DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP); -I32 DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP); - -I32 DataDictionaryInitTimeServerPortU16(GSDType *GSD); -I32 DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort); -I32 DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort); - -I32 DataDictionaryInitSimulatorIPU32(GSDType *GSD); -I32 DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP); -I32 DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP); -I32 DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP); - -I32 DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD); -I32 DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort); -I32 DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort); - -I32 DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD); -I32 DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort); -I32 DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort); - -I32 DataDictionaryInitSimulatorModeU8(GSDType *GSD); -I32 DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode); -I32 DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode); - -I32 DataDictionaryInitVOILReceiversC8(GSDType *GSD); -I32 DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers); -I32 DataDictionaryGetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers); - -I32 DataDictionaryInitDTMReceiversC8(GSDType *GSD); -I32 DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers); -I32 DataDictionaryGetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers); - -I32 DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD); -I32 DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP); -I32 DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP); -I32 DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP); - -I32 DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD); -I32 DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort); -I32 DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort); - -I32 DataDictionaryInitRVSSConfigU32(GSDType *GSD); -I32 DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig); -I32 DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig); - -I32 DataDictionaryInitRVSSRateU8(GSDType *GSD); -I32 DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate); -I32 DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate); - -I32 DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPData); -I32 DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPData); - -I32 DataDictionaryInitMiscDataC8(GSDType *GSD); -I32 DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData); -I32 DataDictionaryGetMiscDataC8(GSDType *GSD, C8 *MiscData); - -I32 DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState); +ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude); +ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude); +ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude); + +ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude); +ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude); +ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude); + +ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude); +ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude); +ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude); + +ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP); +ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP); +ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP); + +ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost); +ReadWriteAccess_t DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost); + +ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff); +ReadWriteAccess_t DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff); + +ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff); +ReadWriteAccess_t DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff); + +ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount); +ReadWriteAccess_t DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount); + +ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel); +ReadWriteAccess_t DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel); + +ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime); +ReadWriteAccess_t DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime); + +ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP); +ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP); +ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP); + +ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort); +ReadWriteAccess_t DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort); + +ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP); +ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP); +ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP); + +ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort); +ReadWriteAccess_t DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort); + +ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort); +ReadWriteAccess_t DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort); + +ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode); +ReadWriteAccess_t DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode); + +ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers); +ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers); + +ReadWriteAccess_t DataDictionaryInitDTMReceiversC8(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers); +ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers); + +ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP); +ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP); +ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP); + +ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort); +ReadWriteAccess_t DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort); + +ReadWriteAccess_t DataDictionaryInitRVSSConfigU32(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig); +ReadWriteAccess_t DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig); + +ReadWriteAccess_t DataDictionaryInitRVSSRateU8(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate); +ReadWriteAccess_t DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate); + +ReadWriteAccess_t DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPData); +ReadWriteAccess_t DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPData); + +ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData); +ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, C8 *MiscData); + +ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState); U8 DataDictionaryGetOBCStateU8(GSDType *GSD); -I32 DataDictionaryConstructor(GSDType *GSD); +ReadWriteAccess_t DataDictionaryConstructor(GSDType *GSD); #endif diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 1b94aedb0..d64651f0d 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -47,23 +47,22 @@ static pthread_mutex_t OBCStateMutex = PTHREAD_MUTEX_INITIALIZER; -I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); +U64 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); /*------------------------------------------------------------ -- Functions ------------------------------------------------------------*/ -/* -DataDictionaryConstructor initialize data hold by DataDictionary. -Initialization data that is configurable is stored in test.conf. - -- If return data (I32) not is READ_OK is a parameter missing -- *GSD pointer to global data -*/ -I32 DataDictionaryConstructor(GSDType *GSD) +/*! + * \brief DataDictionaryConstructor Initialize data held by DataDictionary. +Initialization data that is configurable is stored in test.conf. + * \param GSD Pointer to allocated shared memory + * \return Error code defined by ::ReadWriteAccess_t + */ +ReadWriteAccess_t DataDictionaryConstructor(GSDType *GSD) { - I32 Res; + ReadWriteAccess_t Res; Res = DataDictionaryInitOriginLatitudeDbl(GSD); if(Res == READ_OK) Res = DataDictionaryInitOriginLongitudeDbl(GSD); @@ -94,18 +93,11 @@ I32 DataDictionaryConstructor(GSDType *GSD) return Res; } -// I32 Return -// 1 = WRITE_OK -// 2 = READ_OK -// 3 = READ_WRITE_OK -// 4 = PARAMETER_NOTFOUND -// 5 = OUT_OF_RANGE - /*Origin Latitude*/ -I32 DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("OrigoLatidude=", ResultBufferC8)) { @@ -125,9 +117,9 @@ I32 DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) return Res; } -I32 DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) +ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("OrigoLatidude", Latitude, 0)) { Res = WRITE_OK; @@ -140,28 +132,28 @@ I32 DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) return Res; } -I32 DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude) +ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude) { pthread_mutex_lock(&OriginLatitudeMutex); *Latitude = GSD->OriginLatitudeDbl; pthread_mutex_unlock(&OriginLatitudeMutex); - return (I32) READ_OK; + return READ_OK; } -I32 DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude) +ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude) { pthread_mutex_lock(&OriginLatitudeMutex); strcat(Latitude, GSD->OriginLatitudeC8); pthread_mutex_unlock(&OriginLatitudeMutex); - return (I32) READ_OK; + return READ_OK; } /*END of Origin Latitude*/ /*Origin Longitude*/ -I32 DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("OrigoLongitude=", ResultBufferC8)) { @@ -181,9 +173,9 @@ I32 DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) return Res; } -I32 DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude) +ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("OrigoLongitude", Longitude, 0)) { Res = WRITE_OK; @@ -196,27 +188,27 @@ I32 DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude) return Res; } -I32 DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude) +ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude) { pthread_mutex_lock(&OriginLongitudeMutex); *Longitude = GSD->OriginLongitudeDbl; pthread_mutex_unlock(&OriginLongitudeMutex); - return (I32) READ_OK; + return READ_OK; } -I32 DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude) +ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude) { pthread_mutex_lock(&OriginLongitudeMutex); strcat(Longitude, GSD->OriginLongitudeC8); pthread_mutex_unlock(&OriginLongitudeMutex); - return (I32) READ_OK; + return READ_OK; } /*END of Origin Longitude*/ /*Origin Altitude*/ -I32 DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("OrigoAltitude=", ResultBufferC8)) { @@ -236,9 +228,9 @@ I32 DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) return Res; } -I32 DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) +ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("OrigoAltitude", Altitude, 0)) { Res = WRITE_OK; @@ -251,28 +243,28 @@ I32 DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) return Res; } -I32 DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude) +ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude) { pthread_mutex_lock(&OriginAltitudeMutex); *Altitude = GSD->OriginAltitudeDbl; pthread_mutex_unlock(&OriginAltitudeMutex); - return (I32) READ_OK; + return READ_OK; } -I32 DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude) +ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude) { pthread_mutex_lock(&OriginAltitudeMutex); strcat(Altitude, GSD->OriginAltitudeC8); pthread_mutex_unlock(&OriginAltitudeMutex); - return (I32) READ_OK; + return READ_OK; } /*END of Origin Altitude*/ /*VisualizationServer*/ -I32 DataDictionaryInitVisualizationServerU32(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("VisualizationServerName=", ResultBufferC8)) { @@ -292,9 +284,9 @@ I32 DataDictionaryInitVisualizationServerU32(GSDType *GSD) return Res; } -I32 DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) +ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("VisualizationServerName", IP, 0)) { Res = WRITE_OK; @@ -307,30 +299,30 @@ I32 DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) return Res; } -I32 DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) +ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) { pthread_mutex_lock(&VisualizationServerMutex); *IP = GSD->VisualizationServerU32; pthread_mutex_unlock(&VisualizationServerMutex); - return (I32) READ_OK; + return READ_OK; } -I32 DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP) +ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP) { pthread_mutex_lock(&VisualizationServerMutex); strcat(IP, GSD->VisualizationServerC8); pthread_mutex_unlock(&VisualizationServerMutex); - return (I32) READ_OK; + return READ_OK; } /*END of VisualizationServer*/ /*ForceToLocalhost*/ -I32 DataDictionaryInitForceToLocalhostU8(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("ForceObjectToLocalhost=", ResultBufferC8)) { @@ -348,9 +340,9 @@ I32 DataDictionaryInitForceToLocalhostU8(GSDType *GSD) return Res; } -I32 DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost) +ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("ForceObjectToLocalhost", ForceLocalhost, 0)) { Res = WRITE_OK; @@ -361,19 +353,19 @@ I32 DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost) return Res; } -I32 DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost) +ReadWriteAccess_t DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost) { pthread_mutex_lock(&ForceObjectToLocalhostMutex); *ForceLocalhost = GSD->ForceObjectToLocalhostU8; pthread_mutex_unlock(&ForceObjectToLocalhostMutex); - return (I32) READ_OK; + return READ_OK; } /*END of ForceToLocalhost*/ /*ASPMaxTimeDiff*/ -I32 DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("ASPMaxTimeDiff=", ResultBufferC8)) { @@ -391,9 +383,9 @@ I32 DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) return Res; } -I32 DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff) +ReadWriteAccess_t DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("ASPMaxTimeDiff", ASPMaxTimeDiff, 0)) { Res = WRITE_OK; @@ -404,19 +396,19 @@ I32 DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff) return Res; } -I32 DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff) +ReadWriteAccess_t DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff) { pthread_mutex_lock(&ASPMaxTimeDiffMutex); *ASPMaxTimeDiff = GSD->ASPMaxTimeDiffDbl; pthread_mutex_unlock(&ASPMaxTimeDiffMutex); - return (I32) READ_OK; + return READ_OK; } /*END of ASPMaxTimeDiff*/ /*ASPMaxTrajDiff*/ -I32 DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("ASPMaxTrajDiff=", ResultBufferC8)) { @@ -434,9 +426,9 @@ I32 DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) return Res; } -I32 DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTrajDiff) +ReadWriteAccess_t DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTrajDiff) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("ASPMaxTrajDiff", ASPMaxTrajDiff, 0)) { Res = WRITE_OK; @@ -447,20 +439,20 @@ I32 DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTrajDiff) return Res; } -I32 DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTrajDiff) +ReadWriteAccess_t DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTrajDiff) { pthread_mutex_lock(&ASPMaxTrajDiffMutex); *ASPMaxTrajDiff = GSD->ASPMaxTrajDiffDbl; pthread_mutex_unlock(&ASPMaxTrajDiffMutex); - return (I32) READ_OK; + return READ_OK; } /*END of ASPMaxTrajDiff*/ /*ASPStepBackCount*/ -I32 DataDictionaryInitASPStepBackCountU32(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("ASPStepBackCount=", ResultBufferC8)) { @@ -478,9 +470,9 @@ I32 DataDictionaryInitASPStepBackCountU32(GSDType *GSD) return Res; } -I32 DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount) +ReadWriteAccess_t DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("ASPStepBackCount", ASPStepBackCount, 0)) { Res = WRITE_OK; @@ -491,19 +483,19 @@ I32 DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount) return Res; } -I32 DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount) +ReadWriteAccess_t DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount) { pthread_mutex_lock(&ASPStepBackCountMutex); *ASPStepBackCount = GSD->ASPStepBackCountU32; pthread_mutex_unlock(&ASPStepBackCountMutex); - return (I32) READ_OK; + return READ_OK; } /*END of ASPStepBackCount*/ /*ASPFilterLevel*/ -I32 DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("ASPFilterLevel=", ResultBufferC8)) { @@ -521,9 +513,9 @@ I32 DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) return Res; } -I32 DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel) +ReadWriteAccess_t DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) { Res = WRITE_OK; @@ -534,19 +526,19 @@ I32 DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel) return Res; } -I32 DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel) +ReadWriteAccess_t DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel) { pthread_mutex_lock(&ASPFilterLevelMutex); *ASPFilterLevel = GSD->ASPFilterLevelDbl; pthread_mutex_unlock(&ASPFilterLevelMutex); - return (I32) READ_OK; + return READ_OK; } /*END of ASPFilterLevel*/ /*ASPMaxDeltaTime*/ -I32 DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("ASPMaxDeltaTime=", ResultBufferC8)) { @@ -564,9 +556,9 @@ I32 DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) return Res; } -I32 DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime) +ReadWriteAccess_t DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("ASPMaxDeltaTime", ASPMaxDeltaTime, 0)) { Res = WRITE_OK; @@ -577,20 +569,20 @@ I32 DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime) return Res; } -I32 DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime) +ReadWriteAccess_t DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime) { pthread_mutex_lock(&ASPMaxDeltaTimeMutex); *ASPMaxDeltaTime = GSD->ASPMaxDeltaTimeDbl; pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); - return (I32) READ_OK; + return READ_OK; } /*END of ASPFilterLevel*/ /*TimeServerIP*/ -I32 DataDictionaryInitTimeServerIPU32(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("TimeServerIP=", ResultBufferC8)) { @@ -610,9 +602,9 @@ I32 DataDictionaryInitTimeServerIPU32(GSDType *GSD) return Res; } -I32 DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP) +ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("TimeServerIP", TimeServerIP, 0)) { Res = WRITE_OK; @@ -625,29 +617,29 @@ I32 DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP) return Res; } -I32 DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP) +ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP) { pthread_mutex_lock(&TimeServerIPMutex); *TimeServerIP = GSD->TimeServerIPU32; pthread_mutex_unlock(&TimeServerIPMutex); - return (I32) READ_OK; + return READ_OK; } -I32 DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP) +ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP) { pthread_mutex_lock(&TimeServerIPMutex); strcat(TimeServerIP, GSD->TimeServerIPC8); pthread_mutex_unlock(&TimeServerIPMutex); - return (I32) READ_OK; + return READ_OK; } /*END of TimeServerIP*/ /*TimeServerPort*/ -I32 DataDictionaryInitTimeServerPortU16(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("TimeServerPort=", ResultBufferC8)) { @@ -665,9 +657,9 @@ I32 DataDictionaryInitTimeServerPortU16(GSDType *GSD) return Res; } -I32 DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort) +ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("TimeServerPort", TimeServerPort, 0)) { Res = WRITE_OK; @@ -678,20 +670,20 @@ I32 DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort) return Res; } -I32 DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort) +ReadWriteAccess_t DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort) { pthread_mutex_lock(&TimeServerPortMutex); *TimeServerPort = GSD->TimeServerPortU16; pthread_mutex_unlock(&TimeServerPortMutex); - return (I32) READ_OK; + return READ_OK; } /*END of TimeServerPort*/ /*SimulatorIP*/ -I32 DataDictionaryInitSimulatorIPU32(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("SimulatorIP=", ResultBufferC8)) { @@ -711,9 +703,9 @@ I32 DataDictionaryInitSimulatorIPU32(GSDType *GSD) return Res; } -I32 DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) +ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("SimulatorIP", SimulatorIP, 0)) { Res = WRITE_OK; @@ -726,27 +718,27 @@ I32 DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) return Res; } -I32 DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP) +ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP) { pthread_mutex_lock(&SimulatorIPMutex); *SimulatorIP = GSD->SimulatorIPU32; pthread_mutex_unlock(&SimulatorIPMutex); - return (I32) READ_OK; + return READ_OK; } -I32 DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP) +ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP) { pthread_mutex_lock(&SimulatorIPMutex); strcat(SimulatorIP, GSD->SimulatorIPC8); pthread_mutex_unlock(&SimulatorIPMutex); - return (I32) READ_OK; + return READ_OK; } /*END of SimulatorIP*/ /*SimulatorTCPPort*/ -I32 DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("SimulatorTCPPort=", ResultBufferC8)) { @@ -764,9 +756,9 @@ I32 DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) return Res; } -I32 DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort) +ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("SimulatorTCPPort", SimulatorTCPPort, 0)) { Res = WRITE_OK; @@ -777,19 +769,19 @@ I32 DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort) return Res; } -I32 DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort) +ReadWriteAccess_t DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort) { pthread_mutex_lock(&SimulatorTCPPortMutex); *SimulatorTCPPort = GSD->SimulatorTCPPortU16; pthread_mutex_unlock(&SimulatorTCPPortMutex); - return (I32) READ_OK; + return READ_OK; } /*END of SimulatorTCPPort*/ /*SimulatorUDPPort*/ -I32 DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("SimulatorUDPPort=", ResultBufferC8)) { @@ -807,9 +799,9 @@ I32 DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) return Res; } -I32 DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort) +ReadWriteAccess_t DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("SimulatorUDPPort", SimulatorUDPPort, 0)) { Res = WRITE_OK; @@ -820,19 +812,19 @@ I32 DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort) return Res; } -I32 DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort) +ReadWriteAccess_t DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort) { pthread_mutex_lock(&SimulatorUDPPortMutex); *SimulatorUDPPort = GSD->SimulatorUDPPortU16; pthread_mutex_unlock(&SimulatorUDPPortMutex); - return (I32) READ_OK; + return READ_OK; } /*END of SimulatorUDPPort*/ /*SimulatorMode*/ -I32 DataDictionaryInitSimulatorModeU8(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("SimulatorMode=", ResultBufferC8)) { @@ -850,9 +842,9 @@ I32 DataDictionaryInitSimulatorModeU8(GSDType *GSD) return Res; } -I32 DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode) +ReadWriteAccess_t DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("SimulatorMode", SimulatorMode, 0)) { Res = WRITE_OK; @@ -863,19 +855,19 @@ I32 DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode) return Res; } -I32 DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode) +ReadWriteAccess_t DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode) { pthread_mutex_lock(&SimulatorModeMutex); *SimulatorMode = GSD->SimulatorModeU8; pthread_mutex_unlock(&SimulatorModeMutex); - return (I32) READ_OK; + return READ_OK; } /*END of SimulatorMode*/ /*VOILReceivers*/ -I32 DataDictionaryInitVOILReceiversC8(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; if(Res = DataDictionarySearchParameter("VOILReceivers=", ResultBufferC8)) { @@ -893,9 +885,9 @@ I32 DataDictionaryInitVOILReceiversC8(GSDType *GSD) return Res; } -I32 DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers) +ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("VOILReceivers", VOILReceivers, 0)) { Res = WRITE_OK; @@ -906,19 +898,19 @@ I32 DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers) return Res; } -I32 DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceivers) +ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceivers) { pthread_mutex_lock(&VOILReceiversMutex); strcpy(VOILReceivers, GSD->VOILReceiversC8); pthread_mutex_unlock(&VOILReceiversMutex); - return (I32) READ_OK; + return READ_OK; } /*END of VOILReceivers*/ /*DTMReceivers*/ -I32 DataDictionaryInitDTMReceiversC8(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitDTMReceiversC8(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; if(Res = DataDictionarySearchParameter("DTMReceivers=", ResultBufferC8)) { @@ -936,9 +928,9 @@ else return Res; } -I32 DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers) +ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("DTMReceivers", DTMReceivers, 0)) { Res = WRITE_OK; @@ -949,19 +941,19 @@ I32 DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers) return Res; } -I32 DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers) +ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers) { pthread_mutex_lock(&DTMReceiversMutex); strcpy(DTMReceivers, GSD->DTMReceiversC8); pthread_mutex_unlock(&DTMReceiversMutex); - return (I32) READ_OK; + return READ_OK; } /*END of DTMReceivers*/ /*External Supervisor IP*/ -I32 DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) { @@ -982,9 +974,9 @@ I32 DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) return Res; } -I32 DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) +ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("SupervisorIP", IP, 0)) { Res = WRITE_OK; @@ -997,27 +989,27 @@ I32 DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) return Res; } -I32 DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP) +ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP) { pthread_mutex_lock(&ExternalSupervisorIPMutex); *IP = GSD->ExternalSupervisorIPU32; pthread_mutex_unlock(&ExternalSupervisorIPMutex); - return (I32) READ_OK; + return READ_OK; } -I32 DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP) +ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP) { pthread_mutex_lock(&ExternalSupervisorIPMutex); strcat(IP, GSD->ExternalSupervisorIPC8); pthread_mutex_unlock(&ExternalSupervisorIPMutex); - return (I32) READ_OK; + return READ_OK; } /*END of External Supervisor IP*/ /*External SupervisorTCPPort*/ -I32 DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("SupervisorTCPPort=", ResultBufferC8)) { @@ -1035,9 +1027,9 @@ I32 DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) return Res; } -I32 DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort) +ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("SupervisorTCPPort", SupervisorTCPPort, 0)) { Res = WRITE_OK; @@ -1048,19 +1040,19 @@ I32 DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort) return Res; } -I32 DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort) +ReadWriteAccess_t DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort) { pthread_mutex_lock(&SupervisorTCPPortMutex); *SupervisorTCPPort = GSD->SupervisorTCPPortU16; pthread_mutex_unlock(&SupervisorTCPPortMutex); - return (I32) READ_OK; + return READ_OK; } /*END of External SupervisorTCPPort*/ /*Runtime Variable Subscription Service (RVSS) Configuration*/ -I32 DataDictionaryInitRVSSConfigU32(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitRVSSConfigU32(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("RVSSConfig=", ResultBufferC8)) { @@ -1079,9 +1071,9 @@ I32 DataDictionaryInitRVSSConfigU32(GSDType *GSD) return Res; } -I32 DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) +ReadWriteAccess_t DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) { - I32 Res; + ReadWriteAccess_t Res; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); sprintf(ResultBufferC8, "%" PRIu32, RVSSConfig); @@ -1096,20 +1088,20 @@ I32 DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) return Res; } -I32 DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig) +ReadWriteAccess_t DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig) { pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); *RVSSConfig = GSD->DataDictionaryRVSSConfigU32; pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); - return (I32) READ_OK; + return READ_OK; } /*END of Runtime Variable Subscription Service (RVSS) Configuration**/ /*Runtime Variable Subscription Service (RVSS) Rate*/ -I32 DataDictionaryInitRVSSRateU8(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitRVSSRateU8(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("RVSSRate=", ResultBufferC8)) { @@ -1128,9 +1120,9 @@ I32 DataDictionaryInitRVSSRateU8(GSDType *GSD) return Res; } -I32 DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) +ReadWriteAccess_t DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) { - I32 Res; + ReadWriteAccess_t Res; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); sprintf(ResultBufferC8, "%" PRIu8, RVSSRate); @@ -1145,38 +1137,38 @@ I32 DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) return Res; } -I32 DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) +ReadWriteAccess_t DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) { pthread_mutex_lock(&DataDictionaryRVSSRateMutex); *RVSSRate = GSD->DataDictionaryRVSSRateU8; pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); - return (I32) READ_OK; + return READ_OK; } /*END of Runtime Variable Subscription Service (RVSS) Rate**/ /*ASPDebug*/ -I32 DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPD) +ReadWriteAccess_t DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPD) { pthread_mutex_lock(&ASPDataMutex); GSD->ASPData = *ASPD; pthread_mutex_unlock(&ASPDataMutex); - return (I32) WRITE_OK; + return WRITE_OK; } -I32 DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPD) +ReadWriteAccess_t DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPD) { pthread_mutex_lock(&ASPDataMutex); *ASPD = GSD->ASPData; pthread_mutex_unlock(&ASPDataMutex); - return (I32) READ_OK; + return READ_OK; } /*END ASPDebug*/ /*MiscData*/ -I32 DataDictionaryInitMiscDataC8(GSDType *GSD) +ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD) { - I32 Res = UNDEFINED; + ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; if(Res = DataDictionarySearchParameter("MiscData=", ResultBufferC8)) { @@ -1194,9 +1186,9 @@ I32 DataDictionaryInitMiscDataC8(GSDType *GSD) return Res; } -I32 DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) +ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) { - I32 Res; + ReadWriteAccess_t Res; if(Res = UtilWriteConfigurationParameter("MiscData", MiscData, 0)) { Res = WRITE_OK; @@ -1208,20 +1200,20 @@ I32 DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) return Res; } -I32 DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData) +ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData) { pthread_mutex_lock(&MiscDataMutex); strcpy(MiscData, GSD->MiscDataC8); pthread_mutex_unlock(&MiscDataMutex); - return (I32) READ_OK; + return READ_OK; } /*END of MiscData*/ /*OBCState*/ -I32 DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState) +ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState) { - I32 Res; + ReadWriteAccess_t Res; Res = WRITE_OK; pthread_mutex_lock(&OBCStateMutex); GSD->OBCStateU8 = OBCState; @@ -1248,7 +1240,7 @@ the parameter value. - *ParameterName the name of the parameter in test.conf - *ResultBuffer the value of the parameter. */ -I32 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) +U64 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) { bzero(ResultBuffer, DD_CONTROL_BUFFER_SIZE_20); UtilSearchTextFile(TEST_CONF_FILE, ParameterName, "", ResultBuffer); From ecc07eed330ccbd624fc5e3de9ebee881acfe864 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 17 Jun 2019 15:06:38 +0200 Subject: [PATCH 202/730] Added doxygen comments to all datadictionary functions, as well as references to the error codes that can be returned --- server/inc/util.h | 14 +- server/src/datadictionary.c | 475 +++++++++++++++++++++++++++++++++++- 2 files changed, 473 insertions(+), 16 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 85b2eb6ca..aad01884c 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -736,14 +736,14 @@ typedef struct { char UserAgent[HTTP_HEADER_MAX_LENGTH]; } HTTPHeaderContent; - +/*! Data dictionary read/write return codes. */ typedef enum { - UNDEFINED, - WRITE_OK, - READ_OK, - READ_WRITE_OK, - PARAMETER_NOTFOUND, - OUT_OF_RANGE + UNDEFINED, /*!< Undefined result */ + WRITE_OK, /*!< Write successful */ + READ_OK, /*!< Read successful */ + READ_WRITE_OK, /*!< Combined read/write successful */ + PARAMETER_NOTFOUND, /*!< Read/write not successful */ + OUT_OF_RANGE /*!< Attempted to read out of range */ } ReadWriteAccess_t; diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index d64651f0d..7d118cb7d 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -46,8 +46,10 @@ static pthread_mutex_t OBCStateMutex = PTHREAD_MUTEX_INITIALIZER; - -U64 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); +/*------------------------------------------------------------ + -- Static function definitions + ------------------------------------------------------------*/ +static U64 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); /*------------------------------------------------------------ -- Functions @@ -94,7 +96,11 @@ ReadWriteAccess_t DataDictionaryConstructor(GSDType *GSD) } -/*Origin Latitude*/ +/*! + * \brief DataDictionaryInitOriginLatitudeDbl Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -117,6 +123,12 @@ ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetOriginLatitudeDbl Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param Latitude + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) { ReadWriteAccess_t Res; @@ -132,6 +144,12 @@ ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) return Res; } +/*! + * \brief DataDictionaryGetOriginLatitudeDbl Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param Latitude Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude) { pthread_mutex_lock(&OriginLatitudeMutex); @@ -140,6 +158,12 @@ ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude return READ_OK; } +/*! + * \brief DataDictionaryGetOriginLatitudeC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param Latitude Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude) { pthread_mutex_lock(&OriginLatitudeMutex); @@ -151,6 +175,11 @@ ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude) /*END of Origin Latitude*/ /*Origin Longitude*/ +/*! + * \brief DataDictionaryInitOriginLongitudeDbl Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -173,6 +202,12 @@ ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetOriginLongitudeDbl Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param Longitude + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude) { ReadWriteAccess_t Res; @@ -188,6 +223,12 @@ ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitud return Res; } +/*! + * \brief DataDictionaryGetOriginLongitudeDbl Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param Longitude Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude) { pthread_mutex_lock(&OriginLongitudeMutex); @@ -196,6 +237,12 @@ ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitu return READ_OK; } +/*! + * \brief DataDictionaryGetOriginLongitudeC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param Longitude Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude) { pthread_mutex_lock(&OriginLongitudeMutex); @@ -206,6 +253,11 @@ ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude /*END of Origin Longitude*/ /*Origin Altitude*/ +/*! + * \brief DataDictionaryInitOriginAltitudeDbl Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -228,6 +280,12 @@ ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetOriginAltitudeDbl Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param Altitude + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) { ReadWriteAccess_t Res; @@ -243,6 +301,12 @@ ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) return Res; } +/*! + * \brief DataDictionaryGetOriginAltitudeDbl Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param Altitude Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude) { pthread_mutex_lock(&OriginAltitudeMutex); @@ -251,6 +315,12 @@ ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude return READ_OK; } +/*! + * \brief DataDictionaryGetOriginAltitudeC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param Altitude Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude) { pthread_mutex_lock(&OriginAltitudeMutex); @@ -262,6 +332,11 @@ ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude) /*END of Origin Altitude*/ /*VisualizationServer*/ +/*! + * \brief DataDictionaryInitVisualizationServerU32 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -284,6 +359,12 @@ ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetVisualizationServerU32 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param IP + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) { ReadWriteAccess_t Res; @@ -299,6 +380,12 @@ ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) return Res; } +/*! + * \brief DataDictionaryGetVisualizationServerU32 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param IP Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) { pthread_mutex_lock(&VisualizationServerMutex); @@ -308,6 +395,12 @@ ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) } +/*! + * \brief DataDictionaryGetVisualizationServerU32 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param IP Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP) { pthread_mutex_lock(&VisualizationServerMutex); @@ -320,6 +413,11 @@ ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP) /*ForceToLocalhost*/ +/*! + * \brief DataDictionaryInitForceToLocalhostU8 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -340,6 +438,12 @@ ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetForceToLocalhostU8 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param ForceLocalhost + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost) { ReadWriteAccess_t Res; @@ -353,6 +457,12 @@ ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLoc return Res; } +/*! + * \brief DataDictionaryGetForceToLocalhostU8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param ForceLocalhost Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost) { pthread_mutex_lock(&ForceObjectToLocalhostMutex); @@ -363,6 +473,11 @@ ReadWriteAccess_t DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLoc /*END of ForceToLocalhost*/ /*ASPMaxTimeDiff*/ +/*! + * \brief DataDictionaryInitASPMaxTimeDiffDbl Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -383,6 +498,12 @@ ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetASPMaxTimeDiffDbl Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param ASPMaxTimeDiff + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff) { ReadWriteAccess_t Res; @@ -396,6 +517,12 @@ ReadWriteAccess_t DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTim return Res; } +/*! + * \brief DataDictionaryGetASPMaxTimeDiffDbl Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param ASPMaxTimeDiff Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff) { pthread_mutex_lock(&ASPMaxTimeDiffMutex); @@ -406,6 +533,11 @@ ReadWriteAccess_t DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTi /*END of ASPMaxTimeDiff*/ /*ASPMaxTrajDiff*/ +/*! + * \brief DataDictionaryInitASPMaxTrajDiffDbl Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -426,6 +558,12 @@ ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetASPMaxTrajDiffDbl Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param ASPMaxTrajDiff + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTrajDiff) { ReadWriteAccess_t Res; @@ -439,6 +577,12 @@ ReadWriteAccess_t DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTra return Res; } +/*! + * \brief DataDictionaryGetASPMaxTrajDiffDbl Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param ASPMaxTrajDiff Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTrajDiff) { pthread_mutex_lock(&ASPMaxTrajDiffMutex); @@ -450,6 +594,11 @@ ReadWriteAccess_t DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTr /*ASPStepBackCount*/ +/*! + * \brief DataDictionaryInitASPStepBackCountU32 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -470,6 +619,12 @@ ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetASPStepBackCountU32 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param ASPStepBackCount + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount) { ReadWriteAccess_t Res; @@ -483,6 +638,12 @@ ReadWriteAccess_t DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStep return Res; } +/*! + * \brief DataDictionaryGetASPStepBackCountU32 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param ASPStepBackCount Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount) { pthread_mutex_lock(&ASPStepBackCountMutex); @@ -493,6 +654,11 @@ ReadWriteAccess_t DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPSte /*END of ASPStepBackCount*/ /*ASPFilterLevel*/ +/*! + * \brief DataDictionaryInitASPFilterLevelDbl Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -513,6 +679,12 @@ ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetASPFilterLevelDbl Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param ASPFilterLevel + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel) { ReadWriteAccess_t Res; @@ -526,6 +698,12 @@ ReadWriteAccess_t DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilter return Res; } +/*! + * \brief DataDictionaryGetASPFilterLevelDbl Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param ASPFilterLevel Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel) { pthread_mutex_lock(&ASPFilterLevelMutex); @@ -536,6 +714,11 @@ ReadWriteAccess_t DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilte /*END of ASPFilterLevel*/ /*ASPMaxDeltaTime*/ +/*! + * \brief DataDictionaryInitASPMaxDeltaTimeDbl Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -556,6 +739,12 @@ ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetASPMaxDeltaTimeDbl Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param ASPMaxDeltaTime + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime) { ReadWriteAccess_t Res; @@ -569,6 +758,12 @@ ReadWriteAccess_t DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDe return Res; } +/*! + * \brief DataDictionaryGetASPMaxDeltaTimeDbl Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param ASPMaxDeltaTime Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime) { pthread_mutex_lock(&ASPMaxDeltaTimeMutex); @@ -580,6 +775,11 @@ ReadWriteAccess_t DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxD /*TimeServerIP*/ +/*! + * \brief DataDictionaryInitTimeServerIPU32 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -602,6 +802,12 @@ ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetTimeServerIPU32 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param TimeServerIP + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP) { ReadWriteAccess_t Res; @@ -617,6 +823,12 @@ ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerI return Res; } +/*! + * \brief DataDictionaryGetTimeServerIPU32 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param TimeServerIP Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP) { pthread_mutex_lock(&TimeServerIPMutex); @@ -625,6 +837,12 @@ ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServer return READ_OK; } +/*! + * \brief DataDictionaryGetTimeServerIPC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param TimeServerIP Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP) { pthread_mutex_lock(&TimeServerIPMutex); @@ -637,6 +855,11 @@ ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP /*TimeServerPort*/ +/*! + * \brief DataDictionaryInitTimeServerPortU16 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -657,6 +880,12 @@ ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetTimeServerPortU16 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param TimeServerPort + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort) { ReadWriteAccess_t Res; @@ -670,6 +899,12 @@ ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServe return Res; } +/*! + * \brief DataDictionaryGetTimeServerPortU16 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param TimeServerPort Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort) { pthread_mutex_lock(&TimeServerPortMutex); @@ -681,6 +916,11 @@ ReadWriteAccess_t DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServ /*SimulatorIP*/ +/*! + * \brief DataDictionaryInitSimulatorIPU32 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -703,6 +943,12 @@ ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetSimulatorIPU32 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param SimulatorIP + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) { ReadWriteAccess_t Res; @@ -718,6 +964,12 @@ ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) return Res; } +/*! + * \brief DataDictionaryGetSimulatorIPU32 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param SimulatorIP Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP) { pthread_mutex_lock(&SimulatorIPMutex); @@ -726,6 +978,12 @@ ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP return READ_OK; } +/*! + * \brief DataDictionaryGetSimulatorIPC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param SimulatorIP Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP) { pthread_mutex_lock(&SimulatorIPMutex); @@ -736,6 +994,11 @@ ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP) /*END of SimulatorIP*/ /*SimulatorTCPPort*/ +/*! + * \brief DataDictionaryInitSimulatorTCPPortU16 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -756,6 +1019,12 @@ ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetSimulatorTCPPortU16 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param SimulatorTCPPort + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort) { ReadWriteAccess_t Res; @@ -769,6 +1038,12 @@ ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *Simulat return Res; } +/*! + * \brief DataDictionaryGetSimulatorTCPPortU16 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param SimulatorTCPPort Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort) { pthread_mutex_lock(&SimulatorTCPPortMutex); @@ -779,6 +1054,11 @@ ReadWriteAccess_t DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *Simula /*END of SimulatorTCPPort*/ /*SimulatorUDPPort*/ +/*! + * \brief DataDictionaryInitSimulatorUDPPortU16 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -799,6 +1079,12 @@ ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetSimulatorUDPPortU16 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param SimulatorUDPPort + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort) { ReadWriteAccess_t Res; @@ -812,6 +1098,12 @@ ReadWriteAccess_t DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *Simulat return Res; } +/*! + * \brief DataDictionaryGetSimulatorUDPPortU16 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param SimulatorUDPPort Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort) { pthread_mutex_lock(&SimulatorUDPPortMutex); @@ -822,6 +1114,11 @@ ReadWriteAccess_t DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *Simula /*END of SimulatorUDPPort*/ /*SimulatorMode*/ +/*! + * \brief DataDictionaryInitSimulatorModeU8 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -842,6 +1139,12 @@ ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetSimulatorModeU8 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param SimulatorMode + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode) { ReadWriteAccess_t Res; @@ -855,6 +1158,12 @@ ReadWriteAccess_t DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMo return Res; } +/*! + * \brief DataDictionaryGetSimulatorModeU8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param SimulatorMode Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode) { pthread_mutex_lock(&SimulatorModeMutex); @@ -865,6 +1174,11 @@ ReadWriteAccess_t DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMo /*END of SimulatorMode*/ /*VOILReceivers*/ +/*! + * \brief DataDictionaryInitVOILReceiversC8 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -885,6 +1199,12 @@ ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetVOILReceiversC8 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param VOILReceivers + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers) { ReadWriteAccess_t Res; @@ -898,6 +1218,12 @@ ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceive return Res; } +/*! + * \brief DataDictionaryGetVOILReceiversC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param VOILReceivers Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceivers) { pthread_mutex_lock(&VOILReceiversMutex); @@ -908,6 +1234,11 @@ ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceive /*END of VOILReceivers*/ /*DTMReceivers*/ +/*! + * \brief DataDictionaryInitDTMReceiversC8 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitDTMReceiversC8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -928,6 +1259,12 @@ else return Res; } +/*! + * \brief DataDictionarySetDTMReceiversC8 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param DTMReceivers + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers) { ReadWriteAccess_t Res; @@ -941,6 +1278,12 @@ ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers return Res; } +/*! + * \brief DataDictionaryGetDTMReceiversC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param DTMReceivers Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers) { pthread_mutex_lock(&DTMReceiversMutex); @@ -951,6 +1294,11 @@ ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers /*END of DTMReceivers*/ /*External Supervisor IP*/ +/*! + * \brief DataDictionaryInitExternalSupervisorIPU32 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -974,6 +1322,12 @@ ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetExternalSupervisorIPU32 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param IP + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) { ReadWriteAccess_t Res; @@ -989,6 +1343,12 @@ ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) return Res; } +/*! + * \brief DataDictionaryGetExternalSupervisorIPU32 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param IP Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP) { pthread_mutex_lock(&ExternalSupervisorIPMutex); @@ -997,6 +1357,12 @@ ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP return READ_OK; } +/*! + * \brief DataDictionaryGetExternalSupervisorIPC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param IP Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP) { pthread_mutex_lock(&ExternalSupervisorIPMutex); @@ -1007,6 +1373,11 @@ ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP) /*END of External Supervisor IP*/ /*External SupervisorTCPPort*/ +/*! + * \brief DataDictionaryInitSupervisorTCPPortU16 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -1027,6 +1398,12 @@ ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetSupervisorTCPPortU16 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param SupervisorTCPPort + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort) { ReadWriteAccess_t Res; @@ -1040,6 +1417,12 @@ ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *Superv return Res; } +/*! + * \brief DataDictionaryGetSupervisorTCPPortU16 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param SupervisorTCPPort Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort) { pthread_mutex_lock(&SupervisorTCPPortMutex); @@ -1050,6 +1433,11 @@ ReadWriteAccess_t DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *Super /*END of External SupervisorTCPPort*/ /*Runtime Variable Subscription Service (RVSS) Configuration*/ +/*! + * \brief DataDictionaryInitRVSSConfigU32 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitRVSSConfigU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -1071,6 +1459,12 @@ ReadWriteAccess_t DataDictionaryInitRVSSConfigU32(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetInitRVSSConfigU32 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param RVSSConfig + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) { ReadWriteAccess_t Res; @@ -1088,6 +1482,12 @@ ReadWriteAccess_t DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) return Res; } +/*! + * \brief DataDictionaryGetRVSSConfigU32 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param RVSSConfig Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig) { pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); @@ -1099,6 +1499,11 @@ ReadWriteAccess_t DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig) /*Runtime Variable Subscription Service (RVSS) Rate*/ +/*! + * \brief DataDictionaryInitRVSSRateU8 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitRVSSRateU8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -1120,6 +1525,12 @@ ReadWriteAccess_t DataDictionaryInitRVSSRateU8(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetRVSSRateU8 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param RVSSRate + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) { ReadWriteAccess_t Res; @@ -1137,6 +1548,12 @@ ReadWriteAccess_t DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) return Res; } +/*! + * \brief DataDictionaryGetRVSSRateU8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param RVSSRate Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) { pthread_mutex_lock(&DataDictionaryRVSSRateMutex); @@ -1148,6 +1565,12 @@ ReadWriteAccess_t DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) /*ASPDebug*/ +/*! + * \brief DataDictionarySetRVSSAsp Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param ASPD + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPD) { pthread_mutex_lock(&ASPDataMutex); @@ -1156,6 +1579,12 @@ ReadWriteAccess_t DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPD) return WRITE_OK; } +/*! + * \brief DataDictionaryGetRVSSAsp Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param ASPD Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPD) { pthread_mutex_lock(&ASPDataMutex); @@ -1166,6 +1595,11 @@ ReadWriteAccess_t DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPD) /*END ASPDebug*/ /*MiscData*/ +/*! + * \brief DataDictionaryInitMiscDataC8 Initializes variable according to the configuration file + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; @@ -1186,6 +1620,12 @@ ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD) return Res; } +/*! + * \brief DataDictionarySetMiscDataC8 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param MiscData + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) { ReadWriteAccess_t Res; @@ -1200,6 +1640,12 @@ ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) return Res; } +/*! + * \brief DataDictionaryGetMiscDataC8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \param MiscData Return variable pointer + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData) { pthread_mutex_lock(&MiscDataMutex); @@ -1211,6 +1657,12 @@ ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData) /*OBCState*/ +/*! + * \brief DataDictionarySetOBCStateU8 Parses input variable and sets variable to corresponding value + * \param GSD Pointer to shared allocated memory + * \param OBCState + * \return Result according to ::ReadWriteAccess_t + */ ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState) { ReadWriteAccess_t Res; @@ -1221,6 +1673,11 @@ ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState) return Res; } +/*! + * \brief DataDictionaryGetOBCStateU8 Reads variable from shared memory + * \param GSD Pointer to shared allocated memory + * \return Result according to ::ReadWriteAccess_t + */ U8 DataDictionaryGetOBCStateU8(GSDType *GSD) { U8 Ret; @@ -1233,13 +1690,13 @@ U8 DataDictionaryGetOBCStateU8(GSDType *GSD) /*END OBCState*/ -/* -DataDictionarySearchParameter searches for parameters in the file test.conf and returns +/*! + * \brief DataDictionarySearchParameter Searches for parameters in the configuration file and returns the parameter value. - -- *ParameterName the name of the parameter in test.conf -- *ResultBuffer the value of the parameter. -*/ + * \param ParameterName Parameter to search for + * \param ResultBuffer Buffer where read result should be stored + * \return Length of read parameter string + */ U64 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) { bzero(ResultBuffer, DD_CONTROL_BUFFER_SIZE_20); From 96dfecac50cf6e97091bc771a9cce4a96cbaf2fb Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 17 Jun 2019 15:10:03 +0200 Subject: [PATCH 203/730] Fixed type cast warnings --- server/src/datadictionary.c | 92 ++++++++++++++++++------------------- 1 file changed, 46 insertions(+), 46 deletions(-) diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 7d118cb7d..2d8aa1bec 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -105,7 +105,7 @@ ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("OrigoLatidude=", ResultBufferC8)) + if(DataDictionarySearchParameter("OrigoLatidude=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&OriginLatitudeMutex); @@ -132,7 +132,7 @@ ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("OrigoLatidude", Latitude, 0)) + if(UtilWriteConfigurationParameter("OrigoLatidude", Latitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&OriginLatitudeMutex); @@ -184,7 +184,7 @@ ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("OrigoLongitude=", ResultBufferC8)) + if(DataDictionarySearchParameter("OrigoLongitude=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&OriginLongitudeMutex); @@ -211,7 +211,7 @@ ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("OrigoLongitude", Longitude, 0)) + if(UtilWriteConfigurationParameter("OrigoLongitude", Longitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&OriginLongitudeMutex); @@ -262,7 +262,7 @@ ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("OrigoAltitude=", ResultBufferC8)) + if(DataDictionarySearchParameter("OrigoAltitude=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&OriginAltitudeMutex); @@ -289,7 +289,7 @@ ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("OrigoAltitude", Altitude, 0)) + if(UtilWriteConfigurationParameter("OrigoAltitude", Altitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&OriginAltitudeMutex); @@ -341,7 +341,7 @@ ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("VisualizationServerName=", ResultBufferC8)) + if(DataDictionarySearchParameter("VisualizationServerName=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&VisualizationServerMutex); @@ -368,7 +368,7 @@ ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD) ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("VisualizationServerName", IP, 0)) + if(UtilWriteConfigurationParameter("VisualizationServerName", IP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&VisualizationServerMutex); @@ -422,7 +422,7 @@ ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("ForceObjectToLocalhost=", ResultBufferC8)) + if(DataDictionarySearchParameter("ForceObjectToLocalhost=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&ForceObjectToLocalhostMutex); @@ -447,7 +447,7 @@ ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD) ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("ForceObjectToLocalhost", ForceLocalhost, 0)) + if(UtilWriteConfigurationParameter("ForceObjectToLocalhost", ForceLocalhost, 0)) { Res = WRITE_OK; pthread_mutex_lock(&ForceObjectToLocalhostMutex); @@ -482,7 +482,7 @@ ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("ASPMaxTimeDiff=", ResultBufferC8)) + if(DataDictionarySearchParameter("ASPMaxTimeDiff=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&ASPMaxTimeDiffMutex); @@ -507,7 +507,7 @@ ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) ReadWriteAccess_t DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("ASPMaxTimeDiff", ASPMaxTimeDiff, 0)) + if(UtilWriteConfigurationParameter("ASPMaxTimeDiff", ASPMaxTimeDiff, 0)) { Res = WRITE_OK; pthread_mutex_lock(&ASPMaxTimeDiffMutex); @@ -542,7 +542,7 @@ ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("ASPMaxTrajDiff=", ResultBufferC8)) + if(DataDictionarySearchParameter("ASPMaxTrajDiff=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&ASPMaxTrajDiffMutex); @@ -567,7 +567,7 @@ ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) ReadWriteAccess_t DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTrajDiff) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("ASPMaxTrajDiff", ASPMaxTrajDiff, 0)) + if(UtilWriteConfigurationParameter("ASPMaxTrajDiff", ASPMaxTrajDiff, 0)) { Res = WRITE_OK; pthread_mutex_lock(&ASPMaxTrajDiffMutex); @@ -603,7 +603,7 @@ ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("ASPStepBackCount=", ResultBufferC8)) + if(DataDictionarySearchParameter("ASPStepBackCount=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&ASPStepBackCountMutex); @@ -628,7 +628,7 @@ ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType *GSD) ReadWriteAccess_t DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("ASPStepBackCount", ASPStepBackCount, 0)) + if(UtilWriteConfigurationParameter("ASPStepBackCount", ASPStepBackCount, 0)) { Res = WRITE_OK; pthread_mutex_lock(&ASPStepBackCountMutex); @@ -663,7 +663,7 @@ ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("ASPFilterLevel=", ResultBufferC8)) + if(DataDictionarySearchParameter("ASPFilterLevel=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&ASPFilterLevelMutex); @@ -688,7 +688,7 @@ ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) ReadWriteAccess_t DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) + if(UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) { Res = WRITE_OK; pthread_mutex_lock(&ASPFilterLevelMutex); @@ -723,7 +723,7 @@ ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("ASPMaxDeltaTime=", ResultBufferC8)) + if(DataDictionarySearchParameter("ASPMaxDeltaTime=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&ASPMaxDeltaTimeMutex); @@ -748,7 +748,7 @@ ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) ReadWriteAccess_t DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("ASPMaxDeltaTime", ASPMaxDeltaTime, 0)) + if(UtilWriteConfigurationParameter("ASPMaxDeltaTime", ASPMaxDeltaTime, 0)) { Res = WRITE_OK; pthread_mutex_lock(&ASPMaxDeltaTimeMutex); @@ -784,7 +784,7 @@ ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("TimeServerIP=", ResultBufferC8)) + if(DataDictionarySearchParameter("TimeServerIP=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&TimeServerIPMutex); @@ -811,7 +811,7 @@ ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD) ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("TimeServerIP", TimeServerIP, 0)) + if(UtilWriteConfigurationParameter("TimeServerIP", TimeServerIP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&TimeServerIPMutex); @@ -864,7 +864,7 @@ ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("TimeServerPort=", ResultBufferC8)) + if(DataDictionarySearchParameter("TimeServerPort=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&TimeServerPortMutex); @@ -889,7 +889,7 @@ ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD) ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("TimeServerPort", TimeServerPort, 0)) + if(UtilWriteConfigurationParameter("TimeServerPort", TimeServerPort, 0)) { Res = WRITE_OK; pthread_mutex_lock(&TimeServerPortMutex); @@ -925,7 +925,7 @@ ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("SimulatorIP=", ResultBufferC8)) + if(DataDictionarySearchParameter("SimulatorIP=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&SimulatorIPMutex); @@ -952,7 +952,7 @@ ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD) ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("SimulatorIP", SimulatorIP, 0)) + if(UtilWriteConfigurationParameter("SimulatorIP", SimulatorIP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&SimulatorIPMutex); @@ -1003,7 +1003,7 @@ ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("SimulatorTCPPort=", ResultBufferC8)) + if(DataDictionarySearchParameter("SimulatorTCPPort=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&SimulatorTCPPortMutex); @@ -1028,7 +1028,7 @@ ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("SimulatorTCPPort", SimulatorTCPPort, 0)) + if(UtilWriteConfigurationParameter("SimulatorTCPPort", SimulatorTCPPort, 0)) { Res = WRITE_OK; pthread_mutex_lock(&SimulatorTCPPortMutex); @@ -1063,7 +1063,7 @@ ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("SimulatorUDPPort=", ResultBufferC8)) + if(DataDictionarySearchParameter("SimulatorUDPPort=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&SimulatorUDPPortMutex); @@ -1088,7 +1088,7 @@ ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) ReadWriteAccess_t DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("SimulatorUDPPort", SimulatorUDPPort, 0)) + if(UtilWriteConfigurationParameter("SimulatorUDPPort", SimulatorUDPPort, 0)) { Res = WRITE_OK; pthread_mutex_lock(&SimulatorUDPPortMutex); @@ -1123,7 +1123,7 @@ ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("SimulatorMode=", ResultBufferC8)) + if(DataDictionarySearchParameter("SimulatorMode=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&SimulatorModeMutex); @@ -1148,7 +1148,7 @@ ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType *GSD) ReadWriteAccess_t DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("SimulatorMode", SimulatorMode, 0)) + if(UtilWriteConfigurationParameter("SimulatorMode", SimulatorMode, 0)) { Res = WRITE_OK; pthread_mutex_lock(&SimulatorModeMutex); @@ -1183,7 +1183,7 @@ ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; - if(Res = DataDictionarySearchParameter("VOILReceivers=", ResultBufferC8)) + if(DataDictionarySearchParameter("VOILReceivers=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&VOILReceiversMutex); @@ -1208,7 +1208,7 @@ ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD) ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("VOILReceivers", VOILReceivers, 0)) + if(UtilWriteConfigurationParameter("VOILReceivers", VOILReceivers, 0)) { Res = WRITE_OK; pthread_mutex_lock(&VOILReceiversMutex); @@ -1243,7 +1243,7 @@ ReadWriteAccess_t DataDictionaryInitDTMReceiversC8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; - if(Res = DataDictionarySearchParameter("DTMReceivers=", ResultBufferC8)) + if(DataDictionarySearchParameter("DTMReceivers=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&DTMReceiversMutex); @@ -1268,7 +1268,7 @@ else ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("DTMReceivers", DTMReceivers, 0)) + if(UtilWriteConfigurationParameter("DTMReceivers", DTMReceivers, 0)) { Res = WRITE_OK; pthread_mutex_lock(&DTMReceiversMutex); @@ -1303,7 +1303,7 @@ ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) + if(DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&ExternalSupervisorIPMutex); @@ -1331,7 +1331,7 @@ ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("SupervisorIP", IP, 0)) + if(UtilWriteConfigurationParameter("SupervisorIP", IP, 0)) { Res = WRITE_OK; pthread_mutex_lock(&ExternalSupervisorIPMutex); @@ -1382,7 +1382,7 @@ ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("SupervisorTCPPort=", ResultBufferC8)) + if(DataDictionarySearchParameter("SupervisorTCPPort=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&SupervisorTCPPortMutex); @@ -1407,7 +1407,7 @@ ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("SupervisorTCPPort", SupervisorTCPPort, 0)) + if(UtilWriteConfigurationParameter("SupervisorTCPPort", SupervisorTCPPort, 0)) { Res = WRITE_OK; pthread_mutex_lock(&SupervisorTCPPortMutex); @@ -1442,7 +1442,7 @@ ReadWriteAccess_t DataDictionaryInitRVSSConfigU32(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("RVSSConfig=", ResultBufferC8)) + if(DataDictionarySearchParameter("RVSSConfig=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); @@ -1472,7 +1472,7 @@ ReadWriteAccess_t DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); sprintf(ResultBufferC8, "%" PRIu32, RVSSConfig); - if(Res = UtilWriteConfigurationParameter("RVSSConfig", ResultBufferC8, 0)) + if(UtilWriteConfigurationParameter("RVSSConfig", ResultBufferC8, 0)) { Res = WRITE_OK; pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); @@ -1508,7 +1508,7 @@ ReadWriteAccess_t DataDictionaryInitRVSSRateU8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("RVSSRate=", ResultBufferC8)) + if(DataDictionarySearchParameter("RVSSRate=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&DataDictionaryRVSSRateMutex); @@ -1538,7 +1538,7 @@ ReadWriteAccess_t DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); sprintf(ResultBufferC8, "%" PRIu8, RVSSRate); - if(Res = UtilWriteConfigurationParameter("RVSSRate", ResultBufferC8, 0)) + if(UtilWriteConfigurationParameter("RVSSRate", ResultBufferC8, 0)) { Res = WRITE_OK; pthread_mutex_lock(&DataDictionaryRVSSRateMutex); @@ -1604,7 +1604,7 @@ ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(Res = DataDictionarySearchParameter("MiscData=", ResultBufferC8)) + if(DataDictionarySearchParameter("MiscData=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&MiscDataMutex); @@ -1629,7 +1629,7 @@ ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD) ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) { ReadWriteAccess_t Res; - if(Res = UtilWriteConfigurationParameter("MiscData", MiscData, 0)) + if(UtilWriteConfigurationParameter("MiscData", MiscData, 0)) { Res = WRITE_OK; pthread_mutex_lock(&MiscDataMutex); From bbc437cba372a5efbf22c6f5952a64bbe74aa62d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 17 Jun 2019 16:03:51 +0200 Subject: [PATCH 204/730] Made Object control functions use the OBCState_t type --- server/inc/datadictionary.h | 4 ++-- server/inc/util.h | 24 ++++++++++++------------ server/src/datadictionary.c | 8 ++++---- 3 files changed, 18 insertions(+), 18 deletions(-) diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h index fbc64393c..dc03d2b65 100644 --- a/server/inc/datadictionary.h +++ b/server/inc/datadictionary.h @@ -116,8 +116,8 @@ ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD); ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData); ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, C8 *MiscData); -ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState); -U8 DataDictionaryGetOBCStateU8(GSDType *GSD); +ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, OBCState_t OBCState); +OBCState_t DataDictionaryGetOBCStateU8(GSDType *GSD); ReadWriteAccess_t DataDictionaryConstructor(GSDType *GSD); diff --git a/server/inc/util.h b/server/inc/util.h index aad01884c..1e594ac02 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -527,6 +527,17 @@ typedef struct volatile U16 IterationTimeU16; } ASPType; +/*! Object control states */ +typedef enum { + OBC_STATE_UNDEFINED, + OBC_STATE_IDLE, + OBC_STATE_INITIALIZED, + OBC_STATE_CONNECTED, + OBC_STATE_ARMED, + OBC_STATE_RUNNING, + OBC_STATE_ERROR +} OBCState_t; + typedef struct { @@ -585,7 +596,7 @@ typedef struct U32 DataDictionaryRVSSRateU8; volatile ASPType ASPData; C8 MiscDataC8[DD_CONTROL_BUFFER_SIZE_1024]; - volatile U8 OBCStateU8; + volatile OBCState_t OBCStateU8; } GSDType; @@ -703,17 +714,6 @@ typedef struct I16 SpeedI16; } ObjectMonitorType; - -typedef enum { - OBC_STATE_UNDEFINED, - OBC_STATE_IDLE, - OBC_STATE_INITIALIZED, - OBC_STATE_CONNECTED, - OBC_STATE_ARMED, - OBC_STATE_RUNNING, - OBC_STATE_ERROR -} OBCState_t; - #define HTTP_HEADER_MAX_LENGTH 64 typedef struct { char AcceptCharset[HTTP_HEADER_MAX_LENGTH]; diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 2d8aa1bec..d00947d37 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -1663,7 +1663,7 @@ ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData) * \param OBCState * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState) +ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, OBCState_t OBCState) { ReadWriteAccess_t Res; Res = WRITE_OK; @@ -1676,11 +1676,11 @@ ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, U8 OBCState) /*! * \brief DataDictionaryGetOBCStateU8 Reads variable from shared memory * \param GSD Pointer to shared allocated memory - * \return Result according to ::ReadWriteAccess_t + * \return Current object control state according to ::OBCState_t */ -U8 DataDictionaryGetOBCStateU8(GSDType *GSD) +OBCState_t DataDictionaryGetOBCStateU8(GSDType *GSD) { - U8 Ret; + OBCState_t Ret; pthread_mutex_lock(&OBCStateMutex); Ret = GSD->OBCStateU8; pthread_mutex_unlock(&OBCStateMutex); From c7d8495a0c8e3ca55061a2d20b19320f4f1887c6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 17 Jun 2019 17:19:06 +0200 Subject: [PATCH 205/730] Made datadictionary memory synchronized with variables used in execution --- server/src/objectcontrol.c | 198 ++++++++++++++++++++++++------------- 1 file changed, 128 insertions(+), 70 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 20d2d7e8c..3d56d1a3e 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -46,6 +46,7 @@ #define TASK_PERIOD_MS 1 #define HEARTBEAT_TIME_MS 10 +#define OBC_STATE_REPORT_PERIOD_MS 1000 #define OBJECT_CONTROL_CONTROL_MODE 0 #define OBJECT_CONTROL_REPLAY_MODE 1 #define OBJECT_CONTROL_ABORT_MODE 1 @@ -137,16 +138,22 @@ typedef enum { } hearbeatCommand_t; - +typedef enum { + TRANSITION_RESULT_UNDEFINED, + TRANSITION_OK, + TRANSITION_INVALID, + TRANSITION_MEMORY_ERROR +} StateTransitionResult; /* Small note: syntax for declaring a function pointer is (example for a function taking an int and a float, returning nothing) where the function foo(int a, float b) is declared elsewhere: void (*fooptr)(int,float) = foo; fooptr(10,1.5); Consequently, the below typedef defines a StateTransition type as a function pointer to a function taking - (OBCState_t, OBCState_t) as input, and returning an int8_t + (OBCState_t, OBCState_t) as input, and returning a StateTransitionResult */ -typedef int8_t (*StateTransition)(OBCState_t *currentState, OBCState_t requestedState); +typedef StateTransitionResult (*StateTransition)(OBCState_t *currentState, OBCState_t requestedState); + C8 TrajBuffer[COMMAND_DOTM_ROWS_IN_TRANSMISSION*COMMAND_DOTM_ROW_MESSAGE_LENGTH + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH]; @@ -186,15 +193,17 @@ static void vFindObjectsInfo(char object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], char object_address_name[MAX_OBJECTS][MAX_FILE_PATH], int* nbr_objects); -int8_t vSetState(OBCState_t *currentState, OBCState_t requestedState); +OBCState_t vInitializeState(OBCState_t firstState, GSDType *GSD); +inline OBCState_t vGetState(GSDType *GSD); +StateTransitionResult vSetState(OBCState_t requestedState, GSDType *GSD); StateTransition tGetTransition(OBCState_t fromState); -int8_t tFromIdle(OBCState_t *currentState, OBCState_t requestedState); -int8_t tFromInitialized(OBCState_t *currentState, OBCState_t requestedState); -int8_t tFromConnected(OBCState_t *currentState, OBCState_t requestedState); -int8_t tFromArmed(OBCState_t *currentState, OBCState_t requestedState); -int8_t tFromRunning(OBCState_t *currentState, OBCState_t requestedState); -int8_t tFromError(OBCState_t *currentState, OBCState_t requestedState); -int8_t tFromUndefined(OBCState_t *currentState, OBCState_t requestedState); +StateTransitionResult tFromIdle(OBCState_t *currentState, OBCState_t requestedState); +StateTransitionResult tFromInitialized(OBCState_t *currentState, OBCState_t requestedState); +StateTransitionResult tFromConnected(OBCState_t *currentState, OBCState_t requestedState); +StateTransitionResult tFromArmed(OBCState_t *currentState, OBCState_t requestedState); +StateTransitionResult tFromRunning(OBCState_t *currentState, OBCState_t requestedState); +StateTransitionResult tFromError(OBCState_t *currentState, OBCState_t requestedState); +StateTransitionResult tFromUndefined(OBCState_t *currentState, OBCState_t requestedState); /*------------------------------------------------------------ -- Private variables @@ -303,8 +312,9 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) unsigned char ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_BOOTING; - OBCState_t OBCState = OBC_STATE_IDLE; + OBCState_t state = vInitializeState(OBC_STATE_IDLE, GSD); U8 uiTimeCycle = 0; + U32 stateKeepAliveTimeCounter = 0; int ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; C8 Buffer2[SMALL_BUFFER_SIZE_1]; @@ -334,7 +344,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "Object control task running with PID: %i", getpid()); - DataDictionarySetOBCStateU8(GSD, OBCState); // Set up message bus connection if (iCommInit()) @@ -342,7 +351,9 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { - if(OBCState == OBC_STATE_ERROR) + state = vGetState(GSD); + + if(state == OBC_STATE_ERROR) { ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, 0); @@ -350,7 +361,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } - if(OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) + if(state == OBC_STATE_RUNNING || state == OBC_STATE_ARMED || state == OBC_STATE_CONNECTED) { /*HEAB*/ for(iIndex=0;iIndexSupChunkSize > 0 && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_RUNNING) ) + if(GSD->SupChunkSize > 0 && (state == OBC_STATE_CONNECTED || state == OBC_STATE_ARMED || state == OBC_STATE_RUNNING) ) { //bzero(TrajBuffer, strlen(pcRecvBuffer)); @@ -653,17 +664,17 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_INFO, "Received command %d", iCommand); - if(iCommand == COMM_ARMD && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED)) + if(iCommand == COMM_ARMD && (state == OBC_STATE_CONNECTED || state == OBC_STATE_ARMED)) { if(pcRecvBuffer[0] == COMMAND_OSTM_OPT_SET_ARMED_STATE) { LOG_SEND(LogBuffer,"[ObjectControl] Sending ARM %d", pcRecvBuffer[0]); - vSetState(&OBCState, OBC_STATE_ARMED); + vSetState(OBC_STATE_ARMED, GSD); } else if(pcRecvBuffer[0] == COMMAND_OSTM_OPT_SET_DISARMED_STATE) { LOG_SEND(LogBuffer,"[ObjectControl] Sending DISARM: %d", pcRecvBuffer[0]); - vSetState(&OBCState, OBC_STATE_CONNECTED); + vSetState(OBC_STATE_CONNECTED, GSD); } MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, pcRecvBuffer[0], 0); @@ -679,7 +690,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY } - else if(iCommand == COMM_STRT && (OBCState == OBC_STATE_ARMED) /*|| OBC_STATE_INITIALIZED)*/) //OBC_STATE_INITIALIZED is temporary! + else if(iCommand == COMM_STRT && (state == OBC_STATE_ARMED) /*|| OBC_STATE_INITIALIZED)*/) //OBC_STATE_INITIALIZED is temporary! { bzero(Timestamp, SMALL_BUFFER_SIZE_0); MiscPtr =strchr(pcRecvBuffer,';'); @@ -700,7 +711,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) for(iIndex=0;iIndex, GPS time <%s>\n",pcRecvBuffer, MiscText); } - else if(iCommand == COMM_TRAJ && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_RUNNING) ) + else if(iCommand == COMM_TRAJ && (state == OBC_STATE_CONNECTED || state == OBC_STATE_ARMED || state == OBC_STATE_RUNNING) ) { DTMLengthU32 = UtilHexTextToBinary(strlen(pcRecvBuffer), pcRecvBuffer, TrajBuffer, 0); @@ -762,7 +773,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } - else if(/*iCommand == COMM_TRAJ_FROMSUP*/ GSD->SupChunkSize > 0 && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_RUNNING) ) + else if(/*iCommand == COMM_TRAJ_FROMSUP*/ GSD->SupChunkSize > 0 && (state == OBC_STATE_CONNECTED || state == OBC_STATE_ARMED || state == OBC_STATE_RUNNING) ) { //bzero(TrajBuffer, strlen(pcRecvBuffer)); @@ -793,7 +804,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) GSD->SupChunkSize = 0; } - else if(iCommand == COMM_VIOP && OBCState == OBC_STATE_RUNNING/*OBC_STATE_INITIALIZED*/) + else if(iCommand == COMM_VIOP && state == OBC_STATE_RUNNING/*OBC_STATE_INITIALIZED*/) { /*Build the VOIL message*/ MessageLength = ObjectControlBuildVOILMessage(MessageBuffer, &VOILData, (C8*)GSD->VOILData, 0); @@ -814,9 +825,9 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) ObjectcontrolExecutionMode = OBJECT_CONTROL_REPLAY_MODE; LogMessage(LOG_LEVEL_INFO,"Entering REPLAY mode <%s>", pcRecvBuffer); } - else if(iCommand == COMM_ABORT && OBCState == OBC_STATE_RUNNING) + else if(iCommand == COMM_ABORT && state == OBC_STATE_RUNNING) { - vSetState(&OBCState, OBC_STATE_CONNECTED); + vSetState(OBC_STATE_CONNECTED, GSD); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; //Set server to ABORT LogMessage(LOG_LEVEL_WARNING,"ABORT received"); LOG_SEND(LogBuffer, "[ObjectControl] ABORT received."); @@ -883,10 +894,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } - vSetState(&OBCState, OBC_STATE_INITIALIZED); + vSetState(OBC_STATE_INITIALIZED, GSD); LogMessage(LOG_LEVEL_INFO,"ObjectControl is initialized"); LOG_SEND(LogBuffer, "[ObjectControl] ObjectControl is initialized."); - DataDictionarySetOBCStateU8(GSD, OBCState); + //Remove temporary file remove(TEMP_LOG_FILE); if(USE_TEMP_LOGFILE) @@ -898,7 +909,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //OSEMSentU8 = 0; STRTSentU8 = 0; } - else if(iCommand == COMM_CONNECT && OBCState == OBC_STATE_INITIALIZED) + else if(iCommand == COMM_CONNECT && state == OBC_STATE_INITIALIZED) { LogMessage(LOG_LEVEL_INFO,"CONNECT received"); LOG_SEND(LogBuffer, "[ObjectControl] CONNECT received."); @@ -983,7 +994,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(iCommSend(COMM_OSEM,pcSendBuffer,strlen(pcSendBuffer)+1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OSEM command - entering error state"); - vSetState(&OBCState,OBC_STATE_ERROR); + vSetState(OBC_STATE_ERROR, GSD); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } @@ -1070,8 +1081,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*Set server status*/ ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY - if(DisconnectU8 == 0) vSetState(&OBCState, OBC_STATE_CONNECTED); - else if(DisconnectU8 == 1) vSetState(&OBCState, OBC_STATE_IDLE); + if(DisconnectU8 == 0) vSetState(OBC_STATE_CONNECTED, GSD); + else if(DisconnectU8 == 1) vSetState(OBC_STATE_IDLE, GSD); } else if(iCommand == COMM_DATA_DICT) { @@ -1137,7 +1148,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { vCloseSafetyChannel(&safety_socket_fd[iIndex]); } - vSetState(&OBCState, OBC_STATE_IDLE); + vSetState(OBC_STATE_IDLE, GSD); } else if(iCommand == COMM_EXIT) { @@ -1149,8 +1160,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_WARNING,"Unhandled command in object control: %d",iCommand); } } - - DataDictionarySetOBCStateU8(GSD, OBCState); if(!iExit) { @@ -1164,6 +1173,21 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) uiTimeCycle = 0; } + // Periodically send state to signal aliveness + if (++stateKeepAliveTimeCounter >= OBC_STATE_REPORT_PERIOD_MS/TASK_PERIOD_MS) + { + stateKeepAliveTimeCounter = 0; + state = vGetState(GSD); + bzero(Buffer2, sizeof(Buffer2)); + Buffer2[0] = (uint8_t)(DataDictionaryGetOBCStateU8(GSD)); + if (iCommSend(COMM_OBC_STATE, Buffer2, sizeof(Buffer2)) < 0) + { + LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state"); + vSetState(OBC_STATE_ERROR, GSD); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } + } + (void)nanosleep(&sleep_time,&ref_time); } @@ -2681,30 +2705,50 @@ void vFindObjectsInfo(char object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], char ob } -int8_t vSetState(OBCState_t *currentState, OBCState_t requestedState) + +OBCState_t vGetState(GSDType *GSD) +{ + return DataDictionaryGetOBCStateU8(GSD); +} + +StateTransitionResult vSetState(OBCState_t requestedState, GSDType *GSD) { StateTransition transitionFunction; - int8_t retval; + StateTransitionResult retval = TRANSITION_RESULT_UNDEFINED; + OBCState_t currentState = DataDictionaryGetOBCStateU8(GSD); // Always allow transitions to these two states if (requestedState == OBC_STATE_ERROR || requestedState == OBC_STATE_UNDEFINED) { - *currentState = requestedState; - retval = 0; + if (DataDictionarySetOBCStateU8(GSD, requestedState) == WRITE_OK) + retval = TRANSITION_OK; + else + retval = TRANSITION_MEMORY_ERROR; } - else if (requestedState == *currentState) + else if (requestedState == currentState) { - retval = 0; + retval = TRANSITION_OK; } else { - transitionFunction = tGetTransition(*currentState); - retval = transitionFunction(currentState, requestedState); + transitionFunction = tGetTransition(currentState); + retval = transitionFunction(¤tState, requestedState); + if (retval != TRANSITION_INVALID) + { + if(DataDictionarySetOBCStateU8(GSD, currentState) == WRITE_OK) + retval = TRANSITION_OK; + else + retval = TRANSITION_MEMORY_ERROR; + } } - if (retval == -1) + if (retval == TRANSITION_INVALID) + { + LogMessage(LOG_LEVEL_WARNING,"Invalid transition requested: from %d to %d",currentState,requestedState); + } + else if (retval == TRANSITION_MEMORY_ERROR) { - LogMessage(LOG_LEVEL_WARNING,"Invalid transition requested: from %d to %d",*currentState,requestedState); + LogMessage(LOG_LEVEL_ERROR, "Unable to set state to %u in shared memory!!", requestedState); } return retval; } @@ -2731,68 +2775,82 @@ StateTransition tGetTransition(OBCState_t fromState) } } -int8_t tFromIdle(OBCState_t *currentState, OBCState_t requestedState) +StateTransitionResult tFromIdle(OBCState_t *currentState, OBCState_t requestedState) { if (requestedState == OBC_STATE_INITIALIZED) { *currentState = requestedState; - return 0; + return TRANSITION_OK; } - return -1; + return TRANSITION_INVALID; } -int8_t tFromInitialized(OBCState_t *currentState, OBCState_t requestedState) +StateTransitionResult tFromInitialized(OBCState_t *currentState, OBCState_t requestedState) { if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_IDLE) { *currentState = requestedState; - return 0; + return TRANSITION_OK; } - return -1; + return TRANSITION_INVALID; } -int8_t tFromConnected(OBCState_t *currentState, OBCState_t requestedState) +StateTransitionResult tFromConnected(OBCState_t *currentState, OBCState_t requestedState) { if (requestedState == OBC_STATE_ARMED || requestedState == OBC_STATE_IDLE) { *currentState = requestedState; - return 0; + return TRANSITION_OK; } - return -1; + return TRANSITION_INVALID; } -int8_t tFromArmed(OBCState_t *currentState, OBCState_t requestedState) +StateTransitionResult tFromArmed(OBCState_t *currentState, OBCState_t requestedState) { if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_RUNNING || requestedState == OBC_STATE_IDLE) { *currentState = requestedState; - return 0; + return TRANSITION_OK; } - return -1; + return TRANSITION_INVALID; } -int8_t tFromRunning(OBCState_t *currentState, OBCState_t requestedState) +StateTransitionResult tFromRunning(OBCState_t *currentState, OBCState_t requestedState) { if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_IDLE) { *currentState = requestedState; - return 0; + return TRANSITION_OK; } - return -1; + return TRANSITION_INVALID; } -int8_t tFromError(OBCState_t *currentState, OBCState_t requestedState) +StateTransitionResult tFromError(OBCState_t *currentState, OBCState_t requestedState) { if (requestedState == OBC_STATE_IDLE) { *currentState = requestedState; - return 0; + return TRANSITION_OK; } - return -1; + return TRANSITION_INVALID; } -int8_t tFromUndefined(OBCState_t *currentState, OBCState_t requestedState) +StateTransitionResult tFromUndefined(OBCState_t *currentState, OBCState_t requestedState) { - return -1; + return TRANSITION_INVALID; } + +OBCState_t vInitializeState(OBCState_t firstState, GSDType *GSD){ + static int8_t isInitialized = 0; + if (!isInitialized) + { + isInitialized = 1; + if(DataDictionarySetOBCStateU8(GSD,firstState) != WRITE_OK) + util_error("Unable to write object control state to shared memory"); + } + else { + LogMessage(LOG_LEVEL_WARNING,"Object control state already initialized"); + } + return DataDictionaryGetOBCStateU8(GSD); +} From 45b85cd7e173ada82026fb15f03145a536e88ec6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 09:04:22 +0200 Subject: [PATCH 206/730] Util repo update --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 0a104bd70..63e3faec5 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 0a104bd70031defc96d692b35b63446ae3d77953 +Subproject commit 63e3faec5f014d71337b45b1b5540f180cb4d59b From e9cd7de63d16407bd446a99d3b4cdb98a8cc975a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 09:04:52 +0200 Subject: [PATCH 207/730] Removed debug printout which flooded stdout --- server/src/objectcontrol.c | 4 ---- 1 file changed, 4 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index e182efb8e..7f2dea3e8 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -2627,10 +2627,6 @@ static void vRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNew { util_error("ERR: Failed to receive from monitor socket"); } - else - { - LogMessage(LOG_LEVEL_DEBUG,"No data received"); - } } else { From 34b614d890d127adc8270d7a35e9c86ebc2a38a9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 09:07:15 +0200 Subject: [PATCH 208/730] Modified return type of recvMONR function to give number of bytes received --- server/src/objectcontrol.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 7f2dea3e8..47cea9765 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -159,7 +159,7 @@ static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); -static void vRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData); +static size_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -428,7 +428,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) for(iIndex=0;iIndex Date: Tue, 18 Jun 2019 09:09:02 +0200 Subject: [PATCH 209/730] Function signature changes --- server/src/objectcontrol.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 47cea9765..d3d051a0f 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -159,7 +159,7 @@ static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); -static size_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData); +static ssize_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -2613,9 +2613,9 @@ int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendDa } -static size_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData) +static ssize_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData) { - size_t result; + ssize_t result; *recievedNewData = 0; do { From 58823dcd3bbb559f759c0af29c34f8467f3eb6c1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 09:14:46 +0200 Subject: [PATCH 210/730] Added return value --- server/src/objectcontrol.c | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d3d051a0f..e42c4e8f0 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -159,7 +159,7 @@ static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); -static ssize_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData); +static ssize_t uiRecvMonitor(int* sockfd, char* buffer, size_t length, int* recievedNewData); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -2613,9 +2613,9 @@ int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendDa } -static ssize_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recievedNewData) +static ssize_t uiRecvMonitor(int* sockfd, char* buffer, size_t length, int* recievedNewData) { - ssize_t result; + ssize_t result = 0; *recievedNewData = 0; do { @@ -2625,7 +2625,7 @@ static ssize_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recieve { if(errno != EAGAIN && errno != EWOULDBLOCK) { - util_error("ERR: Failed to receive from monitor socket"); + util_error("Failed to receive from monitor socket"); } } else @@ -2634,6 +2634,8 @@ static ssize_t uiRecvMonitor(int* sockfd, char* buffer, int length, int* recieve LogMessage(LOG_LEVEL_DEBUG,"Received: <%s>",buffer); } } while(result > 0 ); + + return result; } void vFindObjectsInfo(char object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], char object_address_name[MAX_OBJECTS][MAX_FILE_PATH], int* nbr_objects) From 43da39e95fff68731866003d40737da04da132de Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 09:22:28 +0200 Subject: [PATCH 211/730] Removed flag which is no longer necessary --- server/src/objectcontrol.c | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index e42c4e8f0..d192ff94d 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -159,7 +159,7 @@ static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); -static ssize_t uiRecvMonitor(int* sockfd, char* buffer, size_t length, int* recievedNewData); +static ssize_t uiRecvMonitor(int* sockfd, char* buffer, size_t length); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -392,7 +392,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED) { char buffer[RECV_MESSAGE_BUFFER]; - int recievedNewData = 0; + ssize_t receivedMONRData = 0; // this is etsi time lets remov it ans use utc instead //gettimeofday(&CurrentTimeStruct, NULL); @@ -428,7 +428,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) for(iIndex=0;iIndex",buffer); } } while(result > 0 ); From 6c49a71030727095045bb798501203aac236bbe7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 09:25:12 +0200 Subject: [PATCH 212/730] Check on bytes received --- server/src/objectcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d192ff94d..0318418c5 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -431,7 +431,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) receivedMONRData = uiRecvMonitor(&safety_socket_fd[iIndex],buffer, RECV_MESSAGE_BUFFER); - if(recievedNewData) + if(receivedMONRData > 0) { LogMessage(LOG_LEVEL_DEBUG,"Recieved new data from %s %d %d: %s",object_address_name[iIndex],object_udp_port[iIndex],recievedNewData,buffer); From d1ab8eb8005754f897b94e4d3c0925ee65c675c1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 09:51:04 +0200 Subject: [PATCH 213/730] Append IP as 32bit int to end of MONR message --- server/src/objectcontrol.c | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 0318418c5..9777ce0c4 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -425,17 +425,16 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } - for(iIndex=0;iIndex 0) + if (receivedMONRData > 0) { - LogMessage(LOG_LEVEL_DEBUG,"Recieved new data from %s %d %d: %s",object_address_name[iIndex],object_udp_port[iIndex],recievedNewData,buffer); + LogMessage(LOG_LEVEL_DEBUG,"Recieved new data from %s %d %d: %s",object_address_name[iIndex],object_udp_port[iIndex],receivedMONRData,buffer); - if(buffer[0] == COMMAND_TOM_CODE) + if (buffer[0] == COMMAND_TOM_CODE) { for(i = 0; i < TriggerActionCount; i ++) { @@ -467,9 +466,11 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { - // Send MONR message on new byte format - //LogMessage(LOG_LEVEL_INFO, "Sending raw MONR message"); - if(iCommSend(COMM_MONR, buffer, COMMAND_MONR_MESSAGE_LENGTH) < 0) + // Append IP to buffer + memcpy(&buffer[receivedMONRData], &safety_object_addr[iIndex].sin_addr.s_addr, sizeof(in_addr_t)); + + // Send MONR message as bytes + if(iCommSend(COMM_MONR, buffer, (size_t)(receivedMONRData) + sizeof(in_addr_t)) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONR command - entering error state"); vSetState(&OBCState,OBC_STATE_ERROR); From 366db3335a29c4058829e780cf3795331ed5a750 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 09:58:59 +0200 Subject: [PATCH 214/730] Added new struct typedef for MONR+IP to not interfere with ISO part --- server/inc/util.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index ba1d72587..377c2cfac 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -427,6 +427,11 @@ typedef struct U8 ErrorStatusU8; } MONRType; //41 bytes +typedef struct +{ + MONRType MONR; + in_addr_t ClientIP; +} MonitorDataType; typedef struct { From 836483186e4d7ead134992bade334ecb583feda6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 10:06:33 +0200 Subject: [PATCH 215/730] Started using new type for monr+ip --- server/inc/util.h | 2 +- server/src/util.c | 60 ++++++++++++++++++++++++++--------------------- 2 files changed, 34 insertions(+), 28 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 377c2cfac..c42c365ec 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -805,7 +805,7 @@ I32 UtilISOBuildTRAJMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *H I32 UtilISOBuildTRAJMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); I32 UtilISOBuildTRAJInfo(C8* MessageBuffer, TRAJInfoType *TRAJInfoData, U8 debug); -I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 debug); +I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataType *monitorData, U8 debug); typedef struct { uint64_t timestamp; diff --git a/server/src/util.c b/server/src/util.c index 3771c36b2..dcc7cbbec 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3008,7 +3008,7 @@ I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) * \param debug Boolean enabling debug printouts * \return -1 on failure, 0 on success */ -I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 debug) +I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataType *monitorData, U8 debug) { // TODO: size of rawMONR U16 Crc = 0, U16Data = 0; @@ -3017,91 +3017,97 @@ I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 d I32 I32Data = 0; U64 U64Data = 0; C8 *rdPtr = rawMONR; // Pointer to keep track of where in rawMONR we are currently reading + in_addr_t IPData = 0; - if (rawMONRsize < sizeof (MONRType)) + if (rawMONRsize < sizeof(MonitorDataType)) { LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data"); return -1; } memcpy(&U16Data, rdPtr, sizeof(U16Data)); - MONR->Header.SyncWordU16 = U16Data; + monitorData->MONR.Header.SyncWordU16 = U16Data; rdPtr += sizeof(U16Data); U16Data = 0; - MONR->Header.TransmitterIdU8 = *(rdPtr++); - MONR->Header.MessageCounterU8 = *(rdPtr++); - MONR->Header.AckReqProtVerU8 = *(rdPtr++); + monitorData->MONR.Header.TransmitterIdU8 = *(rdPtr++); + monitorData->MONR.Header.MessageCounterU8 = *(rdPtr++); + monitorData->MONR.Header.AckReqProtVerU8 = *(rdPtr++); memcpy(&U16Data, rdPtr, sizeof(U16Data)); - MONR->Header.MessageIdU16 = U16Data; + monitorData->MONR.Header.MessageIdU16 = U16Data; rdPtr += sizeof(U16Data); U16Data = 0; memcpy(&U32Data, rdPtr, sizeof(U32Data)); - MONR->Header.MessageLengthU32 = U32Data; + monitorData->MONR.Header.MessageLengthU32 = U32Data; rdPtr += sizeof(U32Data); U32Data = 0; memcpy(&U32Data, rdPtr, sizeof(U32Data)); - MONR->GPSSOWU32 = U32Data; + monitorData->MONR.GPSSOWU32 = U32Data; rdPtr += sizeof(U32Data); U32Data = 0; memcpy(&I32Data, rdPtr, sizeof(I32Data)); - MONR->XPositionI32 = I32Data; + monitorData->MONR.XPositionI32 = I32Data; rdPtr += sizeof(I32Data); I32Data = 0; memcpy(&I32Data, rdPtr, sizeof(I32Data)); - MONR->YPositionI32 = I32Data; + monitorData->MONR.YPositionI32 = I32Data; rdPtr += sizeof(I32Data); I32Data = 0; memcpy(&I32Data, rdPtr, sizeof(I32Data)); - MONR->ZPositionI32 = I32Data; + monitorData->MONR.ZPositionI32 = I32Data; rdPtr += sizeof(I32Data); I32Data = 0; memcpy(&U16Data, rdPtr, sizeof(U16Data)); - MONR->HeadingU16 = U16Data; + monitorData->MONR.HeadingU16 = U16Data; rdPtr += sizeof(U16Data); U16Data = 0; memcpy(&I16Data, rdPtr, sizeof(I16Data)); - MONR->LongitudinalSpeedI16 = I16Data; + monitorData->MONR.LongitudinalSpeedI16 = I16Data; rdPtr += sizeof(I16Data); I16Data = 0; memcpy(&I16Data, rdPtr, sizeof(I16Data)); - MONR->LateralSpeedI16 = I16Data; + monitorData->MONR.LateralSpeedI16 = I16Data; rdPtr += sizeof(I16Data); I16Data = 0; memcpy(&I16Data, rdPtr, sizeof(I16Data)); - MONR->LongitudinalAccI16 = I16Data; + monitorData->MONR.LongitudinalAccI16 = I16Data; rdPtr += sizeof(I16Data); I16Data = 0; memcpy(&I16Data, rdPtr, sizeof(I16Data)); - MONR->LateralAccI16 = I16Data; + monitorData->MONR.LateralAccI16 = I16Data; rdPtr += sizeof(I16Data); I16Data = 0; - MONR->DriveDirectionU8 = *(rdPtr++); - MONR->StateU8 = *(rdPtr++); - MONR->ReadyToArmU8 = *(rdPtr++); - MONR->ErrorStatusU8 = *(rdPtr++); + monitorData->MONR.DriveDirectionU8 = *(rdPtr++); + monitorData->MONR.StateU8 = *(rdPtr++); + monitorData->MONR.ReadyToArmU8 = *(rdPtr++); + monitorData->MONR.ErrorStatusU8 = *(rdPtr++); + + memcpy(&IPData, rdPtr, sizeof(IPData)); + monitorData->ClientIP = IPData; + rdPtr += sizeof(IPData); + IPData = 0; if(debug == 1) { LogPrint("MONR:"); - LogPrint("SyncWord = %d", MONR->Header.SyncWordU16); - LogPrint("TransmitterId = %d", MONR->Header.TransmitterIdU8); - LogPrint("PackageCounter = %d", MONR->Header.MessageCounterU8); - LogPrint("AckReq = %d", MONR->Header.AckReqProtVerU8); - LogPrint("MessageLength = %d", MONR->Header.MessageLengthU32); - LogPrint("GPSSOW = %u",MONR->GPSSOWU32); + LogPrint("SyncWord = %d", monitorData->MONR.Header.SyncWordU16); + LogPrint("TransmitterId = %d", monitorData->MONR.Header.TransmitterIdU8); + LogPrint("PackageCounter = %d", monitorData->MONR.Header.MessageCounterU8); + LogPrint("AckReq = %d", monitorData->MONR.Header.AckReqProtVerU8); + LogPrint("MessageLength = %d", monitorData->MONR.Header.MessageLengthU32); + LogPrint("GPSSOW = %u",monitorData->MONR.GPSSOWU32); } return 0; From 4fbcb91b4151ee298b2f5e3d31e06c35ab200255 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 10:09:35 +0200 Subject: [PATCH 216/730] Fixed usage of new monr type for supervision --- server/src/supervision.c | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index db7c4d20d..837c698be 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -52,7 +52,7 @@ typedef struct -- Function declarations. ------------------------------------------------------------*/ -int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences); +int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences); int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof); int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence); @@ -68,7 +68,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus - MONRType MONRMessage; + MonitorDataType MONRMessage; unsigned int numberOfGeofences = 0; GeofenceType *geofenceArray = NULL; @@ -113,7 +113,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Ignore old style MONR data break; case COMM_MONR: - UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); + UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); // TODO: react to output from SupervisionCheckGeofences SupervisionCheckGeofences(MONRMessage, geofenceArray, numberOfGeofences); @@ -299,9 +299,9 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ * \param numberOfGeofences Length of struct array * \return 1 if MONR coordinate violates a geofence, 0 if not. -1 on error */ -int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences) +int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences) { - const CartesianPosition monrPoint = {MONRdata.XPositionI32/1000.0, MONRdata.YPositionI32/1000.0, MONRdata.ZPositionI32/1000.0, 0.0}; + const CartesianPosition monrPoint = {MONRdata.MONR.XPositionI32/1000.0, MONRdata.MONR.YPositionI32/1000.0, MONRdata.MONR.ZPositionI32/1000.0, 0.0}; char isInPolygon = 0; int retval = 0; @@ -323,9 +323,9 @@ int SupervisionCheckGeofences(MONRType MONRdata, GeofenceType *geofences, unsign else { if (geofences[i].isPermitted) - LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is outside a permitted area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); + LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is outside a permitted area %s", MONRdata.MONR.Header.TransmitterIdU8, geofences[i].name); else - LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is inside a forbidden area %s", MONRdata.Header.TransmitterIdU8, geofences[i].name); + LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is inside a forbidden area %s", MONRdata.MONR.Header.TransmitterIdU8, geofences[i].name); retval = 1; } From 5143ebd8e223fc8d55c2fa29ad06fcb8ba430409 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 10:44:46 +0200 Subject: [PATCH 217/730] Fixed recvdata only returning empty data reads --- server/src/objectcontrol.c | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 9777ce0c4..2a791789d 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -159,7 +159,7 @@ static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); -static ssize_t uiRecvMonitor(int* sockfd, char* buffer, size_t length); +static size_t uiRecvMonitor(int* sockfd, char* buffer, size_t length); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -392,7 +392,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED) { char buffer[RECV_MESSAGE_BUFFER]; - ssize_t receivedMONRData = 0; + size_t receivedMONRData = 0; // this is etsi time lets remov it ans use utc instead //gettimeofday(&CurrentTimeStruct, NULL); @@ -2614,10 +2614,12 @@ int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendDa } -static ssize_t uiRecvMonitor(int* sockfd, char* buffer, size_t length) +static size_t uiRecvMonitor(int* sockfd, char* buffer, size_t length) { ssize_t result = 0; + size_t recvDataSize = 0; + // Read until receive buffer is empty, return last read message do { result = recv(*sockfd, buffer, length, 0); @@ -2631,11 +2633,12 @@ static ssize_t uiRecvMonitor(int* sockfd, char* buffer, size_t length) } else { + recvDataSize = (size_t)(result); LogMessage(LOG_LEVEL_DEBUG,"Received: <%s>",buffer); } } while(result > 0 ); - return result; + return recvDataSize; } void vFindObjectsInfo(char object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], char object_address_name[MAX_OBJECTS][MAX_FILE_PATH], int* nbr_objects) From f103ba663bc7dc50c4c51f7b12a85cdc0023e243 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 10:59:10 +0200 Subject: [PATCH 218/730] Added CRC to MONR type --- server/inc/util.h | 1 + server/src/util.c | 5 +++++ 2 files changed, 6 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index c42c365ec..8bcc14e8c 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -425,6 +425,7 @@ typedef struct U8 StateU8; U8 ReadyToArmU8; U8 ErrorStatusU8; + U16 CRC; } MONRType; //41 bytes typedef struct diff --git a/server/src/util.c b/server/src/util.c index dcc7cbbec..ce86a065d 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3094,6 +3094,11 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy monitorData->MONR.ReadyToArmU8 = *(rdPtr++); monitorData->MONR.ErrorStatusU8 = *(rdPtr++); + memcpy(&U16Data, rdPtr, sizeof(U16Data)); + monitorData->MONR.CRC = U16Data; + rdPtr += sizeof(U16Data); + U16Data = 0; + memcpy(&IPData, rdPtr, sizeof(IPData)); monitorData->ClientIP = IPData; rdPtr += sizeof(IPData); From d78565e4dacce5c52172701bd1a660031b6f926b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 11:19:13 +0200 Subject: [PATCH 219/730] Added three default geofences covering the garage open area --- server/geofence/GaragePlanForbidden.geofence | 6 ++++++ server/geofence/HalvaGarageplanPermitted.geofence | 6 ++++++ server/geofence/LitenGarageplanForbidden.geofence | 6 ++++++ 3 files changed, 18 insertions(+) create mode 100644 server/geofence/GaragePlanForbidden.geofence create mode 100644 server/geofence/HalvaGarageplanPermitted.geofence create mode 100644 server/geofence/LitenGarageplanForbidden.geofence diff --git a/server/geofence/GaragePlanForbidden.geofence b/server/geofence/GaragePlanForbidden.geofence new file mode 100644 index 000000000..137769e3c --- /dev/null +++ b/server/geofence/GaragePlanForbidden.geofence @@ -0,0 +1,6 @@ +GEOFENCE;GaragePlanForbidden;4;forbidden;0;100; +LINE;-82.0383;112.069;ENDLINE; +LINE;-7.44789;-84.8466;ENDLINE; +LINE;148.225;-26.5776;ENDLINE; +LINE;73.6289;143.359;ENDLINE; +ENDGEOFENCE; diff --git a/server/geofence/HalvaGarageplanPermitted.geofence b/server/geofence/HalvaGarageplanPermitted.geofence new file mode 100644 index 000000000..dcf0e8e24 --- /dev/null +++ b/server/geofence/HalvaGarageplanPermitted.geofence @@ -0,0 +1,6 @@ +GEOFENCE;HalvaGarageplanPermitted;4;permitted;0;100; +LINE;2.82226;52.725;ENDLINE; +LINE;17.9571;3.09195;ENDLINE; +LINE;108.225;28.4495;ENDLINE; +LINE;87.1429;81.3187;ENDLINE; +ENDGEOFENCE; diff --git a/server/geofence/LitenGarageplanForbidden.geofence b/server/geofence/LitenGarageplanForbidden.geofence new file mode 100644 index 000000000..43f8c294b --- /dev/null +++ b/server/geofence/LitenGarageplanForbidden.geofence @@ -0,0 +1,6 @@ +GEOFENCE;LitenGarageplanForbidden;4;forbidden;0;100; +LINE;38.4977;-51.9367;ENDLINE; +LINE;70.9295;-39.5277;ENDLINE; +LINE;49.8483;-3.92121;ENDLINE; +LINE;24.4435;-12.0139;ENDLINE; +ENDGEOFENCE; From 2f4597315785805eb7d22f2028f1f4977dd35914 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 12:17:26 +0200 Subject: [PATCH 220/730] Fixed error where . and .. directories would be interpreted as geofence files --- server/src/supervision.c | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index db7c4d20d..285285789 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -76,7 +76,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; (void)iCommInit(); - LogInit(MODULE_NAME,LOG_LEVEL_INFO); + LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); while(!iExit) @@ -188,6 +188,10 @@ int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof){ { LogMessage(LOG_LEVEL_WARNING, "File <%s> is not a valid .geofence file", pDirent->d_name); } + else if (strcmp(pDirent->d_name,".") == 0 || strcmp(pDirent->d_name,"..") == 0) + { + LogMessage(LOG_LEVEL_DEBUG, "Ignored <%s>",pDirent->d_name); + } else { if(parseGeofenceFile(pDirent->d_name, (*geofences)+n) == -1) @@ -195,6 +199,7 @@ int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof){ closedir(pDir); return -1; } + LogMessage(LOG_LEVEL_DEBUG, "Loaded geofence with %u vertices", geofences[n]->numberOfPoints); n++; } } @@ -273,6 +278,10 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ ptr = strtok(NULL, delim); geofence->polygonPoints[lineCount].yCoord_m = atof(ptr); + LogMessage(LOG_LEVEL_DEBUG,"Point: (%.3f, %.3f)", + geofence->polygonPoints[lineCount].xCoord_m, + geofence->polygonPoints[lineCount].yCoord_m); + lineCount++; } ptr = strtok(NULL, delim); From 28d2dd5231f047b66820521689a885d72da357a7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 12:18:53 +0200 Subject: [PATCH 221/730] Reset the log level --- server/src/supervision.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 285285789..fbbffbe36 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -76,7 +76,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; (void)iCommInit(); - LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); + LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); while(!iExit) From 3458c3c0b5245667785ec123e5861a88f6faedae Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 13:16:36 +0200 Subject: [PATCH 222/730] Fixed debug printout pointer nightmare which was causing an error --- server/src/supervision.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index fbbffbe36..fbc737cca 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -197,9 +197,10 @@ int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof){ if(parseGeofenceFile(pDirent->d_name, (*geofences)+n) == -1) { closedir(pDir); + LogMessage(LOG_LEVEL_ERROR, "Error parsing file <%s>", pDirent->d_name); return -1; } - LogMessage(LOG_LEVEL_DEBUG, "Loaded geofence with %u vertices", geofences[n]->numberOfPoints); + LogMessage(LOG_LEVEL_DEBUG, "Loaded geofence with %u vertices", (*geofences)[n].numberOfPoints); n++; } } From fc14f0d387139c9c0155f21ee0e73ac6f30a0b16 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 14:15:49 +0200 Subject: [PATCH 223/730] Modified state reports to run on a timer instead of an incremented counter --- server/src/objectcontrol.c | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 3d56d1a3e..d210e010b 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -29,6 +29,7 @@ #include #include "timecontrol.h" #include "datadictionary.h" +#include "maestroTime.h" /*------------------------------------------------------------ @@ -46,7 +47,8 @@ #define TASK_PERIOD_MS 1 #define HEARTBEAT_TIME_MS 10 -#define OBC_STATE_REPORT_PERIOD_MS 1000 +#define OBC_STATE_REPORT_PERIOD_S 1 +#define OBC_STATE_REPORT_PERIOD_US 0 #define OBJECT_CONTROL_CONTROL_MODE 0 #define OBJECT_CONTROL_REPLAY_MODE 1 #define OBJECT_CONTROL_ABORT_MODE 1 @@ -232,6 +234,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) C8 MessageBuffer[BUFFER_SIZE_3100]; int iIndex = 0, i=0; struct timespec sleep_time, ref_time; + struct timeval currentTime, nextStateReportTime; + const struct timeval stateReportInterval = {OBC_STATE_REPORT_PERIOD_S, OBC_STATE_REPORT_PERIOD_US}; U8 iForceObjectToLocalhostU8 = 0; FILE *fd; @@ -314,7 +318,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) OBCState_t state = vInitializeState(OBC_STATE_IDLE, GSD); U8 uiTimeCycle = 0; - U32 stateKeepAliveTimeCounter = 0; int ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; C8 Buffer2[SMALL_BUFFER_SIZE_1]; @@ -349,6 +352,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (iCommInit()) util_error("Unable to connect to message queue bus"); + // Initialize timer for sending state + TimeSetToCurrentSystemTime(¤tTime); + nextStateReportTime = currentTime; + while(!iExit) { state = vGetState(GSD); @@ -1174,9 +1181,12 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } // Periodically send state to signal aliveness - if (++stateKeepAliveTimeCounter >= OBC_STATE_REPORT_PERIOD_MS/TASK_PERIOD_MS) + TimeSetToCurrentSystemTime(¤tTime); + if (timercmp(¤tTime, &nextStateReportTime, >)) { - stateKeepAliveTimeCounter = 0; + timeradd(&nextStateReportTime, &stateReportInterval, + &nextStateReportTime); + state = vGetState(GSD); bzero(Buffer2, sizeof(Buffer2)); Buffer2[0] = (uint8_t)(DataDictionaryGetOBCStateU8(GSD)); From 4f8dbe18a4c3baea0465af040e3d6e35b5a7736c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 14:18:53 +0200 Subject: [PATCH 224/730] Added a comment --- server/src/objectcontrol.c | 3 +++ 1 file changed, 3 insertions(+) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d210e010b..d3efa7c25 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -234,8 +234,11 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) C8 MessageBuffer[BUFFER_SIZE_3100]; int iIndex = 0, i=0; struct timespec sleep_time, ref_time; + + /*! Timers for reporting state over message bus */ struct timeval currentTime, nextStateReportTime; const struct timeval stateReportInterval = {OBC_STATE_REPORT_PERIOD_S, OBC_STATE_REPORT_PERIOD_US}; + U8 iForceObjectToLocalhostU8 = 0; FILE *fd; From 78fb50e0dca3291f3fc35f503f15324d5c019130 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 18 Jun 2019 15:06:29 +0200 Subject: [PATCH 225/730] Made systemcontrol get Object Control state from datadictionary since COMM_OBC_STATE is now used less often --- server/src/systemcontrol.c | 40 ++++++++++++++++++-------------------- 1 file changed, 19 insertions(+), 21 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 79cd355ec..3149bc099 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -190,6 +190,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 RVSSChannelSocket; ServerState_t server_state = SERVER_STATE_UNDEFINED; + OBCState_t objectControlState = OBC_STATE_UNDEFINED; SystemControlCommand_t SystemControlCommand = Idle_0; SystemControlCommand_t PreviousSystemControlCommand = Idle_0; @@ -228,7 +229,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) U64 OldTimeU64 = 0; U64 PollRateU64 = 0; C8 ControlResponseBuffer[SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE]; - U8 OBCStateU8; C8 UserControlIPC8[SMALL_BUFFER_SIZE_20]; struct timeval now; U16 MilliU16 = 0, NowU16 = 0; @@ -474,6 +474,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } + objectControlState = DataDictionaryGetOBCStateU8(GSD); + if(server_state == SERVER_STATE_INWORK) { if(SystemControlCommand == AbortScenario_0) @@ -482,7 +484,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else if(SystemControlCommand == GetServerStatus_0) { - LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s, PreviousCommand: %s", SystemControlStatesArr[server_state], SystemControlOBCStatesArr[OBCStateU8], SystemControlCommandsArr[PreviousSystemControlCommand]); + LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s, PreviousCommand: %s", SystemControlStatesArr[server_state], SystemControlOBCStatesArr[objectControlState], SystemControlCommandsArr[PreviousSystemControlCommand]); bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); ControlResponseBuffer[0] = server_state; ControlResponseBuffer[1] = DataDictionaryGetOBCStateU8(GSD);//OBCStateU8; @@ -502,11 +504,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(pcRecvBuffer,SC_RECV_MESSAGE_BUFFER); iCommRecv(&iCommand,pcRecvBuffer,SC_RECV_MESSAGE_BUFFER,NULL); - if (iCommand == COMM_OBC_STATE) - { - OBCStateU8 = (U8)*pcRecvBuffer; - } - else if(iCommand == COMM_LOG) + if(iCommand == COMM_LOG) { SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); } @@ -519,7 +517,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); } } - + switch(SystemControlCommand) { // can you access GetServerParameterList_0, GetServerParameter_1, SetServerParameter_2 and DISarmScenario and Exit from the GUI @@ -589,7 +587,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case GetServerStatus_0: - LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s, %d",SystemControlStatesArr[server_state], SystemControlOBCStatesArr[OBCStateU8], DataDictionaryGetOBCStateU8(GSD)); + LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s, %d",SystemControlStatesArr[server_state], SystemControlOBCStatesArr[objectControlState], DataDictionaryGetOBCStateU8(GSD)); SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); ControlResponseBuffer[0] = server_state; @@ -628,7 +626,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlSetServerParameter(GSD, SystemControlArgument[0], SystemControlArgument[1], 1); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SetServerParameter:", ControlResponseBuffer, 0, &ClientSocket, 0); - //Send COMM_DATA_DICT to notify to update data from DataDictionary + //Send COMM_DATA_DICT to notify to update data from DataDictionary iCommSend(COMM_DATA_DICT, ControlResponseBuffer, sizeof(ControlResponseBuffer)); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in SetServerParameter(Name, Value)!"); SystemControlCommand = Idle_0;} @@ -730,7 +728,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in PrepFileRx(path, filesize, packetsize)!"); SystemControlCommand = Idle_0;} break; case InitializeScenario_0: - if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "IDLE") != NULL) + if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_IDLE) { if (iCommSend(COMM_INIT, pcBuffer, strlen(pcBuffer)+1) < 0) { @@ -742,7 +740,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "InitializeScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] Sending INIT.\n", &ClientSocket, 0); } - else if(server_state == SERVER_STATE_INWORK && strstr(SystemControlOBCStatesArr[OBCStateU8], "INITIALIZED") != NULL) + else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_INITIALIZED) { SystemControlSendLog("[SystemControl] Simulate that all objects becomes successfully configured.\n", &ClientSocket, 0); SystemControlCommand = Idle_0; @@ -756,7 +754,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } break; case ConnectObject_0: - if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "INITIALIZED") != NULL) + if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_INITIALIZED) { if (iCommSend(COMM_CONNECT, pcBuffer, strlen(pcBuffer)+1) < 0) { @@ -768,7 +766,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "ConnectObject:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] Sending CONNECT.\n", &ClientSocket, 0); } - else if(server_state == SERVER_STATE_INWORK && strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL) + else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_CONNECTED) { SystemControlSendLog("[SystemControl] Simulate that all objects are connected.\n", &ClientSocket, 0); SystemControlCommand = Idle_0; @@ -802,7 +800,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } break; case ArmScenario_0: - if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL) + if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_CONNECTED) { bzero(pcBuffer, IPC_BUFFER_SIZE); server_state = SERVER_STATE_INWORK; @@ -816,7 +814,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "ArmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] Sending ARM.\n", &ClientSocket, 0); } - else if(server_state == SERVER_STATE_INWORK && strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL) + else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_ARMED) { SystemControlSendLog("[SystemControl] Simulate that all objects become armed.\n", &ClientSocket, 0); @@ -831,7 +829,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } break; case DisarmScenario_0: - if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL) + if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) { bzero(pcBuffer, IPC_BUFFER_SIZE); server_state = SERVER_STATE_IDLE; @@ -845,7 +843,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DisarmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] Sending DISARM.\n", &ClientSocket, 0); } - else if(server_state == SERVER_STATE_INWORK && strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL) + else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_CONNECTED) { SystemControlSendLog("[SystemControl] Simulate that all objects becomes disarmed.\n", &ClientSocket, 0); SystemControlCommand = Idle_0; @@ -861,7 +859,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case StartScenario_1: if(CurrentInputArgCount == CommandArgCount) { - if(server_state == SERVER_STATE_IDLE && strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL) //Temporary! + if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) //Temporary! { bzero(pcBuffer, IPC_BUFFER_SIZE); /* Lest use UTC time everywhere instead of etsi and gps time @@ -896,7 +894,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //server_state = SERVER_STATE_IDLE; //Temporary! //SystemControlCommand = Idle_0; //Temporary! } - else if(server_state == SERVER_STATE_INWORK && strstr(SystemControlOBCStatesArr[OBCStateU8], "RUNNING") != NULL) + else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_RUNNING) { SystemControlCommand = Idle_0; @@ -950,7 +948,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } break; case AbortScenario_0: - if(strstr(SystemControlOBCStatesArr[OBCStateU8], "RUNNING") != NULL + if(objectControlState == OBC_STATE_RUNNING /* || strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL * || strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL*/ ) // Abort should only be allowed in running state { From 31690d3f011476b17d5ff45c3ca9aa3c232d12a6 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Tue, 18 Jun 2019 16:48:35 +0200 Subject: [PATCH 226/730] Removed the running of cits module since it does not contribute with anything. --- server/src/main.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 862ede37a..f3b38b5f6 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -72,8 +72,8 @@ static const ModuleTask allModules[] = { supervision_task, supervisorcontrol_task, systemcontrol_task, - objectcontrol_task, - citscontrol_task + objectcontrol_task + //citscontrol_task }; static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); From 36a8bc1dc5b78e397cde72f4874ab0ee99b25b55 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 19 Jun 2019 09:17:53 +0200 Subject: [PATCH 227/730] Added masic switch case to handle icomm --- server/src/citscontrol.c | 34 ++++++++++++++++++++++++++++------ 1 file changed, 28 insertions(+), 6 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 986adb0c3..5dd7b65d8 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -52,19 +52,18 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus enum COMMAND command; + (void)iCommInit(); LogInit(MODULE_NAME,LOG_LEVEL_INFO); LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); - (void)iCommInit(); - - - - printf("Starting cits control...\n"); while(!iExit) { - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); + if (command == COMM_ABORT) + { + + } if(command == COMM_EXIT) { @@ -73,5 +72,28 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) (void)iCommClose(); } + switch (command) + { + case COMM_INIT: + + break; + case COMM_MONI: + // Ignore old style MONR data + break; + case COMM_MONR: + //TODO: CREATE CAM + + break; + case COMM_OBC_STATE: + break; + case COMM_CONNECT: + break; + case COMM_LOG: + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } } } From 2f0a72765c438787ad298ab6da9e96d32cc93266 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 19 Jun 2019 10:35:58 +0200 Subject: [PATCH 228/730] Added Generate Cam function --- server/src/citscontrol.c | 55 +++++++++++++++++++++++++++++++++++++++- 1 file changed, 54 insertions(+), 1 deletion(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 5dd7b65d8..24b9efa7b 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -39,7 +39,7 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ - +I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam); /*------------------------------------------------------------ @@ -97,3 +97,56 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } } + +I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ + + + TimeType time; + int something = 0; + CAMmessage tempCam; + UtilGetMillisecond(&time); + tempCam.header.generationTime = time.MillisecondU16; + tempCam.referencePosition.heading = MONRData->HeadingU16; + if(MONRData != NULL ){ + //lastSpeed = calcSpeed(lastHist, lastPos) + if(UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees) + >= D_THRESHOLD || tempCam.referencePosition.heading - lastCam->referencePosition.heading >= H_THRESHOLD //|| speed - lastCam >= S_THRESHOLD + ){ + lastCam->referencePosition.heading = tempCam.referencePosition.heading; + } + } + else{ + tempCam.referencePosition.latitude = lastCam->referencePosition.latitude; + tempCam.referencePosition.longitude = lastCam->referencePosition.longitude; + tempCam.referencePosition.heading = lastCam->referencePosition.heading; + } + if(tempCam.header.generationTime - lastCam->header.generationTime >= T_THRESHOLD){ + *lastCam = tempCam; + } + } + + /* PSEUDOCODE FOR CAM + while true do + time = System.getTime() + heading = calcHeading(pHist, p) + lastPos = lastPosition(pHist) + lastHist = pHist \ lastPos + lastHead = calcHeading(lastHist, lastPos) + speed = calcSpeed(pHist, p) + if p , null then + lastSpeed = calcSpeed(lastHist, lastPos) + if distance(p, lastCam.pos) ≥ D_THRESHOLD or |heading - lastCam.heading| ≥ H_THRESHOLD or |speed - lastCam.speed| ≥ S_THRESHOLD then + cam = newCam(time, p, heading, speed) + sendCam(cam) + lastCam = cam + pHist = pHist UNION p + else + p = lastPos + heading = lastHead + if time - lastCam.time ≥ T_THRESHOLD then + cam = newCam(time, p, heading, speed) + sendCam(cam) + lastCam = cam + System.wait(CHECK_PERIOD) + */ +} From 09f48f4aa0fa2937590c61d09560486edbb091b2 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 19 Jun 2019 10:38:52 +0200 Subject: [PATCH 229/730] Added CAM structs in util --- server/inc/util.h | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index ba1d72587..878a72db7 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -700,6 +700,44 @@ typedef struct { char UserAgent[HTTP_HEADER_MAX_LENGTH]; } HTTPHeaderContent; +typedef enum { + NORTHERN, + SOUTHERN +} Hemisphere; + + +typedef struct{ + U8 version; + U8 messageID; + U64 generationTime; +}CAMheader; + +typedef struct{ + U64 stationID; + bool mobileITSSTation; + bool privateITSStation; + bool physicalrelevantITSStation; +}CAMbody; + +typedef struct{ + Hemisphere hemisphere; + U32 degrees; +}CAMLogLat; + +typedef struct{ + CAMLogLat latitude; + CAMLogLat longitude; + I16 elevation; + U16 heading; +}CAMrefPos; + +typedef struct{ + CAMheader header; + CAMbody body; + CAMrefPos referencePosition; +} CAMmessage; + + /*------------------------------------------------------------ -- Function declarations. From fae2492cdefcf2ac38fbcc2b82466063cd31d897 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 19 Jun 2019 10:46:12 +0200 Subject: [PATCH 230/730] Added GetDistance function in util --- server/inc/util.h | 2 ++ server/src/citscontrol.c | 35 ++++++++++++++++++++++------------- server/src/util.c | 23 +++++++++++++++++++++++ 3 files changed, 47 insertions(+), 13 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 878a72db7..b2abd7b18 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -839,6 +839,8 @@ I32 UtilISOBuildTRAJMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMTy I32 UtilISOBuildTRAJInfo(C8* MessageBuffer, TRAJInfoType *TRAJInfoData, U8 debug); I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 debug); +double UtilGetDistance(double lat1, double lon1, double lat2, double lon2); + typedef struct { uint64_t timestamp; diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 24b9efa7b..c5e55c896 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -98,22 +98,31 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } +//TODO MOVE THESE DEFINITIONS TO CORRECT PLACE +#define H_THRESHOLD 10 +#define S_THRESHOLD 10 +#define T_THRESHOLD 10 +#define D_THRESHOLD 10 +#define CHECK_PERIOD 10 + I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ TimeType time; - int something = 0; + CAMmessage tempCam; - UtilGetMillisecond(&time); - tempCam.header.generationTime = time.MillisecondU16; - tempCam.referencePosition.heading = MONRData->HeadingU16; - if(MONRData != NULL ){ - //lastSpeed = calcSpeed(lastHist, lastPos) - if(UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees) - >= D_THRESHOLD || tempCam.referencePosition.heading - lastCam->referencePosition.heading >= H_THRESHOLD //|| speed - lastCam >= S_THRESHOLD - ){ - lastCam->referencePosition.heading = tempCam.referencePosition.heading; - } + + UtilGetMillisecond(&time); + tempCam.header.generationTime = time.MillisecondU16; + tempCam.referencePosition.heading = MONRData->HeadingU16; + + if(MONRData != NULL ){ + //lastSpeed = calcSpeed(lastHist, lastPos) + if(UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees) + >= D_THRESHOLD || tempCam.referencePosition.heading - lastCam->referencePosition.heading >= H_THRESHOLD //|| speed - lastCam >= S_THRESHOLD + ){ + lastCam->referencePosition.heading = tempCam.referencePosition.heading; + } } else{ tempCam.referencePosition.latitude = lastCam->referencePosition.latitude; @@ -127,8 +136,8 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ /* PSEUDOCODE FOR CAM while true do - time = System.getTime() - heading = calcHeading(pHist, p) + time = System.getTime() DONE + heading = calcHeading(pHist, p) DONE lastPos = lastPosition(pHist) lastHist = pHist \ lastPos lastHead = calcHeading(lastHist, lastPos) diff --git a/server/src/util.c b/server/src/util.c index 3771c36b2..cc5b51eb3 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3106,3 +3106,26 @@ I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 d return 0; } + +/*! + * \brief UtilgetDistance calculates the distance between two log lat positions usgin haversine formula. + * \param lat1 Latitude of first coordinate + * \param log1 Latitude of first coordinate + * \param lat2 Longitude of second coordinate + * \param log2 Longitude of second coordinate + * \return Distance + */ +double UtilGetDistance(double lat1, double lon1, double lat2, double lon2) { + int nRadius = 6371; // Earth's radius in Kilometers + + // Get the difference between our two points + // then convert the difference into radians + double nDLat = (lat2 - lat1) * (M_PI/180); + double nDLon = (lon2 - lon1) * (M_PI/180); + double nA = pow ( sin(nDLat/2), 2 ) + cos(lat1) * cos(lat2) * pow ( sin(nDLon/2), 2 ); + + double nC = 2 * atan2( sqrt(nA), sqrt( 1 - nA )); + double distance = nRadius * nC; + + return distance; // Return our calculated distance +} From cf1479b4be23b0f3389902c49f48756546c4027e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 19 Jun 2019 10:50:20 +0200 Subject: [PATCH 231/730] Fixed initialization skipping all but one parameter --- server/src/datadictionary.c | 50 ++++++++++++++++++------------------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index d00947d37..baaebda17 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -64,31 +64,31 @@ Initialization data that is configurable is stored in test.conf. */ ReadWriteAccess_t DataDictionaryConstructor(GSDType *GSD) { - ReadWriteAccess_t Res; - - Res = DataDictionaryInitOriginLatitudeDbl(GSD); - if(Res == READ_OK) Res = DataDictionaryInitOriginLongitudeDbl(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitOriginAltitudeDbl(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitVisualizationServerU32(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitForceToLocalhostU8(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitASPMaxTimeDiffDbl(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitASPMaxTrajDiffDbl(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitASPStepBackCountU32(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitASPFilterLevelDbl(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitASPMaxDeltaTimeDbl(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitTimeServerIPU32(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitTimeServerPortU16(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitSimulatorIPU32(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitSimulatorTCPPortU16(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitSimulatorUDPPortU16(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitSimulatorModeU8(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitVOILReceiversC8(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitDTMReceiversC8(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitExternalSupervisorIPU32(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitRVSSConfigU32(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitRVSSRateU8(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitSupervisorTCPPortU16(GSD); - else if(Res == READ_OK) Res = DataDictionaryInitMiscDataC8(GSD); + ReadWriteAccess_t Res = READ_OK; + + Res = Res == READ_OK ? DataDictionaryInitOriginLatitudeDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitOriginLongitudeDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitOriginAltitudeDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitVisualizationServerU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitForceToLocalhostU8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPMaxTimeDiffDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPMaxTrajDiffDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPStepBackCountU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPFilterLevelDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPMaxDeltaTimeDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitTimeServerIPU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitTimeServerPortU16(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSimulatorIPU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSimulatorTCPPortU16(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSimulatorUDPPortU16(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSimulatorModeU8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitVOILReceiversC8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitDTMReceiversC8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitExternalSupervisorIPU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitRVSSConfigU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitRVSSRateU8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSupervisorTCPPortU16(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitMiscDataC8(GSD) : Res; DataDictionarySetOBCStateU8(GSD, OBC_STATE_UNDEFINED); From 7741d7ffaf22734cbae72c1be4f9b9ad7c2a9210 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 19 Jun 2019 10:51:38 +0200 Subject: [PATCH 232/730] Added crash if dataDictionary initialization unsuccessful. Also moved log initialization earlier so that datadict can log messages --- server/src/main.c | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 25e07e188..feb0c04c9 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -95,6 +95,7 @@ int main(int argc, char *argv[]) Options options; pid_t pID[numberOfModules]; char moduleExitStatus[numberOfModules]; + ReadWriteAccess_t dataDictInitResult = UNDEFINED; if (readArgumentList(argc, argv, &options)) exit(EXIT_FAILURE); @@ -107,15 +108,18 @@ int main(int argc, char *argv[]) GSD->ScenarioStartTimeU32 = 0; GPSTime->isTimeInitializedU8 = 0; - LogMessage(LOG_LEVEL_INFO,"Initializing data dictionary"); - DataDictionaryConstructor(GSD); - // Initialise log LogInit(MODULE_NAME, options.commonLogLevel); LogPrint("Version %s", MaestroVersion); LogMessage(LOG_LEVEL_INFO, "Central started"); LogMessage(LOG_LEVEL_DEBUG, "Verbose mode enabled"); + // Initialise data dictionary + LogMessage(LOG_LEVEL_INFO,"Initializing data dictionary"); + dataDictInitResult = DataDictionaryConstructor(GSD); + if (dataDictInitResult != READ_OK && dataDictInitResult != READ_WRITE_OK) + util_error("Unable to initialize shared memory space"); + // Initialise message queue bus if(initializeMessageQueueBus()) exit(EXIT_FAILURE); From f5ef8b4e1652f4386cfdf047914e7310333c2950 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 19 Jun 2019 10:54:10 +0200 Subject: [PATCH 233/730] Updated if statement for readability --- server/src/citscontrol.c | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index c5e55c896..aac9dfa12 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -118,11 +118,13 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ if(MONRData != NULL ){ //lastSpeed = calcSpeed(lastHist, lastPos) - if(UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees) - >= D_THRESHOLD || tempCam.referencePosition.heading - lastCam->referencePosition.heading >= H_THRESHOLD //|| speed - lastCam >= S_THRESHOLD - ){ + + double distanceDelta = UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees); + U16 headingDelta = tempCam.referencePosition.heading - lastCam->referencePosition.heading + U16 speedDelta = sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (MONRData->LateralAccI16*MONRData->LateralAccI16); + + if( distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD || speedDelta >= S_THRESHOLD){ lastCam->referencePosition.heading = tempCam.referencePosition.heading; - } } else{ tempCam.referencePosition.latitude = lastCam->referencePosition.latitude; From d18d38e8519b0794e315d96992139502f83c6f40 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 19 Jun 2019 11:00:17 +0200 Subject: [PATCH 234/730] Included boolbool # --- server/inc/util.h | 2 +- server/src/citscontrol.c | 10 ++++++---- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index b2abd7b18..a5d29f702 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -19,7 +19,7 @@ #include #include #include - +#include #include #include #include diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index aac9dfa12..81cf54831 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -51,6 +51,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus enum COMMAND command; + MONRType MONRMessage; + CAMmessage lastCam; (void)iCommInit(); LogInit(MODULE_NAME,LOG_LEVEL_INFO); @@ -82,6 +84,10 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_MONR: //TODO: CREATE CAM + UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); + + + GenerateCamMessage(&MONRMessage, &lastCam); break; case COMM_OBC_STATE: @@ -107,9 +113,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ - TimeType time; - CAMmessage tempCam; UtilGetMillisecond(&time); @@ -117,8 +121,6 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ tempCam.referencePosition.heading = MONRData->HeadingU16; if(MONRData != NULL ){ - //lastSpeed = calcSpeed(lastHist, lastPos) - double distanceDelta = UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees); U16 headingDelta = tempCam.referencePosition.heading - lastCam->referencePosition.heading U16 speedDelta = sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (MONRData->LateralAccI16*MONRData->LateralAccI16); From 58d0ee95ca35c6d2ead81b3436dd3a76dc58ced9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 19 Jun 2019 12:27:54 +0200 Subject: [PATCH 235/730] Update util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 0a104bd70..63e3faec5 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 0a104bd70031defc96d692b35b63446ae3d77953 +Subproject commit 63e3faec5f014d71337b45b1b5540f180cb4d59b From c5f142d9f5e2834749eeb8d664b33db746dff3d4 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 19 Jun 2019 12:29:03 +0200 Subject: [PATCH 236/730] Connected module to server --- server/src/citscontrol.c | 50 +++++++++++----------------------------- server/src/main.c | 4 ++-- 2 files changed, 15 insertions(+), 39 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 81cf54831..aaaefb966 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -105,11 +105,11 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } //TODO MOVE THESE DEFINITIONS TO CORRECT PLACE -#define H_THRESHOLD 10 -#define S_THRESHOLD 10 -#define T_THRESHOLD 10 -#define D_THRESHOLD 10 -#define CHECK_PERIOD 10 +#define H_THRESHOLD 1 +#define S_THRESHOLD 1 +#define T_THRESHOLD 1 +#define D_THRESHOLD 1 +#define CHECK_PERIOD 1 I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ @@ -120,46 +120,22 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ tempCam.header.generationTime = time.MillisecondU16; tempCam.referencePosition.heading = MONRData->HeadingU16; + + printf("Generating CAM..\n"); + if(MONRData != NULL ){ double distanceDelta = UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees); - U16 headingDelta = tempCam.referencePosition.heading - lastCam->referencePosition.heading + U16 headingDelta = tempCam.referencePosition.heading - lastCam->referencePosition.heading; U16 speedDelta = sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (MONRData->LateralAccI16*MONRData->LateralAccI16); if( distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD || speedDelta >= S_THRESHOLD){ - lastCam->referencePosition.heading = tempCam.referencePosition.heading; - } - else{ - tempCam.referencePosition.latitude = lastCam->referencePosition.latitude; - tempCam.referencePosition.longitude = lastCam->referencePosition.longitude; - tempCam.referencePosition.heading = lastCam->referencePosition.heading; + printf("\"Sending\" CAM..\n"); + *lastCam = tempCam; } + if(tempCam.header.generationTime - lastCam->header.generationTime >= T_THRESHOLD){ + printf("\"Sending\" CAM..\n"); *lastCam = tempCam; } } - - /* PSEUDOCODE FOR CAM - while true do - time = System.getTime() DONE - heading = calcHeading(pHist, p) DONE - lastPos = lastPosition(pHist) - lastHist = pHist \ lastPos - lastHead = calcHeading(lastHist, lastPos) - speed = calcSpeed(pHist, p) - if p , null then - lastSpeed = calcSpeed(lastHist, lastPos) - if distance(p, lastCam.pos) ≥ D_THRESHOLD or |heading - lastCam.heading| ≥ H_THRESHOLD or |speed - lastCam.speed| ≥ S_THRESHOLD then - cam = newCam(time, p, heading, speed) - sendCam(cam) - lastCam = cam - pHist = pHist UNION p - else - p = lastPos - heading = lastHead - if time - lastCam.time ≥ T_THRESHOLD then - cam = newCam(time, p, heading, speed) - sendCam(cam) - lastCam = cam - System.wait(CHECK_PERIOD) - */ } diff --git a/server/src/main.c b/server/src/main.c index f3b38b5f6..862ede37a 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -72,8 +72,8 @@ static const ModuleTask allModules[] = { supervision_task, supervisorcontrol_task, systemcontrol_task, - objectcontrol_task - //citscontrol_task + objectcontrol_task, + citscontrol_task }; static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); From e8d72b9f8a0e1bf9fb182b4dca814f3b28c0cb38 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 19 Jun 2019 12:51:29 +0200 Subject: [PATCH 237/730] Added switch case for handling message bus messages. Also added sleep time 0 if a message was received on message bus in systemcontrol --- server/src/systemcontrol.c | 40 +++++++++++++++++++++++--------------- 1 file changed, 24 insertions(+), 16 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index d8e1e1cb6..3cc275254 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -108,6 +108,11 @@ typedef enum { #define REMOVE_FILE 1 #define KEEP_FILE 0 +// Time intervals for sleeping when no message bus message was received and for when one was received +#define SC_SLEEP_TIME_EMPTY_MQ_S 0 +#define SC_SLEEP_TIME_EMPTY_MQ_NS 10000000 +#define SC_SLEEP_TIME_NONEMPTY_MQ_S 0 +#define SC_SLEEP_TIME_NONEMPTY_MQ_NS 0 typedef enum { @@ -227,6 +232,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) ServiceSessionType SessionData; C8 RemoteServerRxData[1024]; struct timespec sleep_time, ref_time; + const struct timespec mqEmptyPollPeriod = {SC_SLEEP_TIME_EMPTY_MQ_S, SC_SLEEP_TIME_EMPTY_MQ_NS}; + const struct timespec mqNonEmptyPollPeriod = {SC_SLEEP_TIME_NONEMPTY_MQ_S, SC_SLEEP_TIME_NONEMPTY_MQ_NS}; struct timeval CurrentTimeStruct; U64 CurrentTimeU64 = 0; U64 TimeDiffU64 = 0; @@ -498,22 +505,26 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(pcRecvBuffer,SC_RECV_MESSAGE_BUFFER); iCommRecv(&iCommand,pcRecvBuffer,SC_RECV_MESSAGE_BUFFER,NULL); - if (iCommand == COMM_OBC_STATE) + sleep_time = iCommand == COMM_INV ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; + + switch (iCommand) { + case COMM_OBC_STATE: OBCStateU8 = (U8)*pcRecvBuffer; - } - else if(iCommand == COMM_LOG) - { + break; + case COMM_LOG: SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); - } - - else if(iCommand == COMM_MONI){ - printf("Monr sys %s\n", pcRecvBuffer); - C8 data[strlen(pcRecvBuffer)]; - bzero(data, strlen(data)); - strcat(data, pcRecvBuffer); - - UtilSendUDPData("SystemControl", &ProcessChannelSocket, &ProcessChannelAddr, data, sizeof(data), 0); + break; + case COMM_MONR: + // TODO: Decode + break; + case COMM_MONI: + UtilSendUDPData("SystemControl", &ProcessChannelSocket, &ProcessChannelAddr, pcRecvBuffer, sizeof(pcRecvBuffer), 0); + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING,"Unhandled message bus command: %u",iCommand); } ++ProcessControlSendCounterU32; @@ -1063,9 +1074,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; } - - sleep_time.tv_sec = 0; - sleep_time.tv_nsec = 10000000; nanosleep(&sleep_time,&ref_time); From dab5106469278e467dcd2c6506823219836f22a9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 19 Jun 2019 13:00:03 +0200 Subject: [PATCH 238/730] Objectcontrol only sleeps when no more messages on bus --- server/src/objectcontrol.c | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index c2e180013..7a841f3df 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -44,6 +44,11 @@ #define BUFFER_SIZE_3100 3100 #define OBJECT_MESS_BUFFER_SIZE 1024 +#define OC_SLEEP_TIME_EMPTY_MQ_S 0 +#define OC_SLEEP_TIME_EMPTY_MQ_NS 1000000 +#define OC_SLEEP_TIME_NONEMPTY_MQ_S 0 +#define OC_SLEEP_TIME_NONEMPTY_MQ_NS 0 + #define TASK_PERIOD_MS 1 #define HEARTBEAT_TIME_MS 10 #define OBJECT_CONTROL_CONTROL_MODE 0 @@ -240,6 +245,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) C8 MessageBuffer[BUFFER_SIZE_3100]; int iIndex = 0, i=0; struct timespec sleep_time, ref_time; + const struct timespec mqEmptyPollPeriod = {OC_SLEEP_TIME_EMPTY_MQ_S, OC_SLEEP_TIME_EMPTY_MQ_NS}; + const struct timespec mqNonEmptyPollPeriod = {OC_SLEEP_TIME_NONEMPTY_MQ_S, OC_SLEEP_TIME_NONEMPTY_MQ_NS}; int iForceObjectToLocalhost = 0; FILE *fd; @@ -1170,8 +1177,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(!iExit) { /* Make call periodic */ - sleep_time.tv_sec = 0; - sleep_time.tv_nsec = TASK_PERIOD_MS*1000000; + sleep_time = iCommand == COMM_INV ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; ++uiTimeCycle; if(uiTimeCycle >= HEARTBEAT_TIME_MS/TASK_PERIOD_MS) From 513ffb608943becb86ae98a1a7216cee866b2c47 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 19 Jun 2019 13:03:58 +0200 Subject: [PATCH 239/730] Moved sleep time setting to be close to sleep function --- server/src/systemcontrol.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 3cc275254..5ba2831d4 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -505,8 +505,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(pcRecvBuffer,SC_RECV_MESSAGE_BUFFER); iCommRecv(&iCommand,pcRecvBuffer,SC_RECV_MESSAGE_BUFFER,NULL); - sleep_time = iCommand == COMM_INV ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; - switch (iCommand) { case COMM_OBC_STATE: @@ -1074,6 +1072,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; } + + sleep_time = iCommand == COMM_INV ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; nanosleep(&sleep_time,&ref_time); From 2f1983ef7ce10b6446f62da23ef8bed76ae861ef Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Wed, 19 Jun 2019 16:16:44 +0200 Subject: [PATCH 240/730] Updated CMakeLists.txt with mqtt-paho related build, which will not affect normal build of the server. --- .gitmodules | 3 +++ paho.mqtt.c | 1 + server/CMakeLists.txt | 25 +++++++++++++++++++++++-- 3 files changed, 27 insertions(+), 2 deletions(-) create mode 160000 paho.mqtt.c diff --git a/.gitmodules b/.gitmodules index 19db4e6d6..ff33f61ae 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "util"] path = util url = ../util.git +[submodule "paho.mqtt.c"] + path = paho.mqtt.c + url = https://github.com/RI-SE/paho.mqtt.c.git diff --git a/paho.mqtt.c b/paho.mqtt.c new file mode 160000 index 000000000..7e9b814bf --- /dev/null +++ b/paho.mqtt.c @@ -0,0 +1 @@ +Subproject commit 7e9b814bfb81d1edc32d8cef3594d5265ffb2395 diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 968d9d6b9..ec58d975a 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -11,6 +11,7 @@ include_directories(inc) include_directories(../util/C/logging) include_directories(../util/C/time) include_directories(../util/C/MQBus) +include_directories(../paho.mqtt.c/src) include(GNUInstallDirs) # Add logging library (hint at some locations) @@ -23,6 +24,19 @@ include(GNUInstallDirs) #add_library(MaestroLogging SHARED IMPORTED) #set_property(TARGET MaestroLogging PROPERTY IMPORTED_LOCATION ${MAESTRO_LOGGING_PATH}) +SET(USE_CITS FALSE CACHE BOOL "Flag to indicate the use of CITS.") + +# MQTT PAHO +if(USE_CITS) + find_package(OpenSSL REQUIRED) + find_library(paho-mqtt3c NAMES libpaho-mqtt3c.so REQUIRED) + add_library(pahomqtt3c SHARED IMPORTED) + set_property(TARGET pahomqtt3c PROPERTY IMPORTED_LOCATION ${paho-mqtt3c}) + add_library(cits + src/citscontrol.c + inc/citscontrol.h + ) +endif() # Create library add_library(MaestroLogging @@ -40,6 +54,8 @@ add_library(MQBus ../util/C/MQBus/mqbus.c ) + + # Create library add_library(util src/util.c @@ -71,14 +87,12 @@ add_executable(TEServer src/supervision.c src/systemcontrol.c src/timecontrol.c - src/citscontrol.c src/supervisorcontrol.c inc/logger.h inc/objectcontrol.h inc/supervision.h inc/systemcontrol.h inc/timecontrol.h - inc/citscontrol.h inc/supervisorcontrol.h ) @@ -94,4 +108,11 @@ target_link_libraries(util MaestroLogging MaestroTime MQBus) target_link_libraries(UserControl util objctrl MaestroLogging MaestroTime) target_link_libraries(TEServer util) + +if(USE_CITS) + target_link_libraries(cits pahomqtt3c) + target_link_libraries(TEServer cits) +endif() + + target_link_libraries(TEServer MaestroLogging MaestroTime MQBus) From 6ecd70d717b48f3e68c7dd3f945eddab11aee06e Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Wed, 19 Jun 2019 16:48:20 +0200 Subject: [PATCH 241/730] Removed unecessary include --- server/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index ec58d975a..facf61e1e 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -11,7 +11,6 @@ include_directories(inc) include_directories(../util/C/logging) include_directories(../util/C/time) include_directories(../util/C/MQBus) -include_directories(../paho.mqtt.c/src) include(GNUInstallDirs) # Add logging library (hint at some locations) From ce736d4f45d6ec8d4cf3b4cd81d5d8a814d802c3 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Wed, 19 Jun 2019 16:53:06 +0200 Subject: [PATCH 242/730] Removed Submodule, it has to be built on the computer system before using it. --- .gitmodules | 3 --- paho.mqtt.c | 1 - 2 files changed, 4 deletions(-) delete mode 160000 paho.mqtt.c diff --git a/.gitmodules b/.gitmodules index ff33f61ae..19db4e6d6 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,3 @@ [submodule "util"] path = util url = ../util.git -[submodule "paho.mqtt.c"] - path = paho.mqtt.c - url = https://github.com/RI-SE/paho.mqtt.c.git diff --git a/paho.mqtt.c b/paho.mqtt.c deleted file mode 160000 index 7e9b814bf..000000000 --- a/paho.mqtt.c +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 7e9b814bfb81d1edc32d8cef3594d5265ffb2395 From 40ec25ed557c91ef0dace777340e3d33931784d9 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Wed, 19 Jun 2019 16:54:41 +0200 Subject: [PATCH 243/730] Replaced the synchronous part with asynchronous. The module is not working properly and is currently just used to see if the module builds properly. --- server/src/citscontrol.c | 102 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 101 insertions(+), 1 deletion(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 986adb0c3..2aafbbcd7 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -27,21 +27,56 @@ #include #include +#include "MQTTClient.h" #include "citscontrol.h" + + #define CITS_CONTROL_CONF_FILE_PATH "conf/test.conf" #define CITS_CONTROL_BUFFER_SIZE_20 20 #define CITS_CONTROL_BUFFER_SIZE_52 52 #define CITS_CONTROL_TASK_PERIOD_MS 1 +#define DEFAULT_MQTT_ADDRESS "tcp://localhost:1883" +#define DEFAULT_MQTT_CLIENTID "ExampleClientPub" +#define DEFAULT_MQTT_TOPIC "MQTT Examples" +#define DEFAULT_MQTT_PAYLOAD "Hello World!" +#define DEFAULT_MQTT_QOS 1 +#define DEFAULT_MQTT_TIMEOUT 10000L + #define MODULE_NAME "CitsControl" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ +void init_mqtt(char* ip_addr, char * clientid); +int connect_mqtt(); +void delivered_mqtt(void *context, MQTTClient_deliveryToken dt); +int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message *message); +void connlost_mqtt(void *context, char *cause); + +/*------------------------------------------------------------ +-- Private variables +------------------------------------------------------------*/ + +enum CITS_STATE { + INIT, + DISCONNECTED, + CONNECTED, + SENDING +}; + +static int state = INIT; +static int pending_state = INIT; + +static MQTTClient client; +static MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer; +static MQTTClient_message pubmsg = MQTTClient_message_initializer; +static MQTTClient_deliveryToken deliveredtoken; + /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ @@ -57,12 +92,29 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) (void)iCommInit(); + (void)init_mqtt(DEFAULT_MQTT_ADDRESS,DEFAULT_MQTT_CLIENTID); + + MQTTClient_setCallbacks(client, NULL, connlost_mqtt, msgarrvd_mqtt, delivered_mqtt); - printf("Starting cits control...\n"); + LogMessage(LOG_LEVEL_INFO,"Starting cits control...\n"); while(!iExit) { + // Handle states specific things + state = pending_state; + switch (state) { + case INIT: + + if (connect_mqtt()) pending_state = CONNECTED; + + break; + case CONNECTED: + break; + } + + // Handle MQ messages + bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); @@ -75,3 +127,51 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } + +void init_mqtt(char* ip_addr, char * clientid){ + + + MQTTClient_create(&client, ip_addr, clientid, + MQTTCLIENT_PERSISTENCE_NONE, NULL); + conn_opts.keepAliveInterval = 20; + conn_opts.cleansession = 1; +} + +int connect_mqtt(){ + int return_code; + if ((return_code = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS) + { + LogMessage(LOG_LEVEL_ERROR,"Failed to connect, return code %d\n", return_code); + return 0; + } + return 1; +} + +int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message *message){ + int i; + char* payloadptr; + printf("Message arrived\n"); + printf(" topic: %s\n", topicName); + printf(" message: "); + payloadptr = message->payload; + for(i=0; ipayloadlen; i++) + { + putchar(*payloadptr++); + } + putchar('\n'); + MQTTClient_freeMessage(&message); + MQTTClient_free(topicName); + return 1; +} + +void delivered_mqtt(void *context, MQTTClient_deliveryToken dt) +{ + LogMessage(LOG_LEVEL_DEBUG,"Message delivered with token: %d .", dt); + deliveredtoken = dt; + pending_state = CONNECTED; +} + +void connlost_mqtt(void *context, char *cause){ + LogMessage(LOG_LEVEL_DEBUG,"Connection Lost.\n Cause: %s",cause); + pending_state = DISCONNECTED; +} From 596a8b0f9e3d1c3619483580cc04c59a377ef759 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Wed, 19 Jun 2019 17:11:24 +0200 Subject: [PATCH 244/730] Begun explaining the build steps for Paho MQTT. --- README.md | 29 ++++++++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 3a92fbe3b..0dda5aa93 100644 --- a/README.md +++ b/README.md @@ -28,7 +28,7 @@ cp -R ../conf/ . Create a folder for Trajectory files in /build and move one of the existing trajectory files to this folder. ```sh mkdir traj -cp ../traj/0.traj ./traj/192.168.0.1 +cp ../traj/0.traj ./traj/192.168.0.1 ``` Start the server @@ -36,6 +36,33 @@ Start the server ./TEServer ``` +## Building the server with CITS module and mqtt + +The CITS module uses PAHO MQTT, which can be found through the following link: +https://www.eclipse.org/paho/ + +To be able to run the server with the CITS module you must first build and install paho mqtt. + +Paho mqtt requires OpenSSL to be able to run. To install OpenSSL do +```sh +apt-get install libssl-dev +``` +In order to get and build the documentation for paho mqtt, do the following +```sh +apt-get install doxygen graphviz +``` + +Now get the latest source code for paho mqtt +```sh +git clone https://github.com/eclipse/paho.mqtt.c.git +``` + +Go to the root of the cloned git repo and build the documentation by doing +```sh +sudo make html +``` +This will build the documentation for all the code. Then proceede to build and install the + # To communicate with server start program. ./UserControl [IP] [port] From 24698dc6031bca931a3e734a457c5ad8eb52501b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 20 Jun 2019 12:18:59 +0200 Subject: [PATCH 245/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 0a104bd70..63e3faec5 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 0a104bd70031defc96d692b35b63446ae3d77953 +Subproject commit 63e3faec5f014d71337b45b1b5540f180cb4d59b From 83b7e52409aed360e7674424f9b330bb6032497b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 20 Jun 2019 15:24:13 +0200 Subject: [PATCH 246/730] Added support for using util in c++ --- server/inc/util.h | 9 ++++++++- server/src/util.c | 2 +- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index ba1d72587..d98b43d0d 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -11,6 +11,10 @@ #ifndef __UTIL_H_INCLUDED__ #define __UTIL_H_INCLUDED__ +#ifdef __cplusplus +extern "C"{ +#endif + /*------------------------------------------------------------ -- Include files. ------------------------------------------------------------*/ @@ -727,7 +731,7 @@ void UtilgetDateTimeFromUTCtime(int64_t utc_ms, char *buffer, int size_t); void UtilgetDateTimefromUTCCSVformat(int64_t utc_ms, char *buffer, int size_t); void UtilgetDateTimeFromUTCForMapNameCreation(int64_t utc_ms, char *buffer, int size_t); -void util_error(char* message); +void util_error(const char *message); int iUtilGetParaConfFile(char* pcParameter, char* pcValue); int iUtilGetIntParaConfFile(char* pcParameter, int* iValue); @@ -827,5 +831,8 @@ void traj2ldm ( float time , monitor_t* ldm ); +#ifdef __cplusplus +} +#endif #endif //__UTIL_H_INCLUDED__ diff --git a/server/src/util.c b/server/src/util.c index 3771c36b2..aabb6f356 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -299,7 +299,7 @@ void UtilgetDateTimeFromUTCForMapNameCreation(int64_t utc_ms, char *buffer, int sprintf(tmp_buffer_ms,"%" PRIi64,ms); strcat(buffer,tmp_buffer_ms); } -void util_error(char* message) +void util_error(const char* message) { LogMessage(LOG_LEVEL_ERROR,message); exit(EXIT_FAILURE); From a70b68a87bec012632cfb09b569d443f702260de Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 20 Jun 2019 15:26:09 +0200 Subject: [PATCH 247/730] Added a few more message bus slots --- server/src/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/main.c b/server/src/main.c index 948fcfeb6..edaf6a8be 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -155,7 +155,7 @@ int main(int argc, char *argv[]) int initializeMessageQueueBus(void) { int nbrOfQueues = numberOfModules; - enum MQBUS_ERROR result = MQBusInit(nbrOfQueues); + enum MQBUS_ERROR result = MQBusInit(nbrOfQueues+3); // Added a couple of slots to allow for additional modules // Printouts according to result switch (result) From 88426c2317cbcec3e4ba2790c272cb82d26d590e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 20 Jun 2019 15:28:36 +0200 Subject: [PATCH 248/730] Updated util reference to allow for c++ to use files --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 63e3faec5..32d9e9ba1 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 63e3faec5f014d71337b45b1b5540f180cb4d59b +Subproject commit 32d9e9ba1aaa71332d177628a5b87e216158cf48 From c4d69db4d7316cd0a0bfad39e5ac1ca730d7210e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 20 Jun 2019 15:30:56 +0200 Subject: [PATCH 249/730] Added a dummy module written in C++ that has a separate executable --- modules/dummy/CMakeLists.txt | 46 +++++++++++++++++++++++++++++++++ modules/dummy/src/main.cpp | 50 ++++++++++++++++++++++++++++++++++++ 2 files changed, 96 insertions(+) create mode 100644 modules/dummy/CMakeLists.txt create mode 100644 modules/dummy/src/main.cpp diff --git a/modules/dummy/CMakeLists.txt b/modules/dummy/CMakeLists.txt new file mode 100644 index 000000000..0969b0d27 --- /dev/null +++ b/modules/dummy/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 2.8) + +project(DummyModule) + + + +include_directories(inc) +include_directories(../../util/C/logging) +include_directories(../../util/C/time) +include_directories(../../util/C/MQBus) +include_directories(../../server/inc) +include(GNUInstallDirs) + + +# Create library +add_library(MaestroLogging + ../../util/C/logging/logging.h + ../../util/C/logging/logging.c +) + +add_library(MaestroTime + ../../util/C/time/maestroTime.h + ../../util/C/time/maestroTime.c +) + +add_library(MQBus + ../../util/C/MQBus/mqbus.h + ../../util/C/MQBus/mqbus.c +) + +# Create library +add_library(util + ../../server/src/util.c + ../../server/inc/util.h +) + +add_executable(dummy src/main.cpp) + +install(TARGETS dummy DESTINATION bin) + +target_link_libraries(dummy MaestroTime MaestroLogging util) +target_link_libraries(util MQBus MaestroTime) +target_link_libraries(MQBus rt m) + + + diff --git a/modules/dummy/src/main.cpp b/modules/dummy/src/main.cpp new file mode 100644 index 000000000..30ddbbb2b --- /dev/null +++ b/modules/dummy/src/main.cpp @@ -0,0 +1,50 @@ +#include +#include + +#include "logging.h" +#include "util.h" + +#define MODULE_NAME "Dummy" + +int main() +{ + COMMAND command = COMM_INV; + char mqRecvData[MQ_MSG_SIZE]; + const struct timespec sleepTimePeriod = {0,10000000}; + const struct timespec abortWaitTime = {1,0}; + struct timespec remTime; + + LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); + LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); + + // Initialize message bus connection + while(iCommInit()) + { + nanosleep(&sleepTimePeriod,&remTime); + } + + while(true) + { + if (iCommRecv(&command,mqRecvData,MQ_MSG_SIZE,nullptr) < 0) + { + util_error("Message bus receive error"); + } + + switch (command) { + case COMM_INV: + nanosleep(&sleepTimePeriod,&remTime); + break; + case COMM_OBC_STATE: + break; + case COMM_STRT: + nanosleep(&abortWaitTime,&remTime); + LogMessage(LOG_LEVEL_WARNING,"Sending ABORT"); + iCommSend(COMM_ABORT,nullptr,0); + break; + default: + LogMessage(LOG_LEVEL_INFO,"Received command %u",command); + } + } + + return 0; +} From 2e8a28b341096d68b4c2aece6f566c50c4e4304b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 20 Jun 2019 15:31:50 +0200 Subject: [PATCH 250/730] Added a comment to CMakeLists --- modules/dummy/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/dummy/CMakeLists.txt b/modules/dummy/CMakeLists.txt index 0969b0d27..29c790a53 100644 --- a/modules/dummy/CMakeLists.txt +++ b/modules/dummy/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8) project(DummyModule) - +# This module is an example of how to set up a new module external to the Maestro executable include_directories(inc) From 9950287d4cad832f95fd386ab8545c1c828a4c66 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 20 Jun 2019 16:11:45 +0200 Subject: [PATCH 251/730] Started working on a sendCam function --- server/src/citscontrol.c | 94 ++++++++++++++++++++++++++++++++++++---- server/src/util.c | 26 ++++++----- 2 files changed, 101 insertions(+), 19 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index aaaefb966..317f969b7 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -39,7 +39,8 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam); +I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed); +I32 SendCam(CAMmessage* lastCam); /*------------------------------------------------------------ @@ -48,16 +49,30 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam); void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { + int camTimeCycle = 0; I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus enum COMMAND command; MONRType MONRMessage; CAMmessage lastCam; + TimeType time; + + I16 lastSpeed = 0; + + UtilGetMillisecond(&time); + + + lastCam.header.generationTime = time.MillisecondU16; + + lastCam.referencePosition.latitude.degrees = 0; + lastCam.referencePosition.longitude.degrees = 0; (void)iCommInit(); LogInit(MODULE_NAME,LOG_LEVEL_INFO); LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); + + int monrCounter = 0; while(!iExit) { bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); @@ -84,10 +99,16 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_MONR: //TODO: CREATE CAM - UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); + UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); - GenerateCamMessage(&MONRMessage, &lastCam); + if(camTimeCycle == 100) + { + GenerateCamMessage(&MONRMessage, &lastCam, &lastSpeed); + SendCam(&lastCam); + camTimeCycle = 0; + } + camTimeCycle++; break; case COMM_OBC_STATE: @@ -111,31 +132,86 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) #define D_THRESHOLD 1 #define CHECK_PERIOD 1 -I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam){ +I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ TimeType time; CAMmessage tempCam; + + tempCam.header.version = 0; + tempCam.header.messageID = 1; + UtilGetMillisecond(&time); tempCam.header.generationTime = time.MillisecondU16; tempCam.referencePosition.heading = MONRData->HeadingU16; + //LOG LAT from XY + double x = MONRData->XPositionI32; + double y = MONRData->YPositionI32; + double z = MONRData->ZPositionI32; + double latitude, longitude, height; + + height = 0; + xyzToLlh(x, y, z, &latitude, &longitude, &height); + + printf("latitude %f \n", latitude); + printf("longitude %f \n", longitude); + + tempCam.referencePosition.latitude.degrees = latitude; + tempCam.referencePosition.longitude.degrees = longitude; + - printf("Generating CAM..\n"); if(MONRData != NULL ){ double distanceDelta = UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees); - U16 headingDelta = tempCam.referencePosition.heading - lastCam->referencePosition.heading; - U16 speedDelta = sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (MONRData->LateralAccI16*MONRData->LateralAccI16); + double headingDelta = tempCam.referencePosition.heading - lastCam->referencePosition.heading; + I16 speedDelta = (sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16))) - (*lastSpeed); + + printf("Speed delta %d \n", speedDelta); + printf("Distance delta %f \n", distanceDelta); + printf("heading delta %f \n", headingDelta); + printf("Time delta %d \n", tempCam.header.generationTime - lastCam->header.generationTime); + if( distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD || speedDelta >= S_THRESHOLD){ - printf("\"Sending\" CAM..\n"); + printf("\"Sending\" CAM \n"); + + /* + printf("Generation time: %d", tempCam.header.generationTime); + printf("Heading: %d", tempCam.referencePosition.heading); + printf("Latitude: %d", tempCam.referencePosition.latitude.degrees); + printf("Longitude time: %d", tempCam.referencePosition.longitude.degrees); + printf("Elevation time: %d", tempCam.referencePosition.elevation); + */ + + *lastSpeed = (U16)((double)sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (double)(MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16))); *lastCam = tempCam; + } if(tempCam.header.generationTime - lastCam->header.generationTime >= T_THRESHOLD){ - printf("\"Sending\" CAM..\n"); + printf("\"Sending\" CAM because of time..\n"); + lastSpeed = (U16)((double)sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (double)(MONRData->LateralAccI16*MONRData->LateralAccI16)); *lastCam = tempCam; } } } + +I32 SendCam(CAMmessage* lastCam){ + size_t i = 0; + + unsigned char *dst; + + memcpy(&dst[i], &lastCam->header.version, sizeof lastCam->header.version); + i += sizeof &lastCam->header.version; + + memcpy(&dst[i], &lastCam->header.messageID, sizeof lastCam->header.messageID); + i += sizeof &lastCam->header.messageID; + + memcpy(&dst[i], &lastCam->header.generationTime, sizeof lastCam->header.generationTime); + i += sizeof &lastCam->header.generationTime; + + return i; + +} + diff --git a/server/src/util.c b/server/src/util.c index cc5b51eb3..729ac749f 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3115,17 +3115,23 @@ I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 d * \param log2 Longitude of second coordinate * \return Distance */ -double UtilGetDistance(double lat1, double lon1, double lat2, double lon2) { - int nRadius = 6371; // Earth's radius in Kilometers +double UtilGetDistance(double th1, double ph1, double th2, double ph2) { + int nRadius = 6371; // Earth's radius in Kilometers - // Get the difference between our two points - // then convert the difference into radians - double nDLat = (lat2 - lat1) * (M_PI/180); - double nDLon = (lon2 - lon1) * (M_PI/180); - double nA = pow ( sin(nDLat/2), 2 ) + cos(lat1) * cos(lat2) * pow ( sin(nDLon/2), 2 ); + printf("th1: %f \n", th1); + printf("ph1: %f \n", ph1); - double nC = 2 * atan2( sqrt(nA), sqrt( 1 - nA )); - double distance = nRadius * nC; + printf("th2: %f \n", th2); + printf("ph2: %f \n", ph2); - return distance; // Return our calculated distance + // Get the difference between our two points + // then convert the difference into radians + double dx, dy, dz; + ph1 -= ph2; + ph1 *= (3.1415926536 / 180), th1 *= (3.1415926536 / 180), th2 *= (3.1415926536 / 180); + + dz = sin(th1) - sin(th2); + dx = cos(ph1) * cos(th1) - cos(th2); + dy = sin(ph1) * cos(th1); + return asin(sqrt(dx * dx + dy * dy + dz * dz) / 2) * 2 * nRadius; } From 78b7cfdd5e62f88d234a37b5dbfc5f984d615863 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 20 Jun 2019 16:42:01 +0200 Subject: [PATCH 252/730] Added shell script for running Maestro along with external modules --- runServer.sh | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100755 runServer.sh diff --git a/runServer.sh b/runServer.sh new file mode 100755 index 000000000..f6e87f4d0 --- /dev/null +++ b/runServer.sh @@ -0,0 +1,26 @@ +#!/bin/bash + +#### User settings +# Modify this array by adding more modules to include them in the execution +MODULES=(dummy) + + + + + + +#### +# Save top directory +MAESTRODIR=$(pwd) + +# Build string for executing server alongside modules +SERVER_EXEC_STRING="(cd $MAESTRODIR/server/build && ./TEServer)" +for i in "${MODULES[@]}" +do + SERVER_EXEC_STRING="$SERVER_EXEC_STRING & (cd $MAESTRODIR/modules/$i/build && ./$i)" +done + +# Run the generated string +# Each module in MODULES will be run in parallel with TEServer +eval $SERVER_EXEC_STRING + From d630c7ab500d66978e52ea5c14d076edc79b1835 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 24 Jun 2019 10:55:23 +0200 Subject: [PATCH 253/730] Fixed xyz to llh calculation --- server/inc/util.h | 2 +- server/src/citscontrol.c | 63 ++++++++++++++++++++++++++++++++++++---- server/src/util.c | 2 +- 3 files changed, 60 insertions(+), 7 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index a5d29f702..43df5c234 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -721,7 +721,7 @@ typedef struct{ typedef struct{ Hemisphere hemisphere; - U32 degrees; + double degrees; }CAMLogLat; typedef struct{ diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 317f969b7..ffa32e9de 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -105,7 +105,6 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(camTimeCycle == 100) { GenerateCamMessage(&MONRMessage, &lastCam, &lastSpeed); - SendCam(&lastCam); camTimeCycle = 0; } camTimeCycle++; @@ -132,12 +131,17 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) #define D_THRESHOLD 1 #define CHECK_PERIOD 1 +/*! + * \brief GenerateCamMessage generates a cam message to send on MQTT + * \param MONRData MONR data struct + * \param lastCam struct to fill with cam data if cam should be sent, used as reference to calculate new cam. + * \param lastSpeed variable keeping track of last speed recorded. + */ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ TimeType time; CAMmessage tempCam; - tempCam.header.version = 0; tempCam.header.messageID = 1; @@ -145,14 +149,36 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ tempCam.header.generationTime = time.MillisecondU16; tempCam.referencePosition.heading = MONRData->HeadingU16; + tempCam.body.stationID = 1; + tempCam.body.mobileITSSTation = 1; + tempCam.body.physicalrelevantITSStation = 1; + + //LOG LAT from XY double x = MONRData->XPositionI32; double y = MONRData->YPositionI32; double z = MONRData->ZPositionI32; double latitude, longitude, height; - height = 0; - xyzToLlh(x, y, z, &latitude, &longitude, &height); + double distance=0; + double azimuth1 = 0; + double azimuth2 =0; + int fail; + + /* Calculate the geodetic forward azimuth in the direction from origo to point we want to know, + * A problem right now is that I belive that the GUC and virtualObject needs to have the same origin + * */ + + azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); + + // calculate the norm value + distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); + + // TODO: Get From RVSSgetParameter + double origoLong = 12.77011670; + double origoLat = 57.77315060; + + fail = UtilVincentyDirect(origoLat,origoLong,azimuth1,distance ,&latitude,&longitude,&azimuth2); printf("latitude %f \n", latitude); printf("longitude %f \n", longitude); @@ -161,7 +187,6 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ tempCam.referencePosition.longitude.degrees = longitude; - if(MONRData != NULL ){ double distanceDelta = UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees); double headingDelta = tempCam.referencePosition.heading - lastCam->referencePosition.heading; @@ -186,6 +211,7 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ *lastSpeed = (U16)((double)sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (double)(MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16))); *lastCam = tempCam; + //SendCam(&lastCam); } @@ -193,10 +219,16 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ printf("\"Sending\" CAM because of time..\n"); lastSpeed = (U16)((double)sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (double)(MONRData->LateralAccI16*MONRData->LateralAccI16)); *lastCam = tempCam; + // SendCam(&lastCam); } } } +/*! + * \brief SendCam publishes a cam message on MQTT with hardcoded topic. + * \param lastCam cam message struct + * \return 1 if message sent succesfully + */ I32 SendCam(CAMmessage* lastCam){ size_t i = 0; @@ -211,6 +243,27 @@ I32 SendCam(CAMmessage* lastCam){ memcpy(&dst[i], &lastCam->header.generationTime, sizeof lastCam->header.generationTime); i += sizeof &lastCam->header.generationTime; + memcpy(&dst[i], &lastCam->body.stationID, sizeof lastCam->body.stationID); + i += sizeof lastCam->body.stationID; + + memcpy(&dst[i], &lastCam->body.physicalrelevantITSStation, sizeof lastCam->body.physicalrelevantITSStation); + i += sizeof lastCam->body.physicalrelevantITSStation; + + memcpy(&dst[i], &lastCam->body.stationID, sizeof lastCam->body.stationID); + i += sizeof lastCam->body.stationID; + + memcpy(&dst[i], &lastCam->body.physicalrelevantITSStation, sizeof lastCam->body.physicalrelevantITSStation); + i += sizeof lastCam->body.stationID; + + memcpy(&dst[i], &lastCam->referencePosition.heading, sizeof lastCam->referencePosition.heading); + i += sizeof lastCam->referencePosition.heading; + + memcpy(&dst[i], &lastCam->referencePosition.latitude, sizeof lastCam->referencePosition.latitude); + i += sizeof lastCam->referencePosition.latitude; + + memcpy(&dst[i], &lastCam->referencePosition.longitude, sizeof lastCam->referencePosition.longitude); + i += sizeof lastCam->referencePosition.longitude; + return i; } diff --git a/server/src/util.c b/server/src/util.c index 729ac749f..87477ba8e 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3113,7 +3113,7 @@ I32 UtilPopulateMONRStruct(C8* rawMONR, size_t rawMONRsize, MONRType *MONR, U8 d * \param log1 Latitude of first coordinate * \param lat2 Longitude of second coordinate * \param log2 Longitude of second coordinate - * \return Distance + * \return Distance in km */ double UtilGetDistance(double th1, double ph1, double th2, double ph2) { int nRadius = 6371; // Earth's radius in Kilometers From 05206e3ba902e5fa2dd2332683c4c7702b2354a0 Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Mon, 24 Jun 2019 14:04:55 +0200 Subject: [PATCH 254/730] Create README.md --- modules/dummy/README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 modules/dummy/README.md diff --git a/modules/dummy/README.md b/modules/dummy/README.md new file mode 100644 index 000000000..6d1616621 --- /dev/null +++ b/modules/dummy/README.md @@ -0,0 +1 @@ +# This module is an example for how to build a Maestro-external module and connect it via message bus. It is also written in C++ so can serve as an example for how to import Maestro C code and connect to message bus using another code language. From 036b924f65c03a48f19a8b63f3e5af3263ce6a44 Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Mon, 24 Jun 2019 14:12:36 +0200 Subject: [PATCH 255/730] Update README.md --- modules/dummy/README.md | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/modules/dummy/README.md b/modules/dummy/README.md index 6d1616621..412eedc66 100644 --- a/modules/dummy/README.md +++ b/modules/dummy/README.md @@ -1 +1,18 @@ -# This module is an example for how to build a Maestro-external module and connect it via message bus. It is also written in C++ so can serve as an example for how to import Maestro C code and connect to message bus using another code language. +## Dummy module +This module is an example for how to build a Maestro-external module and connect it via message bus. It is also written in C++ so can serve as an example for how to import Maestro C code and connect to message bus using another code language. + +### Build process +1) Ensure your util repo is up to date +2) Navigate to this README.md file +3) Create the build directory: ```mkdir build``` +4) Enter the build directory: ```cd build``` +5) Generate necessary cmake files: ```cmake ..``` +6) Build the module: ```make``` + +### Run the module +1) Ensure you have built the module +2) Navigate to the build directory +3) Run the module: ```./dummy``` +4) Run Maestro + +Note: steps 3 and 4 can be replaced with running the runServer.sh script in the top directory of this repository From 9933ea23f30d5a13031684c2427087d5a341a534 Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Mon, 24 Jun 2019 14:16:36 +0200 Subject: [PATCH 256/730] Added dependency of util on logging library --- modules/dummy/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/dummy/CMakeLists.txt b/modules/dummy/CMakeLists.txt index 29c790a53..580c7141f 100644 --- a/modules/dummy/CMakeLists.txt +++ b/modules/dummy/CMakeLists.txt @@ -39,7 +39,7 @@ add_executable(dummy src/main.cpp) install(TARGETS dummy DESTINATION bin) target_link_libraries(dummy MaestroTime MaestroLogging util) -target_link_libraries(util MQBus MaestroTime) +target_link_libraries(util MQBus MaestroTime MaestroLogging) target_link_libraries(MQBus rt m) From bfcb102af166be6731ea218ad991f9bd68c33ecf Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Mon, 24 Jun 2019 14:40:04 +0200 Subject: [PATCH 257/730] Added functions for publishing and subscribing to ericsson mqtt server --- server/src/citscontrol.c | 82 ++++++++++++++++++++++++++++++---------- 1 file changed, 63 insertions(+), 19 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 2aafbbcd7..f7d45f0b2 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -38,8 +38,9 @@ #define CITS_CONTROL_TASK_PERIOD_MS 1 #define DEFAULT_MQTT_ADDRESS "tcp://localhost:1883" +#define ERICSSON_MQTT_ADDRESS "tcp://10.130.100.18:1883" #define DEFAULT_MQTT_CLIENTID "ExampleClientPub" -#define DEFAULT_MQTT_TOPIC "MQTT Examples" +#define DEFAULT_MQTT_TOPIC "CLIENT/CAM/CS01/1/AZ12" #define DEFAULT_MQTT_PAYLOAD "Hello World!" #define DEFAULT_MQTT_QOS 1 #define DEFAULT_MQTT_TIMEOUT 10000L @@ -52,6 +53,7 @@ void init_mqtt(char* ip_addr, char * clientid); int connect_mqtt(); +int publish_mqtt(char *payload, int payload_len, char *topic); void delivered_mqtt(void *context, MQTTClient_deliveryToken dt); int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message *message); void connlost_mqtt(void *context, char *cause); @@ -70,13 +72,13 @@ enum CITS_STATE { }; static int state = INIT; -static int pending_state = INIT; +static volatile int pending_state = INIT; static MQTTClient client; static MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer; static MQTTClient_message pubmsg = MQTTClient_message_initializer; -static MQTTClient_deliveryToken deliveredtoken; - +static volatile MQTTClient_deliveryToken deliveredtoken = 0; +static MQTTClient_deliveryToken sendtoken = 0; /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ @@ -86,13 +88,14 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus enum COMMAND command; + int mqtt_response_code = 0; - LogInit(MODULE_NAME,LOG_LEVEL_INFO); - LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); + LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); + LogMessage(LOG_LEVEL_INFO, "CITS running with PID: %i", getpid()); (void)iCommInit(); - (void)init_mqtt(DEFAULT_MQTT_ADDRESS,DEFAULT_MQTT_CLIENTID); + (void)init_mqtt(ERICSSON_MQTT_ADDRESS,DEFAULT_MQTT_CLIENTID); MQTTClient_setCallbacks(client, NULL, connlost_mqtt, msgarrvd_mqtt, delivered_mqtt); @@ -103,13 +106,32 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Handle states specific things state = pending_state; + + //LogMessage(LOG_LEVEL_DEBUG,"CITS state %d",state); switch (state) { case INIT: - if (connect_mqtt()) pending_state = CONNECTED; - + if (!connect_mqtt()){ + LogMessage(LOG_LEVEL_INFO,"Connected!"); + //MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); + pending_state = CONNECTED; + LogMessage(LOG_LEVEL_DEBUG,"CITS state change from %d to %d",state,pending_state); + } break; case CONNECTED: + + if ((mqtt_response_code = publish_mqtt(DEFAULT_MQTT_PAYLOAD,strlen(DEFAULT_MQTT_PAYLOAD),DEFAULT_MQTT_TOPIC))) { + LogMessage(LOG_LEVEL_ERROR,"Could not publish message, error code %d", mqtt_response_code); + } + else { + pending_state = SENDING; + } + break; + case SENDING: + if (sendtoken == deliveredtoken) { + pending_state = CONNECTED; + LogMessage(LOG_LEVEL_DEBUG,"CITS state change from %d to %d",state,pending_state); + } break; } @@ -124,7 +146,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) printf("citscontrol exiting.\n"); (void)iCommClose(); } - + usleep(100000); } } @@ -142,36 +164,58 @@ int connect_mqtt(){ if ((return_code = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS) { LogMessage(LOG_LEVEL_ERROR,"Failed to connect, return code %d\n", return_code); - return 0; + return 1; + } + return 0; +} + +int publish_mqtt(char *payload, int payload_len, char *topic){ + + pubmsg.payload = payload; + pubmsg.payloadlen = payload_len; + pubmsg.qos = DEFAULT_MQTT_QOS; + pubmsg.retained = 0; + deliveredtoken = 0; + + int retval = MQTTClient_publishMessage(client, topic, &pubmsg, &sendtoken); + if (!retval) { + LogMessage(LOG_LEVEL_INFO,"Waiting for publication of %s\n on topic %s for client with ClitentID %s",payload, topic, DEFAULT_MQTT_CLIENTID ); } - return 1; + return retval; } int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message *message){ + (void)context; + (void)topicLen; int i; char* payloadptr; - printf("Message arrived\n"); - printf(" topic: %s\n", topicName); - printf(" message: "); - payloadptr = message->payload; + LogMessage(LOG_LEVEL_DEBUG,"Message arrived! Length=%d",message->payloadlen); + //if (message->payloadlen == 0) return 1; + //else if (topicLen == 0) return 2; + if(message->payloadlen > 0) LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); + //printf("Message arrived\n"); + //printf(" topic: %s\n", topicName); + //printf(" message: "); + //payloadptr = message->payload; + /* for(i=0; ipayloadlen; i++) { putchar(*payloadptr++); } putchar('\n'); + */ MQTTClient_freeMessage(&message); MQTTClient_free(topicName); - return 1; + return 0; } void delivered_mqtt(void *context, MQTTClient_deliveryToken dt) { LogMessage(LOG_LEVEL_DEBUG,"Message delivered with token: %d .", dt); deliveredtoken = dt; - pending_state = CONNECTED; } void connlost_mqtt(void *context, char *cause){ LogMessage(LOG_LEVEL_DEBUG,"Connection Lost.\n Cause: %s",cause); - pending_state = DISCONNECTED; + printf("Connection lost \n"); } From 8661826646fbb891ae2038b73e67f617aec0da59 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 25 Jun 2019 09:06:50 +0200 Subject: [PATCH 258/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 63e3faec5..32d9e9ba1 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 63e3faec5f014d71337b45b1b5540f180cb4d59b +Subproject commit 32d9e9ba1aaa71332d177628a5b87e216158cf48 From bafc1c4a715f241c9a07ab1d6a273e58c74dc6c6 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 27 Jun 2019 14:27:17 +0200 Subject: [PATCH 259/730] Now uses ASN1 Cam data structure from util --- server/CMakeLists.txt | 3 ++ server/src/citscontrol.c | 78 +++++++++++++--------------------------- util | 2 +- 3 files changed, 28 insertions(+), 55 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 968d9d6b9..ec275d613 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -11,6 +11,7 @@ include_directories(inc) include_directories(../util/C/logging) include_directories(../util/C/time) include_directories(../util/C/MQBus) +include_directories(../util/ASN1/generatedfiles) include(GNUInstallDirs) # Add logging library (hint at some locations) @@ -52,6 +53,7 @@ add_library(objctrl inc/objectcontrol.h ) + add_executable(UserControl src/usercontrol.c ) @@ -95,3 +97,4 @@ target_link_libraries(UserControl util objctrl MaestroLogging MaestroTime) target_link_libraries(TEServer util) target_link_libraries(TEServer MaestroLogging MaestroTime MQBus) + diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index ffa32e9de..3d488dff6 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -20,6 +20,7 @@ #include #include #include +#include "generatedfiles/CAM.h" #include #include @@ -29,6 +30,7 @@ #include "citscontrol.h" + #define CITS_CONTROL_CONF_FILE_PATH "conf/test.conf" #define CITS_CONTROL_BUFFER_SIZE_20 20 #define CITS_CONTROL_BUFFER_SIZE_52 52 @@ -39,8 +41,8 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed); -I32 SendCam(CAMmessage* lastCam); +I32 GenerateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed); +I32 SendCam(CAM_t* lastCam); /*------------------------------------------------------------ @@ -137,22 +139,16 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) * \param lastCam struct to fill with cam data if cam should be sent, used as reference to calculate new cam. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ +I32 GenerateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ TimeType time; - CAMmessage tempCam; + CAM_t tempCam; - tempCam.header.version = 0; - tempCam.header.messageID = 1; + tempCam.header.protocolVersion = 1; + tempCam.header.messageID = 2; UtilGetMillisecond(&time); - tempCam.header.generationTime = time.MillisecondU16; - tempCam.referencePosition.heading = MONRData->HeadingU16; - - tempCam.body.stationID = 1; - tempCam.body.mobileITSSTation = 1; - tempCam.body.physicalrelevantITSStation = 1; - + tempCam.cam.generationDeltaTime = time.MillisecondU16; //LOG LAT from XY double x = MONRData->XPositionI32; @@ -183,19 +179,26 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ printf("latitude %f \n", latitude); printf("longitude %f \n", longitude); - tempCam.referencePosition.latitude.degrees = latitude; - tempCam.referencePosition.longitude.degrees = longitude; + tempCam.cam.camParameters.basicContainer.referencePosition.latitude = latitude; + tempCam.cam.camParameters.basicContainer.referencePosition.longitude = longitude; + + tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = MONRData->HeadingU16; + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16))); + + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = 0; //FORWARD + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 10; //TEMP WIDTH + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength = 10; //TEMP LENGTH if(MONRData != NULL ){ - double distanceDelta = UtilGetDistance(tempCam.referencePosition.latitude.degrees, tempCam.referencePosition.longitude.degrees, lastCam->referencePosition.latitude.degrees, lastCam->referencePosition.longitude.degrees); - double headingDelta = tempCam.referencePosition.heading - lastCam->referencePosition.heading; + double distanceDelta = UtilGetDistance(tempCam.cam.camParameters.basicContainer.referencePosition.latitude, tempCam.cam.camParameters.basicContainer.referencePosition.longitude, lastCam->cam.camParameters.basicContainer.referencePosition.latitude, lastCam->cam.camParameters.basicContainer.referencePosition.longitude); + double headingDelta = tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation - lastCam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation; I16 speedDelta = (sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16))) - (*lastSpeed); printf("Speed delta %d \n", speedDelta); printf("Distance delta %f \n", distanceDelta); printf("heading delta %f \n", headingDelta); - printf("Time delta %d \n", tempCam.header.generationTime - lastCam->header.generationTime); + printf("Time delta %d \n", tempCam.cam.generationDeltaTime - lastCam->cam.generationDeltaTime); if( distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD || speedDelta >= S_THRESHOLD){ @@ -215,7 +218,7 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ } - if(tempCam.header.generationTime - lastCam->header.generationTime >= T_THRESHOLD){ + if(tempCam.cam.generationDeltaTime - lastCam->cam.generationDeltaTime >= T_THRESHOLD){ printf("\"Sending\" CAM because of time..\n"); lastSpeed = (U16)((double)sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (double)(MONRData->LateralAccI16*MONRData->LateralAccI16)); *lastCam = tempCam; @@ -229,42 +232,9 @@ I32 GenerateCamMessage(MONRType *MONRData, CAMmessage* lastCam, I16* lastSpeed){ * \param lastCam cam message struct * \return 1 if message sent succesfully */ -I32 SendCam(CAMmessage* lastCam){ - size_t i = 0; - - unsigned char *dst; - - memcpy(&dst[i], &lastCam->header.version, sizeof lastCam->header.version); - i += sizeof &lastCam->header.version; - - memcpy(&dst[i], &lastCam->header.messageID, sizeof lastCam->header.messageID); - i += sizeof &lastCam->header.messageID; - - memcpy(&dst[i], &lastCam->header.generationTime, sizeof lastCam->header.generationTime); - i += sizeof &lastCam->header.generationTime; - - memcpy(&dst[i], &lastCam->body.stationID, sizeof lastCam->body.stationID); - i += sizeof lastCam->body.stationID; - - memcpy(&dst[i], &lastCam->body.physicalrelevantITSStation, sizeof lastCam->body.physicalrelevantITSStation); - i += sizeof lastCam->body.physicalrelevantITSStation; - - memcpy(&dst[i], &lastCam->body.stationID, sizeof lastCam->body.stationID); - i += sizeof lastCam->body.stationID; - - memcpy(&dst[i], &lastCam->body.physicalrelevantITSStation, sizeof lastCam->body.physicalrelevantITSStation); - i += sizeof lastCam->body.stationID; - - memcpy(&dst[i], &lastCam->referencePosition.heading, sizeof lastCam->referencePosition.heading); - i += sizeof lastCam->referencePosition.heading; - - memcpy(&dst[i], &lastCam->referencePosition.latitude, sizeof lastCam->referencePosition.latitude); - i += sizeof lastCam->referencePosition.latitude; - - memcpy(&dst[i], &lastCam->referencePosition.longitude, sizeof lastCam->referencePosition.longitude); - i += sizeof lastCam->referencePosition.longitude; +I32 SendCam(CAM_t* lastCam){ - return i; + return 1; } diff --git a/util b/util index 0a104bd70..e5728489d 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 0a104bd70031defc96d692b35b63446ae3d77953 +Subproject commit e5728489d5143fcc0e749600505e96abcbefdfc4 From b90bf8f6990c7b03e48873dd8e285be79f7fe2b0 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 27 Jun 2019 14:48:13 +0200 Subject: [PATCH 260/730] Fixed include of cam.h --- server/src/citscontrol.c | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 3d488dff6..34f1dcaf3 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -20,13 +20,14 @@ #include #include #include -#include "generatedfiles/CAM.h" + #include #include #include #include #include +#include "CAM.h" #include "citscontrol.h" @@ -187,7 +188,14 @@ I32 GenerateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = 0; //FORWARD tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 10; //TEMP WIDTH - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength = 10; //TEMP LENGTH + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 10; //TEMP LENGTH + + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16; + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16; + + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = 0; //HARDCODED CURVATURE + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = 7; + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = 0; if(MONRData != NULL ){ From b8885f62dd8749790b9d9a4062dde62d9ad162b5 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 28 Jun 2019 15:07:21 +0200 Subject: [PATCH 261/730] Able to send message on MQTT but not able to encode --- server/src/citscontrol.c | 92 ++++++++++++++++++++++++++++++---------- 1 file changed, 70 insertions(+), 22 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index bb4343216..71b01a79f 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -33,6 +33,7 @@ #include "MQTTClient.h" #include "citscontrol.h" +#include "util.h" @@ -57,7 +58,7 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed); I32 generateDenmMessage(MONRType *MONRData, DENM_t* lastCam, I16* lastSpeed); -I32 SendCam(CAM_t* lastCam); +I32 sendCam(CAM_t* lastCam); void init_mqtt(char* ip_addr, char * clientid); int connect_mqtt(); int publish_mqtt(char *payload, int payload_len, char *topic); @@ -159,19 +160,52 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Handle MQ messages bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if (command == COMM_ABORT) - { - - } - - if(command == COMM_EXIT) - { - iExit = 1; - printf("citscontrol exiting.\n"); - (void)iCommClose(); - } - usleep(100000); + (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); + if (command == COMM_ABORT) + { + + } + + if(command == COMM_EXIT) + { + iExit = 1; + printf("citscontrol exiting.\n"); + (void)iCommClose(); + } + + switch (command) + { + case COMM_INIT: + + break; + case COMM_MONI: + // Ignore old style MONR data + break; + case COMM_MONR: + //TODO: CREATE CAM + + UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); + + if(camTimeCycle == 100) + { + generateCamMessage(&MONRMessage, &lastCam, &lastSpeed); + sendCam(&lastCam); + camTimeCycle = 0; + } + camTimeCycle++; + + break; + case COMM_OBC_STATE: + break; + case COMM_CONNECT: + break; + case COMM_LOG: + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } } } @@ -303,18 +337,24 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ tempCam.cam.camParameters.basicContainer.referencePosition.longitude = longitude; tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = MONRData->HeadingU16; + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16)); tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = 0; //FORWARD tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 10; //TEMP WIDTH tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 10; //TEMP LENGTH + + //TODO: CRASHES HERE FOR SOME REASON +/* tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16; tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16; + printf("Got here2\n"); tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = 0; //HARDCODED CURVATURE tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = 7; tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = 0; +*/ if(MONRData != NULL ){ @@ -341,7 +381,7 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ *lastSpeed = (U16)((double)sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (double)(MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16))); *lastCam = tempCam; - //SendCam(&lastCam); + //sendCam(lastCam); } @@ -349,7 +389,7 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ printf("\"Sending\" CAM because of time..\n"); lastSpeed = (U16)((double)sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (double)(MONRData->LateralAccI16*MONRData->LateralAccI16)); *lastCam = tempCam; - // SendCam(&lastCam); + //sendCam(lastCam); } } } @@ -364,7 +404,7 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ */ I32 generateDenemMessage(MONRType *MONRData, DENM_t* lastDenm, I16* lastSpeed){ TimeType time; - DENM_t tempDENM*; + DENM_t tempDENM; tempDENM.header.protocolVersion = 1; tempDENM.header.messageID = 1; @@ -375,8 +415,8 @@ I32 generateDenemMessage(MONRType *MONRData, DENM_t* lastDenm, I16* lastSpeed){ tempDENM.denm.management.actionID.sequenceNumber = 0; UtilGetMillisecond(&time); - tempDENM.denm.management.detectionTime = time.MillisecondU16; - tempDENM.denm.management.referenceTime = time.MillisecondU16; + // tempDENM.denm.management.detectionTime = time.MillisecondU16; + // tempDENM.denm.management.referenceTime = time.MillisecondU16; //LOG LAT from XY double x = MONRData->XPositionI32; @@ -416,12 +456,13 @@ I32 generateDenemMessage(MONRType *MONRData, DENM_t* lastDenm, I16* lastSpeed){ tempDENM.denm.management.eventPosition.altitude.altitudeValue = 0; tempDENM.denm.management.eventPosition.altitude.altitudeConfidence = 0; + /* tempDENM.denm.management.relevanceDistance = 3; tempDENM.denm.management.relevanceTrafficDirection = 1; tempDENM.denm.management.validityDuration = 0; tempDENM.denm.management.transmissionInterval = 100; tempDENM.denm.management.stationType = 8; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian - +*/ tempDENM.denm.situation->informationQuality = 7; tempDENM.denm.situation->eventType.causeCode = 99; tempDENM.denm.situation->eventType.subCauseCode = 1; //Emergency break engaged @@ -437,8 +478,15 @@ I32 generateDenemMessage(MONRType *MONRData, DENM_t* lastDenm, I16* lastSpeed){ * \param lastCam cam message struct * \return 1 if message sent succesfully */ -I32 SendCam(CAM_t* lastCam){ - publish_mqtt(lastCam, sizeof(lastCam), "CLIENT/CAM/CS01/1/RP03"); +I32 sendCam(CAM_t* lastCam){ + + CAM_t * cam; + cam = calloc(1, sizeof (*cam)); + assert(cam); + xer_fprint(stdout, &asn_DEF_CAM, cam); + + + publish_mqtt(cam, sizeof(lastCam), "CLIENT/CAM/CS01/1/AZ12B"); return 1; } From 51283ca93ea8477a0268a7ba1ae0a3457808341a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 09:22:54 +0200 Subject: [PATCH 262/730] Reduced period between object control state transmissions --- server/src/objectcontrol.c | 23 +++++++++++++++++++++-- 1 file changed, 21 insertions(+), 2 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d093cf511..90c12b478 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -29,6 +29,7 @@ #include #include #include "timecontrol.h" +#include "maestroTime.h" /*------------------------------------------------------------ @@ -49,12 +50,16 @@ #define OC_SLEEP_TIME_NONEMPTY_MQ_S 0 #define OC_SLEEP_TIME_NONEMPTY_MQ_NS 0 + #define TASK_PERIOD_MS 1 #define HEARTBEAT_TIME_MS 10 #define OBJECT_CONTROL_CONTROL_MODE 0 #define OBJECT_CONTROL_REPLAY_MODE 1 #define OBJECT_CONTROL_ABORT_MODE 1 +#define OC_STATE_REPORT_PERIOD_S 1 +#define OC_STATE_REPORT_PERIOD_US 0 + #define COMMAND_MESSAGE_HEADER_LENGTH sizeof(HeaderType) #define COMMAND_MESSAGE_FOOTER_LENGTH sizeof(FooterType) #define COMMAND_CODE_INDEX 0 @@ -247,6 +252,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) struct timespec sleep_time, ref_time; const struct timespec mqEmptyPollPeriod = {OC_SLEEP_TIME_EMPTY_MQ_S, OC_SLEEP_TIME_EMPTY_MQ_NS}; const struct timespec mqNonEmptyPollPeriod = {OC_SLEEP_TIME_NONEMPTY_MQ_S, OC_SLEEP_TIME_NONEMPTY_MQ_NS}; + const struct timeval stateReportPeriod = {OC_STATE_REPORT_PERIOD_S, OC_STATE_REPORT_PERIOD_US}; + struct timeval currentTime, nextStateReportTime; int iForceObjectToLocalhost = 0; FILE *fd; @@ -362,6 +369,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (iCommInit()) util_error("Unable to connect to message queue bus"); + // Initialize timer for sending state + TimeSetToCurrentSystemTime(¤tTime); + nextStateReportTime = currentTime; + while(!iExit) { if(OBCState == OBC_STATE_ERROR) @@ -1183,15 +1194,23 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) ++uiTimeCycle; if(uiTimeCycle >= HEARTBEAT_TIME_MS/TASK_PERIOD_MS) { + uiTimeCycle = 0; + } + + // Periodically send state to signal aliveness (TODO: replace with supervisor process health check) + TimeSetToCurrentSystemTime(¤tTime); + if (timercmp(¤tTime, &nextStateReportTime, >)) + { + timeradd(&nextStateReportTime, &stateReportPeriod, &nextStateReportTime); + bzero(Buffer2, SMALL_BUFFER_SIZE_1); Buffer2[0] = OBCState; - if(iCommSend(COMM_OBC_STATE,Buffer2,SMALL_BUFFER_SIZE_1) < 0) + if (iCommSend(COMM_OBC_STATE, Buffer2, SMALL_BUFFER_SIZE_1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state"); vSetState(&OBCState,OBC_STATE_ERROR); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } - uiTimeCycle = 0; } (void)nanosleep(&sleep_time,&ref_time); From 11720682264c1e06b6e9f1e07e0b1ea2cf4e7839 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Mon, 1 Jul 2019 09:36:31 +0200 Subject: [PATCH 263/730] Something --- server/src/citscontrol.c | 15 +++++++++------ server/src/main.c | 6 +++++- 2 files changed, 14 insertions(+), 7 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index f7d45f0b2..3cde988fb 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -39,8 +39,8 @@ #define DEFAULT_MQTT_ADDRESS "tcp://localhost:1883" #define ERICSSON_MQTT_ADDRESS "tcp://10.130.100.18:1883" -#define DEFAULT_MQTT_CLIENTID "ExampleClientPub" -#define DEFAULT_MQTT_TOPIC "CLIENT/CAM/CS01/1/AZ12" +#define DEFAULT_MQTT_CLIENTID "ExampleClientPub1" +#define DEFAULT_MQTT_TOPIC "CLIENT/CAM/CS01/1/AZ12B" #define DEFAULT_MQTT_PAYLOAD "Hello World!" #define DEFAULT_MQTT_QOS 1 #define DEFAULT_MQTT_TIMEOUT 10000L @@ -113,19 +113,20 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (!connect_mqtt()){ LogMessage(LOG_LEVEL_INFO,"Connected!"); - //MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); + MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); pending_state = CONNECTED; LogMessage(LOG_LEVEL_DEBUG,"CITS state change from %d to %d",state,pending_state); } break; case CONNECTED: - +/* if ((mqtt_response_code = publish_mqtt(DEFAULT_MQTT_PAYLOAD,strlen(DEFAULT_MQTT_PAYLOAD),DEFAULT_MQTT_TOPIC))) { LogMessage(LOG_LEVEL_ERROR,"Could not publish message, error code %d", mqtt_response_code); } else { pending_state = SENDING; } + */ break; case SENDING: if (sendtoken == deliveredtoken) { @@ -146,7 +147,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) printf("citscontrol exiting.\n"); (void)iCommClose(); } - usleep(100000); + //usleep(100000); } } @@ -192,7 +193,9 @@ int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_messa LogMessage(LOG_LEVEL_DEBUG,"Message arrived! Length=%d",message->payloadlen); //if (message->payloadlen == 0) return 1; //else if (topicLen == 0) return 2; - if(message->payloadlen > 0) LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); + //if(message->payloadlen > 0) { + // LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); + //} //printf("Message arrived\n"); //printf(" topic: %s\n", topicName); //printf(" message: "); diff --git a/server/src/main.c b/server/src/main.c index f3b38b5f6..ed37d4ff0 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -67,13 +67,15 @@ static struct timeval waitStartTime, waitedTime; ------------------------------------------------------------*/ //! allModules contains the tasks to be run in the server. To enable or disable a task, add or remove the main module function in this array static const ModuleTask allModules[] = { + /* logger_task, timecontrol_task, supervision_task, supervisorcontrol_task, systemcontrol_task, objectcontrol_task - //citscontrol_task + */ + citscontrol_task }; static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); @@ -131,6 +133,7 @@ int main(int argc, char *argv[]) { // Call module task (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); + printf("Hejhopp\n"); exit(EXIT_SUCCESS); } } @@ -282,6 +285,7 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi } nanosleep(&childPollPeriodTime,NULL); + printf("exited modules: %d, number of modules: %d\n",nExitedModules,numberOfModules); } while (nExitedModules < numberOfModules); // Loop over all exited modules to report exit manner From 8c2380fa743856459b4db19e4c5e2203f0af63ac Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 15:38:38 +0200 Subject: [PATCH 264/730] Copied dummy module --- modules/ScenarioControl/CMakeLists.txt | 46 ++++++++++++++++++++++++ modules/ScenarioControl/README.md | 18 ++++++++++ modules/ScenarioControl/src/main.cpp | 50 ++++++++++++++++++++++++++ 3 files changed, 114 insertions(+) create mode 100644 modules/ScenarioControl/CMakeLists.txt create mode 100644 modules/ScenarioControl/README.md create mode 100644 modules/ScenarioControl/src/main.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt new file mode 100644 index 000000000..58b3ae31a --- /dev/null +++ b/modules/ScenarioControl/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 2.8) + +project(ScenarioControl) +# This module is an example of how to set up a new module external to the Maestro executable + + +include_directories(inc) +include_directories(../../util/C/logging) +include_directories(../../util/C/time) +include_directories(../../util/C/MQBus) +include_directories(../../server/inc) +include(GNUInstallDirs) + + +# Create library +add_library(MaestroLogging + ../../util/C/logging/logging.h + ../../util/C/logging/logging.c +) + +add_library(MaestroTime + ../../util/C/time/maestroTime.h + ../../util/C/time/maestroTime.c +) + +add_library(MQBus + ../../util/C/MQBus/mqbus.h + ../../util/C/MQBus/mqbus.c +) + +# Create library +add_library(util + ../../server/src/util.c + ../../server/inc/util.h +) + +add_executable(ScenarioControl src/main.cpp) + +install(TARGETS ScenarioControl DESTINATION bin) + +target_link_libraries(ScenarioControl MaestroTime MaestroLogging util) +target_link_libraries(util MQBus MaestroTime MaestroLogging) +target_link_libraries(MQBus rt m) + + + diff --git a/modules/ScenarioControl/README.md b/modules/ScenarioControl/README.md new file mode 100644 index 000000000..e6bce0e21 --- /dev/null +++ b/modules/ScenarioControl/README.md @@ -0,0 +1,18 @@ +## Dummy module +TODO. + +### Build process +1) Ensure your util repo is up to date +2) Navigate to this README.md file +3) Create the build directory: ```mkdir build``` +4) Enter the build directory: ```cd build``` +5) Generate necessary cmake files: ```cmake ..``` +6) Build the module: ```make``` + +### Run the module +1) Ensure you have built the module +2) Navigate to the build directory +3) Run the module: ```./ScenarioControl``` +4) Run Maestro + +Note: steps 3 and 4 can be replaced with running the runServer.sh script in the top directory of this repository diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp new file mode 100644 index 000000000..30ddbbb2b --- /dev/null +++ b/modules/ScenarioControl/src/main.cpp @@ -0,0 +1,50 @@ +#include +#include + +#include "logging.h" +#include "util.h" + +#define MODULE_NAME "Dummy" + +int main() +{ + COMMAND command = COMM_INV; + char mqRecvData[MQ_MSG_SIZE]; + const struct timespec sleepTimePeriod = {0,10000000}; + const struct timespec abortWaitTime = {1,0}; + struct timespec remTime; + + LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); + LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); + + // Initialize message bus connection + while(iCommInit()) + { + nanosleep(&sleepTimePeriod,&remTime); + } + + while(true) + { + if (iCommRecv(&command,mqRecvData,MQ_MSG_SIZE,nullptr) < 0) + { + util_error("Message bus receive error"); + } + + switch (command) { + case COMM_INV: + nanosleep(&sleepTimePeriod,&remTime); + break; + case COMM_OBC_STATE: + break; + case COMM_STRT: + nanosleep(&abortWaitTime,&remTime); + LogMessage(LOG_LEVEL_WARNING,"Sending ABORT"); + iCommSend(COMM_ABORT,nullptr,0); + break; + default: + LogMessage(LOG_LEVEL_INFO,"Received command %u",command); + } + } + + return 0; +} From e27dc35a6a505fb2c1d135a11d21aa14c4f8d7ec Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 15:43:12 +0200 Subject: [PATCH 265/730] Util module reference update --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 32d9e9ba1..ea293911d 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 32d9e9ba1aaa71332d177628a5b87e216158cf48 +Subproject commit ea293911d756e7c109f0c5406556cdd4f97793ea From 81bcbd831403287c74af8f6fc27c98693ff14eb3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 15:45:47 +0200 Subject: [PATCH 266/730] Removed dummy module functionality --- modules/ScenarioControl/src/main.cpp | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 30ddbbb2b..f089cdbb8 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -4,7 +4,7 @@ #include "logging.h" #include "util.h" -#define MODULE_NAME "Dummy" +#define MODULE_NAME "ScenarioControl" int main() { @@ -34,13 +34,6 @@ int main() case COMM_INV: nanosleep(&sleepTimePeriod,&remTime); break; - case COMM_OBC_STATE: - break; - case COMM_STRT: - nanosleep(&abortWaitTime,&remTime); - LogMessage(LOG_LEVEL_WARNING,"Sending ABORT"); - iCommSend(COMM_ABORT,nullptr,0); - break; default: LogMessage(LOG_LEVEL_INFO,"Received command %u",command); } From 2a590c1ab43514ab0afa5da41ae33108b0286b19 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 15:47:58 +0200 Subject: [PATCH 267/730] Removed unused variable --- modules/ScenarioControl/src/main.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index f089cdbb8..4bc11d538 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -11,7 +11,6 @@ int main() COMMAND command = COMM_INV; char mqRecvData[MQ_MSG_SIZE]; const struct timespec sleepTimePeriod = {0,10000000}; - const struct timespec abortWaitTime = {1,0}; struct timespec remTime; LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); From 910c9d3259cb506a064ba4a2a414a72e7372420c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 15:50:57 +0200 Subject: [PATCH 268/730] updated server run script --- runServer.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/runServer.sh b/runServer.sh index f6e87f4d0..92d205629 100755 --- a/runServer.sh +++ b/runServer.sh @@ -2,7 +2,7 @@ #### User settings # Modify this array by adding more modules to include them in the execution -MODULES=(dummy) +MODULES=(ScenarioControl) From 12f093f8dae3702d13fb1bc472b44d87a09f5b06 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 16:04:13 +0200 Subject: [PATCH 269/730] Updated cmakelists to include the new class --- modules/ScenarioControl/CMakeLists.txt | 24 +++++++++++++++--------- modules/ScenarioControl/src/trigger.cpp | 6 ++++++ modules/ScenarioControl/src/trigger.h | 11 +++++++++++ 3 files changed, 32 insertions(+), 9 deletions(-) create mode 100644 modules/ScenarioControl/src/trigger.cpp create mode 100644 modules/ScenarioControl/src/trigger.h diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index 58b3ae31a..43789730b 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -5,6 +5,7 @@ project(ScenarioControl) include_directories(inc) +include_directories(src) include_directories(../../util/C/logging) include_directories(../../util/C/time) include_directories(../../util/C/MQBus) @@ -14,31 +15,36 @@ include(GNUInstallDirs) # Create library add_library(MaestroLogging - ../../util/C/logging/logging.h - ../../util/C/logging/logging.c + ../../util/C/logging/logging.h + ../../util/C/logging/logging.c ) add_library(MaestroTime - ../../util/C/time/maestroTime.h - ../../util/C/time/maestroTime.c + ../../util/C/time/maestroTime.h + ../../util/C/time/maestroTime.c ) add_library(MQBus - ../../util/C/MQBus/mqbus.h - ../../util/C/MQBus/mqbus.c + ../../util/C/MQBus/mqbus.h + ../../util/C/MQBus/mqbus.c ) # Create library add_library(util - ../../server/src/util.c - ../../server/inc/util.h + ../../server/src/util.c + ../../server/inc/util.h +) + +add_library(Trigger + src/trigger.cpp + inc/trigger.h ) add_executable(ScenarioControl src/main.cpp) install(TARGETS ScenarioControl DESTINATION bin) -target_link_libraries(ScenarioControl MaestroTime MaestroLogging util) +target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Trigger) target_link_libraries(util MQBus MaestroTime MaestroLogging) target_link_libraries(MQBus rt m) diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp new file mode 100644 index 000000000..6ce34e700 --- /dev/null +++ b/modules/ScenarioControl/src/trigger.cpp @@ -0,0 +1,6 @@ +#include "trigger.h" + +Trigger::Trigger() +{ + +} diff --git a/modules/ScenarioControl/src/trigger.h b/modules/ScenarioControl/src/trigger.h new file mode 100644 index 000000000..f043b5170 --- /dev/null +++ b/modules/ScenarioControl/src/trigger.h @@ -0,0 +1,11 @@ +#ifndef TRIGGER_H +#define TRIGGER_H + + +class Trigger +{ +public: + Trigger(); +}; + +#endif // TRIGGER_H \ No newline at end of file From 623f1ec4a3b63565bfa552f582135a918358cf09 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 16:04:40 +0200 Subject: [PATCH 270/730] moved header file --- modules/ScenarioControl/src/trigger.h | 11 ----------- 1 file changed, 11 deletions(-) delete mode 100644 modules/ScenarioControl/src/trigger.h diff --git a/modules/ScenarioControl/src/trigger.h b/modules/ScenarioControl/src/trigger.h deleted file mode 100644 index f043b5170..000000000 --- a/modules/ScenarioControl/src/trigger.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef TRIGGER_H -#define TRIGGER_H - - -class Trigger -{ -public: - Trigger(); -}; - -#endif // TRIGGER_H \ No newline at end of file From b20ff3832256ccab330faa4636cb4041bdecdfc0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 16:04:54 +0200 Subject: [PATCH 271/730] secod part of the move --- modules/ScenarioControl/inc/trigger.h | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 modules/ScenarioControl/inc/trigger.h diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h new file mode 100644 index 000000000..f043b5170 --- /dev/null +++ b/modules/ScenarioControl/inc/trigger.h @@ -0,0 +1,11 @@ +#ifndef TRIGGER_H +#define TRIGGER_H + + +class Trigger +{ +public: + Trigger(); +}; + +#endif // TRIGGER_H \ No newline at end of file From 38a92a772b1d121af8f67e29f1710935a94a2445 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 16:23:23 +0200 Subject: [PATCH 272/730] Added ISO spec trigger types as enum --- modules/ScenarioControl/inc/trigger.h | 32 ++++++++++++++++++++++++++- 1 file changed, 31 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index f043b5170..8c4941214 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -1,11 +1,41 @@ #ifndef TRIGGER_H #define TRIGGER_H +#include class Trigger { public: Trigger(); + uint16_t getTriggerType(); + +private: + enum TriggerType { + UNDEFINED = 0x0000, + TRIGGER_TYPE_1 = 0x0001, + SPEED = 0x0010, + DISTANCE = 0x0020, + ACCELERATION = 0x0030, + LANE_CHANGED = 0x0040, + LANE_OFFSET = 0x0050, + POSITION_REACHED = 0x0060, + POSITION_LEFT = 0x0061, + POSITION_OFFSET = 0x0062, + STEERING_ANGLE = 0x0070, + THROTTLE_VALUE = 0x0080, + BRAKE = 0x0090, + ACTIVE_TRAJECTORY = 0x00A0, + OTHER_OBJECT_FEATURE = 0x00B0, + INFRASTRUCTURE = 0x00C0, + TEST_SCENARIO_EVENT = 0x00D0, + MISC_DIGITAL_INPUT = 0x00E0, + MISC_ANALOG_INPUT = 0x00F0, + TIMER_EVENT_OCCURRED = 0x0100, + MODE_CHANGED = 0x0110, + UNAVAILABLE = 0xFFFF + } triggerType = UNDEFINED; + + }; -#endif // TRIGGER_H \ No newline at end of file +#endif // TRIGGER_H From b86859d1286800563b6d00b96dead4860d7de11e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 1 Jul 2019 17:35:27 +0200 Subject: [PATCH 273/730] Added abstract class definition which can handle ISO spec contents --- modules/ScenarioControl/inc/trigger.h | 102 +++++++++++++++++++------- 1 file changed, 76 insertions(+), 26 deletions(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 8c4941214..3bde34884 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -2,39 +2,89 @@ #define TRIGGER_H #include +#include +#include class Trigger { public: Trigger(); - uint16_t getTriggerType(); + virtual ~Trigger(); -private: - enum TriggerType { - UNDEFINED = 0x0000, - TRIGGER_TYPE_1 = 0x0001, - SPEED = 0x0010, - DISTANCE = 0x0020, - ACCELERATION = 0x0030, - LANE_CHANGED = 0x0040, - LANE_OFFSET = 0x0050, - POSITION_REACHED = 0x0060, - POSITION_LEFT = 0x0061, - POSITION_OFFSET = 0x0062, - STEERING_ANGLE = 0x0070, - THROTTLE_VALUE = 0x0080, - BRAKE = 0x0090, - ACTIVE_TRAJECTORY = 0x00A0, - OTHER_OBJECT_FEATURE = 0x00B0, - INFRASTRUCTURE = 0x00C0, - TEST_SCENARIO_EVENT = 0x00D0, - MISC_DIGITAL_INPUT = 0x00E0, - MISC_ANALOG_INPUT = 0x00F0, - TIMER_EVENT_OCCURRED = 0x0100, - MODE_CHANGED = 0x0110, - UNAVAILABLE = 0xFFFF - } triggerType = UNDEFINED; + virtual uint16_t getType(); + virtual uint16_t getID(); + + virtual void setType(uint16_t triggerType); + virtual void setID(uint16_t triggerID); + + virtual int8_t appendTriggerParameter(uint32_t triggerParameter); + + friend std::ostream& operator<<(std::ostream &strm, const Trigger &a) { + return strm << "TODO"; + } +protected: + typedef enum { + TRIGGER_UNDEFINED = 0x0000, + TRIGGER_TYPE_1 = 0x0001, + TRIGGER_SPEED = 0x0010, + TRIGGER_DISTANCE = 0x0020, + TRIGGER_ACCELERATION = 0x0030, + TRIGGER_LANE_CHANGED = 0x0040, + TRIGGER_LANE_OFFSET = 0x0050, + TRIGGER_POSITION_REACHED = 0x0060, + TRIGGER_POSITION_LEFT = 0x0061, + TRIGGER_POSITION_OFFSET = 0x0062, + TRIGGER_STEERING_ANGLE = 0x0070, + TRIGGER_THROTTLE_VALUE = 0x0080, + TRIGGER_BRAKE = 0x0090, + TRIGGER_ACTIVE_TRAJECTORY = 0x00A0, + TRIGGER_OTHER_OBJECT_FEATURE = 0x00B0, + TRIGGER_INFRASTRUCTURE = 0x00C0, + TRIGGER_TEST_SCENARIO_EVENT = 0x00D0, + TRIGGER_MISC_DIGITAL_INPUT = 0x00E0, + TRIGGER_MISC_ANALOG_INPUT = 0x00F0, + TRIGGER_TIMER_EVENT_OCCURRED = 0x0100, + TRIGGER_MODE_CHANGED = 0x0110, + TRIGGER_UNAVAILABLE = 0xFFFF + } TriggerType_t; + + typedef enum { + TRIGGER_PARAMETER_FALSE = 0x00000000, + TRIGGER_PARAMETER_TRUE = 0x00000001, + TRIGGER_PARAMETER_RELEASED = 0x00000010, + TRIGGER_PARAMETER_PRESSED = 0x00000011, + TRIGGER_PARAMETER_LOW = 0x00000020, + TRIGGER_PARAMETER_HIGH = 0x00000021, + TRIGGER_PARAMETER_RISING_EDGE = 0x00000022, + TRIGGER_PARAMETER_FALLING_EDGE = 0x00000023, + TRIGGER_PARAMETER_ANY_EDGE = 0x00000024, + TRIGGER_PARAMETER_RELATIVE = 0x00000030, + TRIGGER_PARAMETER_ABSOLUTE = 0x00000031, + TRIGGER_PARAMETER_VALUE = 0x00000040, + TRIGGER_PARAMETER_MIN = 0x00000050, + TRIGGER_PARAMETER_MAX = 0x00000051, + TRIGGER_PARAMETER_MEAN = 0x00000052, + TRIGGER_PARAMETER_EQUAL_TO = 0x00000060, + TRIGGER_PARAMETER_GREATER_THAN = 0x00000061, + TRIGGER_PARAMETER_GREATER_THAN_OR_EQUAL_TO = 0x00000062, + TRIGGER_PARAMETER_LESS_THAN = 0x00000063, + TRIGGER_PARAMETER_LESS_THAN_OR_EQUAL_TO = 0x00000064, + TRIGGER_PARAMETER_NOT_EQUAL_TO = 0x00000065, + TRIGGER_PARAMETER_X = 0x00000070, + TRIGGER_PARAMETER_Y = 0x00000071, + TRIGGER_PARAMETER_Z = 0x00000072, + TRIGGER_PARAMETER_TIME = 0x00000080, + TRIGGER_PARAMETER_DATE = 0x00000081, + TRIGGER_PARAMETER_RULE = 0x000000A0, + TRIGGER_PARAMETER_UNAVAILABLE = 0xFFFFFFFF + } TriggerParameter_t; + + +private: + uint16_t triggerID; + TriggerType_t triggerType = TRIGGER_UNDEFINED; + std::set triggerParameters; }; From 553e306c698f156037080666de4db33c568776db Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 2 Jul 2019 09:11:15 +0200 Subject: [PATCH 274/730] Moved typedefs to public --- modules/ScenarioControl/inc/trigger.h | 38 ++++++++++++++++----------- 1 file changed, 22 insertions(+), 16 deletions(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 3bde34884..0c949ad35 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -8,22 +8,7 @@ class Trigger { public: - Trigger(); - virtual ~Trigger(); - - virtual uint16_t getType(); - virtual uint16_t getID(); - - virtual void setType(uint16_t triggerType); - virtual void setID(uint16_t triggerID); - - virtual int8_t appendTriggerParameter(uint32_t triggerParameter); - - friend std::ostream& operator<<(std::ostream &strm, const Trigger &a) { - return strm << "TODO"; - } - -protected: + /*! Typedefs */ typedef enum { TRIGGER_UNDEFINED = 0x0000, TRIGGER_TYPE_1 = 0x0001, @@ -80,6 +65,27 @@ class Trigger TRIGGER_PARAMETER_UNAVAILABLE = 0xFFFFFFFF } TriggerParameter_t; + /*! Constructor */ + Trigger(); + + /*! Destructor */ + virtual ~Trigger(); + + /*! Getters */ + virtual uint16_t getType(); + virtual uint16_t getID(); + + /*! Setters */ + virtual void setType(uint16_t triggerType); + virtual void setID(uint16_t triggerID); + + virtual int8_t appendTriggerParameter(uint32_t triggerParameter); + + /*! To string */ + friend std::ostream& operator<<(std::ostream &strm, const Trigger &a) { + return strm << "TODO"; + } + private: uint16_t triggerID; From 10304b93434c0eed32f6a652e2a2af65a22c7f1b Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Tue, 2 Jul 2019 10:41:10 +0200 Subject: [PATCH 275/730] Removed subscribe and reimplemented publishing --- server/src/citscontrol.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 3cde988fb..09966de46 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -113,20 +113,20 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (!connect_mqtt()){ LogMessage(LOG_LEVEL_INFO,"Connected!"); - MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); + //MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); pending_state = CONNECTED; LogMessage(LOG_LEVEL_DEBUG,"CITS state change from %d to %d",state,pending_state); } break; case CONNECTED: -/* + if ((mqtt_response_code = publish_mqtt(DEFAULT_MQTT_PAYLOAD,strlen(DEFAULT_MQTT_PAYLOAD),DEFAULT_MQTT_TOPIC))) { LogMessage(LOG_LEVEL_ERROR,"Could not publish message, error code %d", mqtt_response_code); } else { pending_state = SENDING; } - */ + break; case SENDING: if (sendtoken == deliveredtoken) { From 8e39ee104f25481266817057dc288c5ba405c9bd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 2 Jul 2019 12:28:50 +0200 Subject: [PATCH 276/730] Added class for brake trigger --- modules/ScenarioControl/CMakeLists.txt | 4 +++- modules/ScenarioControl/inc/braketrigger.h | 12 ++++++++++++ modules/ScenarioControl/src/braketrigger.cpp | 11 +++++++++++ 3 files changed, 26 insertions(+), 1 deletion(-) create mode 100644 modules/ScenarioControl/inc/braketrigger.h create mode 100644 modules/ScenarioControl/src/braketrigger.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index 43789730b..fee8ca620 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -36,8 +36,10 @@ add_library(util ) add_library(Trigger - src/trigger.cpp inc/trigger.h + src/trigger.cpp + inc/braketrigger.h + src/braketrigger.cpp ) add_executable(ScenarioControl src/main.cpp) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h new file mode 100644 index 000000000..ab92d398a --- /dev/null +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -0,0 +1,12 @@ +#ifndef BRAKETRIGGER_H +#define BRAKETRIGGER_H + +#include "trigger.h" + +class BrakeTrigger : public Trigger +{ + BrakeTrigger(); + ~BrakeTrigger(); +}; + +#endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp new file mode 100644 index 000000000..7e29165c9 --- /dev/null +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -0,0 +1,11 @@ +#include "braketrigger.h" + +BrakeTrigger::BrakeTrigger() +{ + +} + +uint16_t BrakeTrigger::getType() +{ + +} From 96cb272b672364bd6c2f15167a277cdaff7cc2bc Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 2 Jul 2019 12:29:28 +0200 Subject: [PATCH 277/730] Changed return type of getType --- modules/ScenarioControl/inc/trigger.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 0c949ad35..afccad8a7 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -72,11 +72,10 @@ class Trigger virtual ~Trigger(); /*! Getters */ - virtual uint16_t getType(); + virtual TriggerType_t getType(); virtual uint16_t getID(); /*! Setters */ - virtual void setType(uint16_t triggerType); virtual void setID(uint16_t triggerID); virtual int8_t appendTriggerParameter(uint32_t triggerParameter); From fbd09f3835e09bf3c3fb9531169bbec7652b58e7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 2 Jul 2019 13:58:31 +0200 Subject: [PATCH 278/730] Moved some function definitions to Trigger class --- modules/ScenarioControl/inc/braketrigger.h | 7 ++++++- modules/ScenarioControl/inc/braketrigger.h.autosave | 13 +++++++++++++ modules/ScenarioControl/inc/trigger.h | 10 ++++++---- modules/ScenarioControl/src/braketrigger.cpp | 7 +------ modules/ScenarioControl/src/trigger.cpp | 4 ++-- 5 files changed, 28 insertions(+), 13 deletions(-) create mode 100644 modules/ScenarioControl/inc/braketrigger.h.autosave diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index ab92d398a..2a7be99c0 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -5,8 +5,13 @@ class BrakeTrigger : public Trigger { - BrakeTrigger(); +public: + //BrakeTrigger(TriggerType_t triggerID); ~BrakeTrigger(); + + TriggerType_t getType() { return TRIGGER_BRAKE; } + + TriggerReturnCode_t appendTriggerParameter(uint32_t triggerParameter); }; #endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/inc/braketrigger.h.autosave b/modules/ScenarioControl/inc/braketrigger.h.autosave new file mode 100644 index 000000000..8f1c342fa --- /dev/null +++ b/modules/ScenarioControl/inc/braketrigger.h.autosave @@ -0,0 +1,13 @@ +#ifndef BRAKETRIGGER_H +#define BRAKETRIGGER_H + +#include "trigger.h" + +class BrakeTrigger : public Trigger +{ +public: + TriggerType_t getType() { return TRIGGER_BRAKE; } + TriggerReturnCode_t appendTriggerParameter(uint32_t triggerParameter); +}; + +#endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index afccad8a7..3ea34376b 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -65,20 +65,22 @@ class Trigger TRIGGER_PARAMETER_UNAVAILABLE = 0xFFFFFFFF } TriggerParameter_t; + typedef enum {OK} TriggerReturnCode_t; + /*! Constructor */ - Trigger(); + Trigger(TriggerType_t triggerID); /*! Destructor */ virtual ~Trigger(); /*! Getters */ virtual TriggerType_t getType(); - virtual uint16_t getID(); + uint16_t getID() { return this->triggerID; } /*! Setters */ - virtual void setID(uint16_t triggerID); + void setID(uint16_t triggerID) { this->triggerID = triggerID; } - virtual int8_t appendTriggerParameter(uint32_t triggerParameter); + virtual TriggerReturnCode_t appendTriggerParameter(uint32_t triggerParameter); /*! To string */ friend std::ostream& operator<<(std::ostream &strm, const Trigger &a) { diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 7e29165c9..eb93a3d72 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,11 +1,6 @@ #include "braketrigger.h" -BrakeTrigger::BrakeTrigger() -{ - -} - -uint16_t BrakeTrigger::getType() +Trigger::TriggerReturnCode_t BrakeTrigger::appendTriggerParameter(uint32_t triggerParameter) { } diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index 6ce34e700..8ae2e9486 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -1,6 +1,6 @@ #include "trigger.h" -Trigger::Trigger() +Trigger::Trigger(TriggerType_t triggerID) { - + this->triggerID = triggerID; } From b5460e34c4f1362f7f024f458d2576b013d07c08 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 2 Jul 2019 15:31:27 +0200 Subject: [PATCH 279/730] Removed accidental include --- modules/ScenarioControl/inc/braketrigger.h.autosave | 13 ------------- 1 file changed, 13 deletions(-) delete mode 100644 modules/ScenarioControl/inc/braketrigger.h.autosave diff --git a/modules/ScenarioControl/inc/braketrigger.h.autosave b/modules/ScenarioControl/inc/braketrigger.h.autosave deleted file mode 100644 index 8f1c342fa..000000000 --- a/modules/ScenarioControl/inc/braketrigger.h.autosave +++ /dev/null @@ -1,13 +0,0 @@ -#ifndef BRAKETRIGGER_H -#define BRAKETRIGGER_H - -#include "trigger.h" - -class BrakeTrigger : public Trigger -{ -public: - TriggerType_t getType() { return TRIGGER_BRAKE; } - TriggerReturnCode_t appendTriggerParameter(uint32_t triggerParameter); -}; - -#endif // BRAKETRIGGER_H From c0fb63d26da8487f36d88a6db4cd95520587f6e2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 2 Jul 2019 15:31:56 +0200 Subject: [PATCH 280/730] Implemented check on allowed parameters --- modules/ScenarioControl/inc/braketrigger.h | 7 ++++- modules/ScenarioControl/src/braketrigger.cpp | 29 +++++++++++++++++++- 2 files changed, 34 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 2a7be99c0..5d79abd15 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -11,7 +11,12 @@ class BrakeTrigger : public Trigger TriggerType_t getType() { return TRIGGER_BRAKE; } - TriggerReturnCode_t appendTriggerParameter(uint32_t triggerParameter); + TriggerReturnCode_t appendTriggerParameter(TriggerParameter_t triggerParameter); + +private: + std::set triggerParameters; + + TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter); }; #endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index eb93a3d72..0a1843f72 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,6 +1,33 @@ #include "braketrigger.h" -Trigger::TriggerReturnCode_t BrakeTrigger::appendTriggerParameter(uint32_t triggerParameter) +static constexpr Trigger::TriggerParameter_t acceptedParameters[] = { + Trigger::TRIGGER_PARAMETER_FALSE, + Trigger::TRIGGER_PARAMETER_TRUE, + Trigger::TRIGGER_PARAMETER_RELEASED, + Trigger::TRIGGER_PARAMETER_PRESSED, + Trigger::TRIGGER_PARAMETER_LOW, + Trigger::TRIGGER_PARAMETER_HIGH, + Trigger::TRIGGER_PARAMETER_RISING_EDGE, + Trigger::TRIGGER_PARAMETER_FALLING_EDGE, + Trigger::TRIGGER_PARAMETER_ANY_EDGE, + Trigger::TRIGGER_PARAMETER_EQUAL_TO, + Trigger::TRIGGER_PARAMETER_NOT_EQUAL_TO +}; + +Trigger::TriggerReturnCode_t BrakeTrigger::appendTriggerParameter(Trigger::TriggerParameter_t triggerParameter) { + TriggerReturnCode_t retval = NOT_OK; + + if( (retval = checkTriggerParameter(triggerParameter)) != OK) + return retval; } + +Trigger::TriggerReturnCode_t BrakeTrigger::checkTriggerParameter(TriggerParameter_t triggerParameter) +{ + for (const TriggerParameter_t param : acceptedParameters) { + if (triggerParameter == param) + return OK; + } + return NOT_OK; +} From 6e0fbb625b3bae0ea1c149d865826d2e3390ada3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 2 Jul 2019 15:32:32 +0200 Subject: [PATCH 281/730] Minor modifications on trigger header --- modules/ScenarioControl/inc/trigger.h | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 3ea34376b..4dd6526a7 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -65,22 +65,29 @@ class Trigger TRIGGER_PARAMETER_UNAVAILABLE = 0xFFFFFFFF } TriggerParameter_t; - typedef enum {OK} TriggerReturnCode_t; + typedef uint16_t TriggerID_t; + + typedef enum {OK, NOT_OK} TriggerReturnCode_t; + /*! Constructor */ Trigger(TriggerType_t triggerID); + /*! Destructor */ virtual ~Trigger(); + /*! Getters */ virtual TriggerType_t getType(); uint16_t getID() { return this->triggerID; } + /*! Setters */ void setID(uint16_t triggerID) { this->triggerID = triggerID; } - virtual TriggerReturnCode_t appendTriggerParameter(uint32_t triggerParameter); + virtual TriggerReturnCode_t appendTriggerParameter(TriggerParameter_t triggerParameter); + /*! To string */ friend std::ostream& operator<<(std::ostream &strm, const Trigger &a) { @@ -89,10 +96,10 @@ class Trigger private: - uint16_t triggerID; - TriggerType_t triggerType = TRIGGER_UNDEFINED; + TriggerID_t triggerID; std::set triggerParameters; + virtual TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t param); }; #endif // TRIGGER_H From f903f28438368908915828ed14a75ee8187241bd Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 3 Jul 2019 09:11:07 +0200 Subject: [PATCH 282/730] Clearing return buffer when reading *C8 from DataDictionary. --- server/inc/datadictionary.h | 20 ++++++++++---------- server/inc/util.h | 4 ++-- server/src/datadictionary.c | 32 +++++++++++++++++++++----------- server/src/objectcontrol.c | 12 +++++------- server/src/supervisorcontrol.c | 3 +-- server/src/systemcontrol.c | 28 ++++++++++++++-------------- server/src/timecontrol.c | 4 +--- 7 files changed, 54 insertions(+), 49 deletions(-) diff --git a/server/inc/datadictionary.h b/server/inc/datadictionary.h index dc03d2b65..5c8287c91 100644 --- a/server/inc/datadictionary.h +++ b/server/inc/datadictionary.h @@ -17,22 +17,22 @@ ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD); ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude); ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude); -ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude); +ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD); ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude); ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude); -ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude); +ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD); ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude); ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude); -ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude); +ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD); ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP); ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP); -ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP); +ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD); ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost); @@ -61,7 +61,7 @@ ReadWriteAccess_t DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxD ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD); ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP); ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP); -ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP); +ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD); ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort); @@ -70,7 +70,7 @@ ReadWriteAccess_t DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServ ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD); ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP); ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP); -ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP); +ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD); ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort); @@ -86,16 +86,16 @@ ReadWriteAccess_t DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMo ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD); ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers); -ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers); +ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitDTMReceiversC8(GSDType *GSD); ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers); -ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers); +ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD); ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP); ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP); -ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP); +ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP, U32 BuffLen); ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD); ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort); @@ -114,7 +114,7 @@ ReadWriteAccess_t DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPData); ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD); ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData); -ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, C8 *MiscData); +ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, C8 *MiscData, U32 BuffLen); ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, OBCState_t OBCState); OBCState_t DataDictionaryGetOBCStateU8(GSDType *GSD); diff --git a/server/inc/util.h b/server/inc/util.h index 1e594ac02..07326e96f 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -68,8 +68,8 @@ #define TCP_RX_BUFFER 1024 #define MAX_ADAPTIVE_SYNC_POINTS 512 -#define USE_LOCAL_USER_CONTROL 0 -#define LOCAL_USER_CONTROL_IP "192.168.0.7" +#define USE_LOCAL_USER_CONTROL 0 +#define LOCAL_USER_CONTROL_IP "10.168.14.207" #define USE_TEST_HOST 0 #define TESTHOST_IP LOCAL_USER_CONTROL_IP #define TESTSERVER_IP LOCAL_USER_CONTROL_IP diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index baaebda17..4e63cb6b8 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -164,9 +164,10 @@ ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude * \param Latitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude) +ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude, U32 BuffLen) { pthread_mutex_lock(&OriginLatitudeMutex); + bzero(Latitude, BuffLen); strcat(Latitude, GSD->OriginLatitudeC8); pthread_mutex_unlock(&OriginLatitudeMutex); return READ_OK; @@ -243,9 +244,10 @@ ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitu * \param Longitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude) +ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude, U32 BuffLen) { pthread_mutex_lock(&OriginLongitudeMutex); + bzero(Longitude, BuffLen); strcat(Longitude, GSD->OriginLongitudeC8); pthread_mutex_unlock(&OriginLongitudeMutex); return READ_OK; @@ -321,9 +323,10 @@ ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude * \param Altitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude) +ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude, U32 BuffLen) { pthread_mutex_lock(&OriginAltitudeMutex); + bzero(Altitude, BuffLen); strcat(Altitude, GSD->OriginAltitudeC8); pthread_mutex_unlock(&OriginAltitudeMutex); return READ_OK; @@ -389,7 +392,7 @@ ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) { pthread_mutex_lock(&VisualizationServerMutex); - *IP = GSD->VisualizationServerU32; + *IP = GSD->VisualizationServerU32; pthread_mutex_unlock(&VisualizationServerMutex); return READ_OK; } @@ -401,9 +404,10 @@ ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) * \param IP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP) +ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP, U32 BuffLen) { pthread_mutex_lock(&VisualizationServerMutex); + bzero(IP, BuffLen); strcat(IP, GSD->VisualizationServerC8); pthread_mutex_unlock(&VisualizationServerMutex); return READ_OK; @@ -843,9 +847,10 @@ ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServer * \param TimeServerIP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP) +ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP, U32 BuffLen) { pthread_mutex_lock(&TimeServerIPMutex); + bzero(TimeServerIP, BuffLen); strcat(TimeServerIP, GSD->TimeServerIPC8); pthread_mutex_unlock(&TimeServerIPMutex); return READ_OK; @@ -984,9 +989,10 @@ ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP * \param SimulatorIP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP) +ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP, U32 BuffLen) { pthread_mutex_lock(&SimulatorIPMutex); + bzero(SimulatorIP, BuffLen); strcat(SimulatorIP, GSD->SimulatorIPC8); pthread_mutex_unlock(&SimulatorIPMutex); return READ_OK; @@ -1224,9 +1230,10 @@ ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceive * \param VOILReceivers Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceivers) +ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceivers, U32 BuffLen) { pthread_mutex_lock(&VOILReceiversMutex); + bzero(VOILReceivers, BuffLen); strcpy(VOILReceivers, GSD->VOILReceiversC8); pthread_mutex_unlock(&VOILReceiversMutex); return READ_OK; @@ -1284,9 +1291,10 @@ ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers * \param DTMReceivers Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers) +ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers, U32 BuffLen) { pthread_mutex_lock(&DTMReceiversMutex); + bzero(DTMReceivers, BuffLen); strcpy(DTMReceivers, GSD->DTMReceiversC8); pthread_mutex_unlock(&DTMReceiversMutex); return READ_OK; @@ -1363,9 +1371,10 @@ ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP * \param IP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP) +ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP, U32 BuffLen) { pthread_mutex_lock(&ExternalSupervisorIPMutex); + bzero(IP, BuffLen); strcat(IP, GSD->ExternalSupervisorIPC8); pthread_mutex_unlock(&ExternalSupervisorIPMutex); return READ_OK; @@ -1646,9 +1655,10 @@ ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) * \param MiscData Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData) +ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData, U32 BuffLen) { pthread_mutex_lock(&MiscDataMutex); + bzero(MiscData, BuffLen); strcpy(MiscData, GSD->MiscDataC8); pthread_mutex_unlock(&MiscDataMutex); return READ_OK; diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d3efa7c25..313be2880 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1109,9 +1109,9 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) pi = p + 1; } */ - DataDictionaryGetOriginLatitudeC8(GSD, OriginLatitude); - DataDictionaryGetOriginLongitudeC8(GSD, OriginLongitude); - DataDictionaryGetOriginAltitudeC8(GSD, OriginAltitude); + DataDictionaryGetOriginLatitudeC8(GSD, OriginLatitude, SMALL_BUFFER_SIZE_0); + DataDictionaryGetOriginLongitudeC8(GSD, OriginLongitude, SMALL_BUFFER_SIZE_0); + DataDictionaryGetOriginAltitudeC8(GSD, OriginAltitude, SMALL_BUFFER_SIZE_0); DataDictionaryGetOriginLatitudeDbl(GSD, &OriginLatitudeDbl); DataDictionaryGetOriginLongitudeDbl(GSD, &OriginLongitudeDbl); @@ -1136,10 +1136,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) DataDictionaryGetASPFilterLevelDbl(GSD, &ASPFilterLevelDbl); DataDictionaryGetASPMaxDeltaTimeDbl(GSD, &ASPMaxDeltaTimeDbl); ASPDebugRate = 1; - bzero(VOILReceivers, SMALL_BUFFER_SIZE_254); - DataDictionaryGetVOILReceiversC8(GSD, VOILReceivers); - bzero(DTMReceivers, SMALL_BUFFER_SIZE_254); - DataDictionaryGetDTMReceiversC8(GSD, DTMReceivers); + DataDictionaryGetVOILReceiversC8(GSD, VOILReceivers, SMALL_BUFFER_SIZE_254); + DataDictionaryGetDTMReceiversC8(GSD, DTMReceivers, SMALL_BUFFER_SIZE_254); } else if(iCommand == COMM_DISCONNECT) diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index 16023cd03..d2084f2ca 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -113,8 +113,7 @@ void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) DataDictionaryGetExternalSupervisorIPU32(GSD, &SupervisorIpU32); - bzero(SupervisorServerIpC8, SUP_CONTROL_BUFFER_SIZE_20); - DataDictionaryGetExternalSupervisorIPC8(GSD, SupervisorServerIpC8); + DataDictionaryGetExternalSupervisorIPC8(GSD, SupervisorServerIpC8, SUP_CONTROL_BUFFER_SIZE_20); LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", SupervisorServerIpC8); diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 3149bc099..0ed330b1d 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -153,7 +153,7 @@ void SystemControlSendMONR(C8* LogString, I32* Sockfd, U8 Debug); static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I32 *sockfd, struct sockaddr_in* addr); //I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData, I32 Length, U8 debug); I32 SystemControlReadServerParameterList(C8 *ParameterList, U8 debug); -I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnValue, U8 Debug); +I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnValue, U32 BufferLength, U8 Debug); I32 SystemControlReadServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug); I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug); I32 SystemControlSetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *NewValue, U8 Debug); @@ -229,6 +229,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) U64 OldTimeU64 = 0; U64 PollRateU64 = 0; C8 ControlResponseBuffer[SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE]; + C8 TextBuffer20[SMALL_BUFFER_SIZE_20]; C8 UserControlIPC8[SMALL_BUFFER_SIZE_20]; struct timeval now; U16 MilliU16 = 0, NowU16 = 0; @@ -392,7 +393,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { // Find opening parenthesis StartPtr = strchr(CmdPtr, '('); - // If there was no opening or closing parenthesis, the format is not correct if (StartPtr == NULL || strchr(StartPtr,')') == NULL) LogMessage(LOG_LEVEL_WARNING, "Received command not conforming to MSCP standards"); @@ -604,9 +604,9 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case GetTestOrigin_0: SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - DataDictionaryGetOriginLatitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); - DataDictionaryGetOriginLongitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); - DataDictionaryGetOriginAltitudeC8(GSD, ControlResponseBuffer);strcat(ControlResponseBuffer,";"); + DataDictionaryGetOriginLatitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20); strcat(ControlResponseBuffer,TextBuffer20); strcat(ControlResponseBuffer,";"); + DataDictionaryGetOriginLongitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20);strcat(ControlResponseBuffer,TextBuffer20); strcat(ControlResponseBuffer,";"); + DataDictionaryGetOriginAltitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20);strcat(ControlResponseBuffer,TextBuffer20); strcat(ControlResponseBuffer,";"); iCommSend(COMM_OSEM, ControlResponseBuffer, sizeof(ControlResponseBuffer)); SystemControlSendControlResponse(strlen(ParameterListC8) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetTestOrigin:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); break; @@ -615,7 +615,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { SystemControlCommand = Idle_0; bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlGetServerParameter(GSD, SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlGetServerParameter(GSD, SystemControlArgument[0], ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE, 0); SystemControlSendControlResponse(strlen(ControlResponseBuffer) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetServerParameter:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in GetServerParameter(Name)!"); SystemControlCommand = Idle_0;} break; @@ -1477,7 +1477,7 @@ I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData } */ -I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnValue, U8 Debug) +I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnValue, U32 BufferLength, U8 Debug) { bzero(ReturnValue, 20); dbl ValueDbl = 0; @@ -1502,7 +1502,7 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV } else if(strcmp("VisualizationServerName", ParameterName) == 0) { - DataDictionaryGetVisualizationServerC8(GSD, ReturnValue); + DataDictionaryGetVisualizationServerC8(GSD, ReturnValue, BufferLength); } else if(strcmp("ForceObjectToLocalhost", ParameterName) == 0) { @@ -1536,7 +1536,7 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV } else if(strcmp("TimeServerIP", ParameterName) == 0) { - DataDictionaryGetTimeServerIPC8(GSD, ReturnValue); + DataDictionaryGetTimeServerIPC8(GSD, ReturnValue, BufferLength); } else if(strcmp("TimeServerPort", ParameterName) == 0) { @@ -1545,7 +1545,7 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV } else if(strcmp("SimulatorIP", ParameterName) == 0) { - DataDictionaryGetSimulatorIPC8(GSD, ReturnValue); + DataDictionaryGetSimulatorIPC8(GSD, ReturnValue, BufferLength); } else if(strcmp("SimulatorTCPPort", ParameterName) == 0) { @@ -1564,15 +1564,15 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV } else if(strcmp("VOILReceivers", ParameterName) == 0) { - DataDictionaryGetVOILReceiversC8(GSD, ReturnValue); + DataDictionaryGetVOILReceiversC8(GSD, ReturnValue, BufferLength); } else if(strcmp("DTMReceivers", ParameterName) == 0) { - DataDictionaryGetDTMReceiversC8(GSD, ReturnValue); + DataDictionaryGetDTMReceiversC8(GSD, ReturnValue, BufferLength); } else if(strcmp("SupervisorIP", ParameterName) == 0) { - DataDictionaryGetExternalSupervisorIPC8(GSD, ReturnValue); + DataDictionaryGetExternalSupervisorIPC8(GSD, ReturnValue, BufferLength); } else if(strcmp("SupervisorTCPPort", ParameterName) == 0) { @@ -1581,7 +1581,7 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV } else if(strcmp("MiscData", ParameterName) == 0) { - DataDictionaryGetMiscDataC8(GSD, ReturnValue); + DataDictionaryGetMiscDataC8(GSD, ReturnValue, BufferLength); } else if(strcmp("RVSSConfig", ParameterName) == 0) { diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index f39c11957..eda9c5209 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -112,10 +112,8 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) gettimeofday(&ExecTime, NULL); CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); PrevMilliSecondU16 = CurrentMilliSecondU16; - // Set time server IP - bzero(ServerIPC8, TIME_CONTROL_HOSTNAME_BUFFER_SIZE); - DataDictionaryGetTimeServerIPC8(GSD, ServerIPC8); + DataDictionaryGetTimeServerIPC8(GSD, ServerIPC8, TIME_CONTROL_HOSTNAME_BUFFER_SIZE); DataDictionaryGetTimeServerIPU32(GSD, &IpU32); // Set time server port From ff04a7b7700a922031076fc7e0ce134199832478 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 13:39:02 +0200 Subject: [PATCH 283/730] Made parameters an ordered list --- modules/ScenarioControl/inc/trigger.h | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 4dd6526a7..a0a44b49f 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -4,6 +4,7 @@ #include #include #include +#include class Trigger { @@ -97,7 +98,10 @@ class Trigger private: TriggerID_t triggerID; - std::set triggerParameters; + std::list parameters; + + virtual std::set getAcceptedParameters() + { return {TRIGGER_PARAMETER_UNAVAILABLE}; } virtual TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t param); }; From a1a531cf709a951c582cb693fd3471a13a96b167 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 13:40:06 +0200 Subject: [PATCH 284/730] Made initialization variable be an ID type --- modules/ScenarioControl/inc/trigger.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index a0a44b49f..e9253dc08 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -72,7 +72,7 @@ class Trigger /*! Constructor */ - Trigger(TriggerType_t triggerID); + Trigger(TriggerID_t triggerID); /*! Destructor */ From e5528ee18270d0715b2381c0eb5fddb4593835cd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 13:40:52 +0200 Subject: [PATCH 285/730] Moved a bunch of functions to be virtual --- modules/ScenarioControl/inc/trigger.h | 15 ++++++++++----- modules/ScenarioControl/src/trigger.cpp | 24 +++++++++++++++++++++++- 2 files changed, 33 insertions(+), 6 deletions(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index e9253dc08..d03e7a503 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -80,22 +80,28 @@ class Trigger /*! Getters */ - virtual TriggerType_t getType(); + virtual TriggerType_t getType() = 0; uint16_t getID() { return this->triggerID; } /*! Setters */ void setID(uint16_t triggerID) { this->triggerID = triggerID; } - virtual TriggerReturnCode_t appendTriggerParameter(TriggerParameter_t triggerParameter); + virtual TriggerReturnCode_t appendParameter(TriggerParameter_t triggerParameter) = 0; + virtual TriggerReturnCode_t parseParameters() = 0; // TODO: Maybe make this a Trigger function /*! To string */ - friend std::ostream& operator<<(std::ostream &strm, const Trigger &a) { - return strm << "TODO"; + friend std::ostream& operator<<(std::ostream &strm, const Trigger &trig) { + return strm << "TODO, but here is the ID: " << trig.triggerID; } + +protected: + TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter); + + private: TriggerID_t triggerID; std::list parameters; @@ -103,7 +109,6 @@ class Trigger virtual std::set getAcceptedParameters() { return {TRIGGER_PARAMETER_UNAVAILABLE}; } - virtual TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t param); }; #endif // TRIGGER_H diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index 8ae2e9486..d0fe1baee 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -1,6 +1,28 @@ #include "trigger.h" -Trigger::Trigger(TriggerType_t triggerID) + +Trigger::Trigger(TriggerID_t triggerID) { this->triggerID = triggerID; } + +Trigger::~Trigger() +{ + +} + + +/*! + * \brief Trigger::checkTriggerParameter Checks if the queried parameter is within the list of accepted parameters + * \param triggerParameter Queried parameter + * \return According to ::TriggerReturnCode_t + */ +Trigger::TriggerReturnCode_t Trigger::checkTriggerParameter(TriggerParameter_t triggerParameter) +{ + std::set acceptedParameters = getAcceptedParameters(); + for (const TriggerParameter_t param : acceptedParameters) { + if (triggerParameter == param) + return OK; + } + return NOT_OK; +} From 1010cb6a7995587f942ea1939454d47cda57143a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 13:41:52 +0200 Subject: [PATCH 286/730] Made braketrigger follow correct structure --- modules/ScenarioControl/inc/braketrigger.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 5d79abd15..8aaa6c9b8 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -11,7 +11,8 @@ class BrakeTrigger : public Trigger TriggerType_t getType() { return TRIGGER_BRAKE; } - TriggerReturnCode_t appendTriggerParameter(TriggerParameter_t triggerParameter); + TriggerReturnCode_t appendParameter(TriggerParameter_t triggerParameter); + TriggerReturnCode_t parseParameters(); private: std::set triggerParameters; From d7749eac2873ce8cbf1b1b594f1d619fc81da646 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 13:42:26 +0200 Subject: [PATCH 287/730] Forgot a piece --- modules/ScenarioControl/inc/braketrigger.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 8aaa6c9b8..e96dc22a8 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -3,10 +3,12 @@ #include "trigger.h" +#include + class BrakeTrigger : public Trigger { public: - //BrakeTrigger(TriggerType_t triggerID); + BrakeTrigger(TriggerID_t triggerID); ~BrakeTrigger(); TriggerType_t getType() { return TRIGGER_BRAKE; } From 6419fe94cadfad05ff50bde1874d514f6e2a887c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 13:42:49 +0200 Subject: [PATCH 288/730] Implemented acceptedParameters getter function --- modules/ScenarioControl/inc/braketrigger.h | 20 +++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index e96dc22a8..fbb97a9eb 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -17,9 +17,23 @@ class BrakeTrigger : public Trigger TriggerReturnCode_t parseParameters(); private: - std::set triggerParameters; - - TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter); + std::list parameters; + std::set getAcceptedParameters() + { + return { + Trigger::TRIGGER_PARAMETER_FALSE, + Trigger::TRIGGER_PARAMETER_TRUE, + Trigger::TRIGGER_PARAMETER_RELEASED, + Trigger::TRIGGER_PARAMETER_PRESSED, + Trigger::TRIGGER_PARAMETER_LOW, + Trigger::TRIGGER_PARAMETER_HIGH, + Trigger::TRIGGER_PARAMETER_RISING_EDGE, + Trigger::TRIGGER_PARAMETER_FALLING_EDGE, + Trigger::TRIGGER_PARAMETER_ANY_EDGE, + Trigger::TRIGGER_PARAMETER_EQUAL_TO, + Trigger::TRIGGER_PARAMETER_NOT_EQUAL_TO + }; + } }; #endif // BRAKETRIGGER_H From ddebb46aae0f1c7e8b96616bb740d28a395db33b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 13:43:34 +0200 Subject: [PATCH 289/730] Implemented the functions as specified by header file --- modules/ScenarioControl/src/braketrigger.cpp | 37 +++++++++----------- 1 file changed, 16 insertions(+), 21 deletions(-) diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 0a1843f72..2c31c7d79 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,33 +1,28 @@ #include "braketrigger.h" -static constexpr Trigger::TriggerParameter_t acceptedParameters[] = { - Trigger::TRIGGER_PARAMETER_FALSE, - Trigger::TRIGGER_PARAMETER_TRUE, - Trigger::TRIGGER_PARAMETER_RELEASED, - Trigger::TRIGGER_PARAMETER_PRESSED, - Trigger::TRIGGER_PARAMETER_LOW, - Trigger::TRIGGER_PARAMETER_HIGH, - Trigger::TRIGGER_PARAMETER_RISING_EDGE, - Trigger::TRIGGER_PARAMETER_FALLING_EDGE, - Trigger::TRIGGER_PARAMETER_ANY_EDGE, - Trigger::TRIGGER_PARAMETER_EQUAL_TO, - Trigger::TRIGGER_PARAMETER_NOT_EQUAL_TO -}; - -Trigger::TriggerReturnCode_t BrakeTrigger::appendTriggerParameter(Trigger::TriggerParameter_t triggerParameter) + +BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : Trigger (triggerID) +{ + +} + +BrakeTrigger::~BrakeTrigger() +{ + parameters.clear(); +} + +Trigger::TriggerReturnCode_t BrakeTrigger::appendParameter(Trigger::TriggerParameter_t triggerParameter) { TriggerReturnCode_t retval = NOT_OK; if( (retval = checkTriggerParameter(triggerParameter)) != OK) return retval; + parameters.push_back(triggerParameter); + return OK; } -Trigger::TriggerReturnCode_t BrakeTrigger::checkTriggerParameter(TriggerParameter_t triggerParameter) +Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() { - for (const TriggerParameter_t param : acceptedParameters) { - if (triggerParameter == param) - return OK; - } - return NOT_OK; + } From a648fa578389d79385b5f0c2d50a1d5f004ce320 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 14:20:31 +0200 Subject: [PATCH 290/730] Moved appendparameter to trigger. Added function declarations for state updates --- modules/ScenarioControl/inc/braketrigger.h | 6 +++--- modules/ScenarioControl/inc/trigger.h | 15 +++++++++++---- modules/ScenarioControl/src/braketrigger.cpp | 14 +++----------- modules/ScenarioControl/src/trigger.cpp | 12 ++++++++++++ 4 files changed, 29 insertions(+), 18 deletions(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index fbb97a9eb..99ee9210d 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -11,13 +11,13 @@ class BrakeTrigger : public Trigger BrakeTrigger(TriggerID_t triggerID); ~BrakeTrigger(); - TriggerType_t getType() { return TRIGGER_BRAKE; } - - TriggerReturnCode_t appendParameter(TriggerParameter_t triggerParameter); TriggerReturnCode_t parseParameters(); private: + static constexpr TriggerTypeCode_t triggerTypeCode = TRIGGER_BRAKE; + std::list parameters; + std::set getAcceptedParameters() { return { diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index d03e7a503..9ed544420 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -33,7 +33,7 @@ class Trigger TRIGGER_TIMER_EVENT_OCCURRED = 0x0100, TRIGGER_MODE_CHANGED = 0x0110, TRIGGER_UNAVAILABLE = 0xFFFF - } TriggerType_t; + } TriggerTypeCode_t; typedef enum { TRIGGER_PARAMETER_FALSE = 0x00000000, @@ -80,15 +80,15 @@ class Trigger /*! Getters */ - virtual TriggerType_t getType() = 0; + TriggerTypeCode_t getTypeCode() { return this->triggerTypeCode; } uint16_t getID() { return this->triggerID; } /*! Setters */ void setID(uint16_t triggerID) { this->triggerID = triggerID; } - virtual TriggerReturnCode_t appendParameter(TriggerParameter_t triggerParameter) = 0; - virtual TriggerReturnCode_t parseParameters() = 0; // TODO: Maybe make this a Trigger function + TriggerReturnCode_t appendParameter(TriggerParameter_t triggerParameter); + virtual TriggerReturnCode_t parseParameters() = 0; /*! To string */ @@ -96,6 +96,9 @@ class Trigger return strm << "TODO, but here is the ID: " << trig.triggerID; } + TriggerReturnCode_t update(double value); + TriggerReturnCode_t update(int value); + TriggerReturnCode_t update(bool value); protected: @@ -104,6 +107,10 @@ class Trigger private: TriggerID_t triggerID; + TriggerTypeCode_t triggerTypeCode; + + + std::list parameters; virtual std::set getAcceptedParameters() diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 2c31c7d79..0e07105ae 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -11,18 +11,10 @@ BrakeTrigger::~BrakeTrigger() parameters.clear(); } -Trigger::TriggerReturnCode_t BrakeTrigger::appendParameter(Trigger::TriggerParameter_t triggerParameter) -{ - TriggerReturnCode_t retval = NOT_OK; - - if( (retval = checkTriggerParameter(triggerParameter)) != OK) - return retval; - - parameters.push_back(triggerParameter); - return OK; -} - Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() { + for (const TriggerParameter_t param : parameters) + { + } } diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index d0fe1baee..e131a6dc0 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -26,3 +26,15 @@ Trigger::TriggerReturnCode_t Trigger::checkTriggerParameter(TriggerParameter_t t } return NOT_OK; } + + +Trigger::TriggerReturnCode_t Trigger::appendParameter(Trigger::TriggerParameter_t triggerParameter) +{ + TriggerReturnCode_t retval = NOT_OK; + + if( (retval = checkTriggerParameter(triggerParameter)) != OK) + return retval; + + parameters.push_back(triggerParameter); + return OK; +} From e7000d376b0b000882e77eeb61e0c7c8a84420a0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 15:24:15 +0200 Subject: [PATCH 291/730] Implemented update function as template --- modules/ScenarioControl/inc/braketrigger.h | 13 +++++++++++++ modules/ScenarioControl/inc/trigger.h | 7 ++----- 2 files changed, 15 insertions(+), 5 deletions(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 99ee9210d..3333ae653 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -13,11 +13,23 @@ class BrakeTrigger : public Trigger TriggerReturnCode_t parseParameters(); + template TriggerReturnCode_t update(T) { return INVALID_ARGUMENT; } + + template<> TriggerReturnCode_t update(bool isBrakeCurrentlyPressed) + { + wasBrakePressed = isBrakePressed; + isBrakePressed = isBrakeCurrentlyPressed; + return OK; + } + + private: static constexpr TriggerTypeCode_t triggerTypeCode = TRIGGER_BRAKE; std::list parameters; + bool isBrakePressed = false, wasBrakePressed = false; + std::set getAcceptedParameters() { return { @@ -34,6 +46,7 @@ class BrakeTrigger : public Trigger Trigger::TRIGGER_PARAMETER_NOT_EQUAL_TO }; } + }; #endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 9ed544420..2c4ed3ec5 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -68,7 +68,7 @@ class Trigger typedef uint16_t TriggerID_t; - typedef enum {OK, NOT_OK} TriggerReturnCode_t; + typedef enum {OK, NOT_OK, INVALID_ARGUMENT} TriggerReturnCode_t; /*! Constructor */ @@ -96,10 +96,7 @@ class Trigger return strm << "TODO, but here is the ID: " << trig.triggerID; } - TriggerReturnCode_t update(double value); - TriggerReturnCode_t update(int value); - TriggerReturnCode_t update(bool value); - + template TriggerReturnCode_t update(T) { return INVALID_ARGUMENT; } protected: TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter); From 204a58fbed624dba52be06ec6300abc2c95d44a2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 15:52:50 +0200 Subject: [PATCH 292/730] Implemented checker function for trigger occurred --- modules/ScenarioControl/inc/braketrigger.h | 13 ++++------- modules/ScenarioControl/inc/trigger.h | 12 ++++++++-- modules/ScenarioControl/src/braketrigger.cpp | 23 ++++++++++++++++++++ 3 files changed, 37 insertions(+), 11 deletions(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 3333ae653..e4c0602d8 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -13,15 +13,7 @@ class BrakeTrigger : public Trigger TriggerReturnCode_t parseParameters(); - template TriggerReturnCode_t update(T) { return INVALID_ARGUMENT; } - - template<> TriggerReturnCode_t update(bool isBrakeCurrentlyPressed) - { - wasBrakePressed = isBrakePressed; - isBrakePressed = isBrakeCurrentlyPressed; - return OK; - } - + TriggerReturnCode_t update(bool); private: static constexpr TriggerTypeCode_t triggerTypeCode = TRIGGER_BRAKE; @@ -47,6 +39,9 @@ class BrakeTrigger : public Trigger }; } + TriggerReturnCode_t checkIfTriggered(void); + + enum TriggerMode {PRESSED, RELEASED, EDGE_RISING, EDGE_FALLING, EDGE_ANY} mode; }; #endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 2c4ed3ec5..a7de4a19f 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -6,6 +6,8 @@ #include #include + + class Trigger { public: @@ -68,7 +70,7 @@ class Trigger typedef uint16_t TriggerID_t; - typedef enum {OK, NOT_OK, INVALID_ARGUMENT} TriggerReturnCode_t; + typedef enum {OK, NOT_OK, INVALID_ARGUMENT, TRIGGER_OCCURRED, NO_TRIGGER_OCCURRED} TriggerReturnCode_t; /*! Constructor */ @@ -96,7 +98,12 @@ class Trigger return strm << "TODO, but here is the ID: " << trig.triggerID; } - template TriggerReturnCode_t update(T) { return INVALID_ARGUMENT; } + TriggerReturnCode_t update(void) { return INVALID_ARGUMENT; } + TriggerReturnCode_t update(bool) { return INVALID_ARGUMENT; } + TriggerReturnCode_t update(char) { return INVALID_ARGUMENT; } + TriggerReturnCode_t update(int) { return INVALID_ARGUMENT; } + TriggerReturnCode_t update(float) { return INVALID_ARGUMENT; } + TriggerReturnCode_t update(double) { return INVALID_ARGUMENT; } protected: TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter); @@ -113,6 +120,7 @@ class Trigger virtual std::set getAcceptedParameters() { return {TRIGGER_PARAMETER_UNAVAILABLE}; } + virtual TriggerReturnCode_t checkIfTriggered(void) = 0; }; #endif // TRIGGER_H diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 0e07105ae..b1597539a 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -18,3 +18,26 @@ Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() } } + +Trigger::TriggerReturnCode_t BrakeTrigger::update(bool isBrakeCurrentlyPressed) +{ + wasBrakePressed = isBrakePressed; + isBrakePressed = isBrakeCurrentlyPressed; + return checkIfTriggered(); +} + +Trigger::TriggerReturnCode_t BrakeTrigger::checkIfTriggered() +{ + switch (mode) { + case PRESSED: + return isBrakePressed ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case RELEASED: + return isBrakePressed ? NO_TRIGGER_OCCURRED : TRIGGER_OCCURRED; + case EDGE_ANY: + return (isBrakePressed != wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case EDGE_RISING: + return (isBrakePressed && !wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case EDGE_FALLING: + return (!isBrakePressed && wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + } +} From b286bc01a4178a8520159d37d6557b4571d11907 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 3 Jul 2019 15:56:43 +0200 Subject: [PATCH 293/730] Missed adding the actual implementation --- modules/ScenarioControl/src/braketrigger.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index b1597539a..d7eee2831 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -32,7 +32,7 @@ Trigger::TriggerReturnCode_t BrakeTrigger::checkIfTriggered() case PRESSED: return isBrakePressed ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; case RELEASED: - return isBrakePressed ? NO_TRIGGER_OCCURRED : TRIGGER_OCCURRED; + return !isBrakePressed ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; case EDGE_ANY: return (isBrakePressed != wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; case EDGE_RISING: From cd88006354452835def0a50a675af7beb903cde6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 4 Jul 2019 09:45:14 +0200 Subject: [PATCH 294/730] Removed overly complex parsing of arguments --- modules/ScenarioControl/inc/braketrigger.h | 18 ++++-- modules/ScenarioControl/src/braketrigger.cpp | 58 +++++++++++++++++--- 2 files changed, 61 insertions(+), 15 deletions(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index e4c0602d8..8fc5452eb 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -3,7 +3,8 @@ #include "trigger.h" -#include +#include +#include class BrakeTrigger : public Trigger { @@ -18,7 +19,7 @@ class BrakeTrigger : public Trigger private: static constexpr TriggerTypeCode_t triggerTypeCode = TRIGGER_BRAKE; - std::list parameters; + std::vector parameters; bool isBrakePressed = false, wasBrakePressed = false; @@ -33,15 +34,20 @@ class BrakeTrigger : public Trigger Trigger::TRIGGER_PARAMETER_HIGH, Trigger::TRIGGER_PARAMETER_RISING_EDGE, Trigger::TRIGGER_PARAMETER_FALLING_EDGE, - Trigger::TRIGGER_PARAMETER_ANY_EDGE, - Trigger::TRIGGER_PARAMETER_EQUAL_TO, - Trigger::TRIGGER_PARAMETER_NOT_EQUAL_TO + Trigger::TRIGGER_PARAMETER_ANY_EDGE }; } TriggerReturnCode_t checkIfTriggered(void); - enum TriggerMode {PRESSED, RELEASED, EDGE_RISING, EDGE_FALLING, EDGE_ANY} mode; + enum TriggerMode { + INVALID_MODE, + PRESSED, + RELEASED, + EDGE_RISING, + EDGE_FALLING, + EDGE_ANY} + mode = INVALID_MODE; }; #endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index d7eee2831..9066a5730 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,6 +1,5 @@ #include "braketrigger.h" - BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : Trigger (triggerID) { @@ -11,14 +10,6 @@ BrakeTrigger::~BrakeTrigger() parameters.clear(); } -Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() -{ - for (const TriggerParameter_t param : parameters) - { - - } -} - Trigger::TriggerReturnCode_t BrakeTrigger::update(bool isBrakeCurrentlyPressed) { wasBrakePressed = isBrakePressed; @@ -39,5 +30,54 @@ Trigger::TriggerReturnCode_t BrakeTrigger::checkIfTriggered() return (isBrakePressed && !wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; case EDGE_FALLING: return (!isBrakePressed && wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case INVALID_MODE: + return NO_TRIGGER_OCCURRED; } } + + +Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() +{ + if (parameters.size() == 1) + { + switch (parameters.front()) + { + case TRIGGER_PARAMETER_PRESSED: + case TRIGGER_PARAMETER_TRUE: + case TRIGGER_PARAMETER_HIGH: + mode = PRESSED; + isBrakePressed = false; + wasBrakePressed = false; + return OK; + case TRIGGER_PARAMETER_RELEASED: + case TRIGGER_PARAMETER_FALSE: + case TRIGGER_PARAMETER_LOW: + mode = RELEASED; + isBrakePressed = true; + wasBrakePressed = true; + return OK; + case TRIGGER_PARAMETER_RISING_EDGE: + mode = EDGE_RISING; + isBrakePressed = false; + wasBrakePressed = false; + return OK; + case TRIGGER_PARAMETER_FALLING_EDGE: + mode = EDGE_FALLING; + isBrakePressed = false; + wasBrakePressed = false; + return OK; + case TRIGGER_PARAMETER_ANY_EDGE: + mode = EDGE_ANY; + isBrakePressed = false; + wasBrakePressed = false; + return OK; + default: + return INVALID_ARGUMENT; + } + } + else return INVALID_ARGUMENT; +} + + + + From 7de0456199d694faabbc5d0cb15b323b63545e09 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 4 Jul 2019 09:45:48 +0200 Subject: [PATCH 295/730] Modified some structure of trigger --- modules/ScenarioControl/inc/trigger.h | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index a7de4a19f..5033c925b 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -4,7 +4,7 @@ #include #include #include -#include +#include @@ -70,7 +70,13 @@ class Trigger typedef uint16_t TriggerID_t; - typedef enum {OK, NOT_OK, INVALID_ARGUMENT, TRIGGER_OCCURRED, NO_TRIGGER_OCCURRED} TriggerReturnCode_t; + typedef enum { + OK, + NOT_OK, + INVALID_ARGUMENT, + TRIGGER_OCCURRED, + NO_TRIGGER_OCCURRED + } TriggerReturnCode_t; /*! Constructor */ @@ -115,7 +121,7 @@ class Trigger - std::list parameters; + std::vector parameters; virtual std::set getAcceptedParameters() { return {TRIGGER_PARAMETER_UNAVAILABLE}; } From 7a96926e938df8b343657510036feb1983953132 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 4 Jul 2019 09:48:09 +0200 Subject: [PATCH 296/730] Return error if attempting to update when not configured correctly --- modules/ScenarioControl/src/braketrigger.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 9066a5730..814f65041 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -31,7 +31,7 @@ Trigger::TriggerReturnCode_t BrakeTrigger::checkIfTriggered() case EDGE_FALLING: return (!isBrakePressed && wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; case INVALID_MODE: - return NO_TRIGGER_OCCURRED; + return NOT_OK; } } From c588fec7a05a24b23870c6d138c712753f7143f8 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 4 Jul 2019 10:56:00 +0200 Subject: [PATCH 297/730] Better CAM/DENM handling --- server/src/citscontrol.c | 123 +++++++++++++++++++++------------------ 1 file changed, 67 insertions(+), 56 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 71b01a79f..a97aca5f4 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -55,10 +55,14 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed); -I32 generateDenmMessage(MONRType *MONRData, DENM_t* lastCam, I16* lastSpeed); +I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); +I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm); + +I32 sendCAM(CAM_t* lastCam); +I32 sendDENM(DENM_t* lastDenm); + + -I32 sendCam(CAM_t* lastCam); void init_mqtt(char* ip_addr, char * clientid); int connect_mqtt(); int publish_mqtt(char *payload, int payload_len, char *topic); @@ -99,7 +103,9 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; int mqtt_response_code = 0; MONRType MONRMessage; - CAMmessage lastCam; + CAM_t lastCam; + DENM_t lastDenm; + TimeType time; I16 lastSpeed = 0; @@ -112,11 +118,11 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) MQTTClient_setCallbacks(client, NULL, connlost_mqtt, msgarrvd_mqtt, delivered_mqtt); - lastCam.header.generationTime = time.MillisecondU16; + lastCam.cam.generationDeltaTime = time.MillisecondU16; LogMessage(LOG_LEVEL_INFO,"Starting cits control...\n"); - lastCam.referencePosition.latitude.degrees = 0; - lastCam.referencePosition.longitude.degrees = 0; + lastCam.cam.camParameters.basicContainer.referencePosition.latitude = 0; + lastCam.cam.camParameters.basicContainer.referencePosition.longitude = 0; (void)iCommInit(); LogInit(MODULE_NAME,LOG_LEVEL_INFO); @@ -188,8 +194,19 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(camTimeCycle == 100) { - generateCamMessage(&MONRMessage, &lastCam, &lastSpeed); - sendCam(&lastCam); + printf("TRIGGERED\n"); + + I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); + + printf("Speed delta %d \n", speedDelta); + + if(speedDelta >= 0){ + generateCAMMessage(&MONRMessage, &lastCam); + generateDENMMessage(&MONRMessage, &lastDenm); + sendCAM(&lastCam); + sendDENM(&lastDenm); + } + lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); camTimeCycle = 0; } camTimeCycle++; @@ -292,7 +309,7 @@ void connlost_mqtt(void *context, char *cause){ * \param lastCam struct to fill with cam data if cam should be sent, used as reference to calculate new cam. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ +I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ TimeType time; CAM_t tempCam; @@ -315,8 +332,7 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ double azimuth2 =0; int fail; - /* Calculate the geodetic forward azimuth in the direction from origo to point we want to know, - * A problem right now is that I belive that the GUC and virtualObject needs to have the same origin + /* Calculate the geodetic forward azimuth in the direction from known origo * */ azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); @@ -344,7 +360,6 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 10; //TEMP WIDTH tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 10; //TEMP LENGTH - //TODO: CRASHES HERE FOR SOME REASON /* tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16; @@ -358,39 +373,7 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ if(MONRData != NULL ){ - double distanceDelta = UtilGetDistance(tempCam.cam.camParameters.basicContainer.referencePosition.latitude, tempCam.cam.camParameters.basicContainer.referencePosition.longitude, lastCam->cam.camParameters.basicContainer.referencePosition.latitude, lastCam->cam.camParameters.basicContainer.referencePosition.longitude); - double headingDelta = tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation - lastCam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation; - I16 speedDelta = (sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16))) - (*lastSpeed); - - printf("Speed delta %d \n", speedDelta); - printf("Distance delta %f \n", distanceDelta); - printf("heading delta %f \n", headingDelta); - printf("Time delta %d \n", tempCam.cam.generationDeltaTime - lastCam->cam.generationDeltaTime); - - - if( distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD || speedDelta >= S_THRESHOLD){ - printf("\"Sending\" CAM \n"); - - /* - printf("Generation time: %d", tempCam.header.generationTime); - printf("Heading: %d", tempCam.referencePosition.heading); - printf("Latitude: %d", tempCam.referencePosition.latitude.degrees); - printf("Longitude time: %d", tempCam.referencePosition.longitude.degrees); - printf("Elevation time: %d", tempCam.referencePosition.elevation); - */ - - *lastSpeed = (U16)((double)sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (double)(MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16))); - *lastCam = tempCam; - //sendCam(lastCam); - - } - - if(tempCam.cam.generationDeltaTime - lastCam->cam.generationDeltaTime >= T_THRESHOLD){ - printf("\"Sending\" CAM because of time..\n"); - lastSpeed = (U16)((double)sqrt(MONRData->LateralAccI16*MONRData->LateralAccI16) + (double)(MONRData->LateralAccI16*MONRData->LateralAccI16)); - *lastCam = tempCam; - //sendCam(lastCam); - } + *cam = tempCam; } } @@ -402,7 +385,7 @@ I32 generateCamMessage(MONRType *MONRData, CAM_t* lastCam, I16* lastSpeed){ * \param lastDENM struct to fill with DENM data if DENM should be sent, used as reference to calculate new DENM. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateDenemMessage(MONRType *MONRData, DENM_t* lastDenm, I16* lastSpeed){ +I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ TimeType time; DENM_t tempDENM; @@ -450,27 +433,36 @@ I32 generateDenemMessage(MONRType *MONRData, DENM_t* lastDenm, I16* lastSpeed){ tempDENM.denm.management.eventPosition.latitude = latitude; tempDENM.denm.management.eventPosition.longitude = longitude; + tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 7; tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 10; tempDENM.denm.management.eventPosition.altitude.altitudeValue = 0; tempDENM.denm.management.eventPosition.altitude.altitudeConfidence = 0; - /* + + /* CRASHES CITS tempDENM.denm.management.relevanceDistance = 3; tempDENM.denm.management.relevanceTrafficDirection = 1; tempDENM.denm.management.validityDuration = 0; tempDENM.denm.management.transmissionInterval = 100; tempDENM.denm.management.stationType = 8; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian -*/ + + tempDENM.denm.situation->informationQuality = 7; tempDENM.denm.situation->eventType.causeCode = 99; + tempDENM.denm.situation->eventType.subCauseCode = 1; //Emergency break engaged + tempDENM.denm.location->eventSpeed->speedValue = 0; //CHECK THIS tempDENM.denm.location->eventSpeed->speedConfidence = 0; //unavaliabe - *lastDenm = tempDENM; + */ + if(MONRData != NULL ){ + *denm = tempDENM; + + } } /*! @@ -478,15 +470,34 @@ I32 generateDenemMessage(MONRType *MONRData, DENM_t* lastDenm, I16* lastSpeed){ * \param lastCam cam message struct * \return 1 if message sent succesfully */ -I32 sendCam(CAM_t* lastCam){ +I32 sendCAM(CAM_t* cam){ + + // CAM_t * cam; + // cam = calloc(1, sizeof (*cam)); + // assert(cam); + // xer_fprint(stdout, &asn_DEF_CAM, cam); + + printf("SENDING CAM\n"); + + publish_mqtt(cam, sizeof (CAM_t), "CLIENT/CAM/CS01/1/AZ12B"); + return 1; +} + +/*! + * \brief SendCam publishes a cam message on MQTT with hardcoded topic. + * \param lastCam cam message struct + * \return 1 if message sent succesfully + */ +I32 sendDENM(DENM_t* denm){ - CAM_t * cam; - cam = calloc(1, sizeof (*cam)); - assert(cam); - xer_fprint(stdout, &asn_DEF_CAM, cam); + // CAM_t * cam; + // cam = calloc(1, sizeof (*cam)); + // assert(cam); + // xer_fprint(stdout, &asn_DEF_CAM, cam); + printf("SENDING DENM\n"); - publish_mqtt(cam, sizeof(lastCam), "CLIENT/CAM/CS01/1/AZ12B"); + publish_mqtt(denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); return 1; } From 1e6a0cb5fbeb942d3fa78d152622cbb1b38ade6c Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 4 Jul 2019 11:05:31 +0200 Subject: [PATCH 298/730] Removed debug prints --- server/src/citscontrol.c | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index a97aca5f4..b174f666a 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -103,8 +103,13 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; int mqtt_response_code = 0; MONRType MONRMessage; - CAM_t lastCam; - DENM_t lastDenm; + CAM_t* lastCam; + DENM_t* lastDenm; + + CAM_t * cam; + cam = calloc(1, sizeof (*cam)); + assert(cam); + xer_fprint(stdout, &asn_DEF_CAM, cam); TimeType time; @@ -194,8 +199,6 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(camTimeCycle == 100) { - printf("TRIGGERED\n"); - I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); printf("Speed delta %d \n", speedDelta); From 3f8700316cba753ce647b0b1cf86e93f396509b1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 4 Jul 2019 13:21:02 +0200 Subject: [PATCH 299/730] Small modifications --- modules/ScenarioControl/src/braketrigger.cpp | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 814f65041..5d286a08f 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -10,6 +10,11 @@ BrakeTrigger::~BrakeTrigger() parameters.clear(); } +/*! + * \brief BrakeTrigger::update Updates the brake signal connected to the trigger to the value specified + * \param isBrakeCurrentlyPressed Boolean describing if the brake is currently pressed + * \return Value according to ::TriggerReturnCode_t + */ Trigger::TriggerReturnCode_t BrakeTrigger::update(bool isBrakeCurrentlyPressed) { wasBrakePressed = isBrakePressed; @@ -17,6 +22,10 @@ Trigger::TriggerReturnCode_t BrakeTrigger::update(bool isBrakeCurrentlyPressed) return checkIfTriggered(); } +/*! + * \brief BrakeTrigger::checkIfTriggered Check if the trigger has occurred based on the mode and state + * \return Value according to ::TriggerReturnCode_t + */ Trigger::TriggerReturnCode_t BrakeTrigger::checkIfTriggered() { switch (mode) { @@ -35,7 +44,10 @@ Trigger::TriggerReturnCode_t BrakeTrigger::checkIfTriggered() } } - +/*! + * \brief BrakeTrigger::parseParameters Parses the parameter vector and sets the trigger mode accordingly + * \return Value according to ::TriggerReturnCode_t + */ Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() { if (parameters.size() == 1) From c606f0e0305ffe1d2caec80c85c9197d61672ac0 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Thu, 4 Jul 2019 16:31:32 +0200 Subject: [PATCH 300/730] Finished the README for running the CITS module. --- README.md | 22 +++++++++++++++++++++- 1 file changed, 21 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 0dda5aa93..55da04fbc 100644 --- a/README.md +++ b/README.md @@ -61,7 +61,27 @@ Go to the root of the cloned git repo and build the documentation by doing ```sh sudo make html ``` -This will build the documentation for all the code. Then proceede to build and install the +This will build the documentation for all the code. Then proceede to build and install paho +```sh +make +make install +``` + +The server will not bu default build the CITS module. This is to prevent the use of the CITS module when it is not necessary. To enable building of the module, run `cmake` from the `build/` directory +```sh +cmake "Unix Makefiles" -DUSE_CITS:BOOL=TRUE .. +``` +then you can build and run the server as normal +```sh +make +./TEServer +``` + +To disable the CITS module, remake the `cmake` procedure + +```sh +cmake "Unix Makefiles" -DUSE_CITS:BOOL=FALSE .. +``` # To communicate with server start program. ./UserControl [IP] [port] From 43a0c05902327151e38adbe1545738629ce7bb4b Mon Sep 17 00:00:00 2001 From: viktorjo <31403385+viktorjo@users.noreply.github.com> Date: Thu, 4 Jul 2019 17:03:14 +0200 Subject: [PATCH 301/730] Update README for CITS purpose Added sudo to instructions. --- README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 55da04fbc..0ba73f204 100644 --- a/README.md +++ b/README.md @@ -59,12 +59,13 @@ git clone https://github.com/eclipse/paho.mqtt.c.git Go to the root of the cloned git repo and build the documentation by doing ```sh +cd paho.mqtt.c.git sudo make html ``` This will build the documentation for all the code. Then proceede to build and install paho ```sh -make -make install +sudo make +sudo make install ``` The server will not bu default build the CITS module. This is to prevent the use of the CITS module when it is not necessary. To enable building of the module, run `cmake` from the `build/` directory From 72edea277f1be1951903bb98806b5c56f5214dc1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 4 Jul 2019 17:04:50 +0200 Subject: [PATCH 302/730] Made separate booleantrigger class and commented a bunch of functions --- modules/ScenarioControl/CMakeLists.txt | 2 + modules/ScenarioControl/inc/booleantrigger.h | 49 +++++++++++++ modules/ScenarioControl/inc/braketrigger.h | 31 ++------ .../ScenarioControl/src/booleantrigger.cpp | 37 ++++++++++ modules/ScenarioControl/src/braketrigger.cpp | 73 ++++--------------- 5 files changed, 109 insertions(+), 83 deletions(-) create mode 100644 modules/ScenarioControl/inc/booleantrigger.h create mode 100644 modules/ScenarioControl/src/booleantrigger.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index fee8ca620..d58609e31 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -38,6 +38,8 @@ add_library(util add_library(Trigger inc/trigger.h src/trigger.cpp + inc/booleantrigger.h + src/booleantrigger.cpp inc/braketrigger.h src/braketrigger.cpp ) diff --git a/modules/ScenarioControl/inc/booleantrigger.h b/modules/ScenarioControl/inc/booleantrigger.h new file mode 100644 index 000000000..61e29eed6 --- /dev/null +++ b/modules/ScenarioControl/inc/booleantrigger.h @@ -0,0 +1,49 @@ +#ifndef BOOLEANTRIGGER_H +#define BOOLEANTRIGGER_H + +#include "trigger.h" + +#include +#include + +class BooleanTrigger : public Trigger +{ +public: + using Trigger::Trigger; + + virtual TriggerReturnCode_t parseParameters() override = 0; + + TriggerReturnCode_t update(bool) override; + +protected: + TriggerReturnCode_t checkIfTriggered(void) override; + + enum TriggerMode { + INVALID_MODE, + HIGH, + LOW, + EDGE_RISING, + EDGE_FALLING, + EDGE_ANY} + mode = INVALID_MODE; + + bool isStateTrue = false, wasStateTrue = false; + +private: + TriggerTypeCode_t triggerTypeCode; + + virtual std::set getAcceptedParameters() override + { + return { + Trigger::TRIGGER_PARAMETER_FALSE, + Trigger::TRIGGER_PARAMETER_TRUE, + Trigger::TRIGGER_PARAMETER_RISING_EDGE, + Trigger::TRIGGER_PARAMETER_FALLING_EDGE, + Trigger::TRIGGER_PARAMETER_ANY_EDGE + }; + } + + +}; + +#endif // BOOLEANTRIGGER_H diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 8fc5452eb..4460093c5 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -1,29 +1,24 @@ #ifndef BRAKETRIGGER_H #define BRAKETRIGGER_H -#include "trigger.h" +#include "booleantrigger.h" -#include #include +#include -class BrakeTrigger : public Trigger +class BrakeTrigger : public BooleanTrigger { public: - BrakeTrigger(TriggerID_t triggerID); - ~BrakeTrigger(); + using BooleanTrigger::BooleanTrigger; - TriggerReturnCode_t parseParameters(); - - TriggerReturnCode_t update(bool); + TriggerReturnCode_t parseParameters() override; private: - static constexpr TriggerTypeCode_t triggerTypeCode = TRIGGER_BRAKE; + TriggerTypeCode_t triggerTypeCode = TRIGGER_BRAKE; std::vector parameters; - bool isBrakePressed = false, wasBrakePressed = false; - - std::set getAcceptedParameters() + std::set getAcceptedParameters() override { return { Trigger::TRIGGER_PARAMETER_FALSE, @@ -37,17 +32,5 @@ class BrakeTrigger : public Trigger Trigger::TRIGGER_PARAMETER_ANY_EDGE }; } - - TriggerReturnCode_t checkIfTriggered(void); - - enum TriggerMode { - INVALID_MODE, - PRESSED, - RELEASED, - EDGE_RISING, - EDGE_FALLING, - EDGE_ANY} - mode = INVALID_MODE; }; - #endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/src/booleantrigger.cpp b/modules/ScenarioControl/src/booleantrigger.cpp new file mode 100644 index 000000000..7016a126e --- /dev/null +++ b/modules/ScenarioControl/src/booleantrigger.cpp @@ -0,0 +1,37 @@ +#include "booleantrigger.h" + +/*! + * \brief BooleanTrigger::update Updates the signal connected to the trigger to the value specified + * \param isBrakeCurrentlyPressed Boolean describing if the boolean + * \return Value according to ::TriggerReturnCode_t + */ +Trigger::TriggerReturnCode_t BooleanTrigger::update(bool currentStateValue) +{ + wasStateTrue = isStateTrue; + isStateTrue = currentStateValue; + return checkIfTriggered(); +} + +/*! + * \brief BooleanTrigger::checkIfTriggered Check if the trigger has occurred based on the mode and state + * \return Value according to ::TriggerReturnCode_t + */ +Trigger::TriggerReturnCode_t BooleanTrigger::checkIfTriggered() +{ + switch (mode) { + case HIGH: + return isStateTrue ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case LOW: + return !isStateTrue ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case EDGE_ANY: + return (isStateTrue != wasStateTrue) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case EDGE_RISING: + return (isStateTrue && !wasStateTrue) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case EDGE_FALLING: + return (!isStateTrue && wasStateTrue) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; + case INVALID_MODE: + return NOT_OK; + } +} + + diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 5d286a08f..59ffbb59a 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,51 +1,8 @@ -#include "braketrigger.h" - -BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : Trigger (triggerID) -{ - -} - -BrakeTrigger::~BrakeTrigger() -{ - parameters.clear(); -} -/*! - * \brief BrakeTrigger::update Updates the brake signal connected to the trigger to the value specified - * \param isBrakeCurrentlyPressed Boolean describing if the brake is currently pressed - * \return Value according to ::TriggerReturnCode_t - */ -Trigger::TriggerReturnCode_t BrakeTrigger::update(bool isBrakeCurrentlyPressed) -{ - wasBrakePressed = isBrakePressed; - isBrakePressed = isBrakeCurrentlyPressed; - return checkIfTriggered(); -} - -/*! - * \brief BrakeTrigger::checkIfTriggered Check if the trigger has occurred based on the mode and state - * \return Value according to ::TriggerReturnCode_t - */ -Trigger::TriggerReturnCode_t BrakeTrigger::checkIfTriggered() -{ - switch (mode) { - case PRESSED: - return isBrakePressed ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; - case RELEASED: - return !isBrakePressed ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; - case EDGE_ANY: - return (isBrakePressed != wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; - case EDGE_RISING: - return (isBrakePressed && !wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; - case EDGE_FALLING: - return (!isBrakePressed && wasBrakePressed) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; - case INVALID_MODE: - return NOT_OK; - } -} +#include "braketrigger.h" /*! - * \brief BrakeTrigger::parseParameters Parses the parameter vector and sets the trigger mode accordingly + * \brief BooleanTrigger::parseParameters Parses the parameter vector and sets the trigger mode accordingly * \return Value according to ::TriggerReturnCode_t */ Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() @@ -57,31 +14,31 @@ Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() case TRIGGER_PARAMETER_PRESSED: case TRIGGER_PARAMETER_TRUE: case TRIGGER_PARAMETER_HIGH: - mode = PRESSED; - isBrakePressed = false; - wasBrakePressed = false; + mode = HIGH; + isStateTrue = false; + wasStateTrue = false; return OK; case TRIGGER_PARAMETER_RELEASED: case TRIGGER_PARAMETER_FALSE: case TRIGGER_PARAMETER_LOW: - mode = RELEASED; - isBrakePressed = true; - wasBrakePressed = true; + mode = LOW; + isStateTrue = true; + wasStateTrue = true; return OK; case TRIGGER_PARAMETER_RISING_EDGE: mode = EDGE_RISING; - isBrakePressed = false; - wasBrakePressed = false; + isStateTrue = false; + wasStateTrue = false; return OK; case TRIGGER_PARAMETER_FALLING_EDGE: mode = EDGE_FALLING; - isBrakePressed = false; - wasBrakePressed = false; + isStateTrue = false; + wasStateTrue = false; return OK; case TRIGGER_PARAMETER_ANY_EDGE: mode = EDGE_ANY; - isBrakePressed = false; - wasBrakePressed = false; + isStateTrue = false; + wasStateTrue = false; return OK; default: return INVALID_ARGUMENT; @@ -91,5 +48,3 @@ Trigger::TriggerReturnCode_t BrakeTrigger::parseParameters() } - - From a6d924aa8283d7bf217c2dd9d0afaee179cafe1d Mon Sep 17 00:00:00 2001 From: viktorjo <31403385+viktorjo@users.noreply.github.com> Date: Thu, 4 Jul 2019 17:16:35 +0200 Subject: [PATCH 303/730] Update main.c to not include cits module by default --- server/src/main.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index ed37d4ff0..27c46977c 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -67,15 +67,15 @@ static struct timeval waitStartTime, waitedTime; ------------------------------------------------------------*/ //! allModules contains the tasks to be run in the server. To enable or disable a task, add or remove the main module function in this array static const ModuleTask allModules[] = { - /* + logger_task, timecontrol_task, supervision_task, supervisorcontrol_task, systemcontrol_task, objectcontrol_task - */ - citscontrol_task + + //citscontrol_task }; static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); From 3cf874e4f0df35c52dd3d5599ef90b9b4216cf87 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 4 Jul 2019 18:05:33 +0200 Subject: [PATCH 304/730] Modified constructors --- modules/ScenarioControl/inc/booleantrigger.h | 1 - modules/ScenarioControl/inc/braketrigger.h | 5 +- modules/ScenarioControl/inc/trigger.h | 35 +++-- modules/ScenarioControl/src/braketrigger.cpp | 2 + modules/ScenarioControl/src/trigger.cpp | 155 ++++++++++++++++++- 5 files changed, 174 insertions(+), 24 deletions(-) diff --git a/modules/ScenarioControl/inc/booleantrigger.h b/modules/ScenarioControl/inc/booleantrigger.h index 61e29eed6..08691f9e4 100644 --- a/modules/ScenarioControl/inc/booleantrigger.h +++ b/modules/ScenarioControl/inc/booleantrigger.h @@ -30,7 +30,6 @@ class BooleanTrigger : public Trigger bool isStateTrue = false, wasStateTrue = false; private: - TriggerTypeCode_t triggerTypeCode; virtual std::set getAcceptedParameters() override { diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 4460093c5..84c118916 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -9,13 +9,10 @@ class BrakeTrigger : public BooleanTrigger { public: - using BooleanTrigger::BooleanTrigger; - + BrakeTrigger(TriggerID_t triggerID); TriggerReturnCode_t parseParameters() override; private: - TriggerTypeCode_t triggerTypeCode = TRIGGER_BRAKE; - std::vector parameters; std::set getAcceptedParameters() override diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 5033c925b..ced9ec554 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -80,7 +80,7 @@ class Trigger /*! Constructor */ - Trigger(TriggerID_t triggerID); + Trigger(TriggerID_t triggerID, TriggerTypeCode_t triggerType); /*! Destructor */ @@ -88,8 +88,9 @@ class Trigger /*! Getters */ - TriggerTypeCode_t getTypeCode() { return this->triggerTypeCode; } - uint16_t getID() { return this->triggerID; } + virtual TriggerTypeCode_t getTypeCode() { return triggerTypeCode; } + uint16_t getID() { return triggerID; } + std::vector getParameters() { return parameters; } /*! Setters */ @@ -100,27 +101,29 @@ class Trigger /*! To string */ - friend std::ostream& operator<<(std::ostream &strm, const Trigger &trig) { - return strm << "TODO, but here is the ID: " << trig.triggerID; + friend std::ostream& operator<<(std::ostream &strm, Trigger &trig) { + return strm << "TRIGGER ID " << trig.triggerID << + " TYPE " << getTypeAsString(trig.getTypeCode()) << + " PARAMETERS " << trig.getParametersString(); } - TriggerReturnCode_t update(void) { return INVALID_ARGUMENT; } - TriggerReturnCode_t update(bool) { return INVALID_ARGUMENT; } - TriggerReturnCode_t update(char) { return INVALID_ARGUMENT; } - TriggerReturnCode_t update(int) { return INVALID_ARGUMENT; } - TriggerReturnCode_t update(float) { return INVALID_ARGUMENT; } - TriggerReturnCode_t update(double) { return INVALID_ARGUMENT; } + static std::string getTypeAsString(TriggerTypeCode_t typeCode); + static std::string getParameterAsString(TriggerParameter_t param); + std::string getParametersString(); + + virtual TriggerReturnCode_t update(void) { return INVALID_ARGUMENT; } + virtual TriggerReturnCode_t update(bool) { return INVALID_ARGUMENT; } + virtual TriggerReturnCode_t update(char) { return INVALID_ARGUMENT; } + virtual TriggerReturnCode_t update(int) { return INVALID_ARGUMENT; } + virtual TriggerReturnCode_t update(float) { return INVALID_ARGUMENT; } + virtual TriggerReturnCode_t update(double) { return INVALID_ARGUMENT; } protected: TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter); - + TriggerTypeCode_t triggerTypeCode; private: TriggerID_t triggerID; - TriggerTypeCode_t triggerTypeCode; - - - std::vector parameters; virtual std::set getAcceptedParameters() diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 59ffbb59a..f4443710d 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,6 +1,8 @@ #include "braketrigger.h" +BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : BooleanTrigger(triggerID, Trigger::TRIGGER_BRAKE) { } + /*! * \brief BooleanTrigger::parseParameters Parses the parameter vector and sets the trigger mode accordingly * \return Value according to ::TriggerReturnCode_t diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index e131a6dc0..33a6f8aff 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -1,14 +1,15 @@ #include "trigger.h" -Trigger::Trigger(TriggerID_t triggerID) +Trigger::Trigger(TriggerID_t triggerID, TriggerTypeCode_t triggerType) { this->triggerID = triggerID; + this->triggerTypeCode = triggerType; } Trigger::~Trigger() { - + parameters.clear(); } @@ -27,7 +28,11 @@ Trigger::TriggerReturnCode_t Trigger::checkTriggerParameter(TriggerParameter_t t return NOT_OK; } - +/*! + * \brief Trigger::appendParameter Adds a parameter to the parameter list if it is among the accepted parameters + * \param triggerParameter Parameter to append + * \return Return code according to ::TriggerReturnCode_t + */ Trigger::TriggerReturnCode_t Trigger::appendParameter(Trigger::TriggerParameter_t triggerParameter) { TriggerReturnCode_t retval = NOT_OK; @@ -38,3 +43,147 @@ Trigger::TriggerReturnCode_t Trigger::appendParameter(Trigger::TriggerParameter_ parameters.push_back(triggerParameter); return OK; } + +/*! + * \brief Trigger::getParametersString Converts the list of loaded parameters into a string + * \return String describing all parameters + */ +std::string Trigger::getParametersString() +{ + std::string retval; + if (parameters.size() == 0) + return "EMPTY"; + + for (const TriggerParameter_t param : parameters) + { + retval.append(getParameterAsString(param) + " "); + } + retval.pop_back(); + return retval; +} + +/*! + * \brief Trigger::getParameterAsString Converts a ::TriggerParameter_t into a string + * \param param Parameter to be converted + * \return String describing the parameter + */ +std::string Trigger::getParameterAsString(TriggerParameter_t param) +{ + switch (param) + { + case TRIGGER_PARAMETER_FALSE: + return "FALSE"; + case TRIGGER_PARAMETER_TRUE: + return "TRUE"; + case TRIGGER_PARAMETER_RELEASED: + return "RELEASED"; + case TRIGGER_PARAMETER_PRESSED: + return "PRESSED"; + case TRIGGER_PARAMETER_LOW: + return "LOW"; + case TRIGGER_PARAMETER_HIGH: + return "HIGH"; + case TRIGGER_PARAMETER_RISING_EDGE: + return "RISING EDGE"; + case TRIGGER_PARAMETER_FALLING_EDGE: + return "FALLING EDGE"; + case TRIGGER_PARAMETER_ANY_EDGE: + return "ANY EDGE"; + case TRIGGER_PARAMETER_RELATIVE: + return "RELATIVE"; + case TRIGGER_PARAMETER_ABSOLUTE: + return "ABSOLUTE"; + case TRIGGER_PARAMETER_VALUE: + return "VALUE"; + case TRIGGER_PARAMETER_MIN: + return "MIN"; + case TRIGGER_PARAMETER_MAX: + return "MAX"; + case TRIGGER_PARAMETER_MEAN: + return "MEAN"; + case TRIGGER_PARAMETER_EQUAL_TO: + return "EQUAL TO"; + case TRIGGER_PARAMETER_GREATER_THAN: + return "GREATER THAN"; + case TRIGGER_PARAMETER_GREATER_THAN_OR_EQUAL_TO: + return "GREATER THAN OR EQUAL TO"; + case TRIGGER_PARAMETER_LESS_THAN: + return "LESS THAN"; + case TRIGGER_PARAMETER_LESS_THAN_OR_EQUAL_TO: + return "LESS THAN OR EQUAL TO"; + case TRIGGER_PARAMETER_NOT_EQUAL_TO: + return "NOT EQUAL TO"; + case TRIGGER_PARAMETER_X: + return "X"; + case TRIGGER_PARAMETER_Y: + return "Y"; + case TRIGGER_PARAMETER_Z: + return "Z"; + case TRIGGER_PARAMETER_TIME: + return "TIME"; + case TRIGGER_PARAMETER_DATE: + return "DATE"; + case TRIGGER_PARAMETER_RULE: + return "RULE"; + case TRIGGER_PARAMETER_UNAVAILABLE: + return "UNAVAILABLE"; + } + return "<>"; +} + +/*! + * \brief Trigger::getTypeAsString Maps a ::TriggerTypeCode_t to a string + * \param triggerTypeCode Type code + * \return String describing the trigger type + */ +std::string Trigger::getTypeAsString(Trigger::TriggerTypeCode_t typeCode) +{ + switch (typeCode) + { + case TRIGGER_UNDEFINED: + return "UNDEFINED"; + case TRIGGER_TYPE_1: + return "TYPE 1"; + case TRIGGER_SPEED: + return "SPEED"; + case TRIGGER_DISTANCE: + return "DISTANCE"; + case TRIGGER_ACCELERATION: + return "ACCELERATION"; + case TRIGGER_LANE_CHANGED: + return "LANE CHANGED"; + case TRIGGER_LANE_OFFSET: + return "LANE OFFSET"; + case TRIGGER_POSITION_REACHED: + return "POSITION REACHED"; + case TRIGGER_POSITION_LEFT: + return "POSITION LEFT"; + case TRIGGER_POSITION_OFFSET: + return "POSITION OFFSET"; + case TRIGGER_STEERING_ANGLE: + return "STEERING ANGLE"; + case TRIGGER_THROTTLE_VALUE: + return "THROTTLE VALUE"; + case TRIGGER_BRAKE: + return "BRAKE"; + case TRIGGER_ACTIVE_TRAJECTORY: + return "ACTIVE TRAJECTORY"; + case TRIGGER_OTHER_OBJECT_FEATURE: + return "OTHER OBJECT FEATURE"; + case TRIGGER_INFRASTRUCTURE: + return "INFRASTRUCTURE"; + case TRIGGER_TEST_SCENARIO_EVENT: + return "TEST SCENARIO EVENT"; + case TRIGGER_MISC_DIGITAL_INPUT: + return "MISC DIGITAL INPUT"; + case TRIGGER_MISC_ANALOG_INPUT: + return "MISC ANALOG INPUT"; + case TRIGGER_TIMER_EVENT_OCCURRED: + return "TIMER EVENT OCCURRED"; + case TRIGGER_MODE_CHANGED: + return "MODE CHANGED"; + case TRIGGER_UNAVAILABLE: + return "TRIGGER UNAVAILABLE"; + } + return "<>"; +} From b6c42401153f52590f39417f1a655516b9ce7a7c Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Thu, 4 Jul 2019 18:19:10 +0200 Subject: [PATCH 305/730] Update README.md --- modules/ScenarioControl/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/ScenarioControl/README.md b/modules/ScenarioControl/README.md index e6bce0e21..ab11606c5 100644 --- a/modules/ScenarioControl/README.md +++ b/modules/ScenarioControl/README.md @@ -1,4 +1,4 @@ -## Dummy module +## ScenarioControl module TODO. ### Build process From 9b846fda83bf9682faca9887d6807c4f62f13eb5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 09:07:04 +0200 Subject: [PATCH 306/730] Fixed merge issue --- server/src/util.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index 1cc03e8a0..76ea0461e 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3044,7 +3044,7 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy U32Data = 0; memcpy(&U32Data, rdPtr, sizeof(U32Data)); - monitorData->MONR->GPSQmsOfWeekU32 = U32Data; + monitorData->MONR.GPSQmsOfWeekU32 = U32Data; rdPtr += sizeof(U32Data); U32Data = 0; From 8f85da48cf3898b4ecec06a657f799407635b540 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 10:35:36 +0200 Subject: [PATCH 307/730] Fixed use of old MONR data struct --- server/src/logger.c | 16 ++++++++-------- server/src/util.c | 2 +- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index d6484eafc..9dcc74380 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -595,7 +595,7 @@ void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval r { FILE *filefd; char DateBuffer[MAX_DATE_STRLEN]; - MONRType monr; + MonitorDataType monitorData; struct timeval monrTime, systemTime; const int debug = 0; @@ -604,8 +604,8 @@ void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval r TimeSetToCurrentSystemTime(&systemTime); - UtilPopulateMONRStruct(commandData, (size_t)(commandDatalen), &monr, debug); - TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(&systemTime), monr.GPSQmsOfWeekU32); + UtilPopulateMonitorDataStruct(commandData, (size_t)(commandDatalen), &monitorData, debug); + TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(&systemTime), monitorData.MONR.GPSQmsOfWeekU32); bzero(DateBuffer, sizeof(DateBuffer)); TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); @@ -618,11 +618,11 @@ void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval r } fprintf(filefd, "%s;%ld;%ld;%d;", DateBuffer, TimeGetAsUTCms(&monrTime), TimeGetAsGPSms(&monrTime), (char)COMM_MONR); - fprintf(filefd, "%u;%u;", monr.Header.TransmitterIdU8, monr.GPSQmsOfWeekU32); - fprintf(filefd, "%d;%d;%d;%u;",monr.XPositionI32, monr.YPositionI32, monr.ZPositionI32, monr.HeadingU16); - fprintf(filefd, "%d;%d;", monr.LongitudinalSpeedI16, monr.LateralSpeedI16); - fprintf(filefd, "%d;%d;", monr.LongitudinalAccI16, monr.LateralAccI16); - fprintf(filefd, "%u;%u;%u;%u;\n", monr.DriveDirectionU8, monr.StateU8, monr.ReadyToArmU8, monr.ErrorStatusU8); + fprintf(filefd, "%u;%u;", monitorData.MONR.Header.TransmitterIdU8, monitorData.MONR.GPSQmsOfWeekU32); + fprintf(filefd, "%d;%d;%d;%u;",monitorData.MONR.XPositionI32, monitorData.MONR.YPositionI32, monitorData.MONR.ZPositionI32, monitorData.MONR.HeadingU16); + fprintf(filefd, "%d;%d;", monitorData.MONR.LongitudinalSpeedI16, monitorData.MONR.LateralSpeedI16); + fprintf(filefd, "%d;%d;", monitorData.MONR.LongitudinalAccI16, monitorData.MONR.LateralAccI16); + fprintf(filefd, "%u;%u;%u;%u;\n", monitorData.MONR.DriveDirectionU8, monitorData.MONR.StateU8, monitorData.MONR.ReadyToArmU8, monitorData.MONR.ErrorStatusU8); fclose(filefd); } diff --git a/server/src/util.c b/server/src/util.c index 76ea0461e..4bc49dc37 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3001,7 +3001,7 @@ I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) /*! - * \brief UtilPopulateMONRStruct Takes an array of raw MONR data and fills a MONRType struct with the content + * \brief UtilPopulateMonitorDataStruct Takes an array of raw MONR data and fills a MONRType struct with the content * \param rawMONR Array of raw MONR data * \param rawMONRsize Size of raw MONR data array * \param MONR Struct where MONR data should be placed From b8c8523208cb74a860f2bf7cc49adcbbc6a58961 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Fri, 5 Jul 2019 10:43:34 +0200 Subject: [PATCH 308/730] Fixed the Latidude. --- server/conf/test.conf | 2 +- server/inc/util.h | 2 +- server/src/datadictionary.c | 4 ++-- server/src/systemcontrol.c | 4 ++-- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/server/conf/test.conf b/server/conf/test.conf index 20ce92115..53d353134 100644 --- a/server/conf/test.conf +++ b/server/conf/test.conf @@ -1,4 +1,4 @@ -OrigoLatidude=57.777073115 +OrigoLatitude=57.777073115 OrigoLongitude=12.781295498333 OrigoAltitude=193.114 VisualizationServerName=195.0.0.86 diff --git a/server/inc/util.h b/server/inc/util.h index 07326e96f..779296b80 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -69,7 +69,7 @@ #define MAX_ADAPTIVE_SYNC_POINTS 512 #define USE_LOCAL_USER_CONTROL 0 -#define LOCAL_USER_CONTROL_IP "10.168.14.207" +#define LOCAL_USER_CONTROL_IP "10.168.19.250" #define USE_TEST_HOST 0 #define TESTHOST_IP LOCAL_USER_CONTROL_IP #define TESTSERVER_IP LOCAL_USER_CONTROL_IP diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 4e63cb6b8..2715f000a 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -105,7 +105,7 @@ ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) { ReadWriteAccess_t Res = UNDEFINED; C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("OrigoLatidude=", ResultBufferC8)) + if(DataDictionarySearchParameter("OrigoLatitude=", ResultBufferC8)) { Res = READ_OK; pthread_mutex_lock(&OriginLatitudeMutex); @@ -132,7 +132,7 @@ ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) { ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("OrigoLatidude", Latitude, 0)) + if(UtilWriteConfigurationParameter("OrigoLatitude", Latitude, 0)) { Res = WRITE_OK; pthread_mutex_lock(&OriginLatitudeMutex); diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 0ed330b1d..bb9f55928 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -1485,7 +1485,7 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV U16 ValueU16 = 0; U8 ValueU8 = 0; - if(strcmp("OrigoLatidude", ParameterName) == 0) + if(strcmp("OrigoLatitude", ParameterName) == 0) { DataDictionaryGetOriginLatitudeDbl(GSD, &ValueDbl); sprintf(ReturnValue, "%3.12f", ValueDbl); @@ -1601,7 +1601,7 @@ I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnV I32 SystemControlSetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *NewValue, U8 Debug) { if(Debug) printf("[SystemControl] SetServerParameter: %s = %s\n", ParameterName, NewValue); - if(strcmp("OrigoLatidude", ParameterName) == 0) DataDictionarySetOriginLatitudeDbl(GSD, NewValue); + if(strcmp("OrigoLatitude", ParameterName) == 0) DataDictionarySetOriginLatitudeDbl(GSD, NewValue); else if(strcmp("OrigoLongitude", ParameterName) == 0) DataDictionarySetOriginLongitudeDbl(GSD, NewValue); else if(strcmp("OrigoAltitude", ParameterName) == 0) DataDictionarySetOriginAltitudeDbl(GSD, NewValue); else if(strcmp("VisualizationServerName", ParameterName) == 0) DataDictionarySetVisualizationServerU32(GSD, NewValue); From d1ccd19994813289a6f790dec3d1cdc436d17b90 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 10:56:40 +0200 Subject: [PATCH 309/730] Added empty files for action class implementation --- modules/ScenarioControl/CMakeLists.txt | 7 ++++++- modules/ScenarioControl/inc/action.h | 6 ++++++ modules/ScenarioControl/src/action.cpp | 0 3 files changed, 12 insertions(+), 1 deletion(-) create mode 100644 modules/ScenarioControl/inc/action.h create mode 100644 modules/ScenarioControl/src/action.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index d58609e31..dc17687bf 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -44,11 +44,16 @@ add_library(Trigger src/braketrigger.cpp ) +add_library(Action + inc/action.h + src/action.cpp +) + add_executable(ScenarioControl src/main.cpp) install(TARGETS ScenarioControl DESTINATION bin) -target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Trigger) +target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Trigger Action) target_link_libraries(util MQBus MaestroTime MaestroLogging) target_link_libraries(MQBus rt m) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h new file mode 100644 index 000000000..c752937be --- /dev/null +++ b/modules/ScenarioControl/inc/action.h @@ -0,0 +1,6 @@ +#ifndef ACTION_H +#define ACTION_H + + + +#endif diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp new file mode 100644 index 000000000..e69de29bb From b532aa1b4723de2f752b9ad40f7967567912f284 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 5 Jul 2019 11:00:12 +0200 Subject: [PATCH 310/730] Debugging check --- server/src/citscontrol.c | 31 +++++++++++++------------------ 1 file changed, 13 insertions(+), 18 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index b174f666a..a48fa49fb 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -103,13 +103,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; int mqtt_response_code = 0; MONRType MONRMessage; - CAM_t* lastCam; - DENM_t* lastDenm; - - CAM_t * cam; - cam = calloc(1, sizeof (*cam)); - assert(cam); - xer_fprint(stdout, &asn_DEF_CAM, cam); + CAM_t lastCam; + DENM_t lastDenm; TimeType time; @@ -363,11 +358,11 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 10; //TEMP WIDTH tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 10; //TEMP LENGTH + + //tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = 5; //MONRData->LateralAccI16; + //tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = 5; // = MONRData->LongitudinalAccI16; //TODO: CRASHES HERE FOR SOME REASON /* - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16; - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16; - printf("Got here2\n"); tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = 0; //HARDCODED CURVATURE tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = 7; @@ -444,13 +439,13 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ tempDENM.denm.management.eventPosition.altitude.altitudeConfidence = 0; - /* CRASHES CITS - tempDENM.denm.management.relevanceDistance = 3; - tempDENM.denm.management.relevanceTrafficDirection = 1; - tempDENM.denm.management.validityDuration = 0; - tempDENM.denm.management.transmissionInterval = 100; - tempDENM.denm.management.stationType = 8; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian + //tempDENM.denm.management.relevanceDistance = 3; + //tempDENM.denm.management.relevanceTrafficDirection = 1; + // tempDENM.denm.management.validityDuration = 0; + //tempDENM.denm.management.transmissionInterval = 100; + //tempDENM.denm.management.stationType = 8; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian + /* CRASHES CITS tempDENM.denm.situation->informationQuality = 7; tempDENM.denm.situation->eventType.causeCode = 99; @@ -482,7 +477,7 @@ I32 sendCAM(CAM_t* cam){ printf("SENDING CAM\n"); - publish_mqtt(cam, sizeof (CAM_t), "CLIENT/CAM/CS01/1/AZ12B"); + publish_mqtt((char*)cam, sizeof (CAM_t), "CLIENT/CAM/CS01/1/AZ12B"); return 1; } @@ -500,7 +495,7 @@ I32 sendDENM(DENM_t* denm){ printf("SENDING DENM\n"); - publish_mqtt(denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); + publish_mqtt((char*)denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); return 1; } From 2e20f219ca4bca036ef267f9b5b08656e0b21399 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 11:12:49 +0200 Subject: [PATCH 311/730] WIP: defining action class --- modules/ScenarioControl/inc/action.h | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index c752937be..949970bc4 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -1,6 +1,30 @@ #ifndef ACTION_H #define ACTION_H +#include +class Action +{ +public: + typedef enum { + NO_ACTION, + ACTION_TYPE_1, + ACTION_TYPE_2, + ACTION_SET_SPEED, + ACTION_SET_DISTANCE, + ACTION_SET_ACCELERATION, + ACTION_LANE_CHANGE, + ACTION_LANE_OFFSET, + ACTION_SET_POSITION + + } ActionType_t; + typedef uint16_t ActionID_t; + Action(ActionID_t actionID); + + virtual Action + +private: + ActionID_t actionID; +}; #endif From 0ed7b5dd84948e278a9ff1985db4483d5d2d1e6f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 12:04:49 +0200 Subject: [PATCH 312/730] Added printout of command and IP --- server/src/logger.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index 9dcc74380..1181cc598 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -595,6 +595,7 @@ void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval r { FILE *filefd; char DateBuffer[MAX_DATE_STRLEN]; + char ipStringBuffer[INET_ADDRSTRLEN]; MonitorDataType monitorData; struct timeval monrTime, systemTime; const int debug = 0; @@ -617,7 +618,8 @@ void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval r return; } - fprintf(filefd, "%s;%ld;%ld;%d;", DateBuffer, TimeGetAsUTCms(&monrTime), TimeGetAsGPSms(&monrTime), (char)COMM_MONR); + fprintf(filefd, "%s;%ld;%ld;%d;", DateBuffer, TimeGetAsUTCms(&monrTime), TimeGetAsGPSms(&monrTime), (unsigned char)COMM_MONR); + fprintf(filefd, "%s;", inet_ntop(AF_INET, &monitorData.ClientIP, ipStringBuffer, sizeof(ipStringBuffer))); fprintf(filefd, "%u;%u;", monitorData.MONR.Header.TransmitterIdU8, monitorData.MONR.GPSQmsOfWeekU32); fprintf(filefd, "%d;%d;%d;%u;",monitorData.MONR.XPositionI32, monitorData.MONR.YPositionI32, monitorData.MONR.ZPositionI32, monitorData.MONR.HeadingU16); fprintf(filefd, "%d;%d;", monitorData.MONR.LongitudinalSpeedI16, monitorData.MONR.LateralSpeedI16); From dcc11b9df4fe8c934a6e41e308f7834a31c999e8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 12:29:22 +0200 Subject: [PATCH 313/730] Barebones action class definition --- modules/ScenarioControl/inc/action.h | 58 ++++++++++++++++++++++------ 1 file changed, 46 insertions(+), 12 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index 949970bc4..131539695 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -7,21 +7,55 @@ class Action { public: typedef enum { - NO_ACTION, - ACTION_TYPE_1, - ACTION_TYPE_2, - ACTION_SET_SPEED, - ACTION_SET_DISTANCE, - ACTION_SET_ACCELERATION, - ACTION_LANE_CHANGE, - ACTION_LANE_OFFSET, - ACTION_SET_POSITION - - } ActionType_t; + ACTION_NONE = 0x0000, + ACTION_TYPE_1 = 0x0001, + ACTION_TYPE_2 = 0x0002, + ACTION_SET_SPEED = 0x0010, + ACTION_SET_DISTANCE = 0x0020, + ACTION_SET_ACCELERATION = 0x0030, + ACTION_LANE_CHANGE = 0x0040, + ACTION_LANE_OFFSET = 0x0050, + ACTION_SET_POSITION = 0x0060, + ACTION_SET_STEERING_ANGLE = 0x0070, + ACTION_SET_TRHOTTLE_VALUE = 0x0080, + ACTION_BRAKE = 0x0090, + ACTION_FOLLOW_TRAJECTORY = 0x00A0, + ACTION_OTHER_OBJECT_FEATURE = 0x00B0, + ACTION_INFRASTRUCTURE = 0x00C0, + ACTION_TEST_SCENARIO_COMMAND = 0x00D0, + ACTION_MISC_DIGITAL_OUTPUT = 0x00E0, + ACTION_MISC_ANALOG_OUTPUT = 0x00F0, + ACTION_START_TIMER = 0x0100, + ACTION_MODE_CHANGE = 0x0110, + ACTION_UNAVAILABLE = 0xFFFF + } ActionType_t; + + typedef enum { + ACTION_PARAMETER_SET_FALSE = 0x00000000, + ACTION_PARAMETER_SET_TRUE = 0x00000001, + ACTION_PARAMETER_RELEASE = 0x00000010, + ACTION_PARAMETER_PRESS = 0x00000011, + ACTION_PARAMETER_SET_VALUE = 0x00000020, + ACTION_PARAMETER_MIN = 0x00000040, + ACTION_PARAMETER_MAX = 0x00000041, + ACTION_PARAMETER_X = 0x00000070, + ACTION_PARAMETER_Y = 0x00000071, + ACTION_PARAMETER_Z = 0x00000072, + ACTION_PARAMETER_UNAVAILABLE = 0xFFFFFFFF + } ActionParameter_t; + + typedef enum { + OK, + NOT_OK, + INVALID_ARGUMENT + } ActionReturnCode_t; + typedef uint16_t ActionID_t; Action(ActionID_t actionID); + virtual ~Action() = 0; - virtual Action + virtual ActionType_t getType() = 0; + ActionID_t getID() { return actionID; } private: ActionID_t actionID; From e923203e35cb753d8eaaa6ed55685947889823f1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 13:08:02 +0200 Subject: [PATCH 314/730] Finished WIP --- modules/ScenarioControl/inc/action.h | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index 131539695..38a485e4e 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -51,14 +51,16 @@ class Action } ActionReturnCode_t; typedef uint16_t ActionID_t; - Action(ActionID_t actionID); - virtual ~Action() = 0; + Action(ActionID_t actionID, ActionType_t actionType, uint32_t numberOfFires); - virtual ActionType_t getType() = 0; ActionID_t getID() { return actionID; } + ActionType_t getType() { return actionType; } private: - ActionID_t actionID; + ActionID_t actionID = 0; + ActionType_t actionType = ACTION_NONE; + + uint32_t remainingFires = 0; }; #endif From aafe60144375215936ce031dd6812589bffa4011 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 5 Jul 2019 15:01:11 +0200 Subject: [PATCH 315/730] Removed old debug and test subscribe --- server/src/citscontrol.c | 55 ++++++++++++---------------------------- 1 file changed, 16 insertions(+), 39 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index a48fa49fb..1e93dcf42 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -45,7 +45,7 @@ #define DEFAULT_MQTT_ADDRESS "tcp://localhost:1883" #define ERICSSON_MQTT_ADDRESS "tcp://10.130.100.18:1883" #define DEFAULT_MQTT_CLIENTID "ExampleClientPub" -#define DEFAULT_MQTT_TOPIC "CLIENT/CAM/CS01/1/AZ12" +#define DEFAULT_MQTT_TOPIC "CLIENT/CAM/CS01/1/AZ12B" #define DEFAULT_MQTT_PAYLOAD "Hello World!" #define DEFAULT_MQTT_QOS 1 #define DEFAULT_MQTT_TIMEOUT 10000L @@ -148,13 +148,14 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case CONNECTED: - if ((mqtt_response_code = publish_mqtt(DEFAULT_MQTT_PAYLOAD,strlen(DEFAULT_MQTT_PAYLOAD),DEFAULT_MQTT_TOPIC))) { + /* if ((mqtt_response_code = publish_mqtt(DEFAULT_MQTT_PAYLOAD,strlen(DEFAULT_MQTT_PAYLOAD),DEFAULT_MQTT_TOPIC))) { LogMessage(LOG_LEVEL_ERROR,"Could not publish message, error code %d", mqtt_response_code); } else { pending_state = SENDING; } break; + */ case SENDING: if (sendtoken == deliveredtoken) { pending_state = CONNECTED; @@ -294,12 +295,6 @@ void connlost_mqtt(void *context, char *cause){ printf("Connection lost \n"); } -//TODO MOVE THESE DEFINITIONS TO CORRECT PLACE -#define H_THRESHOLD 1 -#define S_THRESHOLD 1 -#define T_THRESHOLD 1 -#define D_THRESHOLD 1 -#define CHECK_PERIOD 1 /*! * \brief GenerateCamMessage generates a cam message to send on MQTT @@ -354,20 +349,17 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16)); - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = 0; //FORWARD + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = DriveDirection_forward; //FORWARD tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 10; //TEMP WIDTH tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 10; //TEMP LENGTH - //tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = 5; //MONRData->LateralAccI16; - //tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = 5; // = MONRData->LongitudinalAccI16; - //TODO: CRASHES HERE FOR SOME REASON -/* - printf("Got here2\n"); - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = 0; //HARDCODED CURVATURE + //tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16; + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16; + tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = 0; tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = 7; tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = 0; -*/ + if(MONRData != NULL ){ @@ -431,32 +423,28 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ tempDENM.denm.management.eventPosition.latitude = latitude; tempDENM.denm.management.eventPosition.longitude = longitude; - tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 7; tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 10; tempDENM.denm.management.eventPosition.altitude.altitudeValue = 0; tempDENM.denm.management.eventPosition.altitude.altitudeConfidence = 0; - - //tempDENM.denm.management.relevanceDistance = 3; //tempDENM.denm.management.relevanceTrafficDirection = 1; - // tempDENM.denm.management.validityDuration = 0; + //tempDENM.denm.management.validityDuration = 0; //tempDENM.denm.management.transmissionInterval = 100; - //tempDENM.denm.management.stationType = 8; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian - /* CRASHES CITS + tempDENM.denm.management.stationType = StationType_heavyTruck; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian - tempDENM.denm.situation->informationQuality = 7; - tempDENM.denm.situation->eventType.causeCode = 99; + //tempDENM.denm.situation->informationQuality = InformationQuality_highest; + //tempDENM.denm.situation->eventType.causeCode = CauseCodeType_dangerousSituation; - tempDENM.denm.situation->eventType.subCauseCode = 1; //Emergency break engaged + //tempDENM.denm.situation->eventType.subCauseCode = 1; //Emergency break engaged - tempDENM.denm.location->eventSpeed->speedValue = 0; //CHECK THIS - tempDENM.denm.location->eventSpeed->speedConfidence = 0; //unavaliabe + //tempDENM.denm.location->eventSpeed->speedValue = 0; //CHECK THIS + //tempDENM.denm.location->eventSpeed->speedConfidence = 0; //unavaliabe + - */ if(MONRData != NULL ){ *denm = tempDENM; @@ -469,12 +457,6 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ * \return 1 if message sent succesfully */ I32 sendCAM(CAM_t* cam){ - - // CAM_t * cam; - // cam = calloc(1, sizeof (*cam)); - // assert(cam); - // xer_fprint(stdout, &asn_DEF_CAM, cam); - printf("SENDING CAM\n"); publish_mqtt((char*)cam, sizeof (CAM_t), "CLIENT/CAM/CS01/1/AZ12B"); @@ -488,11 +470,6 @@ I32 sendCAM(CAM_t* cam){ */ I32 sendDENM(DENM_t* denm){ - // CAM_t * cam; - // cam = calloc(1, sizeof (*cam)); - // assert(cam); - // xer_fprint(stdout, &asn_DEF_CAM, cam); - printf("SENDING DENM\n"); publish_mqtt((char*)denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); From 8aa894c25d1d728b441a7801556673129ce818ac Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 16:36:20 +0200 Subject: [PATCH 316/730] Added c++11 standard as forced --- modules/ScenarioControl/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index d58609e31..bf03e05a8 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -1,4 +1,5 @@ cmake_minimum_required(VERSION 2.8) +set (CMAKE_CXX_STANDARD 11) project(ScenarioControl) # This module is an example of how to set up a new module external to the Maestro executable From a7d1b211a34e7b8e20a6f06154fd02e1b0c5deee Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 16:39:53 +0200 Subject: [PATCH 317/730] Clarified a function description --- modules/ScenarioControl/src/booleantrigger.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/booleantrigger.cpp b/modules/ScenarioControl/src/booleantrigger.cpp index 7016a126e..bc27e4451 100644 --- a/modules/ScenarioControl/src/booleantrigger.cpp +++ b/modules/ScenarioControl/src/booleantrigger.cpp @@ -1,7 +1,7 @@ #include "booleantrigger.h" /*! - * \brief BooleanTrigger::update Updates the signal connected to the trigger to the value specified + * \brief BooleanTrigger::update Updates the tracked signal (i.e. which causes the trigger) to the value specified * \param isBrakeCurrentlyPressed Boolean describing if the boolean * \return Value according to ::TriggerReturnCode_t */ From 87e8eb206d49195f0a257874d6fe82a6824a5ddd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 16:50:04 +0200 Subject: [PATCH 318/730] Added comments on intended use of update functions --- modules/ScenarioControl/inc/trigger.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index ced9ec554..4197bf46d 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -111,6 +111,11 @@ class Trigger static std::string getParameterAsString(TriggerParameter_t param); std::string getParametersString(); + /*! Update tracked signal (i.e. signal which causes the trigger to occur). + * Inheriting classes should override the appropriate function(s) + * - e.g. a trigger tracking a floating point trigger should override + * update(float) and update(double) + */ virtual TriggerReturnCode_t update(void) { return INVALID_ARGUMENT; } virtual TriggerReturnCode_t update(bool) { return INVALID_ARGUMENT; } virtual TriggerReturnCode_t update(char) { return INVALID_ARGUMENT; } From 21358407df920f7435b027438f9a4e4ac3783e00 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 5 Jul 2019 16:57:36 +0200 Subject: [PATCH 319/730] Added function description for trigger functions --- modules/ScenarioControl/inc/trigger.h | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 4197bf46d..2d045ecaa 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -96,7 +96,17 @@ class Trigger /*! Setters */ void setID(uint16_t triggerID) { this->triggerID = triggerID; } + /*! + * \brief appendParameter Appends an ISO parameter to the parameters list. + * \param triggerParameter Parameter to append + * \return Value according to ::TriggerReturnCode_t + */ TriggerReturnCode_t appendParameter(TriggerParameter_t triggerParameter); + + /*! + * \brief parseParameters Parse the parameters list into an appropriate Trigger mode. + * \return Value according to ::TriggerReturnCode_t + */ virtual TriggerReturnCode_t parseParameters() = 0; @@ -111,7 +121,8 @@ class Trigger static std::string getParameterAsString(TriggerParameter_t param); std::string getParametersString(); - /*! Update tracked signal (i.e. signal which causes the trigger to occur). + /*! + * \brief update Update tracked signal (i.e. signal which causes the trigger to occur). * Inheriting classes should override the appropriate function(s) * - e.g. a trigger tracking a floating point trigger should override * update(float) and update(double) From 84d27fa69adb388d2197e11e9e2b7b7885ca20d6 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 8 Jul 2019 10:37:57 +0200 Subject: [PATCH 320/730] Added S_THRESHOLD, D_THRESHOLD for cam generation --- server/src/citscontrol.c | 19 ++++++++++++++++--- server/src/util.c | 13 +++++++++++++ util | 2 +- 3 files changed, 30 insertions(+), 4 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 1e93dcf42..a69ec8e6f 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -35,7 +35,10 @@ #include "citscontrol.h" #include "util.h" - +#define H_THRESHOLD 1 //HEADING THRESHOLD +#define S_THRESHOLD 0 //SPEED THRESHOLD +#define D_THRESHOLD 1 //DISTANCE THRESHOLD +#define CHECK_PERIOD 1 #define CITS_CONTROL_CONF_FILE_PATH "conf/test.conf" #define CITS_CONTROL_BUFFER_SIZE_20 20 @@ -103,6 +106,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; int mqtt_response_code = 0; MONRType MONRMessage; + MONRType LastMONRMessage = nullptr; + CAM_t lastCam; DENM_t lastDenm; @@ -193,19 +198,27 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); - if(camTimeCycle == 100) + I16 distanceDelta = 0; + I16 headingDelta = 0; + + if(camTimeCycle == CHECK_PERIOD) { + if(LastMONRMessage != nullptr){ + distanceDelta = UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32) + headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); + } I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); printf("Speed delta %d \n", speedDelta); - if(speedDelta >= 0){ + if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ generateCAMMessage(&MONRMessage, &lastCam); generateDENMMessage(&MONRMessage, &lastDenm); sendCAM(&lastCam); sendDENM(&lastDenm); } lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); + LastMONRMessage = MONRMessage; camTimeCycle = 0; } camTimeCycle++; diff --git a/server/src/util.c b/server/src/util.c index 87477ba8e..bc661f650 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3135,3 +3135,16 @@ double UtilGetDistance(double th1, double ph1, double th2, double ph2) { dy = sin(ph1) * cos(th1); return asin(sqrt(dx * dx + dy * dy + dz * dz) / 2) * 2 * nRadius; } + +/*! + * \brief UtilCoordinateDistance calculates the distance between two cordinates using distance formula. + * \param x1 x of first coordinate + * \param y1 y of first coordinate + * \param x2 x of second coordinate + * \param y2 y of second coordinate + * \return Distance + */ +float UtilCoordinateDistance(float x1, float y1, float x2, float y2) +{ + return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2) * 1.0); +} diff --git a/util b/util index ea293911d..45b58ec55 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit ea293911d756e7c109f0c5406556cdd4f97793ea +Subproject commit 45b58ec5584f5cb427e68884e2f6ed9992b1f103 From 3eeb4810fc73df8081d3c87c21c3290eef0619ec Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 8 Jul 2019 10:45:51 +0200 Subject: [PATCH 321/730] Forgot to fix one thing --- server/src/citscontrol.c | 14 ++++---------- 1 file changed, 4 insertions(+), 10 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index a69ec8e6f..4626d1567 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -106,7 +106,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; int mqtt_response_code = 0; MONRType MONRMessage; - MONRType LastMONRMessage = nullptr; + MONRType LastMONRMessage; + CAM_t lastCam; DENM_t lastDenm; @@ -194,22 +195,15 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Ignore old style MONR data break; case COMM_MONR: - //TODO: CREATE CAM UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); - I16 distanceDelta = 0; - I16 headingDelta = 0; - if(camTimeCycle == CHECK_PERIOD) { - if(LastMONRMessage != nullptr){ - distanceDelta = UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32) - headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); - } + I16 distanceDelta = UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); + I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); - printf("Speed delta %d \n", speedDelta); if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ generateCAMMessage(&MONRMessage, &lastCam); From b16741e5aedd3c0bf873f641add82b756ccb1f5f Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 8 Jul 2019 14:16:59 +0200 Subject: [PATCH 322/730] Experimenting with PER encoding --- server/src/citscontrol.c | 62 ++++++++++++++++++++++++++-------------- 1 file changed, 40 insertions(+), 22 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 4626d1567..94d73614f 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -35,10 +35,13 @@ #include "citscontrol.h" #include "util.h" + + + #define H_THRESHOLD 1 //HEADING THRESHOLD #define S_THRESHOLD 0 //SPEED THRESHOLD #define D_THRESHOLD 1 //DISTANCE THRESHOLD -#define CHECK_PERIOD 1 +#define CHECK_PERIOD 100 #define CITS_CONTROL_CONF_FILE_PATH "conf/test.conf" #define CITS_CONTROL_BUFFER_SIZE_20 20 @@ -64,8 +67,6 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm); I32 sendCAM(CAM_t* lastCam); I32 sendDENM(DENM_t* lastDenm); - - void init_mqtt(char* ip_addr, char * clientid); int connect_mqtt(); int publish_mqtt(char *payload, int payload_len, char *topic); @@ -73,6 +74,9 @@ void delivered_mqtt(void *context, MQTTClient_deliveryToken dt); int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message *message); void connlost_mqtt(void *context, char *cause); +bool validate_constraints(asn_TYPE_descriptor_t *type_descriptor, const void *struct_ptr) ; + +void *encode_and_decode_object(asn_TYPE_descriptor_t *type_descriptor, void *struct_ptr) ; /*------------------------------------------------------------ @@ -109,8 +113,14 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) MONRType LastMONRMessage; - CAM_t lastCam; - DENM_t lastDenm; + CAM_t* lastCam; + lastCam = calloc(1, sizeof *lastCam); + assert(lastCam); + + DENM_t* lastDenm; + lastDenm = calloc(1, sizeof *lastDenm); + assert(lastDenm); + TimeType time; @@ -124,11 +134,11 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) MQTTClient_setCallbacks(client, NULL, connlost_mqtt, msgarrvd_mqtt, delivered_mqtt); - lastCam.cam.generationDeltaTime = time.MillisecondU16; + lastCam->cam.generationDeltaTime = time.MillisecondU16; LogMessage(LOG_LEVEL_INFO,"Starting cits control...\n"); - lastCam.cam.camParameters.basicContainer.referencePosition.latitude = 0; - lastCam.cam.camParameters.basicContainer.referencePosition.longitude = 0; + lastCam->cam.camParameters.basicContainer.referencePosition.latitude = 0; + lastCam->cam.camParameters.basicContainer.referencePosition.longitude = 0; (void)iCommInit(); LogInit(MODULE_NAME,LOG_LEVEL_INFO); @@ -147,7 +157,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (!connect_mqtt()){ LogMessage(LOG_LEVEL_INFO,"Connected!"); - //MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); + MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); pending_state = CONNECTED; LogMessage(LOG_LEVEL_DEBUG,"CITS state change from %d to %d",state,pending_state); } @@ -206,10 +216,10 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ - generateCAMMessage(&MONRMessage, &lastCam); - generateDENMMessage(&MONRMessage, &lastDenm); - sendCAM(&lastCam); - sendDENM(&lastDenm); + generateCAMMessage(&MONRMessage, lastCam); + generateDENMMessage(&MONRMessage, lastDenm); + sendCAM(lastCam); + sendDENM(lastDenm); } lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); LastMONRMessage = MONRMessage; @@ -274,18 +284,20 @@ int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_messa LogMessage(LOG_LEVEL_DEBUG,"Message arrived! Length=%d",message->payloadlen); //if (message->payloadlen == 0) return 1; //else if (topicLen == 0) return 2; + if(message->payloadlen > 0) LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); - //printf("Message arrived\n"); - //printf(" topic: %s\n", topicName); - //printf(" message: "); - //payloadptr = message->payload; - /* + printf("Message arrived\n"); + printf("topic: %s\n", topicName); + printf("message: "); + payloadptr = message->payload; + for(i=0; ipayloadlen; i++) { putchar(*payloadptr++); } putchar('\n'); - */ + + MQTTClient_freeMessage(&message); MQTTClient_free(topicName); return 0; @@ -368,14 +380,15 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = 0; - if(MONRData != NULL ){ *cam = tempCam; } + } + /*! * \brief GenerateDENMMessage generates a DENM message to send on MQTT * \param MONRData MONR data struct @@ -440,8 +453,7 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ //tempDENM.denm.management.relevanceTrafficDirection = 1; //tempDENM.denm.management.validityDuration = 0; //tempDENM.denm.management.transmissionInterval = 100; - tempDENM.denm.management.stationType = StationType_heavyTruck; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian - + //tempDENM.denm.management.stationType = StationType_heavyTruck; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian //tempDENM.denm.situation->informationQuality = InformationQuality_highest; //tempDENM.denm.situation->eventType.causeCode = CauseCodeType_dangerousSituation; @@ -466,6 +478,9 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ I32 sendCAM(CAM_t* cam){ printf("SENDING CAM\n"); + xer_fprint(stdout, &asn_DEF_CAM, cam); + + publish_mqtt((char*)cam, sizeof (CAM_t), "CLIENT/CAM/CS01/1/AZ12B"); return 1; } @@ -479,7 +494,10 @@ I32 sendDENM(DENM_t* denm){ printf("SENDING DENM\n"); + publish_mqtt((char*)denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); return 1; } + + From 351d68dd52eb399e7ca24bf8f8594dc99c96dd7c Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Mon, 8 Jul 2019 14:52:24 +0200 Subject: [PATCH 323/730] Added extra parameter to the program. The server now has the ability to take an input of '-m', followed by a number, which creates extra message queues. These can be used by other modules wanting to connect to the mqbus. --- server/src/main.c | 51 +++++++++++++++++++++++++++++++++++++---------- 1 file changed, 40 insertions(+), 11 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 3d290601d..a58d40ba5 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -45,6 +45,7 @@ typedef void (*ModuleTask)(TimeType*, GSDType*, LOG_LEVEL); //!< Function pointe typedef struct { LOG_LEVEL commonLogLevel; + int extraMessageQueues; } Options; /*------------------------------------------------------------ @@ -71,20 +72,19 @@ static const ModuleTask allModules[] = { logger_task, timecontrol_task, supervision_task, - supervisorcontrol_task, systemcontrol_task, objectcontrol_task //citscontrol_task }; -static const size_t numberOfModules = sizeof(allModules) / sizeof(ModuleTask); +static const int numberOfModules = sizeof(allModules) / sizeof(ModuleTask); /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ int readArgumentList(int argc, char *argv[], Options *opts); void printHelp(char* progName); -int initializeMessageQueueBus(void); +int initializeMessageQueueBus(Options *opts); int shutdownMessageQueueBus(void); int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]); void signal_handler(int signo); @@ -118,7 +118,7 @@ int main(int argc, char *argv[]) LogMessage(LOG_LEVEL_DEBUG, "Verbose mode enabled"); // Initialise message queue bus - if(initializeMessageQueueBus()) + if(initializeMessageQueueBus(&options)) exit(EXIT_FAILURE); // For all modules in allModules, start corresponding process in a fork @@ -133,7 +133,6 @@ int main(int argc, char *argv[]) { // Call module task (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); - printf("Hejhopp\n"); exit(EXIT_SUCCESS); } } @@ -155,12 +154,14 @@ int main(int argc, char *argv[]) /*! * \brief initialiseMessageQueueBus Wrapper function for MQBusInit with explanatory log printouts + * \param opts A pointer to the current options the program has. This function will only look for ::extraMessageQueues * \return 0 upon success, -1 upon failure */ -int initializeMessageQueueBus(void) +int initializeMessageQueueBus(Options *opts) { - int nbrOfQueues = numberOfModules; - enum MQBUS_ERROR result = MQBusInit(nbrOfQueues+3); // Added a couple of slots to allow for additional modules + + int nbrOfQueues = numberOfModules + opts->extraMessageQueues; // If the user supplied an additional number of message queues in the input, this will create thoes message queues. + enum MQBUS_ERROR result = MQBusInit(nbrOfQueues); // Printouts according to result switch (result) @@ -285,7 +286,6 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi } nanosleep(&childPollPeriodTime,NULL); - printf("exited modules: %d, number of modules: %d\n",nExitedModules,numberOfModules); } while (nExitedModules < numberOfModules); // Loop over all exited modules to report exit manner @@ -321,6 +321,11 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi */ int readArgumentList(int argc, char *argv[], Options *opts) { + enum ArgState { + NO_STATE, + NR_MQ_INPUT + }; + char *progName = strrchr(argv[0],'/'); if (progName == NULL) { @@ -337,12 +342,24 @@ int readArgumentList(int argc, char *argv[], Options *opts) // Initialise to default options opts->commonLogLevel = LOG_LEVEL_INFO; + opts->extraMessageQueues = 0; + int argState = NO_STATE; // Loop over all input arguments for(int i = 1; i < argc; ++i) { + switch (argState) { + case NR_MQ_INPUT: + opts->extraMessageQueues = atoi(argv[i]); + argState = NO_STATE; + continue; + case NO_STATE: + default: + break; + } + if (!strcmp(argv[i], "-h") || !strcmp(argv[i], "--help")) { printHelp(progName); @@ -352,6 +369,10 @@ int readArgumentList(int argc, char *argv[], Options *opts) { opts->commonLogLevel = LOG_LEVEL_DEBUG; } + else if (!strcmp(argv[i], "-m") || !strcmp(argv[i],"--messagequeues")) + { + argState = NR_MQ_INPUT; + } else { // If option didn't match any known option @@ -360,6 +381,13 @@ int readArgumentList(int argc, char *argv[], Options *opts) return 1; } } + + if (argState != NO_STATE) { + printf("%s: insufficient number if arguments.\n",progName); + printf("Try '%s --help' for more information.\n", argv[0]); + return 1; + } + return 0; } @@ -371,8 +399,9 @@ void printHelp(char* progName) { printf("Usage: %s [OPTION]\n", progName); printf("Runs all modules of test server.\n\n"); - printf(" -v, --verbose \tcreate detailed logs\n"); - printf(" -h, --help \t\tdisplay this help and exit\n"); + printf(" [-v | --verbose] \t\tcreate detailed logs\n"); + printf(" [-h | --help] \t\tdisplay this help and exit\n"); + printf(" [-m | --messagequeues [number]] \t\t add additional message queues which other modules could connect to.\n"); } /*! From 9055fec375df38431c6485263ba20b84e10e3746 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Mon, 8 Jul 2019 14:53:03 +0200 Subject: [PATCH 324/730] Added a comment. --- server/src/main.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index a58d40ba5..f929a2575 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -44,8 +44,8 @@ typedef void (*ModuleTask)(TimeType*, GSDType*, LOG_LEVEL); //!< Function pointer type for module "main" functions typedef struct { - LOG_LEVEL commonLogLevel; - int extraMessageQueues; + LOG_LEVEL commonLogLevel; //!< Logging level of the server. + int extraMessageQueues; //!< Number of extra message queues to create on startup. } Options; /*------------------------------------------------------------ @@ -324,7 +324,7 @@ int readArgumentList(int argc, char *argv[], Options *opts) enum ArgState { NO_STATE, NR_MQ_INPUT - }; + }; // Date: Tue, 9 Jul 2019 11:29:36 +0200 Subject: [PATCH 325/730] Changed the runscript count the extra modules and start that many extra message queues. This utilises the new -m command implemented in the server. --- runServer.sh | 7 ++++++- server/src/main.c | 2 ++ 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/runServer.sh b/runServer.sh index 92d205629..7b12c1d7d 100755 --- a/runServer.sh +++ b/runServer.sh @@ -13,8 +13,13 @@ MODULES=(ScenarioControl) # Save top directory MAESTRODIR=$(pwd) +# Number of modules +MODULE_LENGTH=${#MODULES[@]} + +echo "Starting server with $MODULE_LENGTH extra message queues." + # Build string for executing server alongside modules -SERVER_EXEC_STRING="(cd $MAESTRODIR/server/build && ./TEServer)" +SERVER_EXEC_STRING="(cd $MAESTRODIR/server/build && ./TEServer -m $MODULE_LENGTH)" for i in "${MODULES[@]}" do SERVER_EXEC_STRING="$SERVER_EXEC_STRING & (cd $MAESTRODIR/modules/$i/build && ./$i)" diff --git a/server/src/main.c b/server/src/main.c index f929a2575..1ef322671 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -117,6 +117,8 @@ int main(int argc, char *argv[]) LogMessage(LOG_LEVEL_INFO, "Central started"); LogMessage(LOG_LEVEL_DEBUG, "Verbose mode enabled"); + + LogMessage(LOG_LEVEL_INFO,"About to enter mq init"); // Initialise message queue bus if(initializeMessageQueueBus(&options)) exit(EXIT_FAILURE); From e98b96b15714c56b0d82feec443812e7d4d522cb Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 9 Jul 2019 12:39:11 +0200 Subject: [PATCH 326/730] Implemented run action method and constructor --- modules/ScenarioControl/inc/action.h | 15 +++++++++++---- modules/ScenarioControl/src/action.cpp | 24 ++++++++++++++++++++++++ 2 files changed, 35 insertions(+), 4 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index 38a485e4e..6c7523f47 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -6,6 +6,7 @@ class Action { public: + /*! Typedefs */ typedef enum { ACTION_NONE = 0x0000, ACTION_TYPE_1 = 0x0001, @@ -47,20 +48,26 @@ class Action typedef enum { OK, NOT_OK, - INVALID_ARGUMENT + INVALID_ARGUMENT, + NO_REMAINING_RUNS } ActionReturnCode_t; typedef uint16_t ActionID_t; - Action(ActionID_t actionID, ActionType_t actionType, uint32_t numberOfFires); + /*! Constructor */ + Action(ActionID_t actionID = 0, ActionType_t actionType = ACTION_NONE, uint32_t numberOfRuns = 1); + + /*! Getters */ ActionID_t getID() { return actionID; } ActionType_t getType() { return actionType; } + /*! Run the action once, if allowed */ + ActionReturnCode_t execute(void); + private: ActionID_t actionID = 0; ActionType_t actionType = ACTION_NONE; - - uint32_t remainingFires = 0; + uint32_t remainingRuns = 0; }; #endif diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index e69de29bb..25dab41c9 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -0,0 +1,24 @@ + +#include "action.h" + +Action::Action(ActionID_t actionID, ActionType_t actionType, uint32_t numberOfRuns) +{ + this->actionID = actionID; + this->actionType = actionType; + this->remainingRuns = numberOfRuns; +} + +/*! + * \brief Action::runOnce Runs the action if allowed and decrements the number of remaining allowed action executions. + * \return Value according to ::ActionReturnCode_t + */ +Action::ActionReturnCode_t Action::runOnce(void) +{ + if (remainingRuns == 0) + return NO_REMAINING_RUNS; + else { + // TODO: Maybe add some more functionality when it is more well specified + remainingRuns--; + return OK; + } +} From 9cb1f96c99ad72d7996cd4abe528fed35ba48707 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 9 Jul 2019 12:39:58 +0200 Subject: [PATCH 327/730] Refactored --- modules/ScenarioControl/src/action.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index 25dab41c9..6e6b64cde 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -12,7 +12,7 @@ Action::Action(ActionID_t actionID, ActionType_t actionType, uint32_t numberOfRu * \brief Action::runOnce Runs the action if allowed and decrements the number of remaining allowed action executions. * \return Value according to ::ActionReturnCode_t */ -Action::ActionReturnCode_t Action::runOnce(void) +Action::ActionReturnCode_t Action::execute(void) { if (remainingRuns == 0) return NO_REMAINING_RUNS; From 671f7d77c47c441deade3cd70e451964f05e7b7c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 9 Jul 2019 12:40:37 +0200 Subject: [PATCH 328/730] Appended .autosave files to gitignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 175c3b5f5..a201c6feb 100644 --- a/.gitignore +++ b/.gitignore @@ -42,3 +42,4 @@ PlaygroundPlatform*/ # Autosave files *.save +*.autosave From 5a94df419c584db7347bdf49091bf630ba9d1825 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Tue, 9 Jul 2019 13:40:09 +0200 Subject: [PATCH 329/730] Changed some comments and the name of an optional input parameter. --- server/src/main.c | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 1ef322671..39904a2f6 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -162,7 +162,8 @@ int main(int argc, char *argv[]) int initializeMessageQueueBus(Options *opts) { - int nbrOfQueues = numberOfModules + opts->extraMessageQueues; // If the user supplied an additional number of message queues in the input, this will create thoes message queues. + // If the user supplied an additional number of modules in the input, this will create the appropriate amout of message queues. + int nbrOfQueues = numberOfModules + opts->extraMessageQueues; enum MQBUS_ERROR result = MQBusInit(nbrOfQueues); // Printouts according to result @@ -325,7 +326,7 @@ int readArgumentList(int argc, char *argv[], Options *opts) { enum ArgState { NO_STATE, - NR_MQ_INPUT + NR_MODULES_INPUT }; //extraMessageQueues = atoi(argv[i]); argState = NO_STATE; continue; @@ -371,9 +372,9 @@ int readArgumentList(int argc, char *argv[], Options *opts) { opts->commonLogLevel = LOG_LEVEL_DEBUG; } - else if (!strcmp(argv[i], "-m") || !strcmp(argv[i],"--messagequeues")) + else if (!strcmp(argv[i], "-m") || !strcmp(argv[i],"--additional-modules")) { - argState = NR_MQ_INPUT; + argState = NR_MODULES_INPUT; } else { @@ -385,7 +386,7 @@ int readArgumentList(int argc, char *argv[], Options *opts) } if (argState != NO_STATE) { - printf("%s: insufficient number if arguments.\n",progName); + printf("%s: insufficient number of arguments.\n",progName); printf("Try '%s --help' for more information.\n", argv[0]); return 1; } From a5b15b2af5570a0d69fe1e8f2f47e2059c6f677e Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Tue, 9 Jul 2019 13:48:22 +0200 Subject: [PATCH 330/730] Changed the documentation in the --help view. --- server/src/main.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 39904a2f6..4f196245e 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -402,9 +402,9 @@ void printHelp(char* progName) { printf("Usage: %s [OPTION]\n", progName); printf("Runs all modules of test server.\n\n"); - printf(" [-v | --verbose] \t\tcreate detailed logs\n"); - printf(" [-h | --help] \t\tdisplay this help and exit\n"); - printf(" [-m | --messagequeues [number]] \t\t add additional message queues which other modules could connect to.\n"); + printf(" -v, --verbose \t\t\tcreate detailed logs\n"); + printf(" -h, --help \t\t\t\tdisplay this help and exit\n"); + printf(" -m, --additional-modules [number] \tenables the connection of a [number] of extra modules to connect.\n"); } /*! From d722c24f4e71383e0ac5a2c833577506ddd07683 Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Tue, 9 Jul 2019 14:50:06 +0200 Subject: [PATCH 331/730] Addressed PR comments --- modules/ScenarioControl/src/action.cpp | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index 6e6b64cde..37472cca9 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -1,15 +1,21 @@ #include "action.h" -Action::Action(ActionID_t actionID, ActionType_t actionType, uint32_t numberOfRuns) +/*! + * \brief Action::Action Constructor for Action objects. + * \param actionID ISO ID of the action + * \param actionType ISO action type of the action + * \param allowedNumberOfRuns Number of times the action is allowed to be run + */ +Action::Action(ActionID_t actionID, ActionType_t actionType, uint32_t allowedNumberOfRuns) { this->actionID = actionID; this->actionType = actionType; - this->remainingRuns = numberOfRuns; + this->remainingAllowedRuns = allowedNumberOfRuns; } /*! - * \brief Action::runOnce Runs the action if allowed and decrements the number of remaining allowed action executions. + * \brief Action::execute Runs the action if allowed and decrements the number of remaining allowed action executions. * \return Value according to ::ActionReturnCode_t */ Action::ActionReturnCode_t Action::execute(void) From 12a981fb49dbca4a51d79e104112362ef089f779 Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Tue, 9 Jul 2019 14:50:46 +0200 Subject: [PATCH 332/730] Addressed PR comments --- modules/ScenarioControl/inc/action.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index 6c7523f47..7d5ba1ffb 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -55,7 +55,7 @@ class Action typedef uint16_t ActionID_t; /*! Constructor */ - Action(ActionID_t actionID = 0, ActionType_t actionType = ACTION_NONE, uint32_t numberOfRuns = 1); + Action(ActionID_t actionID = 0, ActionType_t actionType = ACTION_NONE, uint32_t allowedNumberOfRuns = 1); /*! Getters */ ActionID_t getID() { return actionID; } @@ -67,7 +67,7 @@ class Action private: ActionID_t actionID = 0; ActionType_t actionType = ACTION_NONE; - uint32_t remainingRuns = 0; + uint32_t remainingAllowedRuns = 0; }; #endif From 359f31bf89dd4f0dc98e02572670336801d50df2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 10 Jul 2019 09:40:08 +0200 Subject: [PATCH 333/730] Implemented null pointer checks and a bunch of other guards --- server/src/supervision.c | 207 +++++++++++++++++++++++++++++++++------ 1 file changed, 179 insertions(+), 28 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index b1e75354e..aaf1d24b5 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -25,6 +25,7 @@ #include #include #include +#include #include "supervision.h" @@ -120,7 +121,7 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) freeGeofences(geofenceArray, &numberOfGeofences); if (loadGeofenceFiles(&geofenceArray, &numberOfGeofences) == -1) - util_error("Unable to load geofences"); + util_error("Unable to load geofences"); // TODO: Do something more e.g. stop the INIT process break; case COMM_MONI: @@ -231,8 +232,8 @@ int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof){ * \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). * \param *geofenceFile A string containing a .geofence filename. * \param *geofence A pointer to the geofence struct used for saving data. -* * \param index An integer used to keep track of which index to store data in. -* +* \param index An integer used to keep track of which index to store data in. +* \return 0 on success, -1 on failure */ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ @@ -244,70 +245,215 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ char *line = NULL; size_t len = 0; ssize_t read; + int tempInt; + int isHeaderParsedSuccessfully = 0; - LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofenceFile); + LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", pcFileNameBuffer); fp = fopen(pcFileNameBuffer, "r"); if ( fp != NULL ) { + int lineCount = 0; + while ((read = getline(&line, &len, fp)) != -1) { - static int lineCount = 0; char delim[] = ";"; char *ptr = strtok(line, delim); while (ptr != NULL) { - if(strcmp( ptr, "GEOFENCE" ) == 0){ //PARSE HEADER - lineCount = 0; + if (strcmp(ptr, "GEOFENCE") == 0 && strcmp( ptr, "ENDGEOFENCE") != 0 && lineCount != 0) + { + // In case there's a second header somewhere in the middle of the file, catch that + LogMessage(LOG_LEVEL_ERROR, "Found misplaced header in file <%s>", geofenceFile); + fclose(fp); + if(isHeaderParsedSuccessfully) + free(geofence->polygonPoints); + return -1; + } + else if (strcmp( ptr, "GEOFENCE" ) == 0 && strcmp( ptr, "ENDGEOFENCE") != 0) + { + /* Parse header */ - ptr = strtok(NULL, delim); + // Geofence name string + if ((ptr = strtok(NULL, delim)) == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } strcpy (geofence->name, ptr); - ptr = strtok(NULL, delim); - geofence->numberOfPoints = atoi(ptr); + // Geofence number of points + if ((ptr = strtok(NULL, delim)) == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + tempInt = atoi(ptr); + if (tempInt < 0) + { + LogMessage(LOG_LEVEL_ERROR, "Header of file <%s> contains a negative number of points", geofenceFile); + fclose(fp); + return -1; + } + else if (tempInt > USHRT_MAX) + { + LogMessage(LOG_LEVEL_ERROR, "Geofence file <%s> contains too many points", geofenceFile); + fclose(fp); + return -1; + } + geofence->numberOfPoints = (unsigned short)tempInt; - geofence->polygonPoints = (CartesianPosition*)malloc(geofence->numberOfPoints*sizeof(CartesianPosition)); - if (geofence->polygonPoints == NULL) + // Permitted|forbidden string + if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for coordinate array"); + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); return -1; } - ptr = strtok(NULL, delim); - if(strcmp( ptr, "permitted" ) == 0){ + if(strcasecmp( ptr, "permitted" ) == 0){ geofence->isPermitted = 1; } - else + else if (strcasecmp(ptr, "forbidden") == 0) { geofence->isPermitted = 0; } + else + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + + // Minimum height + if ((ptr = strtok(NULL, delim)) == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + LogMessage(LOG_LEVEL_DEBUG, "Ignored minimum height %s in geofence <%s> (unimplemented)", ptr, geofenceFile); + + // Maximum height + if ((ptr = strtok(NULL, delim)) == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + LogMessage(LOG_LEVEL_DEBUG, "Ignored maximum height %s in geofence <%s> (unimplemented)", ptr, geofenceFile); - ptr = strtok(NULL, delim); - // printf("Min Height: %s\n", ptr); - ptr = strtok(NULL, delim); - // printf("Max Height: %s\n", ptr); - ptr = strtok(NULL, delim); + // Final delimiter + if ((ptr = strtok(NULL, delim)) == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + + // Successfully parsed the header; now we can allocate memory for the rest + geofence->polygonPoints = (CartesianPosition*)malloc(geofence->numberOfPoints*sizeof(CartesianPosition)); + if (geofence->polygonPoints == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for coordinate array"); + fclose(fp); + return -1; + } + + isHeaderParsedSuccessfully = 1; } + else if ((strcmp( ptr, "LINE" ) == 0) && !isHeaderParsedSuccessfully) + { + // In case there's a point before the header, catch that + LogMessage(LOG_LEVEL_ERROR, "Encountered geofence point above header in file <%s>",geofenceFile); + fclose(fp); + return -1; + } + else if (strcmp( ptr, "LINE" ) == 0){ + /* Parse non-header line */ + + // Check so that there are not more points than previously specified + if (lineCount >= geofence->numberOfPoints) + { + LogMessage(LOG_LEVEL_ERROR, "Geofence file <%s> contains more rows than specified in the header",geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } - if(strcmp( ptr, "LINE" ) == 0){ - ptr = strtok(NULL, delim); + // Parse x coordinate + if ((ptr = strtok(NULL, delim)) == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse x coordinate in row %d of file <%s>", lineCount+2, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } geofence->polygonPoints[lineCount].xCoord_m = atof(ptr); - ptr = strtok(NULL, delim); + // Parse y coordinate + if ((ptr = strtok(NULL, delim)) == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse y coordinate in row %d of file <%s>", lineCount+2, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } geofence->polygonPoints[lineCount].yCoord_m = atof(ptr); LogMessage(LOG_LEVEL_DEBUG,"Point: (%.3f, %.3f)", geofence->polygonPoints[lineCount].xCoord_m, geofence->polygonPoints[lineCount].yCoord_m); + // Check so that there is an ENDLINE text + if ((ptr = strtok(NULL, delim)) == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Could not find ENDLINE at row %d of file <%s>", lineCount+2, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + + if (strcmp(ptr, "ENDLINE") != 0) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse row %d of file <%s>", lineCount+2, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + + // Increment the line counter lineCount++; } + else if (strcmp( ptr, "ENDGEOFENCE" ) == 0 && !isHeaderParsedSuccessfully) + { + LogMessage(LOG_LEVEL_ERROR, "Found misplaced ENDGEOFENCE in file <%s>", geofenceFile); + fclose(fp); + return -1; + } + else if (strcmp(ptr, "ENDGEOFENCE") == 0) + { + if (lineCount == geofence->numberOfPoints) + { + /* Successful parse, return */ + fclose(fp); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); + return 0; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Mismatch between specified number of points (%u) and row count (%d) in file <%s>", geofence->numberOfPoints, lineCount, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + } ptr = strtok(NULL, delim); - } } - - fclose ( fp ); + fclose(fp); LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); } else @@ -315,7 +461,12 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcFileNameBuffer); return -1; } - return 0; + + // If we reach here, it means we did not find an ENDGEOFENCE before EOF + LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", pcFileNameBuffer); + if(isHeaderParsedSuccessfully) + free(geofence->polygonPoints); + return -1; } /*! From 40f397ee26b93bbce67b7d087e5cf32ee62bb30b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 11 Jul 2019 15:18:15 +0200 Subject: [PATCH 334/730] Fixed build error --- modules/ScenarioControl/src/action.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index 37472cca9..7e31a0445 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -20,11 +20,11 @@ Action::Action(ActionID_t actionID, ActionType_t actionType, uint32_t allowedNum */ Action::ActionReturnCode_t Action::execute(void) { - if (remainingRuns == 0) + if (remainingAllowedRuns == 0) return NO_REMAINING_RUNS; else { // TODO: Maybe add some more functionality when it is more well specified - remainingRuns--; + remainingAllowedRuns--; return OK; } } From 101a087a795ceafc47b5aa39c3f7376aa81074ff Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 11 Jul 2019 15:26:11 +0200 Subject: [PATCH 335/730] Empty scenario class --- modules/ScenarioControl/CMakeLists.txt | 7 ++++++- modules/ScenarioControl/inc/scenario.h | 6 ++++++ modules/ScenarioControl/src/main.cpp | 3 +++ modules/ScenarioControl/src/scenario.cpp | 0 util | 2 +- 5 files changed, 16 insertions(+), 2 deletions(-) create mode 100644 modules/ScenarioControl/inc/scenario.h create mode 100644 modules/ScenarioControl/src/scenario.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index c8bcca557..d38c0505c 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -50,11 +50,16 @@ add_library(Action src/action.cpp ) +add_library(Scenario + inc/scenario.h + src/scenario.cpp +) + add_executable(ScenarioControl src/main.cpp) install(TARGETS ScenarioControl DESTINATION bin) -target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Trigger Action) +target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Trigger Action Scenario) target_link_libraries(util MQBus MaestroTime MaestroLogging) target_link_libraries(MQBus rt m) diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h new file mode 100644 index 000000000..b1b429f91 --- /dev/null +++ b/modules/ScenarioControl/inc/scenario.h @@ -0,0 +1,6 @@ + +class Scenario +{ +public: +private: +}; diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 4bc11d538..6ea03d5fc 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -30,6 +30,9 @@ int main() } switch (command) { + case COMM_INIT: + + break; case COMM_INV: nanosleep(&sleepTimePeriod,&remTime); break; diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp new file mode 100644 index 000000000..e69de29bb diff --git a/util b/util index ea293911d..45b58ec55 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit ea293911d756e7c109f0c5406556cdd4f97793ea +Subproject commit 45b58ec5584f5cb427e68884e2f6ed9992b1f103 From 15e3e71896e42bd47cf68e9abd6f22c0516a0f7d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 11 Jul 2019 16:31:57 +0200 Subject: [PATCH 336/730] Added a class for representing link between triggers and an action --- modules/ScenarioControl/CMakeLists.txt | 8 ++++- modules/ScenarioControl/inc/causality.h | 36 +++++++++++++++++++++++ modules/ScenarioControl/inc/scenario.h | 14 +++++++++ modules/ScenarioControl/src/causality.cpp | 22 ++++++++++++++ 4 files changed, 79 insertions(+), 1 deletion(-) create mode 100644 modules/ScenarioControl/inc/causality.h create mode 100644 modules/ScenarioControl/src/causality.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index d38c0505c..043b87e4d 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -55,11 +55,17 @@ add_library(Scenario src/scenario.cpp ) +add_library(Causality + inc/causality.h + src/causality.cpp +) + add_executable(ScenarioControl src/main.cpp) install(TARGETS ScenarioControl DESTINATION bin) -target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Trigger Action Scenario) +target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Scenario) +target_link_libraries(Scenario Causality Trigger Action) target_link_libraries(util MQBus MaestroTime MaestroLogging) target_link_libraries(MQBus rt m) diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h new file mode 100644 index 000000000..226b49940 --- /dev/null +++ b/modules/ScenarioControl/inc/causality.h @@ -0,0 +1,36 @@ +#include + +#include "trigger.h" +#include "action.h" + +class Causality +{ +public: + typedef enum {OK, NOT_OK} CausalityReturnCode_t; + + typedef enum {OR, AND} TriggerOperator_t; + + Causality(Trigger t, Action a, TriggerOperator_t op = OR); + Causality(Action a, TriggerOperator_t op = OR); + Causality(TriggerOperator_t op = OR); + + void addTrigger(Trigger t) { triggers.insert(t); } + void removeTrigger(Trigger t) { triggers.erase(t); } + + std::set getTriggers(void) { return triggers; } + + void setOperator(TriggerOperator_t op) { oper = op; } + void setRelationOR(void) { setOperator(OR); } + void setRelationAND(void) { setOperator(AND); } + + TriggerOperator_t getOperator(void) { return oper; } + std::string getOperatorString(void); + + void setAction(Action a) { action = a; } + Action getAction(void) { return action; } + +private: + TriggerOperator_t oper; + std::set triggers; + Action action; +}; diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index b1b429f91..4c8baeb99 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -1,6 +1,20 @@ +#include + +#include "trigger.h" +#include "action.h" +#include "causality.h" + class Scenario { public: + typedef enum {OK, NOT_OK} ScenarioReturnCode_t; + + Scenario(); + + ScenarioReturnCode_t addCausality(std::set ts, Action a); + ScenarioReturnCode_t addCausality(Trigger t, Action a); + ScenarioReturnCode_t addCausality(Causality c); private: + std::list causalities; }; diff --git a/modules/ScenarioControl/src/causality.cpp b/modules/ScenarioControl/src/causality.cpp new file mode 100644 index 000000000..a135427b1 --- /dev/null +++ b/modules/ScenarioControl/src/causality.cpp @@ -0,0 +1,22 @@ +#include "causality.h" + +Causality::Causality(Causality::TriggerOperator_t op) +{ + oper = op; + action = Action(0,Action::ACTION_NONE,0); + triggers = std::set(); +} + +Causality::Causality(Action a, TriggerOperator_t op) +{ + action = a; + oper = op; + triggers = std::set(); +} + +Causality::Causality(Trigger t, Action a, TriggerOperator_t op) +{ + triggers.insert(t); + action = a; + oper = op; +} From 8203d7fd9ea73f7682ff36196ce222454ffeedcc Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 12 Jul 2019 09:25:18 +0200 Subject: [PATCH 337/730] Made causality not be the owner of triggers and actions --- modules/ScenarioControl/inc/causality.h | 22 +++++++++------ modules/ScenarioControl/src/causality.cpp | 34 ++++++++++++++++++----- 2 files changed, 40 insertions(+), 16 deletions(-) diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index 226b49940..5466ddeeb 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -10,14 +10,15 @@ class Causality typedef enum {OR, AND} TriggerOperator_t; - Causality(Trigger t, Action a, TriggerOperator_t op = OR); - Causality(Action a, TriggerOperator_t op = OR); + Causality(Trigger* t, Action* a, TriggerOperator_t op = OR); + Causality(Action* a, TriggerOperator_t op = OR); Causality(TriggerOperator_t op = OR); - void addTrigger(Trigger t) { triggers.insert(t); } - void removeTrigger(Trigger t) { triggers.erase(t); } + void addTrigger(Trigger* t) { triggers.insert(t); } + void removeTrigger(Trigger* t) { triggers.erase(t); } - std::set getTriggers(void) { return triggers; } + std::set getTriggers(void) { return triggers; } + Trigger* getTriggerByID(Trigger::TriggerID_t id); void setOperator(TriggerOperator_t op) { oper = op; } void setRelationOR(void) { setOperator(OR); } @@ -26,11 +27,14 @@ class Causality TriggerOperator_t getOperator(void) { return oper; } std::string getOperatorString(void); - void setAction(Action a) { action = a; } - Action getAction(void) { return action; } + void addAction(Action* a) { actions.insert(a); } + void removeAction(Action* a) { actions.erase(a); } + + std::set getActions(void) { return actions; } + Action* getActionByID(Action::ActionID_t id); private: TriggerOperator_t oper; - std::set triggers; - Action action; + std::set triggers; + std::set actions; }; diff --git a/modules/ScenarioControl/src/causality.cpp b/modules/ScenarioControl/src/causality.cpp index a135427b1..6ee939221 100644 --- a/modules/ScenarioControl/src/causality.cpp +++ b/modules/ScenarioControl/src/causality.cpp @@ -3,20 +3,40 @@ Causality::Causality(Causality::TriggerOperator_t op) { oper = op; - action = Action(0,Action::ACTION_NONE,0); - triggers = std::set(); + actions = std::set(); + triggers = std::set(); } -Causality::Causality(Action a, TriggerOperator_t op) +Causality::Causality(Action* a, TriggerOperator_t op) { - action = a; + actions.insert(a);; oper = op; - triggers = std::set(); + triggers = std::set(); } -Causality::Causality(Trigger t, Action a, TriggerOperator_t op) +Causality::Causality(Trigger* t, Action* a, TriggerOperator_t op) { triggers.insert(t); - action = a; + actions.insert(a); oper = op; } + +Action* Causality::getActionByID(Action::ActionID_t id) +{ + for (Action* a : actions) + { + if (a->getID() == id) + return a; + } + return nullptr; +} + +Trigger* Causality::getTriggerByID(Trigger::TriggerID_t id) +{ + for (Trigger* t : triggers) + { + if (t->getID() == id) + return t; + } + return nullptr; +} From 1c13bd4855c68c23acb19dc3c69bd8a5a9bb69d1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 12 Jul 2019 14:00:26 +0200 Subject: [PATCH 338/730] Added == operator for triggers --- modules/ScenarioControl/inc/trigger.h | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 2d045ecaa..628b1c34a 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -92,6 +92,7 @@ class Trigger uint16_t getID() { return triggerID; } std::vector getParameters() { return parameters; } + bool operator==(const Trigger &other) { return other.triggerID == triggerID; } /*! Setters */ void setID(uint16_t triggerID) { this->triggerID = triggerID; } From f715c4a6186165b3d06dc3169cad314bd710fe21 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Fri, 12 Jul 2019 16:39:42 +0200 Subject: [PATCH 339/730] OBCState and server_state sent on RVSS_MAESTRO_CHANNEL. --- server/inc/util.h | 11 ++++++++- server/src/systemcontrol.c | 48 +++++++++++++++++++++++++++++++++++++- 2 files changed, 57 insertions(+), 2 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 779296b80..6255cc466 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -766,10 +766,19 @@ typedef struct volatile U32 GPSSecondsOfDayU32; volatile U8 FixQualityU8; volatile U8 NSatellitesU8; - } RVSSTimeType; +typedef struct +{ + volatile U32 MessageLengthU32; + volatile U32 ChannelCodeU32; + volatile U8 OBCStateU8; + volatile U8 SysCtrlStateU8; +} RVSSMaestroType; + + + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index bb9f55928..7e218b50b 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -111,6 +111,7 @@ typedef enum { #define RVSS_TIME_CHANNEL 1 #define RVSS_MONR_CHANNEL 2 +#define RVSS_MAESTRO_CHANNEL 4 #define RVSS_ASP_CHANNEL 8 @@ -165,6 +166,7 @@ I32 SystemControlBuildFileContentInfo(C8 *Path, C8 *ReturnValue, U8 Debug); I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *ReturnValue, U8 Remove, U8 Debug); I32 SystemControlCreateDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); I32 SystemControlBuildRVSSTimeChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, TimeType *GPSTime, U8 Debug); +I32 SystemControlBuildRVSSMaestroChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, GSDType *GSD, U8 SysCtrlState, U8 Debug); I32 SystemControlBuildRVSSAspChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, U8 Debug); I32 SystemControlBuildRVSSMONRChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, C8 *MonrData, U8 Debug); static C8 SystemControlVerifyHostAddress(char* ip); @@ -1051,10 +1053,16 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(RVSSConfigU32 & RVSS_TIME_CHANNEL) { - SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 1); + SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 0); UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); } + if(RVSSConfigU32 & RVSS_MAESTRO_CHANNEL) + { + SystemControlBuildRVSSMaestroChannelMessage(RVSSData, &RVSSMessageLengthU32, GSD, server_state, 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); + } + if(RVSSConfigU32 & RVSS_ASP_CHANNEL) { SystemControlBuildRVSSAspChannelMessage(RVSSData, &RVSSMessageLengthU32, 0); @@ -2177,6 +2185,44 @@ I32 SystemControlBuildRVSSTimeChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU3 return 0; } + +/* +SystemControlBuildRVSSMaestroChannelMessage builds a message from OBCState in *GSD and SysCtrlState. The message is stored in *RVSSData. +See the architecture document for the protocol of RVSS. + +- *RVSSData the buffer the message +- *RVSSDataLengthU32 the length of the message +- *GSD the Global System Data +- U8 SysCtrlState the SystemControl state (server_state) +- Debug enable(1)/disable(0) debug printouts (Not used) +*/ +I32 SystemControlBuildRVSSMaestroChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, GSDType *GSD, U8 SysCtrlState, U8 Debug) +{ + I32 MessageIndex = 0, i; + C8 *p; + + + RVSSMaestroType RVSSMaestroData; + RVSSMaestroData.MessageLengthU32 = SwapU32((U32)sizeof(RVSSMaestroType)-4); + RVSSMaestroData.ChannelCodeU32 = SwapU32((U32)RVSS_MAESTRO_CHANNEL); + RVSSMaestroData.OBCStateU8 = DataDictionaryGetOBCStateU8(GSD); + RVSSMaestroData.SysCtrlStateU8 = SysCtrlState; + + p=(C8 *)&RVSSMaestroData; + for(i=0; i Date: Mon, 15 Jul 2019 12:27:27 +0200 Subject: [PATCH 340/730] Fixed some issues --- server/CMakeLists.txt | 2 +- server/src/citscontrol.c | 77 +++++++++++++++++++++++++++++++--------- 2 files changed, 61 insertions(+), 18 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 4f1933847..1b42708a8 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -75,7 +75,7 @@ add_executable(UserControl # TODO: Make citscontrol into a separate program that is started when the server starts #add_executable(CitsControl -# inc/citscontrol.h +# inc/citscontrol.h # src/citscontrol.c #) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 94d73614f..d214fc5a7 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -14,12 +14,14 @@ #include +#include #include #include #include #include #include #include +#include #include @@ -112,15 +114,19 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) MONRType MONRMessage; MONRType LastMONRMessage; + asn_enc_rval_t ec; CAM_t* lastCam; - lastCam = calloc(1, sizeof *lastCam); - assert(lastCam); + lastCam = calloc(1, sizeof(CAM_t)); + if(!lastCam){ + exit(1); + } DENM_t* lastDenm; - lastDenm = calloc(1, sizeof *lastDenm); - assert(lastDenm); - + lastDenm = calloc(1, sizeof(DENM_t)); + if(!lastDenm) { + exit(1); + } TimeType time; @@ -193,6 +199,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { iExit = 1; printf("citscontrol exiting.\n"); + (void)iCommClose(); } @@ -285,6 +292,22 @@ int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_messa //if (message->payloadlen == 0) return 1; //else if (topicLen == 0) return 2; + CAM_t tempCAM; + memcpy(&tempCAM, message->payload, (message->payloadlen)+1); + + printf("[LOOKIE LOOKIE] MessageID should be 2 is: %d\n", tempCAM.header.messageID); + printf("[LOOKIE LOOKIE] protocolVersion should be 1 is: %d\n", tempCAM.header.protocolVersion); + printf("[LOOKIE LOOKIE] stationID should be 1000 is: %d\n", tempCAM.header.stationID); + + printf("[LOOKIE LOOKIE] curvatureCalculationMode should be 7, is: %d\n", tempCAM.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode ); + + + printf("[LOOKIE LOOKIE] Log is: %f\n", tempCAM.cam.camParameters.basicContainer.referencePosition.longitude ); + printf("[LOOKIE LOOKIE] Lat is: %f\n", tempCAM.cam.camParameters.basicContainer.referencePosition.latitude); + + + + if(message->payloadlen > 0) LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); printf("Message arrived\n"); printf("topic: %s\n", topicName); @@ -298,6 +321,9 @@ int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_messa putchar('\n'); + + + MQTTClient_freeMessage(&message); MQTTClient_free(topicName); return 0; @@ -315,6 +341,15 @@ void connlost_mqtt(void *context, char *cause){ } + +static int write_out(const void *buffer, size_t size, void *app_key){ + FILE *out_fp = app_key; + size_t wrote = fwrite(buffer, 1, size, out_fp); + return (wrote == size) ? 0 : -1; +} + + + /*! * \brief GenerateCamMessage generates a cam message to send on MQTT * \param MONRData MONR data struct @@ -358,12 +393,16 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ fail = UtilVincentyDirect(origoLat,origoLong,azimuth1,distance ,&latitude,&longitude,&azimuth2); - printf("latitude %f \n", latitude); - printf("longitude %f \n", longitude); - tempCam.cam.camParameters.basicContainer.referencePosition.latitude = latitude; tempCam.cam.camParameters.basicContainer.referencePosition.longitude = longitude; + printf("calc latitude %f \n", latitude); + printf("calc longitude %f \n", longitude); + + printf("CAM latitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.latitude); + printf("CAM longitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.longitude); + + tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = MONRData->HeadingU16; tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16)); @@ -401,7 +440,7 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ tempDENM.header.protocolVersion = 1; tempDENM.header.messageID = 1; - tempDENM.header.stationID = 1234; + tempDENM.header.stationID = 1000; tempDENM.denm.management.actionID.originatingStationID = 12345; @@ -437,12 +476,13 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ fail = UtilVincentyDirect(origoLat,origoLong,azimuth1,distance ,&latitude,&longitude,&azimuth2); - printf("latitude %f \n", latitude); - printf("longitude %f \n", longitude); - tempDENM.denm.management.eventPosition.latitude = latitude; tempDENM.denm.management.eventPosition.longitude = longitude; + printf("DENM latitude %f \n", tempDENM.denm.management.eventPosition.latitude); + printf("DENM longitude %f \n", tempDENM.denm.management.eventPosition.longitude); + + tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 7; tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 10; @@ -466,7 +506,6 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ if(MONRData != NULL ){ *denm = tempDENM; - } } @@ -478,22 +517,26 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ I32 sendCAM(CAM_t* cam){ printf("SENDING CAM\n"); - xer_fprint(stdout, &asn_DEF_CAM, cam); - + FILE *fp = fopen("tmp", "wb"); + //asn_enc_rval_t ec = der_encode(&asn_DEF_CAM, cam, write_out, fp); + fclose(fp); publish_mqtt((char*)cam, sizeof (CAM_t), "CLIENT/CAM/CS01/1/AZ12B"); return 1; } /*! - * \brief SendCam publishes a cam message on MQTT with hardcoded topic. - * \param lastCam cam message struct + * \brief sendDENM publishes a cam message on MQTT with hardcoded topic. + * \param denm cam message struct * \return 1 if message sent succesfully */ I32 sendDENM(DENM_t* denm){ printf("SENDING DENM\n"); + FILE *fp = fopen("tmp", "wb"); + //asn_enc_rval_t ec = der_encode(&asn_DEF_DENM, denm, write_out, fp); + fclose(fp); publish_mqtt((char*)denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); return 1; From c8b6a5f11dff8846eaf675baf2fb9525ed4347ef Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 15 Jul 2019 17:44:28 +0200 Subject: [PATCH 341/730] Implemented list of linkages between triggers and actions --- modules/ScenarioControl/inc/scenario.h | 25 ++++++-- modules/ScenarioControl/src/scenario.cpp | 74 ++++++++++++++++++++++++ 2 files changed, 93 insertions(+), 6 deletions(-) diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index 4c8baeb99..f0c029c34 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -1,5 +1,5 @@ -#include +#include #include "trigger.h" #include "action.h" @@ -8,13 +8,26 @@ class Scenario { public: - typedef enum {OK, NOT_OK} ScenarioReturnCode_t; + typedef enum {OK, NOT_OK, DUPLICATE_ELEMENT} ScenarioReturnCode_t; Scenario(); - ScenarioReturnCode_t addCausality(std::set ts, Action a); - ScenarioReturnCode_t addCausality(Trigger t, Action a); - ScenarioReturnCode_t addCausality(Causality c); + ScenarioReturnCode_t linkTriggersWithActions(std::set ts, std::set as); + ScenarioReturnCode_t linkTriggersWithAction(std::set ts, Action* a); + ScenarioReturnCode_t linkTriggerWithActions(Trigger* t, std::set a); + ScenarioReturnCode_t linkTriggerWithAction(Trigger* t, Action* a); + + ScenarioReturnCode_t addTrigger(Trigger &t); + ScenarioReturnCode_t addAction(Action &a); + + Trigger* getTriggerByID(Trigger::TriggerID_t id); + std::set getCausalities(void); + + void updateTrigger(Trigger::TriggerID_t id); + + void refresh(void); private: - std::list causalities; + std::set causalities; + std::set allTriggers; + std::set allActions; }; diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index e69de29bb..d21ca5e6c 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -0,0 +1,74 @@ +#include "scenario.h" + +Scenario::Scenario() +{ + +} + +Scenario::~Scenario() +{ + causalities.clear(); + allTriggers.clear(); + allActions.clear(); +} + +Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger &t) +{ + if (allTriggers.find(t) != allTriggers.end()) + return DUPLICATE_ELEMENT; + + allTriggers.insert(t); + return OK; +} + +Scenario::ScenarioReturnCode_t Scenario::addAction(Action &a) +{ + if (allActions.find(a) != allActions.end()) + return DUPLICATE_ELEMENT; + + allActions.insert(a); + return OK; +} + +Scenario::ScenarioReturnCode_t Scenario::linkTriggersWithActions(std::set ts, std::set as) +{ + Causality c(Causality::AND); + + for (Trigger* t : ts) + { + c.addTrigger(t); + } + + for (Action* a : as) + { + c.addAction(a); + } + + causalities.insert(c); + return OK; +} + +Scenario::ScenarioReturnCode_t Scenario::linkTriggerWithAction(Trigger *t, Action *a) +{ + std::set ts; + std::set as; + ts.insert(t); + as.insert(a); + return linkTriggersWithActions(ts, as); +} + +Scenario::ScenarioReturnCode_t Scenario::linkTriggersWithAction(std::set ts, Action* a) +{ + std::set as; + as.insert(a); + return linkTriggersWithActions(ts, as); +} + +Scenario::ScenarioReturnCode_t Scenario::linkTriggerWithActions(Trigger *t, std::set as) +{ + std::set ts; + ts.insert(t); + return linkTriggersWithActions(ts, as); +} + + From e6dc2624108d4488ea0a862b7faf08c497a5db2d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 15 Jul 2019 17:45:08 +0200 Subject: [PATCH 342/730] Missed a ctrl+s ... --- modules/ScenarioControl/inc/scenario.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index f0c029c34..22f002891 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -11,16 +11,16 @@ class Scenario typedef enum {OK, NOT_OK, DUPLICATE_ELEMENT} ScenarioReturnCode_t; Scenario(); + ~Scenario(); ScenarioReturnCode_t linkTriggersWithActions(std::set ts, std::set as); ScenarioReturnCode_t linkTriggersWithAction(std::set ts, Action* a); - ScenarioReturnCode_t linkTriggerWithActions(Trigger* t, std::set a); + ScenarioReturnCode_t linkTriggerWithActions(Trigger* t, std::set as); ScenarioReturnCode_t linkTriggerWithAction(Trigger* t, Action* a); ScenarioReturnCode_t addTrigger(Trigger &t); ScenarioReturnCode_t addAction(Action &a); - Trigger* getTriggerByID(Trigger::TriggerID_t id); std::set getCausalities(void); void updateTrigger(Trigger::TriggerID_t id); From 52895ca65bac920df904ce9fd976bccc4e261e9b Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 16 Jul 2019 10:28:01 +0200 Subject: [PATCH 343/730] Removed debug comments --- server/src/citscontrol.c | 24 ++++++------------------ 1 file changed, 6 insertions(+), 18 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index d214fc5a7..57dfa7725 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -292,21 +292,7 @@ int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_messa //if (message->payloadlen == 0) return 1; //else if (topicLen == 0) return 2; - CAM_t tempCAM; - memcpy(&tempCAM, message->payload, (message->payloadlen)+1); - - printf("[LOOKIE LOOKIE] MessageID should be 2 is: %d\n", tempCAM.header.messageID); - printf("[LOOKIE LOOKIE] protocolVersion should be 1 is: %d\n", tempCAM.header.protocolVersion); - printf("[LOOKIE LOOKIE] stationID should be 1000 is: %d\n", tempCAM.header.stationID); - - printf("[LOOKIE LOOKIE] curvatureCalculationMode should be 7, is: %d\n", tempCAM.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode ); - - - printf("[LOOKIE LOOKIE] Log is: %f\n", tempCAM.cam.camParameters.basicContainer.referencePosition.longitude ); - printf("[LOOKIE LOOKIE] Lat is: %f\n", tempCAM.cam.camParameters.basicContainer.referencePosition.latitude); - - - + /* if(message->payloadlen > 0) LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); printf("Message arrived\n"); @@ -321,7 +307,7 @@ int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_messa putchar('\n'); - + */ MQTTClient_freeMessage(&message); @@ -396,12 +382,13 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ tempCam.cam.camParameters.basicContainer.referencePosition.latitude = latitude; tempCam.cam.camParameters.basicContainer.referencePosition.longitude = longitude; + /* printf("calc latitude %f \n", latitude); printf("calc longitude %f \n", longitude); printf("CAM latitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.latitude); printf("CAM longitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.longitude); - + */ tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = MONRData->HeadingU16; @@ -479,9 +466,10 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ tempDENM.denm.management.eventPosition.latitude = latitude; tempDENM.denm.management.eventPosition.longitude = longitude; + /* printf("DENM latitude %f \n", tempDENM.denm.management.eventPosition.latitude); printf("DENM longitude %f \n", tempDENM.denm.management.eventPosition.longitude); - + */ tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 7; tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 10; From e9562e125215f1309cc99d0f45887effc95402bb Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 19 Jul 2019 13:01:50 +0200 Subject: [PATCH 344/730] Update server/inc/util.h Log to Long Co-Authored-By: alfaro01 <44394249+alfaro01@users.noreply.github.com> --- server/inc/util.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 43df5c234..92eb41ae7 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -722,7 +722,7 @@ typedef struct{ typedef struct{ Hemisphere hemisphere; double degrees; -}CAMLogLat; +}CAMLongLat; typedef struct{ CAMLogLat latitude; From 8f96db5fe771168a568e8bda8ec0c54782c64b45 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 19 Jul 2019 21:38:21 +0200 Subject: [PATCH 345/730] Made trigger save its latest trigger state --- modules/ScenarioControl/inc/causality.h | 1 - modules/ScenarioControl/inc/trigger.h | 6 ++++-- modules/ScenarioControl/src/trigger.cpp | 2 +- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index 5466ddeeb..8ff2ad6b3 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -18,7 +18,6 @@ class Causality void removeTrigger(Trigger* t) { triggers.erase(t); } std::set getTriggers(void) { return triggers; } - Trigger* getTriggerByID(Trigger::TriggerID_t id); void setOperator(TriggerOperator_t op) { oper = op; } void setRelationOR(void) { setOperator(OR); } diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 628b1c34a..6fe73958d 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -89,13 +89,14 @@ class Trigger /*! Getters */ virtual TriggerTypeCode_t getTypeCode() { return triggerTypeCode; } - uint16_t getID() { return triggerID; } + TriggerID_t getID() const { return triggerID; } std::vector getParameters() { return parameters; } + TriggerReturnCode_t getTriggerStatus() { return wasTriggeredByLastUpdate; } bool operator==(const Trigger &other) { return other.triggerID == triggerID; } /*! Setters */ - void setID(uint16_t triggerID) { this->triggerID = triggerID; } + void setID(TriggerID_t triggerID) { this->triggerID = triggerID; } /*! * \brief appendParameter Appends an ISO parameter to the parameters list. @@ -138,6 +139,7 @@ class Trigger protected: TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter); TriggerTypeCode_t triggerTypeCode; + TriggerReturnCode_t wasTriggeredByLastUpdate = NOT_OK; //!< State saving the last result of update private: TriggerID_t triggerID; diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index 33a6f8aff..e3d5d7723 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -41,7 +41,7 @@ Trigger::TriggerReturnCode_t Trigger::appendParameter(Trigger::TriggerParameter_ return retval; parameters.push_back(triggerParameter); - return OK; + return parseParameters(); } /*! From c74be66e6b3d49176b2741dcf0a2045466b93848 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 19 Jul 2019 21:39:00 +0200 Subject: [PATCH 346/730] Missed file which was supposed to be in the last commit --- modules/ScenarioControl/src/booleantrigger.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/booleantrigger.cpp b/modules/ScenarioControl/src/booleantrigger.cpp index bc27e4451..2abaa5414 100644 --- a/modules/ScenarioControl/src/booleantrigger.cpp +++ b/modules/ScenarioControl/src/booleantrigger.cpp @@ -9,7 +9,8 @@ Trigger::TriggerReturnCode_t BooleanTrigger::update(bool currentStateValue) { wasStateTrue = isStateTrue; isStateTrue = currentStateValue; - return checkIfTriggered(); + wasTriggeredByLastUpdate = checkIfTriggered(); + return wasTriggeredByLastUpdate; } /*! From efba796a60d8994be965ddba447b102bea5bade4 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 19 Jul 2019 21:40:56 +0200 Subject: [PATCH 347/730] Made AND the default operator --- modules/ScenarioControl/inc/causality.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index 8ff2ad6b3..bc5049a29 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -10,9 +10,9 @@ class Causality typedef enum {OR, AND} TriggerOperator_t; - Causality(Trigger* t, Action* a, TriggerOperator_t op = OR); - Causality(Action* a, TriggerOperator_t op = OR); - Causality(TriggerOperator_t op = OR); + Causality(Trigger* t, Action* a, TriggerOperator_t op = AND); + Causality(Action* a, TriggerOperator_t op = AND); + Causality(TriggerOperator_t op = AND); void addTrigger(Trigger* t) { triggers.insert(t); } void removeTrigger(Trigger* t) { triggers.erase(t); } From b7511b9ac610ad1c35ec9a3425bb6157e544a3ad Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 19 Jul 2019 21:41:58 +0200 Subject: [PATCH 348/730] Made getters const methods --- modules/ScenarioControl/inc/causality.h | 11 ++++++----- modules/ScenarioControl/src/causality.cpp | 6 +++--- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index bc5049a29..4333344ad 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -17,20 +17,21 @@ class Causality void addTrigger(Trigger* t) { triggers.insert(t); } void removeTrigger(Trigger* t) { triggers.erase(t); } - std::set getTriggers(void) { return triggers; } + std::set getTriggers(void) const { return triggers; } + Trigger* getTriggerByID(Trigger::TriggerID_t id) const; void setOperator(TriggerOperator_t op) { oper = op; } void setRelationOR(void) { setOperator(OR); } void setRelationAND(void) { setOperator(AND); } - TriggerOperator_t getOperator(void) { return oper; } - std::string getOperatorString(void); + TriggerOperator_t getOperator(void) const { return oper; } + std::string getOperatorString(void) const; void addAction(Action* a) { actions.insert(a); } void removeAction(Action* a) { actions.erase(a); } - std::set getActions(void) { return actions; } - Action* getActionByID(Action::ActionID_t id); + std::set getActions(void) const { return actions; } + Action* getActionByID(Action::ActionID_t id) const; private: TriggerOperator_t oper; diff --git a/modules/ScenarioControl/src/causality.cpp b/modules/ScenarioControl/src/causality.cpp index 6ee939221..da854d28a 100644 --- a/modules/ScenarioControl/src/causality.cpp +++ b/modules/ScenarioControl/src/causality.cpp @@ -9,7 +9,7 @@ Causality::Causality(Causality::TriggerOperator_t op) Causality::Causality(Action* a, TriggerOperator_t op) { - actions.insert(a);; + actions.insert(a); oper = op; triggers = std::set(); } @@ -21,7 +21,7 @@ Causality::Causality(Trigger* t, Action* a, TriggerOperator_t op) oper = op; } -Action* Causality::getActionByID(Action::ActionID_t id) +Action* Causality::getActionByID(Action::ActionID_t id) const { for (Action* a : actions) { @@ -31,7 +31,7 @@ Action* Causality::getActionByID(Action::ActionID_t id) return nullptr; } -Trigger* Causality::getTriggerByID(Trigger::TriggerID_t id) +Trigger* Causality::getTriggerByID(Trigger::TriggerID_t id) const { for (Trigger* t : triggers) { From 904db2353b40e3b784b06a06721f497672612898 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 19 Jul 2019 21:50:59 +0200 Subject: [PATCH 349/730] Defined < and == operators --- modules/ScenarioControl/inc/causality.h | 2 + modules/ScenarioControl/src/causality.cpp | 59 +++++++++++++++++++++++ 2 files changed, 61 insertions(+) diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index 4333344ad..daf4d7ec9 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -33,6 +33,8 @@ class Causality std::set getActions(void) const { return actions; } Action* getActionByID(Action::ActionID_t id) const; + bool operator==(const Causality &other) const; + bool operator<(const Causality &other) const; private: TriggerOperator_t oper; std::set triggers; diff --git a/modules/ScenarioControl/src/causality.cpp b/modules/ScenarioControl/src/causality.cpp index da854d28a..db27b8dba 100644 --- a/modules/ScenarioControl/src/causality.cpp +++ b/modules/ScenarioControl/src/causality.cpp @@ -40,3 +40,62 @@ Trigger* Causality::getTriggerByID(Trigger::TriggerID_t id) const } return nullptr; } + + +bool Causality::operator==(const Causality &other) const +{ + for (Trigger* other_tp : other.getTriggers()) + { + if (triggers.find(other_tp) == triggers.end()) + return false; + } + + for (Action* other_ap : other.getActions()) + { + if (actions.find(other_ap) == actions.end()) + return false; + } + + return other.getOperator() == oper; +} + +bool Causality::operator<(const Causality &other) const +{ + std::set::iterator trigIterThis, trigIterOther; + std::set::iterator actIterThis, actIterOther; + + if (*this == other) return false; + + if (other.getOperator() != oper) return oper == OR; + + // They have the same operator, check which has more triggers + if (other.getTriggers().size() != triggers.size()) + { + return triggers.size() < other.getTriggers().size(); + } + + // They have the same amount of triggers, check which has more actions + if (other.getActions().size() != actions.size()) + { + return actions.size() < other.getActions().size(); + } + + // They are of equal size, compare trigger IDs returning the first found less than + for (trigIterThis = triggers.begin(), trigIterOther = other.getTriggers().begin(); + trigIterThis != triggers.end() && trigIterOther != other.getTriggers().end(); + ++trigIterThis, ++trigIterOther){ + if ((*trigIterThis)->getID() != (*trigIterOther)->getID()) + return (*trigIterThis)->getID() < (*trigIterOther)->getID(); + } + + // All triggers are equal, compare action IDs returning the first found less than + for (actIterThis = actions.begin(), actIterOther = other.getActions().begin(); + actIterThis != actions.end() && actIterOther != other.getActions().end(); + ++actIterThis, ++actIterOther){ + if ((*actIterThis)->getID() != (*actIterOther)->getID()) + return (*actIterThis)->getID() < (*actIterOther)->getID(); + } + + // Since we checked for equality at start, we should never get here + return false; +} From 2e3f6f10ebf59ba21eb247376f44e51887e15027 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 19 Jul 2019 21:51:40 +0200 Subject: [PATCH 350/730] Moved initialisation to be within scenario class --- modules/ScenarioControl/inc/scenario.h | 35 ++++++++++--- modules/ScenarioControl/src/main.cpp | 22 ++++++++- modules/ScenarioControl/src/scenario.cpp | 62 +++++++++++++++++++++--- 3 files changed, 103 insertions(+), 16 deletions(-) diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index 22f002891..083003e1e 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -1,33 +1,54 @@ #include +#include #include "trigger.h" +#include "braketrigger.h" #include "action.h" #include "causality.h" class Scenario { public: - typedef enum {OK, NOT_OK, DUPLICATE_ELEMENT} ScenarioReturnCode_t; + typedef enum {OK, NOT_OK, DUPLICATE_ELEMENT, INVALID_ARGUMENT, NOT_FOUND} ScenarioReturnCode_t; - Scenario(); + Scenario(std::string scenarioFilePath); + Scenario() {} ~Scenario(); + void initialize(std::string scenarioFilePath); + ScenarioReturnCode_t linkTriggersWithActions(std::set ts, std::set as); ScenarioReturnCode_t linkTriggersWithAction(std::set ts, Action* a); ScenarioReturnCode_t linkTriggerWithActions(Trigger* t, std::set as); ScenarioReturnCode_t linkTriggerWithAction(Trigger* t, Action* a); - ScenarioReturnCode_t addTrigger(Trigger &t); - ScenarioReturnCode_t addAction(Action &a); + ScenarioReturnCode_t addTrigger(Trigger* t); + ScenarioReturnCode_t addAction(Action* a); std::set getCausalities(void); - void updateTrigger(Trigger::TriggerID_t id); + template + ScenarioReturnCode_t updateTrigger(Trigger::TriggerID_t id, T value) + { + Trigger::TriggerReturnCode_t retval; + for (Trigger* tp : allTriggers) + { + if (tp->getID() == id) + { + retval = tp->update(value); + return (retval == Trigger::OK) ? OK : INVALID_ARGUMENT; + } + } + return NOT_FOUND; + } void refresh(void); + private: std::set causalities; - std::set allTriggers; - std::set allActions; + std::set allTriggers; + std::set allActions; + + void parseScenarioFile(std::ifstream &file); }; diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 6ea03d5fc..f345d93d0 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -1,17 +1,31 @@ #include #include +#include "braketrigger.h" +#include "trigger.h" + +#include "scenario.h" #include "logging.h" #include "util.h" #define MODULE_NAME "ScenarioControl" +#define SCENARIO_FILE_PATH "path/to/file" + +typedef enum {SUCCESS, FAILURE} ReturnCode_t; + +/************************ Static functions ******************************************/ +static ReturnCode_t initializeScenario(Scenario &s); + + +/************************ Main task ******************************************/ int main() { COMMAND command = COMM_INV; char mqRecvData[MQ_MSG_SIZE]; const struct timespec sleepTimePeriod = {0,10000000}; struct timespec remTime; + Scenario scenario; LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); @@ -31,7 +45,12 @@ int main() switch (command) { case COMM_INIT: - + try { + LogMessage(LOG_LEVEL_INFO, "Initializing scenario"); + scenario.initialize(SCENARIO_FILE_PATH); + } + catch (std::invalid_argument) { util_error("Invalid scenario file format"); } + catch (std::ifstream::failure) { util_error("Unable to open scenario file <" SCENARIO_FILE_PATH ">"); } break; case COMM_INV: nanosleep(&sleepTimePeriod,&remTime); @@ -43,3 +62,4 @@ int main() return 0; } + diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index d21ca5e6c..64eb7aae3 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -1,35 +1,66 @@ #include "scenario.h" -Scenario::Scenario() -{ +#include +#include +Scenario::Scenario(std::string scenarioFilePath) +{ + initialize(scenarioFilePath); } + Scenario::~Scenario() { + // TODO: deallocate all elements as well + for (Trigger* t : allTriggers) + delete t; + + for (Action* a : allActions) + delete a; + causalities.clear(); allTriggers.clear(); allActions.clear(); } -Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger &t) +void Scenario::initialize(std::string scenarioFilePath) { - if (allTriggers.find(t) != allTriggers.end()) - return DUPLICATE_ELEMENT; + std::ifstream file; + file.exceptions(std::ios_base::badbit | std::ios_base::failbit); + file.open(scenarioFilePath); + + try { + parseScenarioFile(file); + } catch (std::invalid_argument) { + file.close(); + throw; + } + file.close(); +} + +Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger* t) +{ + for (Trigger* knownTrigger : allTriggers) + { + if (knownTrigger->getID() == t->getID()) return DUPLICATE_ELEMENT; + } allTriggers.insert(t); return OK; } -Scenario::ScenarioReturnCode_t Scenario::addAction(Action &a) +Scenario::ScenarioReturnCode_t Scenario::addAction(Action* a) { - if (allActions.find(a) != allActions.end()) - return DUPLICATE_ELEMENT; + for (Action* knownAction : allActions) + { + if (knownAction->getID() == a->getID()) return DUPLICATE_ELEMENT; + } allActions.insert(a); return OK; } + Scenario::ScenarioReturnCode_t Scenario::linkTriggersWithActions(std::set ts, std::set as) { Causality c(Causality::AND); @@ -72,3 +103,18 @@ Scenario::ScenarioReturnCode_t Scenario::linkTriggerWithActions(Trigger *t, std: } +void Scenario::parseScenarioFile(std::ifstream &file) +{ + // TODO: read file, throw std::invalid_argument if badly formatted + // TODO: decode file into triggers and actions + BrakeTrigger* bt = new BrakeTrigger(1); + Action* mqttAction = new Action(5, Action::ACTION_TEST_SCENARIO_COMMAND, 1); + + bt->appendParameter(Trigger::TRIGGER_PARAMETER_PRESSED); + bt->parseParameters(); + + addTrigger(bt); + addAction(mqttAction); + + linkTriggerWithAction(bt, mqttAction); +} From 3c49a49b099e2563cf28678315ac95e7b5f683fd Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Fri, 19 Jul 2019 22:22:51 +0200 Subject: [PATCH 351/730] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 625ca46f2..74609943b 100644 --- a/README.md +++ b/README.md @@ -75,11 +75,11 @@ git clone https://github.com/eclipse/paho.mqtt.c.git Go to the root of the cloned git repo and build the documentation by doing ```sh cd paho.mqtt.c.git -sudo make html +make html ``` This will build the documentation for all the code. Then proceede to build and install paho ```sh -sudo make +make sudo make install ``` From 66884a8206346987ed6ddfa68935a98d44144ed8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 19 Jul 2019 23:02:16 +0200 Subject: [PATCH 352/730] For testing purposes, made initialization happen at start --- modules/ScenarioControl/src/main.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index f345d93d0..837658f47 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -30,6 +30,8 @@ int main() LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); + scenario.initialize("log/dummy_scenariofil.fil"); + // Initialize message bus connection while(iCommInit()) { @@ -55,6 +57,9 @@ int main() case COMM_INV: nanosleep(&sleepTimePeriod,&remTime); break; + case COMM_OBC_STATE: + // Ignore the state of object control + break; default: LogMessage(LOG_LEVEL_INFO,"Received command %u",command); } From 811d982435e727a9b7d07c913a5203c73a94aa47 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sat, 20 Jul 2019 02:51:40 +0200 Subject: [PATCH 353/730] Made triggers use const for nonmodifying member functions --- modules/ScenarioControl/inc/booleantrigger.h | 4 ++-- modules/ScenarioControl/inc/braketrigger.h | 2 +- modules/ScenarioControl/inc/trigger.h | 18 +++++++++--------- modules/ScenarioControl/src/booleantrigger.cpp | 2 +- modules/ScenarioControl/src/trigger.cpp | 6 +++--- 5 files changed, 16 insertions(+), 16 deletions(-) diff --git a/modules/ScenarioControl/inc/booleantrigger.h b/modules/ScenarioControl/inc/booleantrigger.h index 08691f9e4..25d1e13ac 100644 --- a/modules/ScenarioControl/inc/booleantrigger.h +++ b/modules/ScenarioControl/inc/booleantrigger.h @@ -16,7 +16,7 @@ class BooleanTrigger : public Trigger TriggerReturnCode_t update(bool) override; protected: - TriggerReturnCode_t checkIfTriggered(void) override; + TriggerReturnCode_t checkIfTriggered(void) const override; enum TriggerMode { INVALID_MODE, @@ -31,7 +31,7 @@ class BooleanTrigger : public Trigger private: - virtual std::set getAcceptedParameters() override + virtual std::set getAcceptedParameters() const override { return { Trigger::TRIGGER_PARAMETER_FALSE, diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 84c118916..d42d1b89e 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -15,7 +15,7 @@ class BrakeTrigger : public BooleanTrigger private: std::vector parameters; - std::set getAcceptedParameters() override + std::set getAcceptedParameters() const override { return { Trigger::TRIGGER_PARAMETER_FALSE, diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 6fe73958d..cc5978d24 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -88,12 +88,12 @@ class Trigger /*! Getters */ - virtual TriggerTypeCode_t getTypeCode() { return triggerTypeCode; } + virtual TriggerTypeCode_t getTypeCode() const { return triggerTypeCode; } TriggerID_t getID() const { return triggerID; } - std::vector getParameters() { return parameters; } - TriggerReturnCode_t getTriggerStatus() { return wasTriggeredByLastUpdate; } + std::vector getParameters() const { return parameters; } + TriggerReturnCode_t getTriggerStatus() const { return wasTriggeredByLastUpdate; } - bool operator==(const Trigger &other) { return other.triggerID == triggerID; } + bool operator==(const Trigger &other) const { return other.triggerID == triggerID; } /*! Setters */ void setID(TriggerID_t triggerID) { this->triggerID = triggerID; } @@ -113,7 +113,7 @@ class Trigger /*! To string */ - friend std::ostream& operator<<(std::ostream &strm, Trigger &trig) { + friend std::ostream& operator<<(std::ostream &strm, const Trigger &trig) { return strm << "TRIGGER ID " << trig.triggerID << " TYPE " << getTypeAsString(trig.getTypeCode()) << " PARAMETERS " << trig.getParametersString(); @@ -121,7 +121,7 @@ class Trigger static std::string getTypeAsString(TriggerTypeCode_t typeCode); static std::string getParameterAsString(TriggerParameter_t param); - std::string getParametersString(); + std::string getParametersString(void) const; /*! * \brief update Update tracked signal (i.e. signal which causes the trigger to occur). @@ -137,7 +137,7 @@ class Trigger virtual TriggerReturnCode_t update(double) { return INVALID_ARGUMENT; } protected: - TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter); + TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter) const; TriggerTypeCode_t triggerTypeCode; TriggerReturnCode_t wasTriggeredByLastUpdate = NOT_OK; //!< State saving the last result of update @@ -145,10 +145,10 @@ class Trigger TriggerID_t triggerID; std::vector parameters; - virtual std::set getAcceptedParameters() + virtual std::set getAcceptedParameters() const { return {TRIGGER_PARAMETER_UNAVAILABLE}; } - virtual TriggerReturnCode_t checkIfTriggered(void) = 0; + virtual TriggerReturnCode_t checkIfTriggered(void) const = 0; }; #endif // TRIGGER_H diff --git a/modules/ScenarioControl/src/booleantrigger.cpp b/modules/ScenarioControl/src/booleantrigger.cpp index 2abaa5414..4a9579cd8 100644 --- a/modules/ScenarioControl/src/booleantrigger.cpp +++ b/modules/ScenarioControl/src/booleantrigger.cpp @@ -17,7 +17,7 @@ Trigger::TriggerReturnCode_t BooleanTrigger::update(bool currentStateValue) * \brief BooleanTrigger::checkIfTriggered Check if the trigger has occurred based on the mode and state * \return Value according to ::TriggerReturnCode_t */ -Trigger::TriggerReturnCode_t BooleanTrigger::checkIfTriggered() +Trigger::TriggerReturnCode_t BooleanTrigger::checkIfTriggered() const { switch (mode) { case HIGH: diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index e3d5d7723..85c4c7ec0 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -18,7 +18,7 @@ Trigger::~Trigger() * \param triggerParameter Queried parameter * \return According to ::TriggerReturnCode_t */ -Trigger::TriggerReturnCode_t Trigger::checkTriggerParameter(TriggerParameter_t triggerParameter) +Trigger::TriggerReturnCode_t Trigger::checkTriggerParameter(TriggerParameter_t triggerParameter) const { std::set acceptedParameters = getAcceptedParameters(); for (const TriggerParameter_t param : acceptedParameters) { @@ -48,7 +48,7 @@ Trigger::TriggerReturnCode_t Trigger::appendParameter(Trigger::TriggerParameter_ * \brief Trigger::getParametersString Converts the list of loaded parameters into a string * \return String describing all parameters */ -std::string Trigger::getParametersString() +std::string Trigger::getParametersString() const { std::string retval; if (parameters.size() == 0) @@ -133,7 +133,7 @@ std::string Trigger::getParameterAsString(TriggerParameter_t param) /*! * \brief Trigger::getTypeAsString Maps a ::TriggerTypeCode_t to a string - * \param triggerTypeCode Type code + * \param typeCode Type code * \return String describing the trigger type */ std::string Trigger::getTypeAsString(Trigger::TriggerTypeCode_t typeCode) From ed3422f8480311501569f5b6528acbc258bbe88d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sat, 20 Jul 2019 02:53:25 +0200 Subject: [PATCH 354/730] Implemented some basic functionality which was missing from action --- modules/ScenarioControl/inc/action.h | 26 ++++-- modules/ScenarioControl/src/action.cpp | 107 ++++++++++++++++++++++++- 2 files changed, 126 insertions(+), 7 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index 7d5ba1ffb..ad12e82ac 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -2,6 +2,8 @@ #define ACTION_H #include +#include +#include class Action { @@ -29,7 +31,7 @@ class Action ACTION_START_TIMER = 0x0100, ACTION_MODE_CHANGE = 0x0110, ACTION_UNAVAILABLE = 0xFFFF - } ActionType_t; + } ActionTypeCode_t; typedef enum { ACTION_PARAMETER_SET_FALSE = 0x00000000, @@ -55,18 +57,32 @@ class Action typedef uint16_t ActionID_t; /*! Constructor */ - Action(ActionID_t actionID = 0, ActionType_t actionType = ACTION_NONE, uint32_t allowedNumberOfRuns = 1); + Action(ActionID_t actionID = 0, ActionTypeCode_t actionTypeCode = ACTION_NONE, uint32_t allowedNumberOfRuns = 1); /*! Getters */ - ActionID_t getID() { return actionID; } - ActionType_t getType() { return actionType; } + ActionID_t getID() const { return actionID; } + ActionTypeCode_t getTypeCode() const { return actionTypeCode; } /*! Run the action once, if allowed */ ActionReturnCode_t execute(void); + /*! To string */ + friend std::ostream& operator<<(std::ostream &strm, const Action &act) { + return strm << "ACTION ID " << act.actionID << + " TYPE " << getTypeAsString(act.getTypeCode()) << + " PARAMETERS " << act.getParametersString(); + } + + static std::string getTypeAsString(ActionTypeCode_t type); + static std::string getParameterAsString(ActionParameter_t param); + std::string getParametersString(void) const; + +protected: + ActionTypeCode_t actionTypeCode = ACTION_NONE; + private: ActionID_t actionID = 0; - ActionType_t actionType = ACTION_NONE; + std::vector parameters; uint32_t remainingAllowedRuns = 0; }; diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index 7e31a0445..9c829c5de 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -7,10 +7,10 @@ * \param actionType ISO action type of the action * \param allowedNumberOfRuns Number of times the action is allowed to be run */ -Action::Action(ActionID_t actionID, ActionType_t actionType, uint32_t allowedNumberOfRuns) +Action::Action(ActionID_t actionID, ActionTypeCode_t actionType, uint32_t allowedNumberOfRuns) { this->actionID = actionID; - this->actionType = actionType; + this->actionTypeCode = actionType; this->remainingAllowedRuns = allowedNumberOfRuns; } @@ -28,3 +28,106 @@ Action::ActionReturnCode_t Action::execute(void) return OK; } } + +std::string Action::getParametersString() const +{ + std::string retval; + if (parameters.size() == 0) + return "EMPTY"; + + for (const ActionParameter_t param : parameters) + { + retval.append(getParameterAsString(param) + " "); + } + retval.pop_back(); + return retval; +} + +/*! + * \brief Action::getParameterAsString Converts an ::ActionParameter_t into a string + * \param param Parameter to be converted + * \return String describing the parameter + */ +std::string Action::getParameterAsString(ActionParameter_t param) +{ + switch (param) { + case ACTION_PARAMETER_SET_FALSE: + return "SET FALSE"; + case ACTION_PARAMETER_SET_TRUE: + return "SET TRUE"; + case ACTION_PARAMETER_RELEASE: + return "RELEASE"; + case ACTION_PARAMETER_PRESS: + return "PRESS"; + case ACTION_PARAMETER_SET_VALUE: + return "SET VALUE"; + case ACTION_PARAMETER_MIN: + return "MIN"; + case ACTION_PARAMETER_MAX: + return "MAX"; + case ACTION_PARAMETER_X: + return "X"; + case ACTION_PARAMETER_Y: + return "Y"; + case ACTION_PARAMETER_Z: + return "Z"; + case ACTION_PARAMETER_UNAVAILABLE: + return "UNAVAILABLE"; + } + return "<>"; +} + +/*! + * \brief Action::getTypeAsString Maps an ::ActionTypeCode_t to a string + * \param typeCode Type code + * \return String describing the action type + */ +std::string Action::getTypeAsString(Action::ActionTypeCode_t typeCode) +{ + switch (typeCode) + { + case (ACTION_NONE): + return "NONE"; + case (ACTION_TYPE_1): + return "TYPE 1"; + case ACTION_TYPE_2: + return "TYPE 2"; + case ACTION_SET_SPEED: + return "SET SPEED"; + case ACTION_SET_DISTANCE: + return "SET DISTANCE"; + case ACTION_SET_ACCELERATION: + return "SET ACCELERATION"; + case ACTION_LANE_CHANGE: + return "LANE CHANGE"; + case ACTION_LANE_OFFSET: + return "LANE OFFSET"; + case ACTION_SET_POSITION: + return "SET POSITION"; + case ACTION_SET_STEERING_ANGLE: + return "SET STEERING ANGLE"; + case ACTION_SET_TRHOTTLE_VALUE: + return "SET THROTTLE VALUE"; + case ACTION_BRAKE: + return "BRAKE"; + case ACTION_FOLLOW_TRAJECTORY: + return "FOLLOW TRAJECTORY"; + case ACTION_OTHER_OBJECT_FEATURE: + return "OTHER OBJECT FEATURE"; + case ACTION_INFRASTRUCTURE: + return "INFRASTRUCTURE"; + case ACTION_TEST_SCENARIO_COMMAND: + return "TEST SCENARIO COMMAND"; + case ACTION_MISC_DIGITAL_OUTPUT: + return "MISC DIGITAL OUTPUT"; + case ACTION_MISC_ANALOG_OUTPUT: + return "MISC ANALOG OUTPUT"; + case ACTION_START_TIMER: + return "START TIMER"; + case ACTION_MODE_CHANGE: + return "MODE CHANGE"; + case ACTION_UNAVAILABLE: + return "ACTION UNAVAILABLE"; + } + return "<>"; +} From 7b0c9d8f40377b189c9539464b5b83e3384fc2f6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sat, 20 Jul 2019 02:54:13 +0200 Subject: [PATCH 355/730] Added tostring function --- modules/ScenarioControl/inc/causality.h | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index daf4d7ec9..2d3ea64bf 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -1,4 +1,5 @@ #include +#include #include "trigger.h" #include "action.h" @@ -35,6 +36,16 @@ class Causality bool operator==(const Causality &other) const; bool operator<(const Causality &other) const; + + /*! To string */ + friend std::ostream& operator<<(std::ostream &strm, const Causality &causality) { + return strm << ((causality.getOperator() == OR) ? "OR" : "AND") << + "-CAUSALITY LINKING " << causality.getTriggers().size() << + " TRIGGER" << (causality.getTriggers().size() == 1 ? "" : "S") << + " TO " << causality.getActions().size() << + " ACTION" << (causality.getActions().size() == 1 ? "" : "S"); + } + private: TriggerOperator_t oper; std::set triggers; From 55fe814220c7d64a2c320a400f7cb905fa24c054 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sat, 20 Jul 2019 03:06:09 +0200 Subject: [PATCH 356/730] Made citscontrol_task only include when USE_CITS is true --- server/CMakeLists.txt | 3 ++- server/src/main.c | 6 ++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 1b42708a8..07af2ffad 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -24,7 +24,7 @@ include(GNUInstallDirs) #add_library(MaestroLogging SHARED IMPORTED) #set_property(TARGET MaestroLogging PROPERTY IMPORTED_LOCATION ${MAESTRO_LOGGING_PATH}) -SET(USE_CITS TRUE CACHE BOOL "Flag to indicate the use of CITS.") +SET(USE_CITS FALSE CACHE BOOL "Flag to indicate the use of CITS.") # MQTT PAHO if(USE_CITS) @@ -36,6 +36,7 @@ if(USE_CITS) src/citscontrol.c inc/citscontrol.h ) +add_definitions(-DCITS_ENABLED) endif() # Create library diff --git a/server/src/main.c b/server/src/main.c index eb45abfa9..21bf17010 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -73,8 +73,10 @@ static const ModuleTask allModules[] = { timecontrol_task, supervision_task, systemcontrol_task, - objectcontrol_task, - citscontrol_task + objectcontrol_task + #ifdef CITS_ENABLED + ,citscontrol_task + #endif }; static const int numberOfModules = sizeof(allModules) / sizeof(ModuleTask); From 2df0f3cb94310bf94d27b3b45070a2d5a7544195 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sat, 20 Jul 2019 05:22:21 +0200 Subject: [PATCH 357/730] Implemented the refresh functions --- modules/ScenarioControl/inc/causality.h | 3 ++ modules/ScenarioControl/inc/scenario.h | 11 +++-- modules/ScenarioControl/inc/trigger.h | 13 +++--- modules/ScenarioControl/src/action.cpp | 2 + modules/ScenarioControl/src/causality.cpp | 20 +++++++++ modules/ScenarioControl/src/main.cpp | 6 --- modules/ScenarioControl/src/scenario.cpp | 54 ++++++++++++++++------- 7 files changed, 75 insertions(+), 34 deletions(-) diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index 2d3ea64bf..216abea6b 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -28,6 +28,9 @@ class Causality TriggerOperator_t getOperator(void) const { return oper; } std::string getOperatorString(void) const; + void refresh(void) const; + bool isActive(void) const; + void addAction(Action* a) { actions.insert(a); } void removeAction(Action* a) { actions.erase(a); } diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index 083003e1e..4a3a55046 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -6,17 +6,18 @@ #include "braketrigger.h" #include "action.h" #include "causality.h" +#include "logging.h" class Scenario { public: typedef enum {OK, NOT_OK, DUPLICATE_ELEMENT, INVALID_ARGUMENT, NOT_FOUND} ScenarioReturnCode_t; - Scenario(std::string scenarioFilePath); + Scenario(const std::string scenarioFilePath); Scenario() {} ~Scenario(); - void initialize(std::string scenarioFilePath); + void initialize(const std::string scenarioFilePath); ScenarioReturnCode_t linkTriggersWithActions(std::set ts, std::set as); ScenarioReturnCode_t linkTriggersWithAction(std::set ts, Action* a); @@ -37,13 +38,15 @@ class Scenario if (tp->getID() == id) { retval = tp->update(value); - return (retval == Trigger::OK) ? OK : INVALID_ARGUMENT; + if (retval == Trigger::TRIGGER_OCCURRED) LogMessage(LOG_LEVEL_DEBUG, "Triggered ID %u", id); + return (retval == Trigger::NOT_OK) ? INVALID_ARGUMENT : OK; } } return NOT_FOUND; } - void refresh(void); + void refresh(void) const; + void clear(void); private: std::set causalities; diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index cc5978d24..65d6b1a7c 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -129,13 +129,12 @@ class Trigger * - e.g. a trigger tracking a floating point trigger should override * update(float) and update(double) */ - virtual TriggerReturnCode_t update(void) { return INVALID_ARGUMENT; } - virtual TriggerReturnCode_t update(bool) { return INVALID_ARGUMENT; } - virtual TriggerReturnCode_t update(char) { return INVALID_ARGUMENT; } - virtual TriggerReturnCode_t update(int) { return INVALID_ARGUMENT; } - virtual TriggerReturnCode_t update(float) { return INVALID_ARGUMENT; } - virtual TriggerReturnCode_t update(double) { return INVALID_ARGUMENT; } - + virtual TriggerReturnCode_t update(void) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(bool) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(char) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(int) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(float) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(double) { throw std::invalid_argument("Invalid signal type"); } protected: TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter) const; TriggerTypeCode_t triggerTypeCode; diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index 9c829c5de..c849fd8a0 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -1,5 +1,6 @@ #include "action.h" +#include "logging.h" /*! * \brief Action::Action Constructor for Action objects. @@ -24,6 +25,7 @@ Action::ActionReturnCode_t Action::execute(void) return NO_REMAINING_RUNS; else { // TODO: Maybe add some more functionality when it is more well specified + LogMessage(LOG_LEVEL_DEBUG, "Executing action with ID %u", actionID); remainingAllowedRuns--; return OK; } diff --git a/modules/ScenarioControl/src/causality.cpp b/modules/ScenarioControl/src/causality.cpp index db27b8dba..25efbe3c7 100644 --- a/modules/ScenarioControl/src/causality.cpp +++ b/modules/ScenarioControl/src/causality.cpp @@ -41,6 +41,26 @@ Trigger* Causality::getTriggerByID(Trigger::TriggerID_t id) const return nullptr; } +void Causality::refresh(void) const +{ + if (isActive()) + { + for (Action* ap : actions) + { + ap->execute(); + } + } +} + +bool Causality::isActive() const +{ + bool active = oper == AND; + for (Trigger* tp : triggers) + { + active = (oper == OR) ? active || tp->getTriggerStatus() : active && tp->getTriggerStatus(); + } + return active; +} bool Causality::operator==(const Causality &other) const { diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 837658f47..f7606ddfa 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -12,12 +12,6 @@ #define SCENARIO_FILE_PATH "path/to/file" -typedef enum {SUCCESS, FAILURE} ReturnCode_t; - -/************************ Static functions ******************************************/ -static ReturnCode_t initializeScenario(Scenario &s); - - /************************ Main task ******************************************/ int main() { diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 64eb7aae3..b038ba1f1 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -3,7 +3,9 @@ #include #include -Scenario::Scenario(std::string scenarioFilePath) +#include "logging.h" + +Scenario::Scenario(const std::string scenarioFilePath) { initialize(scenarioFilePath); } @@ -11,7 +13,11 @@ Scenario::Scenario(std::string scenarioFilePath) Scenario::~Scenario() { - // TODO: deallocate all elements as well + clear(); +} + +void Scenario::clear() +{ for (Trigger* t : allTriggers) delete t; @@ -23,10 +29,13 @@ Scenario::~Scenario() allActions.clear(); } -void Scenario::initialize(std::string scenarioFilePath) +void Scenario::initialize(const std::string scenarioFilePath) { std::ifstream file; file.exceptions(std::ios_base::badbit | std::ios_base::failbit); + + clear(); + LogMessage(LOG_LEVEL_DEBUG, "Opening scenario file <%s>", scenarioFilePath.c_str()); file.open(scenarioFilePath); try { @@ -36,6 +45,25 @@ void Scenario::initialize(std::string scenarioFilePath) throw; } file.close(); + + LogMessage(LOG_LEVEL_INFO, "Successfully initialized scenario with %d unique triggers and %d unique actions", allTriggers.size(), allActions.size()); +} + +void Scenario::parseScenarioFile(std::ifstream &file) +{ + LogMessage(LOG_LEVEL_DEBUG, "Parsing scenario file"); + // TODO: read file, throw std::invalid_argument if badly formatted + // TODO: decode file into triggers and actions + BrakeTrigger* bt = new BrakeTrigger(1); + Action* mqttAction = new Action(5, Action::ACTION_TEST_SCENARIO_COMMAND, 1); + + bt->appendParameter(Trigger::TRIGGER_PARAMETER_PRESSED); + bt->parseParameters(); + + addTrigger(bt); + addAction(mqttAction); + + linkTriggerWithAction(bt, mqttAction); } Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger* t) @@ -102,19 +130,11 @@ Scenario::ScenarioReturnCode_t Scenario::linkTriggerWithActions(Trigger *t, std: return linkTriggersWithActions(ts, as); } - -void Scenario::parseScenarioFile(std::ifstream &file) +void Scenario::refresh(void) const { - // TODO: read file, throw std::invalid_argument if badly formatted - // TODO: decode file into triggers and actions - BrakeTrigger* bt = new BrakeTrigger(1); - Action* mqttAction = new Action(5, Action::ACTION_TEST_SCENARIO_COMMAND, 1); - - bt->appendParameter(Trigger::TRIGGER_PARAMETER_PRESSED); - bt->parseParameters(); - - addTrigger(bt); - addAction(mqttAction); - - linkTriggerWithAction(bt, mqttAction); + for (const Causality &c : causalities) + { + c.refresh(); + } } + From 3561b7ac19a8c2aa36f3d23786ffa342b230fb1b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sun, 21 Jul 2019 04:14:13 +0200 Subject: [PATCH 358/730] Fixed major bug --- modules/ScenarioControl/inc/booleantrigger.h | 16 ++++++------ modules/ScenarioControl/inc/braketrigger.h | 25 +++++++++---------- modules/ScenarioControl/inc/trigger.h | 12 ++++++--- .../ScenarioControl/src/booleantrigger.cpp | 2 +- modules/ScenarioControl/src/causality.cpp | 2 +- modules/ScenarioControl/src/main.cpp | 17 +++++++++++++ modules/ScenarioControl/src/trigger.cpp | 13 ++++++++++ 7 files changed, 60 insertions(+), 27 deletions(-) diff --git a/modules/ScenarioControl/inc/booleantrigger.h b/modules/ScenarioControl/inc/booleantrigger.h index 25d1e13ac..9a89bfc49 100644 --- a/modules/ScenarioControl/inc/booleantrigger.h +++ b/modules/ScenarioControl/inc/booleantrigger.h @@ -31,15 +31,15 @@ class BooleanTrigger : public Trigger private: - virtual std::set getAcceptedParameters() const override + virtual const std::set getAcceptedParameters() const override { - return { - Trigger::TRIGGER_PARAMETER_FALSE, - Trigger::TRIGGER_PARAMETER_TRUE, - Trigger::TRIGGER_PARAMETER_RISING_EDGE, - Trigger::TRIGGER_PARAMETER_FALLING_EDGE, - Trigger::TRIGGER_PARAMETER_ANY_EDGE - }; + std::set accParams; + accParams.insert(TRIGGER_PARAMETER_FALSE); + accParams.insert(TRIGGER_PARAMETER_TRUE); + accParams.insert(TRIGGER_PARAMETER_RISING_EDGE); + accParams.insert(TRIGGER_PARAMETER_FALLING_EDGE); + accParams.insert(TRIGGER_PARAMETER_ANY_EDGE); + return accParams; } diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index d42d1b89e..2a05f34c7 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -13,21 +13,20 @@ class BrakeTrigger : public BooleanTrigger TriggerReturnCode_t parseParameters() override; private: - std::vector parameters; - std::set getAcceptedParameters() const override + const std::set getAcceptedParameters() const override { - return { - Trigger::TRIGGER_PARAMETER_FALSE, - Trigger::TRIGGER_PARAMETER_TRUE, - Trigger::TRIGGER_PARAMETER_RELEASED, - Trigger::TRIGGER_PARAMETER_PRESSED, - Trigger::TRIGGER_PARAMETER_LOW, - Trigger::TRIGGER_PARAMETER_HIGH, - Trigger::TRIGGER_PARAMETER_RISING_EDGE, - Trigger::TRIGGER_PARAMETER_FALLING_EDGE, - Trigger::TRIGGER_PARAMETER_ANY_EDGE - }; + std::set accParams; + accParams.insert(TRIGGER_PARAMETER_FALSE); + accParams.insert(TRIGGER_PARAMETER_TRUE); + accParams.insert(TRIGGER_PARAMETER_RELEASED); + accParams.insert(TRIGGER_PARAMETER_PRESSED); + accParams.insert(TRIGGER_PARAMETER_LOW); + accParams.insert(TRIGGER_PARAMETER_HIGH); + accParams.insert(TRIGGER_PARAMETER_RISING_EDGE); + accParams.insert(TRIGGER_PARAMETER_FALLING_EDGE); + accParams.insert(TRIGGER_PARAMETER_ANY_EDGE); + return accParams; } }; #endif // BRAKETRIGGER_H diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 65d6b1a7c..ea4c44705 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -91,7 +91,7 @@ class Trigger virtual TriggerTypeCode_t getTypeCode() const { return triggerTypeCode; } TriggerID_t getID() const { return triggerID; } std::vector getParameters() const { return parameters; } - TriggerReturnCode_t getTriggerStatus() const { return wasTriggeredByLastUpdate; } + bool isActive() const; bool operator==(const Trigger &other) const { return other.triggerID == triggerID; } @@ -139,13 +139,17 @@ class Trigger TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter) const; TriggerTypeCode_t triggerTypeCode; TriggerReturnCode_t wasTriggeredByLastUpdate = NOT_OK; //!< State saving the last result of update + std::vector parameters; private: TriggerID_t triggerID; - std::vector parameters; - virtual std::set getAcceptedParameters() const - { return {TRIGGER_PARAMETER_UNAVAILABLE}; } + virtual const std::set getAcceptedParameters() const + { + std::set accParams; + accParams.insert(TRIGGER_PARAMETER_UNAVAILABLE); + return accParams; + } virtual TriggerReturnCode_t checkIfTriggered(void) const = 0; }; diff --git a/modules/ScenarioControl/src/booleantrigger.cpp b/modules/ScenarioControl/src/booleantrigger.cpp index 4a9579cd8..f977379c3 100644 --- a/modules/ScenarioControl/src/booleantrigger.cpp +++ b/modules/ScenarioControl/src/booleantrigger.cpp @@ -31,7 +31,7 @@ Trigger::TriggerReturnCode_t BooleanTrigger::checkIfTriggered() const case EDGE_FALLING: return (!isStateTrue && wasStateTrue) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED; case INVALID_MODE: - return NOT_OK; + throw std::logic_error("Boolean trigger cannot be triggered if mode invalid"); } } diff --git a/modules/ScenarioControl/src/causality.cpp b/modules/ScenarioControl/src/causality.cpp index 25efbe3c7..73e911e65 100644 --- a/modules/ScenarioControl/src/causality.cpp +++ b/modules/ScenarioControl/src/causality.cpp @@ -57,7 +57,7 @@ bool Causality::isActive() const bool active = oper == AND; for (Trigger* tp : triggers) { - active = (oper == OR) ? active || tp->getTriggerStatus() : active && tp->getTriggerStatus(); + active = (oper == OR) ? active || tp->isActive() : active && tp->isActive(); } return active; } diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index f7606ddfa..2f5e08dbd 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -26,6 +26,23 @@ int main() scenario.initialize("log/dummy_scenariofil.fil"); + LogMessage(LOG_LEVEL_INFO,"1"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"2"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"3"); + scenario.updateTrigger(1,true); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"4"); + scenario.updateTrigger(1,true); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"5"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"6"); + exit(0); // Initialize message bus connection while(iCommInit()) { diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index 85c4c7ec0..bf833c55f 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -187,3 +187,16 @@ std::string Trigger::getTypeAsString(Trigger::TriggerTypeCode_t typeCode) } return "<>"; } + +/*! + * \brief Trigger::isActive Check if the last update to tracked signal caused trigger to occur + * \return Boolean according to trigger status + */ +bool Trigger::isActive() const +{ + if(wasTriggeredByLastUpdate == TRIGGER_OCCURRED) + return true; + else if(wasTriggeredByLastUpdate == NO_TRIGGER_OCCURRED) + return false; + throw std::logic_error("Trigger in undefined state"); +} From cde82bc6a66bdb17ade79faebe0922d4a70b9b56 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sun, 21 Jul 2019 04:48:07 +0200 Subject: [PATCH 359/730] Created new empty brakeaction class --- modules/ScenarioControl/CMakeLists.txt | 2 ++ modules/ScenarioControl/inc/brakeaction.h | 0 modules/ScenarioControl/src/brakeaction.cpp | 0 3 files changed, 2 insertions(+) create mode 100644 modules/ScenarioControl/inc/brakeaction.h create mode 100644 modules/ScenarioControl/src/brakeaction.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index 043b87e4d..4c14290f3 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -48,6 +48,8 @@ add_library(Trigger add_library(Action inc/action.h src/action.cpp + inc/brakeaction.h + src/brakeaction.cpp ) add_library(Scenario diff --git a/modules/ScenarioControl/inc/brakeaction.h b/modules/ScenarioControl/inc/brakeaction.h new file mode 100644 index 000000000..e69de29bb diff --git a/modules/ScenarioControl/src/brakeaction.cpp b/modules/ScenarioControl/src/brakeaction.cpp new file mode 100644 index 000000000..e69de29bb From a3126cf2adfa636b074698235acd13f43dd5b5e7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sun, 21 Jul 2019 04:59:32 +0200 Subject: [PATCH 360/730] Implemented brake command on MQbus for dev based branches --- server/inc/util.h | 1 + server/src/util.c | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index b3dbfccc5..f4d130143 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -282,6 +282,7 @@ COMM_TRAJ_TOSUP = 17, COMM_TRAJ_FROMSUP = 18, COMM_ASP = 19, COMM_OSEM = 20, +COMM_BRAKE = 21, COMM_MONR = 239, COMM_INV = 255 }; diff --git a/server/src/util.c b/server/src/util.c index 54d519b1f..604be272a 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -47,6 +47,7 @@ #define PRIO_COMM_REPLAY 160 #define PRIO_COMM_CONTROL 180 #define PRIO_COMM_ABORT 60 +#define PRIO_COMM_BRAKE 70 #define PRIO_COMM_TOM 90 #define PRIO_COMM_INIT 110 #define PRIO_COMM_CONNECT 110 @@ -1963,6 +1964,9 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength case COMM_TRAJ_FROMSUP: uiMessagePrio = PRIO_COMM_TRAJ_FROMSUP; break; + case COMM_BRAKE: + uiMessagePrio = PRIO_COMM_BRAKE; + break; default: util_error("Unknown command"); } From ab698e0a95d3f52da71233a11ab25fc003d5f607 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Sun, 21 Jul 2019 05:45:14 +0200 Subject: [PATCH 361/730] Implemented sending of mq BRAKE message in brakeaction --- modules/ScenarioControl/inc/action.h | 11 ++++-- modules/ScenarioControl/inc/brakeaction.h | 12 ++++++ modules/ScenarioControl/src/brakeaction.cpp | 43 +++++++++++++++++++++ 3 files changed, 62 insertions(+), 4 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index ad12e82ac..14f603daf 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -5,6 +5,8 @@ #include #include +#define ACTION_NUMBER_PARAMETER_FIELDS 3 + class Action { public: @@ -59,12 +61,15 @@ class Action /*! Constructor */ Action(ActionID_t actionID = 0, ActionTypeCode_t actionTypeCode = ACTION_NONE, uint32_t allowedNumberOfRuns = 1); + /*! Destructor */ + virtual ~Action() { parameters.clear(); } + /*! Getters */ ActionID_t getID() const { return actionID; } ActionTypeCode_t getTypeCode() const { return actionTypeCode; } /*! Run the action once, if allowed */ - ActionReturnCode_t execute(void); + virtual ActionReturnCode_t execute(void); /*! To string */ friend std::ostream& operator<<(std::ostream &strm, const Action &act) { @@ -79,11 +84,9 @@ class Action protected: ActionTypeCode_t actionTypeCode = ACTION_NONE; - -private: ActionID_t actionID = 0; - std::vector parameters; uint32_t remainingAllowedRuns = 0; + std::vector parameters; }; #endif diff --git a/modules/ScenarioControl/inc/brakeaction.h b/modules/ScenarioControl/inc/brakeaction.h index e69de29bb..2cfefa709 100644 --- a/modules/ScenarioControl/inc/brakeaction.h +++ b/modules/ScenarioControl/inc/brakeaction.h @@ -0,0 +1,12 @@ +#include "action.h" + +#include + +class BrakeAction : public Action +{ +public: + BrakeAction(); + ActionReturnCode_t execute(void) override; +private: + in_addr_t brakeObjAddr = 0; +}; diff --git a/modules/ScenarioControl/src/brakeaction.cpp b/modules/ScenarioControl/src/brakeaction.cpp index e69de29bb..f41789526 100644 --- a/modules/ScenarioControl/src/brakeaction.cpp +++ b/modules/ScenarioControl/src/brakeaction.cpp @@ -0,0 +1,43 @@ +#include "brakeaction.h" +#include "logging.h" +#include "util.h" + +Action::ActionReturnCode_t BrakeAction::execute(void) +{ + constexpr unsigned int datalen = sizeof(actionID) + sizeof(actionTypeCode) + sizeof(brakeObjAddr) + ACTION_NUMBER_PARAMETER_FIELDS*sizeof(parameters); + char commData[datalen]; + char* ptr = commData; + + if (parameters.size() > ACTION_NUMBER_PARAMETER_FIELDS) + return INVALID_ARGUMENT; + + bzero(commData,datalen); + + if (remainingAllowedRuns == 0) + return NO_REMAINING_RUNS; + else { + LogMessage(LOG_LEVEL_DEBUG, "Action ID %u triggered", actionID); + + memcpy(ptr, &actionID, sizeof(actionID)); + ptr += sizeof(actionID); + + memcpy(ptr, &actionTypeCode, sizeof(actionTypeCode)); + ptr += sizeof(actionTypeCode); + + memcpy(ptr, &brakeObjAddr, sizeof(brakeObjAddr)); + ptr += sizeof(brakeObjAddr); + + for (ActionParameter_t ap : parameters) + { + memcpy(ptr, &ap, sizeof(ap)); + ptr += sizeof(ap); + } + + LogMessage(LOG_LEVEL_INFO, "Sending brake message (action ID %u)", actionID); + if(iCommSend(COMM_BRAKE,commData,datalen) == -1) + return NOT_OK; + + remainingAllowedRuns--; + return OK; + } +} From 19dde4e05a2dc574a1cd40eda590951119bc7a3f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 22 Jul 2019 05:33:49 +0200 Subject: [PATCH 362/730] Added preprocessor header defines. Added specialised MQ send functions. Added structs for T&A ISO messages. Renamed BrakeAction to ISOAction and made it general --- modules/ScenarioControl/CMakeLists.txt | 4 +- modules/ScenarioControl/inc/action.h | 1 + modules/ScenarioControl/inc/brakeaction.h | 12 --- modules/ScenarioControl/inc/causality.h | 5 + modules/ScenarioControl/inc/isoaction.h | 17 +++ modules/ScenarioControl/inc/scenario.h | 4 + modules/ScenarioControl/src/brakeaction.cpp | 43 -------- modules/ScenarioControl/src/isoaction.cpp | 25 +++++ server/inc/util.h | 112 +++++++++++++++++++- server/src/util.c | 108 ++++++++++++++++++- 10 files changed, 269 insertions(+), 62 deletions(-) delete mode 100644 modules/ScenarioControl/inc/brakeaction.h create mode 100644 modules/ScenarioControl/inc/isoaction.h delete mode 100644 modules/ScenarioControl/src/brakeaction.cpp create mode 100644 modules/ScenarioControl/src/isoaction.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index 4c14290f3..dd43bd72d 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -48,8 +48,8 @@ add_library(Trigger add_library(Action inc/action.h src/action.cpp - inc/brakeaction.h - src/brakeaction.cpp + inc/isoaction.h + src/isoaction.cpp ) add_library(Scenario diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index 14f603daf..bde3b1b24 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -87,6 +87,7 @@ class Action ActionID_t actionID = 0; uint32_t remainingAllowedRuns = 0; std::vector parameters; + uint32_t actionDelayTime_qms; }; #endif diff --git a/modules/ScenarioControl/inc/brakeaction.h b/modules/ScenarioControl/inc/brakeaction.h deleted file mode 100644 index 2cfefa709..000000000 --- a/modules/ScenarioControl/inc/brakeaction.h +++ /dev/null @@ -1,12 +0,0 @@ -#include "action.h" - -#include - -class BrakeAction : public Action -{ -public: - BrakeAction(); - ActionReturnCode_t execute(void) override; -private: - in_addr_t brakeObjAddr = 0; -}; diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index 216abea6b..a9a12730b 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -1,3 +1,6 @@ +#ifndef CAUSALITY_H +#define CAUSALITY_H + #include #include @@ -54,3 +57,5 @@ class Causality std::set triggers; std::set actions; }; + +#endif diff --git a/modules/ScenarioControl/inc/isoaction.h b/modules/ScenarioControl/inc/isoaction.h new file mode 100644 index 000000000..8eecd2b11 --- /dev/null +++ b/modules/ScenarioControl/inc/isoaction.h @@ -0,0 +1,17 @@ +#ifndef ISOACTION_H +#define ISOACTION_H + +#include "action.h" + +#include + +class ISOAction : public Action +{ +public: + ISOAction(); + ActionReturnCode_t execute(void) override; +private: + in_addr_t targetObjAddr = 0; +}; + +#endif diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index 4a3a55046..e3fdbf68b 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -1,3 +1,5 @@ +#ifndef SCENARIO_H +#define SCENARIO_H #include #include @@ -55,3 +57,5 @@ class Scenario void parseScenarioFile(std::ifstream &file); }; + +#endif diff --git a/modules/ScenarioControl/src/brakeaction.cpp b/modules/ScenarioControl/src/brakeaction.cpp deleted file mode 100644 index f41789526..000000000 --- a/modules/ScenarioControl/src/brakeaction.cpp +++ /dev/null @@ -1,43 +0,0 @@ -#include "brakeaction.h" -#include "logging.h" -#include "util.h" - -Action::ActionReturnCode_t BrakeAction::execute(void) -{ - constexpr unsigned int datalen = sizeof(actionID) + sizeof(actionTypeCode) + sizeof(brakeObjAddr) + ACTION_NUMBER_PARAMETER_FIELDS*sizeof(parameters); - char commData[datalen]; - char* ptr = commData; - - if (parameters.size() > ACTION_NUMBER_PARAMETER_FIELDS) - return INVALID_ARGUMENT; - - bzero(commData,datalen); - - if (remainingAllowedRuns == 0) - return NO_REMAINING_RUNS; - else { - LogMessage(LOG_LEVEL_DEBUG, "Action ID %u triggered", actionID); - - memcpy(ptr, &actionID, sizeof(actionID)); - ptr += sizeof(actionID); - - memcpy(ptr, &actionTypeCode, sizeof(actionTypeCode)); - ptr += sizeof(actionTypeCode); - - memcpy(ptr, &brakeObjAddr, sizeof(brakeObjAddr)); - ptr += sizeof(brakeObjAddr); - - for (ActionParameter_t ap : parameters) - { - memcpy(ptr, &ap, sizeof(ap)); - ptr += sizeof(ap); - } - - LogMessage(LOG_LEVEL_INFO, "Sending brake message (action ID %u)", actionID); - if(iCommSend(COMM_BRAKE,commData,datalen) == -1) - return NOT_OK; - - remainingAllowedRuns--; - return OK; - } -} diff --git a/modules/ScenarioControl/src/isoaction.cpp b/modules/ScenarioControl/src/isoaction.cpp new file mode 100644 index 000000000..3e8ac2d46 --- /dev/null +++ b/modules/ScenarioControl/src/isoaction.cpp @@ -0,0 +1,25 @@ +#include "isoaction.h" +#include "logging.h" +#include "util.h" + +Action::ActionReturnCode_t ISOAction::execute(void) +{ + EXACData data; + + if (remainingAllowedRuns == 0) + return NO_REMAINING_RUNS; + else { + LogMessage(LOG_LEVEL_DEBUG, "Action ID %u triggered", actionID); + + data.actionID = actionID; + data.delayTime_qms = actionDelayTime_qms; + data.ip = targetObjAddr; + + LogMessage(LOG_LEVEL_INFO, "Sending execute action message over message bus (action ID %u)", actionID); + if(iCommSendEXAC(data) == -1) + return NOT_OK; + + remainingAllowedRuns--; + return OK; + } +} diff --git a/server/inc/util.h b/server/inc/util.h index f4d130143..42274c702 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -282,7 +282,10 @@ COMM_TRAJ_TOSUP = 17, COMM_TRAJ_FROMSUP = 18, COMM_ASP = 19, COMM_OSEM = 20, -COMM_BRAKE = 21, +COMM_EXAC = 21, +COMM_TREO = 22, +COMM_ACCM = 23, +COMM_TRCM = 24, COMM_MONR = 239, COMM_INV = 255 }; @@ -631,7 +634,105 @@ typedef struct char ActionDelay[8]; uint8_t TriggerId; int32_t Action; -} TriggActionType; +} TriggActionType; // Note: this is the old struct + +typedef struct +{ + HeaderType header; + uint16_t actionIDValueID; + uint16_t actionIDContentLength; + uint16_t actionID; + uint16_t delayTime_qmsValueID; + uint16_t delayTime_qmsContentLength; + uint32_t delayTime_qms; +} EXACType; + +typedef struct +{ + uint16_t actionID; + uint32_t delayTime_qms; + in_addr_t ip; +} EXACData; //!< Data type for MQ message + +typedef struct +{ + HeaderType header; + uint16_t triggerIDValueID; + uint16_t triggerIDContentLength; + uint16_t triggerID; + uint16_t timestamp_qmsowValueID; + uint16_t timestamp_qmsowContentLength; + uint32_t timestamp_qmsow; +} TREOType; + +typedef struct +{ + uint16_t triggerID; + uint32_t timestamp_qmsow; + in_addr_t ip; +} TREOData; //!< Data type for MQ message + +typedef struct +{ + HeaderType header; + uint16_t actionIDValueID; + uint16_t actionIDContentLength; + uint16_t actionID; + uint16_t actionTypeValueID; + uint16_t actionTypeContentLength; + uint16_t actionType; + uint16_t actionTypeParameter1ValueID; + uint16_t actionTypeParameter1ContentLength; + uint32_t actionTypeParameter1; + uint16_t actionTypeParameter2ValueID; + uint16_t actionTypeParameter2ContentLength; + uint32_t actionTypeParameter2; + uint16_t actionTypeParameter3ValueID; + uint16_t actionTypeParameter3ContentLength; + uint32_t actionTypeParameter3; +} ACCMType; + +typedef struct +{ + uint16_t actionID; + uint16_t actionType; + uint32_t actionTypeParameter1; + uint32_t actionTypeParameter2; + uint32_t actionTypeParameter3; + in_addr_t ip; +} ACCMData; //!< Data type for MQ message + +typedef struct +{ + HeaderType header; + uint16_t triggerIDValueID; + uint16_t triggerIDContentLength; + uint16_t triggerID; + uint16_t triggerTypeValueID; + uint16_t triggerTypeContentLength; + uint16_t triggerType; + uint16_t triggerTypeParameter1ValueID; + uint16_t triggerTypeParameter1ContentLength; + uint32_t triggerTypeParameter1; + uint16_t triggerTypeParameter2ValueID; + uint16_t triggerTypeParameter2ContentLength; + uint32_t triggerTypeParameter2; + uint16_t triggerTypeParameter3ValueID; + uint16_t triggerTypeParameter3ContentLength; + uint32_t triggerTypeParameter3; +} TRCMType; + +typedef struct +{ + uint16_t triggerID; + uint16_t triggerType; + uint32_t triggerTypeParameter1; + uint32_t triggerTypeParameter2; + uint32_t triggerTypeParameter3; + in_addr_t ip; +} TRCMData; //!< Data type for MQ message + + typedef struct { @@ -747,11 +848,18 @@ void util_error(const char *message); int iUtilGetParaConfFile(char* pcParameter, char* pcValue); int iUtilGetIntParaConfFile(char* pcParameter, int* iValue); +// Message bus functions int iCommInit(void); int iCommClose(void); ssize_t iCommRecv(enum COMMAND *command, char* data, const size_t messageSize, struct timeval *timeRecv); int iCommSend(const enum COMMAND iCommand, const char* data, size_t dataLength); +int iCommSendTREO(TREOData data); +int iCommSendTRCM(TRCMData data); +int iCommSendEXAC(EXACData data); +int iCommSendACCM(ACCMData data); + +// char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, double *resLat, double *resLon, double *a2); diff --git a/server/src/util.c b/server/src/util.c index 604be272a..66c86ac60 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -47,7 +47,7 @@ #define PRIO_COMM_REPLAY 160 #define PRIO_COMM_CONTROL 180 #define PRIO_COMM_ABORT 60 -#define PRIO_COMM_BRAKE 70 +#define PRIO_COMM_EXAC 70 #define PRIO_COMM_TOM 90 #define PRIO_COMM_INIT 110 #define PRIO_COMM_CONNECT 110 @@ -1964,8 +1964,8 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength case COMM_TRAJ_FROMSUP: uiMessagePrio = PRIO_COMM_TRAJ_FROMSUP; break; - case COMM_BRAKE: - uiMessagePrio = PRIO_COMM_BRAKE; + case COMM_EXAC: + uiMessagePrio = PRIO_COMM_EXAC; break; default: util_error("Unknown command"); @@ -2029,6 +2029,108 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength return -1; } +/*! + * \brief iCommSendTREO Sends a trigger event occurred command over message bus + * \param data Related trigger data + * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error + */ +int iCommSendTREO(TREOData data) +{ + char sendBuffer[sizeof(TREOData)]; + char* ptr = sendBuffer; + + memcpy(ptr, &data.triggerID, sizeof(data.triggerID)); + ptr += sizeof(data.triggerID); + + memcpy(ptr, &data.timestamp_qmsow, sizeof(data.timestamp_qmsow)); + ptr += sizeof(data.timestamp_qmsow); + + memcpy(ptr, &data.ip, sizeof(data.ip)); + + return iCommSend(COMM_TREO, sendBuffer, sizeof(sendBuffer)); +} + +/*! + * \brief iCommSendEXAC Sends an action execute command over message bus + * \param data Related action data + * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error + */ +int iCommSendEXAC(EXACData data) +{ + char sendBuffer[sizeof(EXACData)]; + char* ptr = sendBuffer; + + memcpy(ptr, &data.actionID, sizeof(data.actionID)); + ptr += sizeof(data.actionID); + + memcpy(ptr, &data.delayTime_qms, sizeof(data.delayTime_qms)); + ptr += sizeof(data.delayTime_qms); + + memcpy(ptr, &data.ip, sizeof(data.ip)); + + return iCommSend(COMM_EXAC, sendBuffer, sizeof(sendBuffer)); +} + +/*! + * \brief iCommSendTRCM Sends a trigger event configuration command over message bus + * \param data Related trigger data + * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error + */ +int iCommSendTRCM(TRCMData data) +{ + char sendBuffer[sizeof(TRCMData)]; + char* ptr = sendBuffer; + + memcpy(ptr, &data.triggerID, sizeof(data.triggerID)); + ptr += sizeof(data.triggerID); + + memcpy(ptr, &data.triggerType, sizeof(data.triggerType)); + ptr += sizeof(data.triggerType); + + memcpy(ptr, &data.triggerTypeParameter1, sizeof(data.triggerTypeParameter1)); + ptr += sizeof(data.triggerTypeParameter1); + + memcpy(ptr, &data.triggerTypeParameter2, sizeof(data.triggerTypeParameter2)); + ptr += sizeof(data.triggerTypeParameter2); + + memcpy(ptr, &data.triggerTypeParameter3, sizeof(data.triggerTypeParameter3)); + ptr += sizeof(data.triggerTypeParameter3); + + memcpy(ptr, &data.ip, sizeof(data.ip)); + + return iCommSend(COMM_TRCM, sendBuffer, sizeof(sendBuffer)); +} + +/*! + * \brief iCommSendACCM Sends an action configuration command over message bus + * \param data Related action data + * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error + */ +int iCommSendACCM(ACCMData data) +{ + char sendBuffer[sizeof(ACCMData)]; + char* ptr = sendBuffer; + + memcpy(ptr, &data.actionID, sizeof(data.actionID)); + ptr += sizeof(data.actionID); + + memcpy(ptr, &data.actionType, sizeof(data.actionType)); + ptr += sizeof(data.actionType); + + memcpy(ptr, &data.actionTypeParameter1, sizeof(data.actionTypeParameter1)); + ptr += sizeof(data.actionTypeParameter1); + + memcpy(ptr, &data.actionTypeParameter2, sizeof(data.actionTypeParameter2)); + ptr += sizeof(data.actionTypeParameter2); + + memcpy(ptr, &data.actionTypeParameter3, sizeof(data.actionTypeParameter3)); + ptr += sizeof(data.actionTypeParameter3); + + memcpy(ptr, &data.ip, sizeof(data.ip)); + + return iCommSend(COMM_ACCM, sendBuffer, sizeof(sendBuffer)); +} + /*------------------------------------------------------------ -- Function traj2ldm -- converts a traj file format to a ldm:monitor_t From 4949d3f30d15fb63a5c899817b8d89e2281554c8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 22 Jul 2019 18:35:04 +0200 Subject: [PATCH 363/730] Implemented ISOtrigger class for handling TREO messages --- modules/ScenarioControl/CMakeLists.txt | 8 ++-- modules/ScenarioControl/inc/isotrigger.h | 55 ++++++++++++++++++++++ modules/ScenarioControl/src/isoaction.cpp | 2 - modules/ScenarioControl/src/isotrigger.cpp | 12 +++++ 4 files changed, 71 insertions(+), 6 deletions(-) create mode 100644 modules/ScenarioControl/inc/isotrigger.h create mode 100644 modules/ScenarioControl/src/isotrigger.cpp diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index dd43bd72d..d9a8a94c2 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -39,6 +39,8 @@ add_library(util add_library(Trigger inc/trigger.h src/trigger.cpp + inc/isotrigger.h + src/isotrigger.cpp inc/booleantrigger.h src/booleantrigger.cpp inc/braketrigger.h @@ -55,19 +57,17 @@ add_library(Action add_library(Scenario inc/scenario.h src/scenario.cpp -) - -add_library(Causality inc/causality.h src/causality.cpp ) + add_executable(ScenarioControl src/main.cpp) install(TARGETS ScenarioControl DESTINATION bin) target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Scenario) -target_link_libraries(Scenario Causality Trigger Action) +target_link_libraries(Scenario Trigger Action) target_link_libraries(util MQBus MaestroTime MaestroLogging) target_link_libraries(MQBus rt m) diff --git a/modules/ScenarioControl/inc/isotrigger.h b/modules/ScenarioControl/inc/isotrigger.h new file mode 100644 index 000000000..0e8caba58 --- /dev/null +++ b/modules/ScenarioControl/inc/isotrigger.h @@ -0,0 +1,55 @@ +#ifndef ISOTRIGGER_H +#define ISOTRIGGER_H + +#include "trigger.h" +#include "util.h" + +class ISOTrigger : public Trigger +{ +public: + using Trigger::Trigger; + + TriggerReturnCode_t parseParameters() override { return OK; } + + using Trigger::update; + TriggerReturnCode_t update(void) override { return wasTriggeredByLastUpdate = NO_TRIGGER_OCCURRED; } + TriggerReturnCode_t update(TREOData); +private: + const std::set getAcceptedParameters() const override + { + std::set retval; + + retval.insert(TRIGGER_PARAMETER_FALSE); + retval.insert(TRIGGER_PARAMETER_TRUE); + retval.insert(TRIGGER_PARAMETER_RELEASED); + retval.insert(TRIGGER_PARAMETER_PRESSED); + retval.insert(TRIGGER_PARAMETER_LOW); + retval.insert(TRIGGER_PARAMETER_HIGH); + retval.insert(TRIGGER_PARAMETER_RISING_EDGE); + retval.insert(TRIGGER_PARAMETER_FALLING_EDGE); + retval.insert(TRIGGER_PARAMETER_ANY_EDGE); + retval.insert(TRIGGER_PARAMETER_RELATIVE); + retval.insert(TRIGGER_PARAMETER_ABSOLUTE); + retval.insert(TRIGGER_PARAMETER_VALUE); + retval.insert(TRIGGER_PARAMETER_MIN); + retval.insert(TRIGGER_PARAMETER_MAX); + retval.insert(TRIGGER_PARAMETER_MEAN); + retval.insert(TRIGGER_PARAMETER_EQUAL_TO); + retval.insert(TRIGGER_PARAMETER_GREATER_THAN); + retval.insert(TRIGGER_PARAMETER_GREATER_THAN_OR_EQUAL_TO); + retval.insert(TRIGGER_PARAMETER_LESS_THAN); + retval.insert(TRIGGER_PARAMETER_LESS_THAN_OR_EQUAL_TO); + retval.insert(TRIGGER_PARAMETER_NOT_EQUAL_TO); + retval.insert(TRIGGER_PARAMETER_X); + retval.insert(TRIGGER_PARAMETER_Y); + retval.insert(TRIGGER_PARAMETER_Z); + retval.insert(TRIGGER_PARAMETER_TIME); + retval.insert(TRIGGER_PARAMETER_DATE); + retval.insert(TRIGGER_PARAMETER_RULE); + retval.insert(TRIGGER_PARAMETER_UNAVAILABLE); + + return retval; + } +}; + +#endif // ISOTRIGGER_H diff --git a/modules/ScenarioControl/src/isoaction.cpp b/modules/ScenarioControl/src/isoaction.cpp index 3e8ac2d46..50996a4fe 100644 --- a/modules/ScenarioControl/src/isoaction.cpp +++ b/modules/ScenarioControl/src/isoaction.cpp @@ -9,8 +9,6 @@ Action::ActionReturnCode_t ISOAction::execute(void) if (remainingAllowedRuns == 0) return NO_REMAINING_RUNS; else { - LogMessage(LOG_LEVEL_DEBUG, "Action ID %u triggered", actionID); - data.actionID = actionID; data.delayTime_qms = actionDelayTime_qms; data.ip = targetObjAddr; diff --git a/modules/ScenarioControl/src/isotrigger.cpp b/modules/ScenarioControl/src/isotrigger.cpp new file mode 100644 index 000000000..9dce109eb --- /dev/null +++ b/modules/ScenarioControl/src/isotrigger.cpp @@ -0,0 +1,12 @@ +#include "isotrigger.h" + +Trigger::TriggerReturnCode_t ISOTrigger::update(TREOData data) +{ + if (data.triggerID == getID()) + { + // TODO: Check IP as well? + wasTriggeredByLastUpdate = TRIGGER_OCCURRED; + } + else + return INVALID_ARGUMENT; +} From 6a2ec535d0940d4a7597052aa15c80ee3b380744 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 22 Jul 2019 20:34:10 +0200 Subject: [PATCH 364/730] Implemented construction and sending of ACCM, TRCM, EXAC and TREO messages in ScenarioControl --- modules/ScenarioControl/inc/action.h | 4 ++ modules/ScenarioControl/inc/causality.h | 12 ++-- modules/ScenarioControl/inc/isoaction.h | 2 - modules/ScenarioControl/inc/isotrigger.h | 4 +- modules/ScenarioControl/inc/scenario.h | 13 ++-- modules/ScenarioControl/inc/trigger.h | 9 ++- modules/ScenarioControl/src/action.cpp | 42 ++++++++++++ modules/ScenarioControl/src/causality.cpp | 22 +++--- modules/ScenarioControl/src/isoaction.cpp | 2 +- modules/ScenarioControl/src/main.cpp | 43 ++++++++++-- modules/ScenarioControl/src/scenario.cpp | 81 +++++++++++++++-------- modules/ScenarioControl/src/trigger.cpp | 43 ++++++++++++ util | 2 +- 13 files changed, 215 insertions(+), 64 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index bde3b1b24..c1c645ef1 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -5,6 +5,8 @@ #include #include +#include "util.h" + #define ACTION_NUMBER_PARAMETER_FIELDS 3 class Action @@ -81,6 +83,7 @@ class Action static std::string getTypeAsString(ActionTypeCode_t type); static std::string getParameterAsString(ActionParameter_t param); std::string getParametersString(void) const; + ACCMData getConfigurationMessageData(void) const; protected: ActionTypeCode_t actionTypeCode = ACTION_NONE; @@ -88,6 +91,7 @@ class Action uint32_t remainingAllowedRuns = 0; std::vector parameters; uint32_t actionDelayTime_qms; + in_addr_t actionObjectIP = 0; }; #endif diff --git a/modules/ScenarioControl/inc/causality.h b/modules/ScenarioControl/inc/causality.h index a9a12730b..f9cca71cd 100644 --- a/modules/ScenarioControl/inc/causality.h +++ b/modules/ScenarioControl/inc/causality.h @@ -14,12 +14,12 @@ class Causality typedef enum {OR, AND} TriggerOperator_t; - Causality(Trigger* t, Action* a, TriggerOperator_t op = AND); - Causality(Action* a, TriggerOperator_t op = AND); + Causality(Trigger* tp, Action* ap, TriggerOperator_t op = AND); + Causality(Action* ap, TriggerOperator_t op = AND); Causality(TriggerOperator_t op = AND); - void addTrigger(Trigger* t) { triggers.insert(t); } - void removeTrigger(Trigger* t) { triggers.erase(t); } + void addTrigger(Trigger* tp) { triggers.insert(tp); } + void removeTrigger(Trigger* tp) { triggers.erase(tp); } std::set getTriggers(void) const { return triggers; } Trigger* getTriggerByID(Trigger::TriggerID_t id) const; @@ -34,8 +34,8 @@ class Causality void refresh(void) const; bool isActive(void) const; - void addAction(Action* a) { actions.insert(a); } - void removeAction(Action* a) { actions.erase(a); } + void addAction(Action* ap) { actions.insert(ap); } + void removeAction(Action* ap) { actions.erase(ap); } std::set getActions(void) const { return actions; } Action* getActionByID(Action::ActionID_t id) const; diff --git a/modules/ScenarioControl/inc/isoaction.h b/modules/ScenarioControl/inc/isoaction.h index 8eecd2b11..1575bf846 100644 --- a/modules/ScenarioControl/inc/isoaction.h +++ b/modules/ScenarioControl/inc/isoaction.h @@ -10,8 +10,6 @@ class ISOAction : public Action public: ISOAction(); ActionReturnCode_t execute(void) override; -private: - in_addr_t targetObjAddr = 0; }; #endif diff --git a/modules/ScenarioControl/inc/isotrigger.h b/modules/ScenarioControl/inc/isotrigger.h index 0e8caba58..ded134ac2 100644 --- a/modules/ScenarioControl/inc/isotrigger.h +++ b/modules/ScenarioControl/inc/isotrigger.h @@ -1,8 +1,8 @@ #ifndef ISOTRIGGER_H #define ISOTRIGGER_H -#include "trigger.h" #include "util.h" +#include "trigger.h" class ISOTrigger : public Trigger { @@ -13,7 +13,7 @@ class ISOTrigger : public Trigger using Trigger::update; TriggerReturnCode_t update(void) override { return wasTriggeredByLastUpdate = NO_TRIGGER_OCCURRED; } - TriggerReturnCode_t update(TREOData); + TriggerReturnCode_t update(TREOData) override; private: const std::set getAcceptedParameters() const override { diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index e3fdbf68b..9c439f88d 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -21,13 +21,13 @@ class Scenario void initialize(const std::string scenarioFilePath); - ScenarioReturnCode_t linkTriggersWithActions(std::set ts, std::set as); - ScenarioReturnCode_t linkTriggersWithAction(std::set ts, Action* a); - ScenarioReturnCode_t linkTriggerWithActions(Trigger* t, std::set as); - ScenarioReturnCode_t linkTriggerWithAction(Trigger* t, Action* a); + ScenarioReturnCode_t linkTriggersWithActions(std::set tps, std::set aps); + ScenarioReturnCode_t linkTriggersWithAction(std::set tps, Action* ap); + ScenarioReturnCode_t linkTriggerWithActions(Trigger* tp, std::set aps); + ScenarioReturnCode_t linkTriggerWithAction(Trigger* tp, Action* ap); - ScenarioReturnCode_t addTrigger(Trigger* t); - ScenarioReturnCode_t addAction(Action* a); + ScenarioReturnCode_t addTrigger(Trigger* tp); + ScenarioReturnCode_t addAction(Action* ap); std::set getCausalities(void); @@ -47,6 +47,7 @@ class Scenario return NOT_FOUND; } + void resetISOTriggers(void); void refresh(void) const; void clear(void); diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index ea4c44705..975fa24e8 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -5,8 +5,9 @@ #include #include #include +#include - +#include "util.h" class Trigger { @@ -92,11 +93,13 @@ class Trigger TriggerID_t getID() const { return triggerID; } std::vector getParameters() const { return parameters; } bool isActive() const; + in_addr_t getObjectIP(void) const { return triggerObjectIP; } bool operator==(const Trigger &other) const { return other.triggerID == triggerID; } /*! Setters */ void setID(TriggerID_t triggerID) { this->triggerID = triggerID; } + void setObjectIP(in_addr_t ipAddr) { triggerObjectIP = ipAddr; } /*! * \brief appendParameter Appends an ISO parameter to the parameters list. @@ -122,6 +125,7 @@ class Trigger static std::string getTypeAsString(TriggerTypeCode_t typeCode); static std::string getParameterAsString(TriggerParameter_t param); std::string getParametersString(void) const; + TRCMData getConfigurationMessageData(void) const; /*! * \brief update Update tracked signal (i.e. signal which causes the trigger to occur). @@ -135,12 +139,15 @@ class Trigger virtual TriggerReturnCode_t update(int) { throw std::invalid_argument("Invalid signal type"); } virtual TriggerReturnCode_t update(float) { throw std::invalid_argument("Invalid signal type"); } virtual TriggerReturnCode_t update(double) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(TREOData){ throw std::invalid_argument("Invalid signal type"); } protected: TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter) const; TriggerTypeCode_t triggerTypeCode; TriggerReturnCode_t wasTriggeredByLastUpdate = NOT_OK; //!< State saving the last result of update std::vector parameters; + in_addr_t triggerObjectIP = 0; + private: TriggerID_t triggerID; diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index c849fd8a0..57ce6db0f 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -133,3 +133,45 @@ std::string Action::getTypeAsString(Action::ActionTypeCode_t typeCode) } return "<>"; } + +/*! + * \brief Action::getConfigurationMessageData Constructs a ACCMData struct from object members + * \return A struct which can be sent on message bus + */ +ACCMData Action::getConfigurationMessageData(void) const +{ + ACCMData retval; + retval.actionID = actionID; + retval.actionType = actionTypeCode; + + if (actionObjectIP == 0) LogMessage(LOG_LEVEL_WARNING, "Constructing action configuration message with no IP"); + + retval.ip = actionObjectIP; + + switch(parameters.size()) + { + case 3: + retval.actionTypeParameter1 = parameters[0]; + retval.actionTypeParameter2 = parameters[1]; + retval.actionTypeParameter3 = parameters[2]; + break; + case 2: + retval.actionTypeParameter1 = parameters[0]; + retval.actionTypeParameter2 = parameters[1]; + retval.actionTypeParameter3 = ACTION_PARAMETER_UNAVAILABLE; + break; + case 1: + retval.actionTypeParameter1 = parameters[0]; + retval.actionTypeParameter2 = ACTION_PARAMETER_UNAVAILABLE; + retval.actionTypeParameter3 = ACTION_PARAMETER_UNAVAILABLE; + break; + case 0: + retval.actionTypeParameter1 = ACTION_PARAMETER_UNAVAILABLE; + retval.actionTypeParameter2 = ACTION_PARAMETER_UNAVAILABLE; + retval.actionTypeParameter3 = ACTION_PARAMETER_UNAVAILABLE; + break; + default: + throw std::invalid_argument("Action contains too many parameters for an ISO message"); + } + return retval; +} diff --git a/modules/ScenarioControl/src/causality.cpp b/modules/ScenarioControl/src/causality.cpp index 73e911e65..256859b77 100644 --- a/modules/ScenarioControl/src/causality.cpp +++ b/modules/ScenarioControl/src/causality.cpp @@ -7,36 +7,36 @@ Causality::Causality(Causality::TriggerOperator_t op) triggers = std::set(); } -Causality::Causality(Action* a, TriggerOperator_t op) +Causality::Causality(Action* ap, TriggerOperator_t op) { - actions.insert(a); + actions.insert(ap); oper = op; triggers = std::set(); } -Causality::Causality(Trigger* t, Action* a, TriggerOperator_t op) +Causality::Causality(Trigger* tp, Action* ap, TriggerOperator_t op) { - triggers.insert(t); - actions.insert(a); + triggers.insert(tp); + actions.insert(ap); oper = op; } Action* Causality::getActionByID(Action::ActionID_t id) const { - for (Action* a : actions) + for (Action* ap : actions) { - if (a->getID() == id) - return a; + if (ap->getID() == id) + return ap; } return nullptr; } Trigger* Causality::getTriggerByID(Trigger::TriggerID_t id) const { - for (Trigger* t : triggers) + for (Trigger* tp : triggers) { - if (t->getID() == id) - return t; + if (tp->getID() == id) + return tp; } return nullptr; } diff --git a/modules/ScenarioControl/src/isoaction.cpp b/modules/ScenarioControl/src/isoaction.cpp index 50996a4fe..91eea0b38 100644 --- a/modules/ScenarioControl/src/isoaction.cpp +++ b/modules/ScenarioControl/src/isoaction.cpp @@ -11,7 +11,7 @@ Action::ActionReturnCode_t ISOAction::execute(void) else { data.actionID = actionID; data.delayTime_qms = actionDelayTime_qms; - data.ip = targetObjAddr; + data.ip = actionObjectIP; LogMessage(LOG_LEVEL_INFO, "Sending execute action message over message bus (action ID %u)", actionID); if(iCommSendEXAC(data) == -1) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 2f5e08dbd..5ac2ee185 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -20,6 +20,8 @@ int main() const struct timespec sleepTimePeriod = {0,10000000}; struct timespec remTime; Scenario scenario; + TREOData treo; + bool terminate = false; LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); @@ -42,15 +44,20 @@ int main() scenario.updateTrigger(1,false); scenario.refresh(); LogMessage(LOG_LEVEL_INFO,"6"); - exit(0); + //exit(0); // Initialize message bus connection while(iCommInit()) { nanosleep(&sleepTimePeriod,&remTime); } - while(true) + while(!terminate) { + // Make all active triggers cause their corresponding actions + scenario.refresh(); + // Allow for retriggering on received TREO messages + scenario.resetISOTriggers(); + if (iCommRecv(&command,mqRecvData,MQ_MSG_SIZE,nullptr) < 0) { util_error("Message bus receive error"); @@ -65,12 +72,38 @@ int main() catch (std::invalid_argument) { util_error("Invalid scenario file format"); } catch (std::ifstream::failure) { util_error("Unable to open scenario file <" SCENARIO_FILE_PATH ">"); } break; + case COMM_OBC_STATE: + case COMM_LOG: + // Ignore the state of object control and logging messages + break; + case COMM_TREO: + // Decode MQ data + memcpy(&treo.triggerID, mqRecvData, sizeof(treo.triggerID)); + memcpy(&treo.timestamp_qmsow, mqRecvData+sizeof(treo.triggerID), sizeof(treo.timestamp_qmsow)); + memcpy(&treo.ip, mqRecvData+sizeof(treo.triggerID)+sizeof(treo.timestamp_qmsow), sizeof(treo.ip)); + + // Trigger corresponding trigger + scenario.updateTrigger(treo.triggerID, treo); + break; + case COMM_EXAC: + LogMessage(LOG_LEVEL_ERROR, "Received unexpected execute action message"); + terminate = true; + break; + case COMM_TRCM: + LogMessage(LOG_LEVEL_ERROR, "Received unexpected trigger configuration message"); + terminate = true; + break; + case COMM_ACCM: + LogMessage(LOG_LEVEL_ERROR, "Received unexpected action configuration message"); + terminate = true; + break; + case COMM_EXIT: + LogMessage(LOG_LEVEL_INFO, "Received exit command"); + terminate = true; + break; case COMM_INV: nanosleep(&sleepTimePeriod,&remTime); break; - case COMM_OBC_STATE: - // Ignore the state of object control - break; default: LogMessage(LOG_LEVEL_INFO,"Received command %u",command); } diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index b038ba1f1..9abe5f6d8 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -4,6 +4,7 @@ #include #include "logging.h" +#include "isotrigger.h" Scenario::Scenario(const std::string scenarioFilePath) { @@ -18,11 +19,11 @@ Scenario::~Scenario() void Scenario::clear() { - for (Trigger* t : allTriggers) - delete t; + for (Trigger* tp : allTriggers) + delete tp; - for (Action* a : allActions) - delete a; + for (Action* ap : allActions) + delete ap; causalities.clear(); allTriggers.clear(); @@ -46,6 +47,16 @@ void Scenario::initialize(const std::string scenarioFilePath) } file.close(); + for (Trigger* tp : allTriggers) + { + iCommSendTRCM(tp->getConfigurationMessageData()); + } + + for (Action* ap : allActions) + { + iCommSendACCM(ap->getConfigurationMessageData()); + } + LogMessage(LOG_LEVEL_INFO, "Successfully initialized scenario with %d unique triggers and %d unique actions", allTriggers.size(), allActions.size()); } @@ -66,68 +77,68 @@ void Scenario::parseScenarioFile(std::ifstream &file) linkTriggerWithAction(bt, mqttAction); } -Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger* t) +Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger* tp) { for (Trigger* knownTrigger : allTriggers) { - if (knownTrigger->getID() == t->getID()) return DUPLICATE_ELEMENT; + if (knownTrigger->getID() == tp->getID()) return DUPLICATE_ELEMENT; } - allTriggers.insert(t); + allTriggers.insert(tp); return OK; } -Scenario::ScenarioReturnCode_t Scenario::addAction(Action* a) +Scenario::ScenarioReturnCode_t Scenario::addAction(Action* ap) { for (Action* knownAction : allActions) { - if (knownAction->getID() == a->getID()) return DUPLICATE_ELEMENT; + if (knownAction->getID() == ap->getID()) return DUPLICATE_ELEMENT; } - allActions.insert(a); + allActions.insert(ap); return OK; } -Scenario::ScenarioReturnCode_t Scenario::linkTriggersWithActions(std::set ts, std::set as) +Scenario::ScenarioReturnCode_t Scenario::linkTriggersWithActions(std::set ts, std::set aps) { Causality c(Causality::AND); - for (Trigger* t : ts) + for (Trigger* tp : ts) { - c.addTrigger(t); + c.addTrigger(tp); } - for (Action* a : as) + for (Action* ap : aps) { - c.addAction(a); + c.addAction(ap); } causalities.insert(c); return OK; } -Scenario::ScenarioReturnCode_t Scenario::linkTriggerWithAction(Trigger *t, Action *a) +Scenario::ScenarioReturnCode_t Scenario::linkTriggerWithAction(Trigger *tp, Action *ap) { - std::set ts; - std::set as; - ts.insert(t); - as.insert(a); - return linkTriggersWithActions(ts, as); + std::set tps; + std::set aps; + tps.insert(tp); + aps.insert(ap); + return linkTriggersWithActions(tps, aps); } -Scenario::ScenarioReturnCode_t Scenario::linkTriggersWithAction(std::set ts, Action* a) +Scenario::ScenarioReturnCode_t Scenario::linkTriggersWithAction(std::set tps, Action* ap) { - std::set as; - as.insert(a); - return linkTriggersWithActions(ts, as); + std::set aps; + aps.insert(ap); + return linkTriggersWithActions(tps, aps); } -Scenario::ScenarioReturnCode_t Scenario::linkTriggerWithActions(Trigger *t, std::set as) +Scenario::ScenarioReturnCode_t Scenario::linkTriggerWithActions(Trigger *tp, std::set aps) { - std::set ts; - ts.insert(t); - return linkTriggersWithActions(ts, as); + std::set tps; + tps.insert(tp); + return linkTriggersWithActions(tps, aps); } void Scenario::refresh(void) const @@ -138,3 +149,15 @@ void Scenario::refresh(void) const } } +void Scenario::resetISOTriggers(void) +{ + for (Trigger* tp : allTriggers) + { + if (dynamic_cast(tp) != nullptr) + { + // "untrigger" the trigger + tp->update(); + } + } +} + diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index bf833c55f..48d69cc64 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -1,5 +1,6 @@ #include "trigger.h" +#include "logging.h" Trigger::Trigger(TriggerID_t triggerID, TriggerTypeCode_t triggerType) { @@ -200,3 +201,45 @@ bool Trigger::isActive() const return false; throw std::logic_error("Trigger in undefined state"); } + +/*! + * \brief Trigger::getConfigurationMessageData Constructs a TRCMData struct from object members + * \return A struct which can be sent on message bus + */ +TRCMData Trigger::getConfigurationMessageData(void) const +{ + TRCMData retval; + retval.triggerID = triggerID; + retval.triggerType = triggerTypeCode; + + if (triggerObjectIP == 0) LogMessage(LOG_LEVEL_WARNING, "Constructing trigger configuration message with no IP"); + + retval.ip = triggerObjectIP; + + switch(parameters.size()) + { + case 3: + retval.triggerTypeParameter1 = parameters[0]; + retval.triggerTypeParameter2 = parameters[1]; + retval.triggerTypeParameter3 = parameters[2]; + break; + case 2: + retval.triggerTypeParameter1 = parameters[0]; + retval.triggerTypeParameter2 = parameters[1]; + retval.triggerTypeParameter3 = TRIGGER_PARAMETER_UNAVAILABLE; + break; + case 1: + retval.triggerTypeParameter1 = parameters[0]; + retval.triggerTypeParameter2 = TRIGGER_PARAMETER_UNAVAILABLE; + retval.triggerTypeParameter3 = TRIGGER_PARAMETER_UNAVAILABLE; + break; + case 0: + retval.triggerTypeParameter1 = TRIGGER_PARAMETER_UNAVAILABLE; + retval.triggerTypeParameter2 = TRIGGER_PARAMETER_UNAVAILABLE; + retval.triggerTypeParameter3 = TRIGGER_PARAMETER_UNAVAILABLE; + break; + default: + throw std::invalid_argument("Trigger contains too many parameters for an ISO message"); + } + return retval; +} diff --git a/util b/util index 45b58ec55..4afcc2141 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 45b58ec5584f5cb427e68884e2f6ed9992b1f103 +Subproject commit 4afcc2141d66b1302b8096727877f983e4452baa From 45ccea81ba83385eed4c6ec32a4d59c0cfb5a7d6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 23 Jul 2019 00:10:45 +0200 Subject: [PATCH 365/730] Implemented infrastructure action with DENM-ish content --- modules/ScenarioControl/inc/action.h | 50 +++++++++++++++---- modules/ScenarioControl/inc/externalaction.h | 29 +++++++++++ modules/ScenarioControl/inc/isoaction.h | 15 ------ modules/ScenarioControl/src/action.cpp | 33 ++++++++++++ .../src/{isoaction.cpp => externalaction.cpp} | 9 +++- modules/ScenarioControl/src/scenario.cpp | 14 +++++- 6 files changed, 121 insertions(+), 29 deletions(-) create mode 100644 modules/ScenarioControl/inc/externalaction.h delete mode 100644 modules/ScenarioControl/inc/isoaction.h rename modules/ScenarioControl/src/{isoaction.cpp => externalaction.cpp} (65%) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index c1c645ef1..dec8693de 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -4,6 +4,9 @@ #include #include #include +#include +#include + #include "util.h" @@ -38,17 +41,18 @@ class Action } ActionTypeCode_t; typedef enum { - ACTION_PARAMETER_SET_FALSE = 0x00000000, - ACTION_PARAMETER_SET_TRUE = 0x00000001, - ACTION_PARAMETER_RELEASE = 0x00000010, - ACTION_PARAMETER_PRESS = 0x00000011, - ACTION_PARAMETER_SET_VALUE = 0x00000020, - ACTION_PARAMETER_MIN = 0x00000040, - ACTION_PARAMETER_MAX = 0x00000041, - ACTION_PARAMETER_X = 0x00000070, - ACTION_PARAMETER_Y = 0x00000071, - ACTION_PARAMETER_Z = 0x00000072, - ACTION_PARAMETER_UNAVAILABLE = 0xFFFFFFFF + ACTION_PARAMETER_SET_FALSE = 0x00000000, + ACTION_PARAMETER_SET_TRUE = 0x00000001, + ACTION_PARAMETER_RELEASE = 0x00000010, + ACTION_PARAMETER_PRESS = 0x00000011, + ACTION_PARAMETER_SET_VALUE = 0x00000020, + ACTION_PARAMETER_MIN = 0x00000040, + ACTION_PARAMETER_MAX = 0x00000041, + ACTION_PARAMETER_X = 0x00000070, + ACTION_PARAMETER_Y = 0x00000071, + ACTION_PARAMETER_Z = 0x00000072, + ACTION_PARAMETER_VS_BRAKE_WARNING = 0xA0000000, + ACTION_PARAMETER_UNAVAILABLE = 0xFFFFFFFF } ActionParameter_t; typedef enum { @@ -84,6 +88,10 @@ class Action static std::string getParameterAsString(ActionParameter_t param); std::string getParametersString(void) const; ACCMData getConfigurationMessageData(void) const; + in_addr_t getObjectIP(void) const { return actionObjectIP; } + void setObjectIP(in_addr_t ipAddr) { actionObjectIP = ipAddr; } + + ActionReturnCode_t appendParameter(ActionParameter_t actionParameter); protected: ActionTypeCode_t actionTypeCode = ACTION_NONE; @@ -92,6 +100,26 @@ class Action std::vector parameters; uint32_t actionDelayTime_qms; in_addr_t actionObjectIP = 0; + + ActionReturnCode_t checkActionParameter(ActionParameter_t actionParameter); +private: + virtual const std::set getAcceptedParameters(void) const + { + std::set accParams; + accParams.insert(ACTION_PARAMETER_SET_FALSE); + accParams.insert(ACTION_PARAMETER_SET_TRUE); + accParams.insert(ACTION_PARAMETER_RELEASE); + accParams.insert(ACTION_PARAMETER_PRESS); + accParams.insert(ACTION_PARAMETER_SET_VALUE); + accParams.insert(ACTION_PARAMETER_MIN); + accParams.insert(ACTION_PARAMETER_MAX); + accParams.insert(ACTION_PARAMETER_X); + accParams.insert(ACTION_PARAMETER_Y); + accParams.insert(ACTION_PARAMETER_Z); + accParams.insert(ACTION_PARAMETER_VS_BRAKE_WARNING); + accParams.insert(ACTION_PARAMETER_UNAVAILABLE); + return accParams; + } }; #endif diff --git a/modules/ScenarioControl/inc/externalaction.h b/modules/ScenarioControl/inc/externalaction.h new file mode 100644 index 000000000..51fc5aa49 --- /dev/null +++ b/modules/ScenarioControl/inc/externalaction.h @@ -0,0 +1,29 @@ +#ifndef ISOACTION_H +#define ISOACTION_H + +#include "action.h" + + +class ExternalAction : public Action +{ +public: + using Action::Action; + + ActionReturnCode_t execute(void) override; +}; + +class InfrastructureAction : public ExternalAction +{ +public: + InfrastructureAction(ActionID_t actionID = 0, uint32_t allowedNumberOfRuns = 1); + +private: + const std::set getAcceptedParameters(void) const + { + std::set accParams; + accParams.insert(ACTION_PARAMETER_VS_BRAKE_WARNING); + return accParams; + } +}; + +#endif diff --git a/modules/ScenarioControl/inc/isoaction.h b/modules/ScenarioControl/inc/isoaction.h deleted file mode 100644 index 1575bf846..000000000 --- a/modules/ScenarioControl/inc/isoaction.h +++ /dev/null @@ -1,15 +0,0 @@ -#ifndef ISOACTION_H -#define ISOACTION_H - -#include "action.h" - -#include - -class ISOAction : public Action -{ -public: - ISOAction(); - ActionReturnCode_t execute(void) override; -}; - -#endif diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index 57ce6db0f..0c3bd0f55 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -1,7 +1,9 @@ #include "action.h" + #include "logging.h" + /*! * \brief Action::Action Constructor for Action objects. * \param actionID ISO ID of the action @@ -134,6 +136,37 @@ std::string Action::getTypeAsString(Action::ActionTypeCode_t typeCode) return "<>"; } +/*! + * \brief Action::checkActionParameter Checks if the queried parameter is within the list of accepted parameters + * \param actionParameter Queried parameter + * \return According to ::ActionReturnCode_t + */ +Action::ActionReturnCode_t Action::checkActionParameter(ActionParameter_t actionParameter) const +{ + std::set acceptedParameters = getAcceptedParameters(); + for (const ActionParameter_t param : acceptedParameters) { + if (actionParameter == param) + return OK; + } + return NOT_OK; +} + +/*! + * \brief Action::appendParameter + * \param actionParameter + * \return + */ +Action::ActionReturnCode_t Action::appendParameter(ActionParameter_t actionParameter) +{ + ActionReturnCode_t retval = NOT_OK; + + if( (retval = checkActionParameter(actionParameter)) != OK) + return retval; + + parameters.push_back(actionParameter); + return OK; +} + /*! * \brief Action::getConfigurationMessageData Constructs a ACCMData struct from object members * \return A struct which can be sent on message bus diff --git a/modules/ScenarioControl/src/isoaction.cpp b/modules/ScenarioControl/src/externalaction.cpp similarity index 65% rename from modules/ScenarioControl/src/isoaction.cpp rename to modules/ScenarioControl/src/externalaction.cpp index 91eea0b38..5f32b3a67 100644 --- a/modules/ScenarioControl/src/isoaction.cpp +++ b/modules/ScenarioControl/src/externalaction.cpp @@ -1,8 +1,8 @@ -#include "isoaction.h" +#include "externalaction.h" #include "logging.h" #include "util.h" -Action::ActionReturnCode_t ISOAction::execute(void) +Action::ActionReturnCode_t ExternalAction::execute(void) { EXACData data; @@ -21,3 +21,8 @@ Action::ActionReturnCode_t ISOAction::execute(void) return OK; } } + +InfrastructureAction::InfrastructureAction(ActionID_t actionID, uint32_t allowedNumberOfRuns) + : ExternalAction(actionID, Action::ACTION_INFRASTRUCTURE, allowedNumberOfRuns) +{ +} diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 9abe5f6d8..bee58a674 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -5,6 +5,7 @@ #include "logging.h" #include "isotrigger.h" +#include "externalaction.h" Scenario::Scenario(const std::string scenarioFilePath) { @@ -65,12 +66,23 @@ void Scenario::parseScenarioFile(std::ifstream &file) LogMessage(LOG_LEVEL_DEBUG, "Parsing scenario file"); // TODO: read file, throw std::invalid_argument if badly formatted // TODO: decode file into triggers and actions + // TODO: link triggers and actions + + // THIS IS TEMPORARY BrakeTrigger* bt = new BrakeTrigger(1); - Action* mqttAction = new Action(5, Action::ACTION_TEST_SCENARIO_COMMAND, 1); + InfrastructureAction* mqttAction = new InfrastructureAction(5, 1); + const char brakeObjectIPString[] = "123.123.123.123"; + in_addr brakeObjectIP; + inet_pton(AF_INET, brakeObjectIPString, &brakeObjectIP); bt->appendParameter(Trigger::TRIGGER_PARAMETER_PRESSED); bt->parseParameters(); + bt->setObjectIP(brakeObjectIP.s_addr); + + mqttAction->appendParameter(Action::ACTION_PARAMETER_VS_BRAKE_WARNING); + mqttAction->setObjectIP(0); + addTrigger(bt); addAction(mqttAction); From 6088814116507d97f9deb25d6e49c0bbb5bc85ed Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 23 Jul 2019 00:13:51 +0200 Subject: [PATCH 366/730] Missed small stuff --- modules/ScenarioControl/CMakeLists.txt | 4 ++-- modules/ScenarioControl/inc/externalaction.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index d9a8a94c2..f66ac298c 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -50,8 +50,8 @@ add_library(Trigger add_library(Action inc/action.h src/action.cpp - inc/isoaction.h - src/isoaction.cpp + inc/externalaction.h + src/externalaction.cpp ) add_library(Scenario diff --git a/modules/ScenarioControl/inc/externalaction.h b/modules/ScenarioControl/inc/externalaction.h index 51fc5aa49..e4a9d6e64 100644 --- a/modules/ScenarioControl/inc/externalaction.h +++ b/modules/ScenarioControl/inc/externalaction.h @@ -1,5 +1,5 @@ -#ifndef ISOACTION_H -#define ISOACTION_H +#ifndef EXTERNALACTION_H +#define EXTERNALACTION_H #include "action.h" From 105c0af1aaf550a8f3543b3e6ec1e7f81196c1f8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 23 Jul 2019 00:18:19 +0200 Subject: [PATCH 367/730] Fixed build error --- modules/ScenarioControl/inc/action.h | 3 ++- modules/ScenarioControl/src/scenario.cpp | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index dec8693de..6f6abd847 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -101,7 +101,8 @@ class Action uint32_t actionDelayTime_qms; in_addr_t actionObjectIP = 0; - ActionReturnCode_t checkActionParameter(ActionParameter_t actionParameter); + ActionReturnCode_t checkActionParameter(ActionParameter_t actionParameter) const; + private: virtual const std::set getAcceptedParameters(void) const { diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index bee58a674..3c12d0abd 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -68,7 +68,7 @@ void Scenario::parseScenarioFile(std::ifstream &file) // TODO: decode file into triggers and actions // TODO: link triggers and actions - // THIS IS TEMPORARY + // PLACEHOLDER CODE BrakeTrigger* bt = new BrakeTrigger(1); InfrastructureAction* mqttAction = new InfrastructureAction(5, 1); const char brakeObjectIPString[] = "123.123.123.123"; From 2d60b67203da4335a3e2ca61315aa91d20462f34 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 25 Jul 2019 12:14:00 +0200 Subject: [PATCH 368/730] Implemented mq decoder functions for T&A messages --- server/inc/util.h | 5 ++ server/src/util.c | 142 ++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 147 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index 42274c702..87366a229 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -925,6 +925,11 @@ I32 UtilISOBuildTRAJMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMTy I32 UtilISOBuildTRAJInfo(C8* MessageBuffer, TRAJInfoType *TRAJInfoData, U8 debug); I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataType *monitorData, U8 debug); +I32 UtilPopulateTREODataStructFromMQ(C8* rawTREO, size_t rawTREOsize, TREOData *treoData); +I32 UtilPopulateEXACDataStructFromMQ(C8* rawEXAC, size_t rawEXACsize, EXACData *exacData); +I32 UtilPopulateTRCMDataStructFromMQ(C8* rawTRCM, size_t rawTRCMsize, TRCMData *trcmData); +I32 UtilPopulateACCMDataStructFromMQ(C8* rawACCM, size_t rawACCMsize, ACCMData *accmData); + double UtilGetDistance(double lat1, double lon1, double lat2, double lon2); diff --git a/server/src/util.c b/server/src/util.c index 66c86ac60..51fb77ecc 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -48,6 +48,9 @@ #define PRIO_COMM_CONTROL 180 #define PRIO_COMM_ABORT 60 #define PRIO_COMM_EXAC 70 +#define PRIO_COMM_ACCM 80 +#define PRIO_COMM_TREO 70 +#define PRIO_COMM_TRCM 80 #define PRIO_COMM_TOM 90 #define PRIO_COMM_INIT 110 #define PRIO_COMM_CONNECT 110 @@ -1967,6 +1970,15 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength case COMM_EXAC: uiMessagePrio = PRIO_COMM_EXAC; break; + case COMM_ACCM: + uiMessagePrio = PRIO_COMM_ACCM; + break; + case COMM_TREO: + uiMessagePrio = PRIO_COMM_TREO; + break; + case COMM_TRCM: + uiMessagePrio = PRIO_COMM_TRCM; + break; default: util_error("Unknown command"); } @@ -3223,6 +3235,136 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy return 0; } +/*! + * \brief UtilPopulateTREODataStructFromMQ Fills TREO data struct with COMM_TREO MQ message contents + * \param rawTREO MQ data + * \param rawTREOsize size of MQ data + * \param treoData Data struct to be filled + */ +I32 UtilPopulateTREODataStructFromMQ(C8* rawTREO, size_t rawTREOsize, TREOData *treoData) +{ + C8 *rdPtr = rawTREO; + + if (rawTREOsize < sizeof(TREOData)) + { + LogMessage(LOG_LEVEL_ERROR, "Raw TREO array too small to hold all necessary TREO data"); + return -1; + } + + memcpy(&treoData->triggerID, rdPtr, sizeof(treoData->triggerID)); + rdPtr += sizeof(treoData->triggerID); + + memcpy(&treoData->timestamp_qmsow, rdPtr, sizeof(treoData->timestamp_qmsow)); + rdPtr += sizeof(treoData->timestamp_qmsow); + + memcpy(&treoData->ip, rdPtr, sizeof(treoData->ip)); + rdPtr += sizeof(treoData->ip); + + return 0; +} + +/*! + * \brief UtilPopulateEXACDataStructFromMQ Fills EXAC data struct with COMM_EXAC MQ message contents + * \param rawEXAC MQ data + * \param rawEXACsize size of MQ data + * \param exacData Data struct to be filled + */ +I32 UtilPopulateEXACDataStructFromMQ(C8* rawEXAC, size_t rawEXACsize, EXACData *exacData) +{ + C8 *rdPtr = rawEXAC; + + if (rawEXACsize < sizeof(EXACData)) + { + LogMessage(LOG_LEVEL_ERROR, "Raw EXAC array too small to hold all necessary EXAC data"); + return -1; + } + + memcpy(&exacData->actionID, rdPtr, sizeof(exacData->actionID)); + rdPtr += sizeof(exacData->actionID); + + memcpy(&exacData->delayTime_qms, rdPtr, sizeof(exacData->delayTime_qms)); + rdPtr += sizeof(exacData->delayTime_qms); + + memcpy(&exacData->ip, rdPtr, sizeof(exacData->ip)); + rdPtr += sizeof(exacData->ip); + + return 0; +} + +/*! + * \brief UtilPopulateTRCMDataStructFromMQ Fills TRCM data struct with COMM_TRCM MQ message contents + * \param rawTRCM MQ data + * \param rawTRCMsize size of MQ data + * \param trcmData Data struct to be filled + */ +I32 UtilPopulateTRCMDataStructFromMQ(C8* rawTRCM, size_t rawTRCMsize, TRCMData *trcmData) +{ + C8 *rdPtr = rawTRCM; + + if (rawTRCMsize < sizeof(TRCMData)) + { + LogMessage(LOG_LEVEL_ERROR, "Raw TRCM array too small to hold all necessary TRCM data"); + return -1; + } + + memcpy(&trcmData->triggerID, rdPtr, sizeof(trcmData->triggerID)); + rdPtr += sizeof(trcmData->triggerID); + + memcpy(&trcmData->triggerType, rdPtr, sizeof(trcmData->triggerType)); + rdPtr += sizeof(trcmData->triggerType); + + memcpy(&trcmData->triggerTypeParameter1, rdPtr, sizeof(trcmData->triggerTypeParameter1)); + rdPtr += sizeof(trcmData->triggerTypeParameter1); + + memcpy(&trcmData->triggerTypeParameter2, rdPtr, sizeof(trcmData->triggerTypeParameter2)); + rdPtr += sizeof(trcmData->triggerTypeParameter2); + + memcpy(&trcmData->triggerTypeParameter3, rdPtr, sizeof(trcmData->triggerTypeParameter3)); + rdPtr += sizeof(trcmData->triggerTypeParameter3); + + memcpy(&trcmData->ip, rdPtr, sizeof(trcmData->ip)); + rdPtr += sizeof(trcmData->ip); + + return 0; +} + +/*! + * \brief UtilPopulateACCMDataStructFromMQ Fills ACCM data struct with COMM_ACCM MQ message contents + * \param rawACCM MQ data + * \param rawACCMsize size of MQ data + * \param accmData Data struct to be filled + */ +I32 UtilPopulateACCMDataStructFromMQ(C8* rawACCM, size_t rawACCMsize, ACCMData *accmData) +{ + C8 *rdPtr = rawACCM; + + if (rawACCMsize < sizeof(ACCMData)) + { + LogMessage(LOG_LEVEL_ERROR, "Raw ACCM array too small to hold all necessary ACCM data"); + return -1; + } + + memcpy(&accmData->actionID, rdPtr, sizeof(accmData->actionID)); + rdPtr += sizeof(accmData->actionID); + + memcpy(&accmData->actionType, rdPtr, sizeof(accmData->actionType)); + rdPtr += sizeof(accmData->actionType); + + memcpy(&accmData->actionTypeParameter1, rdPtr, sizeof(accmData->actionTypeParameter1)); + rdPtr += sizeof(accmData->actionTypeParameter1); + + memcpy(&accmData->actionTypeParameter2, rdPtr, sizeof(accmData->actionTypeParameter2)); + rdPtr += sizeof(accmData->actionTypeParameter2); + + memcpy(&accmData->actionTypeParameter3, rdPtr, sizeof(accmData->actionTypeParameter3)); + rdPtr += sizeof(accmData->actionTypeParameter3); + + memcpy(&accmData->ip, rdPtr, sizeof(accmData->ip)); + rdPtr += sizeof(accmData->ip); + + return 0; +} + /*! * \brief UtilgetDistance calculates the distance between two log lat positions usgin haversine formula. * \param lat1 Latitude of first coordinate From 465b504382d5adf0320ea6b9e4810ca7c3402662 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 25 Jul 2019 13:20:37 +0200 Subject: [PATCH 369/730] Implemented logging of T&A messages --- server/src/logger.c | 78 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 78 insertions(+) diff --git a/server/src/logger.c b/server/src/logger.c index 1181cc598..d92c18483 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -59,6 +59,7 @@ static int ReadLogLine(FILE *fd, char *Buffer); static int CountFileRows(FILE *fd); void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); +void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); /*------------------------------------------------------------ -- Private variables @@ -148,6 +149,15 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; + case COMM_TRCM: + case COMM_ACCM: + case COMM_TREO: + case COMM_EXAC: + if (!isFirstInit) + vLogScenarioControlData(command, busReceiveBuffer, receivedBytes, recvTime, pcLogFile, pcLogFileComp); + else + LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); + case COMM_STRT: case COMM_ARMD: case COMM_STOP: @@ -628,3 +638,71 @@ void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval r fclose(filefd); } + + +void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp) +{ + FILE *filefd; + char DateBuffer[MAX_DATE_STRLEN]; + char ipStringBuffer[INET_ADDRSTRLEN]; + EXACData exac; + ACCMData accm; + TREOData treo; + TRCMData trcm; + + struct timeval messageTimeField, systemTime; + const int debug = 0; + + if (commandDatalen < 0) + { + LogMessage(LOG_LEVEL_WARNING, "Cannot log scenario control data with negative length"); + return; + } + + TimeSetToCurrentSystemTime(&systemTime); + + //UtilPopulateMonitorDataStruct(commandData, (size_t)(commandDatalen), &monitorData, debug); + //TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(&systemTime), monitorData.MONR.GPSQmsOfWeekU32); + + bzero(DateBuffer, sizeof(DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); + + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); + if (filefd == NULL) + { + LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFile); + return; + } + + fprintf(filefd, "%s;%ld;%u;", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command); + + switch (command) + { + case COMM_TREO: + UtilPopulateTREODataStructFromMQ(commandData, (size_t)commandDatalen, &treo); + TimeSetToGPStime(&messageTimeField, TimeGetAsGPSweek(&systemTime), treo.timestamp_qmsow); + fprintf(filefd, "%u;%ld;", treo.triggerID, TimeGetAsGPSms(&messageTimeField)); + fprintf(filefd, "%s", inet_ntop(AF_INET,&treo.ip,ipStringBuffer,sizeof(ipStringBuffer))); + break; + case COMM_EXAC: + UtilPopulateEXACDataStructFromMQ(commandData, (size_t)commandDatalen, &exac); + TimeSetToUTCms(&messageTimeField, exac.delayTime_qms*4); + fprintf(filefd, "%u;%ld;", exac.actionID, TimeGetAsUTCms(&messageTimeField)); + fprintf(filefd, "%s", inet_ntop(AF_INET,&exac.ip,ipStringBuffer,sizeof(ipStringBuffer))); + break; + case COMM_TRCM: + UtilPopulateTRCMDataStructFromMQ(commandData, (size_t)commandDatalen, &trcm); + fprintf(filefd, "%u;%u;%u;%u;%u", trcm.triggerID, trcm.triggerType, + trcm.triggerTypeParameter1, trcm.triggerTypeParameter2, trcm.triggerTypeParameter3); + fprintf(filefd, "%s", inet_ntop(AF_INET,&trcm.ip,ipStringBuffer,sizeof(ipStringBuffer))); + case COMM_ACCM: + UtilPopulateACCMDataStructFromMQ(commandData, (size_t)commandDatalen, &accm); + fprintf(filefd, "%u;%u;%u;%u;%u", accm.actionID, accm.actionType, + accm.actionTypeParameter1, accm.actionTypeParameter2, accm.actionTypeParameter3); + fprintf(filefd, "%s", inet_ntop(AF_INET,&accm.ip,ipStringBuffer,sizeof(ipStringBuffer))); + default: + LogMessage(LOG_LEVEL_ERROR,"Unhandled command in scenario control logging: %u", (unsigned char)command); + } + + fclose(filefd); +} From 8e4a46d1136e638bc35e8214f2bbbb0952ec04dc Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 25 Jul 2019 16:08:47 +0200 Subject: [PATCH 370/730] Moved some stuff to INIT --- modules/ScenarioControl/src/main.cpp | 41 ++++++++++++++-------------- 1 file changed, 21 insertions(+), 20 deletions(-) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 5ac2ee185..c7920a47d 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -26,31 +26,14 @@ int main() LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); - scenario.initialize("log/dummy_scenariofil.fil"); - - LogMessage(LOG_LEVEL_INFO,"1"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"2"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"3"); - scenario.updateTrigger(1,true); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"4"); - scenario.updateTrigger(1,true); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"5"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"6"); - //exit(0); // Initialize message bus connection while(iCommInit()) { nanosleep(&sleepTimePeriod,&remTime); } + //exit(0); + while(!terminate) { // Make all active triggers cause their corresponding actions @@ -67,7 +50,25 @@ int main() case COMM_INIT: try { LogMessage(LOG_LEVEL_INFO, "Initializing scenario"); - scenario.initialize(SCENARIO_FILE_PATH); + //scenario.initialize(SCENARIO_FILE_PATH); + scenario.initialize("log/dummy_scenariofil.fil"); + + LogMessage(LOG_LEVEL_INFO,"1"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"2"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"3"); + scenario.updateTrigger(1,true); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"4"); + scenario.updateTrigger(1,true); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"5"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"6"); } catch (std::invalid_argument) { util_error("Invalid scenario file format"); } catch (std::ifstream::failure) { util_error("Unable to open scenario file <" SCENARIO_FILE_PATH ">"); } From 0a02e2c4c82e28ada34919c802feabb3e54f059d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 25 Jul 2019 16:09:04 +0200 Subject: [PATCH 371/730] Added missing break statements --- server/src/logger.c | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/server/src/logger.c b/server/src/logger.c index d92c18483..f9d761f2a 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -680,26 +680,32 @@ void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, s { case COMM_TREO: UtilPopulateTREODataStructFromMQ(commandData, (size_t)commandDatalen, &treo); + LogMessage(LOG_LEVEL_INFO,"Trigger event occurred, ID %u",treo.triggerID); TimeSetToGPStime(&messageTimeField, TimeGetAsGPSweek(&systemTime), treo.timestamp_qmsow); fprintf(filefd, "%u;%ld;", treo.triggerID, TimeGetAsGPSms(&messageTimeField)); fprintf(filefd, "%s", inet_ntop(AF_INET,&treo.ip,ipStringBuffer,sizeof(ipStringBuffer))); break; case COMM_EXAC: UtilPopulateEXACDataStructFromMQ(commandData, (size_t)commandDatalen, &exac); + LogMessage(LOG_LEVEL_INFO,"Action execute request detected, ID %u",exac.actionID); TimeSetToUTCms(&messageTimeField, exac.delayTime_qms*4); fprintf(filefd, "%u;%ld;", exac.actionID, TimeGetAsUTCms(&messageTimeField)); fprintf(filefd, "%s", inet_ntop(AF_INET,&exac.ip,ipStringBuffer,sizeof(ipStringBuffer))); break; case COMM_TRCM: UtilPopulateTRCMDataStructFromMQ(commandData, (size_t)commandDatalen, &trcm); + LogMessage(LOG_LEVEL_INFO,"Trigger configuration for ID %u received, of type %u",trcm.triggerID, trcm.triggerType); fprintf(filefd, "%u;%u;%u;%u;%u", trcm.triggerID, trcm.triggerType, trcm.triggerTypeParameter1, trcm.triggerTypeParameter2, trcm.triggerTypeParameter3); fprintf(filefd, "%s", inet_ntop(AF_INET,&trcm.ip,ipStringBuffer,sizeof(ipStringBuffer))); + break; case COMM_ACCM: UtilPopulateACCMDataStructFromMQ(commandData, (size_t)commandDatalen, &accm); + LogMessage(LOG_LEVEL_INFO,"Action configuration for ID %u received, of type %u",accm.actionID, accm.actionType); fprintf(filefd, "%u;%u;%u;%u;%u", accm.actionID, accm.actionType, accm.actionTypeParameter1, accm.actionTypeParameter2, accm.actionTypeParameter3); fprintf(filefd, "%s", inet_ntop(AF_INET,&accm.ip,ipStringBuffer,sizeof(ipStringBuffer))); + break; default: LogMessage(LOG_LEVEL_ERROR,"Unhandled command in scenario control logging: %u", (unsigned char)command); } From 984e11924babf58ca6f14430fb85a18453fd82b6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 25 Jul 2019 16:59:30 +0200 Subject: [PATCH 372/730] Started using newer MONR decoder util function --- server/src/citscontrol.c | 118 ++++++++++++++++++++------------------- 1 file changed, 61 insertions(+), 57 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 94a1dc676..539638187 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -111,6 +111,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus enum COMMAND command; int mqtt_response_code = 0; + MonitorDataType mqMONRdata; MONRType MONRMessage; MONRType LastMONRMessage; @@ -190,63 +191,66 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Handle MQ messages bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if (command == COMM_ABORT) - { - - } - - if(command == COMM_EXIT) - { - iExit = 1; - printf("citscontrol exiting.\n"); - - (void)iCommClose(); - } - //usleep(100000); - switch (command) - { - case COMM_INIT: - - break; - case COMM_MONI: - // Ignore old style MONR data - break; - case COMM_MONR: - - UtilPopulateMONRStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); - - if(camTimeCycle == CHECK_PERIOD) - { - I16 distanceDelta = UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); - I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); - I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); - - - if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ - generateCAMMessage(&MONRMessage, lastCam); - generateDENMMessage(&MONRMessage, lastDenm); - sendCAM(lastCam); - sendDENM(lastDenm); - } - lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); - LastMONRMessage = MONRMessage; - camTimeCycle = 0; - } - camTimeCycle++; - - break; - case COMM_OBC_STATE: - break; - case COMM_CONNECT: - break; - case COMM_LOG: - break; - case COMM_INV: - break; - default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); - } + (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); + + if (command == COMM_ABORT) + { + + } + + if(command == COMM_EXIT) + { + iExit = 1; + printf("citscontrol exiting.\n"); + + (void)iCommClose(); + } + + + switch (command) + { + case COMM_INIT: + + break; + case COMM_MONI: + LogMessage(LOG_LEVEL_DEBUG, "Ignored old style MONR data"); + break; + case COMM_MONR: + + UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof(busReceiveBuffer),&mqMONRdata,0); + MONRMessage = mqMONRdata.MONR; + + if(camTimeCycle == CHECK_PERIOD) + { + I16 distanceDelta = UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); + I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); + I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); + + + if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ + generateCAMMessage(&MONRMessage, lastCam); + generateDENMMessage(&MONRMessage, lastDenm); + sendCAM(lastCam); + sendDENM(lastDenm); + } + lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); + LastMONRMessage = MONRMessage; + camTimeCycle = 0; + } + camTimeCycle++; + + break; + case COMM_OBC_STATE: + break; + case COMM_CONNECT: + break; + case COMM_LOG: + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } } } From 65b0a26caf108d2047128e77cbf810ed2744a1c3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 25 Jul 2019 17:23:27 +0200 Subject: [PATCH 373/730] Added separate header file for ISO definitions --- server/CMakeLists.txt | 1 + server/inc/iso22133.h | 109 ++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 110 insertions(+) create mode 100644 server/inc/iso22133.h diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 07af2ffad..e33fad566 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -61,6 +61,7 @@ add_library(MQBus add_library(util src/util.c inc/util.h + inc/iso22133.h ) # Create library diff --git a/server/inc/iso22133.h b/server/inc/iso22133.h new file mode 100644 index 000000000..39d458ee1 --- /dev/null +++ b/server/inc/iso22133.h @@ -0,0 +1,109 @@ +#ifndef ISO22133_H +#define ISO22133_H +/*! This file contains all definitions pertaining to the ISO standard 22133 + * + * + * + * + */ + + +//! TRCM +typedef enum { + TRIGGER_UNDEFINED = 0x0000, + TRIGGER_TYPE_1 = 0x0001, + TRIGGER_SPEED = 0x0010, + TRIGGER_DISTANCE = 0x0020, + TRIGGER_ACCELERATION = 0x0030, + TRIGGER_LANE_CHANGED = 0x0040, + TRIGGER_LANE_OFFSET = 0x0050, + TRIGGER_POSITION_REACHED = 0x0060, + TRIGGER_POSITION_LEFT = 0x0061, + TRIGGER_POSITION_OFFSET = 0x0062, + TRIGGER_STEERING_ANGLE = 0x0070, + TRIGGER_THROTTLE_VALUE = 0x0080, + TRIGGER_BRAKE = 0x0090, + TRIGGER_ACTIVE_TRAJECTORY = 0x00A0, + TRIGGER_OTHER_OBJECT_FEATURE = 0x00B0, + TRIGGER_INFRASTRUCTURE = 0x00C0, + TRIGGER_TEST_SCENARIO_EVENT = 0x00D0, + TRIGGER_MISC_DIGITAL_INPUT = 0x00E0, + TRIGGER_MISC_ANALOG_INPUT = 0x00F0, + TRIGGER_TIMER_EVENT_OCCURRED = 0x0100, + TRIGGER_MODE_CHANGED = 0x0110, + TRIGGER_UNAVAILABLE = 0xFFFF +} TriggerType_t; + +typedef enum { + TRIGGER_PARAMETER_FALSE = 0x00000000, + TRIGGER_PARAMETER_TRUE = 0x00000001, + TRIGGER_PARAMETER_RELEASED = 0x00000010, + TRIGGER_PARAMETER_PRESSED = 0x00000011, + TRIGGER_PARAMETER_LOW = 0x00000020, + TRIGGER_PARAMETER_HIGH = 0x00000021, + TRIGGER_PARAMETER_RISING_EDGE = 0x00000022, + TRIGGER_PARAMETER_FALLING_EDGE = 0x00000023, + TRIGGER_PARAMETER_ANY_EDGE = 0x00000024, + TRIGGER_PARAMETER_RELATIVE = 0x00000030, + TRIGGER_PARAMETER_ABSOLUTE = 0x00000031, + TRIGGER_PARAMETER_VALUE = 0x00000040, + TRIGGER_PARAMETER_MIN = 0x00000050, + TRIGGER_PARAMETER_MAX = 0x00000051, + TRIGGER_PARAMETER_MEAN = 0x00000052, + TRIGGER_PARAMETER_EQUAL_TO = 0x00000060, + TRIGGER_PARAMETER_GREATER_THAN = 0x00000061, + TRIGGER_PARAMETER_GREATER_THAN_OR_EQUAL_TO = 0x00000062, + TRIGGER_PARAMETER_LESS_THAN = 0x00000063, + TRIGGER_PARAMETER_LESS_THAN_OR_EQUAL_TO = 0x00000064, + TRIGGER_PARAMETER_NOT_EQUAL_TO = 0x00000065, + TRIGGER_PARAMETER_X = 0x00000070, + TRIGGER_PARAMETER_Y = 0x00000071, + TRIGGER_PARAMETER_Z = 0x00000072, + TRIGGER_PARAMETER_TIME = 0x00000080, + TRIGGER_PARAMETER_DATE = 0x00000081, + TRIGGER_PARAMETER_RULE = 0x000000A0, + TRIGGER_PARAMETER_UNAVAILABLE = 0xFFFFFFFF +} TriggerTypeParameter_t; + + +//! ACCM +typedef enum { + ACTION_NONE = 0x0000, + ACTION_TYPE_1 = 0x0001, + ACTION_TYPE_2 = 0x0002, + ACTION_SET_SPEED = 0x0010, + ACTION_SET_DISTANCE = 0x0020, + ACTION_SET_ACCELERATION = 0x0030, + ACTION_LANE_CHANGE = 0x0040, + ACTION_LANE_OFFSET = 0x0050, + ACTION_SET_POSITION = 0x0060, + ACTION_SET_STEERING_ANGLE = 0x0070, + ACTION_SET_TRHOTTLE_VALUE = 0x0080, + ACTION_BRAKE = 0x0090, + ACTION_FOLLOW_TRAJECTORY = 0x00A0, + ACTION_OTHER_OBJECT_FEATURE = 0x00B0, + ACTION_INFRASTRUCTURE = 0x00C0, + ACTION_TEST_SCENARIO_COMMAND = 0x00D0, + ACTION_MISC_DIGITAL_OUTPUT = 0x00E0, + ACTION_MISC_ANALOG_OUTPUT = 0x00F0, + ACTION_START_TIMER = 0x0100, + ACTION_MODE_CHANGE = 0x0110, + ACTION_UNAVAILABLE = 0xFFFF +} ActionType_t; + +typedef enum { + ACTION_PARAMETER_SET_FALSE = 0x00000000, + ACTION_PARAMETER_SET_TRUE = 0x00000001, + ACTION_PARAMETER_RELEASE = 0x00000010, + ACTION_PARAMETER_PRESS = 0x00000011, + ACTION_PARAMETER_SET_VALUE = 0x00000020, + ACTION_PARAMETER_MIN = 0x00000040, + ACTION_PARAMETER_MAX = 0x00000041, + ACTION_PARAMETER_X = 0x00000070, + ACTION_PARAMETER_Y = 0x00000071, + ACTION_PARAMETER_Z = 0x00000072, + ACTION_PARAMETER_VS_BRAKE_WARNING = 0xA0000000, + ACTION_PARAMETER_UNAVAILABLE = 0xFFFFFFFF +} ActionTypeParameter_t; + +#endif From 969d13f4bbcadb474e37e8970c5a26ff1b172ef8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 25 Jul 2019 17:43:38 +0200 Subject: [PATCH 374/730] Moved some ISO stuff away from other places --- modules/ScenarioControl/inc/action.h | 40 ++----------------- modules/ScenarioControl/inc/trigger.h | 57 ++------------------------- 2 files changed, 6 insertions(+), 91 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index 6f6abd847..d77b70f68 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -9,6 +9,7 @@ #include "util.h" +#include "iso22133.h" #define ACTION_NUMBER_PARAMETER_FIELDS 3 @@ -16,44 +17,9 @@ class Action { public: /*! Typedefs */ - typedef enum { - ACTION_NONE = 0x0000, - ACTION_TYPE_1 = 0x0001, - ACTION_TYPE_2 = 0x0002, - ACTION_SET_SPEED = 0x0010, - ACTION_SET_DISTANCE = 0x0020, - ACTION_SET_ACCELERATION = 0x0030, - ACTION_LANE_CHANGE = 0x0040, - ACTION_LANE_OFFSET = 0x0050, - ACTION_SET_POSITION = 0x0060, - ACTION_SET_STEERING_ANGLE = 0x0070, - ACTION_SET_TRHOTTLE_VALUE = 0x0080, - ACTION_BRAKE = 0x0090, - ACTION_FOLLOW_TRAJECTORY = 0x00A0, - ACTION_OTHER_OBJECT_FEATURE = 0x00B0, - ACTION_INFRASTRUCTURE = 0x00C0, - ACTION_TEST_SCENARIO_COMMAND = 0x00D0, - ACTION_MISC_DIGITAL_OUTPUT = 0x00E0, - ACTION_MISC_ANALOG_OUTPUT = 0x00F0, - ACTION_START_TIMER = 0x0100, - ACTION_MODE_CHANGE = 0x0110, - ACTION_UNAVAILABLE = 0xFFFF - } ActionTypeCode_t; + typedef ActionType_t ActionTypeCode_t; - typedef enum { - ACTION_PARAMETER_SET_FALSE = 0x00000000, - ACTION_PARAMETER_SET_TRUE = 0x00000001, - ACTION_PARAMETER_RELEASE = 0x00000010, - ACTION_PARAMETER_PRESS = 0x00000011, - ACTION_PARAMETER_SET_VALUE = 0x00000020, - ACTION_PARAMETER_MIN = 0x00000040, - ACTION_PARAMETER_MAX = 0x00000041, - ACTION_PARAMETER_X = 0x00000070, - ACTION_PARAMETER_Y = 0x00000071, - ACTION_PARAMETER_Z = 0x00000072, - ACTION_PARAMETER_VS_BRAKE_WARNING = 0xA0000000, - ACTION_PARAMETER_UNAVAILABLE = 0xFFFFFFFF - } ActionParameter_t; + typedef ActionTypeParameter_t ActionParameter_t; typedef enum { OK, diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 975fa24e8..c80ce54f8 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -8,66 +8,15 @@ #include #include "util.h" +#include "iso22133.h" class Trigger { public: /*! Typedefs */ - typedef enum { - TRIGGER_UNDEFINED = 0x0000, - TRIGGER_TYPE_1 = 0x0001, - TRIGGER_SPEED = 0x0010, - TRIGGER_DISTANCE = 0x0020, - TRIGGER_ACCELERATION = 0x0030, - TRIGGER_LANE_CHANGED = 0x0040, - TRIGGER_LANE_OFFSET = 0x0050, - TRIGGER_POSITION_REACHED = 0x0060, - TRIGGER_POSITION_LEFT = 0x0061, - TRIGGER_POSITION_OFFSET = 0x0062, - TRIGGER_STEERING_ANGLE = 0x0070, - TRIGGER_THROTTLE_VALUE = 0x0080, - TRIGGER_BRAKE = 0x0090, - TRIGGER_ACTIVE_TRAJECTORY = 0x00A0, - TRIGGER_OTHER_OBJECT_FEATURE = 0x00B0, - TRIGGER_INFRASTRUCTURE = 0x00C0, - TRIGGER_TEST_SCENARIO_EVENT = 0x00D0, - TRIGGER_MISC_DIGITAL_INPUT = 0x00E0, - TRIGGER_MISC_ANALOG_INPUT = 0x00F0, - TRIGGER_TIMER_EVENT_OCCURRED = 0x0100, - TRIGGER_MODE_CHANGED = 0x0110, - TRIGGER_UNAVAILABLE = 0xFFFF - } TriggerTypeCode_t; + typedef TriggerType_t TriggerTypeCode_t; - typedef enum { - TRIGGER_PARAMETER_FALSE = 0x00000000, - TRIGGER_PARAMETER_TRUE = 0x00000001, - TRIGGER_PARAMETER_RELEASED = 0x00000010, - TRIGGER_PARAMETER_PRESSED = 0x00000011, - TRIGGER_PARAMETER_LOW = 0x00000020, - TRIGGER_PARAMETER_HIGH = 0x00000021, - TRIGGER_PARAMETER_RISING_EDGE = 0x00000022, - TRIGGER_PARAMETER_FALLING_EDGE = 0x00000023, - TRIGGER_PARAMETER_ANY_EDGE = 0x00000024, - TRIGGER_PARAMETER_RELATIVE = 0x00000030, - TRIGGER_PARAMETER_ABSOLUTE = 0x00000031, - TRIGGER_PARAMETER_VALUE = 0x00000040, - TRIGGER_PARAMETER_MIN = 0x00000050, - TRIGGER_PARAMETER_MAX = 0x00000051, - TRIGGER_PARAMETER_MEAN = 0x00000052, - TRIGGER_PARAMETER_EQUAL_TO = 0x00000060, - TRIGGER_PARAMETER_GREATER_THAN = 0x00000061, - TRIGGER_PARAMETER_GREATER_THAN_OR_EQUAL_TO = 0x00000062, - TRIGGER_PARAMETER_LESS_THAN = 0x00000063, - TRIGGER_PARAMETER_LESS_THAN_OR_EQUAL_TO = 0x00000064, - TRIGGER_PARAMETER_NOT_EQUAL_TO = 0x00000065, - TRIGGER_PARAMETER_X = 0x00000070, - TRIGGER_PARAMETER_Y = 0x00000071, - TRIGGER_PARAMETER_Z = 0x00000072, - TRIGGER_PARAMETER_TIME = 0x00000080, - TRIGGER_PARAMETER_DATE = 0x00000081, - TRIGGER_PARAMETER_RULE = 0x000000A0, - TRIGGER_PARAMETER_UNAVAILABLE = 0xFFFFFFFF - } TriggerParameter_t; + typedef TriggerTypeParameter_t TriggerParameter_t; typedef uint16_t TriggerID_t; From 401a20f7ec5cf4a2e8503c9852ecfc7e12f3b8e6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 25 Jul 2019 17:44:03 +0200 Subject: [PATCH 375/730] Skeleton implementation of ACCM decoding --- server/src/citscontrol.c | 34 +++++++++++++++++++++++++++++++++- 1 file changed, 33 insertions(+), 1 deletion(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 539638187..daf3e3f2a 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -36,6 +36,7 @@ #include "MQTTClient.h" #include "citscontrol.h" #include "util.h" +#include "iso22133.h" @@ -79,7 +80,7 @@ void connlost_mqtt(void *context, char *cause); bool validate_constraints(asn_TYPE_descriptor_t *type_descriptor, const void *struct_ptr) ; void *encode_and_decode_object(asn_TYPE_descriptor_t *type_descriptor, void *struct_ptr) ; - +int parseActionConfiguration(ACCMData config); /*------------------------------------------------------------ -- Private variables @@ -114,6 +115,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) MonitorDataType mqMONRdata; MONRType MONRMessage; MONRType LastMONRMessage; + ACCMData actionConfig; + EXACData actionData; asn_enc_rval_t ec; @@ -239,6 +242,14 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } camTimeCycle++; + break; + case COMM_ACCM: + // TODO: settings configuration + UtilPopulateACCMDataStructFromMQ(busReceiveBuffer, sizeof(busReceiveBuffer), &actionConfig); + parseActionConfiguration(actionConfig); + break; + case COMM_EXAC: + // TODO: send mqtt message break; case COMM_OBC_STATE: break; @@ -538,4 +549,25 @@ I32 sendDENM(DENM_t* denm){ } +int parseActionConfiguration(ACCMData config) +{ + if (config.actionType == ACTION_INFRASTRUCTURE) + { + // Note that this ACCM may or may not be the first received (TODO: handle!) + if (config.actionTypeParameter1 == ACTION_PARAMETER_VS_BRAKE_WARNING) + { + // TODO: Save the ID + } + + if (config.actionTypeParameter2 != ACTION_PARAMETER_UNAVAILABLE) + LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 2"); + if (config.actionTypeParameter3 != ACTION_PARAMETER_UNAVAILABLE) + LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 3"); + + return 0; + } + else + return 1; +} + From 8beb1799580b1bad97bf4a02ce5e63ff03939e41 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 26 Jul 2019 12:42:33 +0200 Subject: [PATCH 376/730] Fixed some bad references to ISO stuff --- modules/ScenarioControl/src/braketrigger.cpp | 2 +- modules/ScenarioControl/src/externalaction.cpp | 2 +- modules/ScenarioControl/src/scenario.cpp | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index f4443710d..4bdfc7f7a 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,7 +1,7 @@ #include "braketrigger.h" -BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : BooleanTrigger(triggerID, Trigger::TRIGGER_BRAKE) { } +BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : BooleanTrigger(triggerID, Trigger::TriggerTypeCode_t::TRIGGER_BRAKE) { } /*! * \brief BooleanTrigger::parseParameters Parses the parameter vector and sets the trigger mode accordingly diff --git a/modules/ScenarioControl/src/externalaction.cpp b/modules/ScenarioControl/src/externalaction.cpp index 5f32b3a67..5218c553e 100644 --- a/modules/ScenarioControl/src/externalaction.cpp +++ b/modules/ScenarioControl/src/externalaction.cpp @@ -23,6 +23,6 @@ Action::ActionReturnCode_t ExternalAction::execute(void) } InfrastructureAction::InfrastructureAction(ActionID_t actionID, uint32_t allowedNumberOfRuns) - : ExternalAction(actionID, Action::ACTION_INFRASTRUCTURE, allowedNumberOfRuns) + : ExternalAction(actionID, Action::ActionTypeCode_t::ACTION_INFRASTRUCTURE, allowedNumberOfRuns) { } diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 3c12d0abd..07e90c09c 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -75,12 +75,12 @@ void Scenario::parseScenarioFile(std::ifstream &file) in_addr brakeObjectIP; inet_pton(AF_INET, brakeObjectIPString, &brakeObjectIP); - bt->appendParameter(Trigger::TRIGGER_PARAMETER_PRESSED); + bt->appendParameter(Trigger::TriggerParameter_t::TRIGGER_PARAMETER_PRESSED); bt->parseParameters(); bt->setObjectIP(brakeObjectIP.s_addr); - mqttAction->appendParameter(Action::ACTION_PARAMETER_VS_BRAKE_WARNING); + mqttAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_VS_BRAKE_WARNING); mqttAction->setObjectIP(0); addTrigger(bt); From 6c5105fc310f63214d9d78b7e4a17b6ce8259bcd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 26 Jul 2019 12:43:08 +0200 Subject: [PATCH 377/730] Implemented EXAC handling --- server/src/citscontrol.c | 115 ++++++++++++++++++++++++++++----------- 1 file changed, 83 insertions(+), 32 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index daf3e3f2a..2fb1c391e 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -80,7 +80,8 @@ void connlost_mqtt(void *context, char *cause); bool validate_constraints(asn_TYPE_descriptor_t *type_descriptor, const void *struct_ptr) ; void *encode_and_decode_object(asn_TYPE_descriptor_t *type_descriptor, void *struct_ptr) ; -int parseActionConfiguration(ACCMData config); +int parseActionConfiguration(ACCMData config, uint16_t* actionIDs, unsigned int* nConfiguredActions); +bool isActionValid(EXACData exac, uint16_t* actionIDs, unsigned int nConfiguredActions); /*------------------------------------------------------------ -- Private variables @@ -117,6 +118,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) MONRType LastMONRMessage; ACCMData actionConfig; EXACData actionData; + uint16_t* storedActionIDs = NULL; + unsigned int numberOfStoredActionIDs = 0; asn_enc_rval_t ec; @@ -135,8 +138,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) TimeType time; I16 lastSpeed = 0; - LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); - LogMessage(LOG_LEVEL_INFO, "CITS running with PID: %i", getpid()); + LogInit(MODULE_NAME,logLevel); + LogMessage(LOG_LEVEL_INFO, "C-ITS control running with PID: %i", getpid()); UtilGetMillisecond(&time); @@ -150,10 +153,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) lastCam->cam.camParameters.basicContainer.referencePosition.latitude = 0; lastCam->cam.camParameters.basicContainer.referencePosition.longitude = 0; - (void)iCommInit(); - LogInit(MODULE_NAME,LOG_LEVEL_INFO); - LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); - + if (iCommInit()) + util_error("Unable to connect to message bus"); int monrCounter = 0; while(!iExit) @@ -225,31 +226,39 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(camTimeCycle == CHECK_PERIOD) { - I16 distanceDelta = UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); - I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); - I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); - - - if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ - generateCAMMessage(&MONRMessage, lastCam); - generateDENMMessage(&MONRMessage, lastDenm); - sendCAM(lastCam); - sendDENM(lastDenm); - } - lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); - LastMONRMessage = MONRMessage; - camTimeCycle = 0; + //I16 distanceDelta = UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); + //I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); + //I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); + + + //if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ + // generateCAMMessage(&MONRMessage, lastCam); + // generateDENMMessage(&MONRMessage, lastDenm); + // sendCAM(lastCam); + // sendDENM(lastDenm); + //} + //lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); + //LastMONRMessage = MONRMessage; + //camTimeCycle = 0; } camTimeCycle++; break; case COMM_ACCM: - // TODO: settings configuration + LogMessage(LOG_LEVEL_INFO,"Received action configuration"); UtilPopulateACCMDataStructFromMQ(busReceiveBuffer, sizeof(busReceiveBuffer), &actionConfig); - parseActionConfiguration(actionConfig); + parseActionConfiguration(actionConfig, storedActionIDs, &numberOfStoredActionIDs); break; case COMM_EXAC: - // TODO: send mqtt message + LogMessage(LOG_LEVEL_INFO, "Received EXAC"); + UtilPopulateEXACDataStructFromMQ(busReceiveBuffer, sizeof(busReceiveBuffer), &actionData); + if (isActionValid(actionData, storedActionIDs, numberOfStoredActionIDs) + && state != DISCONNECTED && state != INIT) + { + LogMessage(LOG_LEVEL_INFO,"Received action request: sending DENM message"); + // TODO: Start timer + // TODO: On timer, send DENM + } break; case COMM_OBC_STATE: break; @@ -548,26 +557,68 @@ I32 sendDENM(DENM_t* denm){ return 1; } - -int parseActionConfiguration(ACCMData config) +/*! + * \brief parseActionConfiguration Parses an ACCM message into an action ID if it is of the infrastructure type + * \param config ACCM data struct + * \param actionIDs Pointer to a dynamically allocated array of actionIDs (may be null if empty) + * \param nConfiguredActions Length of the actionID array + * \return 0 if ACCM was decoded into an action, 1 if ACCM contained irrelevant action, -1 otherwise + */ +int parseActionConfiguration(ACCMData config, uint16_t* actionIDs, unsigned int* nConfiguredActions) { + int retval = -1; + if (config.actionType == ACTION_INFRASTRUCTURE) { - // Note that this ACCM may or may not be the first received (TODO: handle!) - if (config.actionTypeParameter1 == ACTION_PARAMETER_VS_BRAKE_WARNING) + switch (config.actionTypeParameter1) { - // TODO: Save the ID + case ACTION_PARAMETER_VS_BRAKE_WARNING: + actionIDs = realloc(actionIDs, (*nConfiguredActions+1)*sizeof(uint16_t)); + actionIDs[*nConfiguredActions] = config.actionID; + (*nConfiguredActions)++; + retval = 0; + break; + case ACTION_PARAMETER_UNAVAILABLE: + LogMessage(LOG_LEVEL_WARNING, "First parameter of ACCM message is empty"); + retval = 1; + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 1",config.actionTypeParameter1); + retval = 1; + break; } if (config.actionTypeParameter2 != ACTION_PARAMETER_UNAVAILABLE) + { LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 2"); + retval = 1; + } if (config.actionTypeParameter3 != ACTION_PARAMETER_UNAVAILABLE) + { LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 3"); - - return 0; + retval = 1; + } } else - return 1; + retval = 1; + + return retval; } +/*! + * \brief isActionValid Checks if specified action is among the configured actions + * \param exac Action to check + * \param actionIDs Array of configured actions + * \param nConfiguredActions Length of actionIDs list + * \return True if action is among configured actions, false otherwise + */ +bool isActionValid(EXACData exac, uint16_t* actionIDs, unsigned int nConfiguredActions) +{ + for (unsigned int i = 0; i < nConfiguredActions; ++i) + { + if (exac.actionID == actionIDs[i]) + return true; + } + return false; +} From beb0dc25c8265fab02d510da226752531f0c3b92 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 29 Jul 2019 13:57:31 +0200 Subject: [PATCH 378/730] Implemented calling of sendDENM function on receiving EXAC --- server/src/citscontrol.c | 192 +++++++++++++++++++++++++++++---------- 1 file changed, 145 insertions(+), 47 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 2fb1c391e..991ced169 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -22,6 +22,7 @@ #include #include #include +#include #include @@ -45,6 +46,7 @@ #define S_THRESHOLD 0 //SPEED THRESHOLD #define D_THRESHOLD 1 //DISTANCE THRESHOLD #define CHECK_PERIOD 100 +#define SIG SIGRTMIN // Signal type to use for timers #define CITS_CONTROL_CONF_FILE_PATH "conf/test.conf" #define CITS_CONTROL_BUFFER_SIZE_20 20 @@ -68,7 +70,7 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm); I32 sendCAM(CAM_t* lastCam); -I32 sendDENM(DENM_t* lastDenm); +I32 sendDENM(DENM_t* lastDENM); void init_mqtt(char* ip_addr, char * clientid); int connect_mqtt(); @@ -80,8 +82,11 @@ void connlost_mqtt(void *context, char *cause); bool validate_constraints(asn_TYPE_descriptor_t *type_descriptor, const void *struct_ptr) ; void *encode_and_decode_object(asn_TYPE_descriptor_t *type_descriptor, void *struct_ptr) ; -int parseActionConfiguration(ACCMData config, uint16_t* actionIDs, unsigned int* nConfiguredActions); -bool isActionValid(EXACData exac, uint16_t* actionIDs, unsigned int nConfiguredActions); +int parseActionConfiguration(ACCMData config, uint16_t** actionIDs, int* nConfiguredActions); +int getActionIndex(EXACData exac, uint16_t* actionIDs, int nConfiguredActions); +int storeDENM(DENM_t denm); +static void signalHandler(int sig, siginfo_t *siginfo, void* uc); +void sendLastDENM(void); /*------------------------------------------------------------ -- Private variables @@ -102,6 +107,8 @@ static MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializ static MQTTClient_message pubmsg = MQTTClient_message_initializer; static volatile MQTTClient_deliveryToken deliveredtoken = 0; static MQTTClient_deliveryToken sendtoken = 0; +static DENM_t* lastDENM; + /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ @@ -119,7 +126,9 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) ACCMData actionConfig; EXACData actionData; uint16_t* storedActionIDs = NULL; - unsigned int numberOfStoredActionIDs = 0; + int numberOfStoredActionIDs = 0; + int actionIndex = -1; + asn_enc_rval_t ec; @@ -129,9 +138,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) exit(1); } - DENM_t* lastDenm; - lastDenm = calloc(1, sizeof(DENM_t)); - if(!lastDenm) { + lastDENM = calloc(1, sizeof(DENM_t)); + if(!lastDENM) { exit(1); } @@ -141,6 +149,47 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "C-ITS control running with PID: %i", getpid()); + + //! Timer for sending DENM at later time + timer_t actionTimer; + struct sigevent timerEvent; + struct itimerspec actionTimerSpec; + struct sigaction timerAction; + sigset_t signalMask; + + // Initialize timer + timerAction.sa_flags = SA_SIGINFO; // TODO: which? + timerAction.sa_sigaction = signalHandler; + sigemptyset(&timerAction.sa_mask); + if (sigaction(SIG, &timerAction, NULL) == -1) + util_error("Error calling sigaction"); + + // Block timer signal while setting it up + LogMessage(LOG_LEVEL_DEBUG, "Blocking signal %d", SIG); + sigemptyset(&signalMask); + sigaddset(&signalMask, SIG); + if (sigprocmask(SIG_SETMASK, &signalMask, NULL) == -1) + util_error("Error blocking signal"); + + // Create timer + timerEvent.sigev_notify = SIGEV_SIGNAL; //!< When timer expires, call linked function in a separate thread + timerEvent.sigev_signo = SIG; + timerEvent.sigev_value.sival_ptr = &actionTimer; + if (timer_create(CLOCK_REALTIME, &timerEvent, &actionTimer) == -1) + util_error("Error creating timer"); + + LogMessage(LOG_LEVEL_DEBUG, "Created timer with ID 0x%1x", (long)actionTimer); + + actionTimerSpec.it_interval.tv_sec = 0; //!< Make timer single shot + actionTimerSpec.it_interval.tv_nsec = 0; + actionTimerSpec.it_value.tv_sec = 0; + actionTimerSpec.it_value.tv_nsec = 0; + + LogMessage(LOG_LEVEL_DEBUG, "Unblocking signal %d", SIG); + if (sigprocmask(SIG_UNBLOCK, &signalMask, NULL) == -1) + util_error("Error unblocking signal"); + + UtilGetMillisecond(&time); (void)init_mqtt(ERICSSON_MQTT_ADDRESS,DEFAULT_MQTT_CLIENTID); @@ -149,7 +198,6 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) lastCam->cam.generationDeltaTime = time.MillisecondU16; - LogMessage(LOG_LEVEL_INFO,"Starting cits control...\n"); lastCam->cam.camParameters.basicContainer.referencePosition.latitude = 0; lastCam->cam.camParameters.basicContainer.referencePosition.longitude = 0; @@ -157,20 +205,19 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) util_error("Unable to connect to message bus"); int monrCounter = 0; + LogMessage(LOG_LEVEL_INFO,"Starting C-ITS control"); while(!iExit) { // Handle states specific things state = pending_state; - //LogMessage(LOG_LEVEL_DEBUG,"CITS state %d",state); switch (state) { case INIT: - if (!connect_mqtt()){ - LogMessage(LOG_LEVEL_INFO,"Connected!"); + LogMessage(LOG_LEVEL_INFO, "Connected to MQTT broker"); MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); pending_state = CONNECTED; - LogMessage(LOG_LEVEL_DEBUG,"CITS state change from %d to %d",state,pending_state); + LogMessage(LOG_LEVEL_DEBUG, "CITS state change from %d to %d",state,pending_state); } break; case CONNECTED: @@ -199,13 +246,13 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (command == COMM_ABORT) { - + // TODO: Implement } if(command == COMM_EXIT) { iExit = 1; - printf("citscontrol exiting.\n"); + LogMessage(LOG_LEVEL_INFO, "C-ITS control exiting"); (void)iCommClose(); } @@ -214,7 +261,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) switch (command) { case COMM_INIT: - + free(storedActionIDs); break; case COMM_MONI: LogMessage(LOG_LEVEL_DEBUG, "Ignored old style MONR data"); @@ -226,20 +273,20 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(camTimeCycle == CHECK_PERIOD) { - //I16 distanceDelta = UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); - //I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); - //I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); - - - //if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ - // generateCAMMessage(&MONRMessage, lastCam); - // generateDENMMessage(&MONRMessage, lastDenm); - // sendCAM(lastCam); - // sendDENM(lastDenm); - //} - //lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); - //LastMONRMessage = MONRMessage; - //camTimeCycle = 0; + I16 distanceDelta = 0;// UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); + I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); + I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); + + + if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ + generateCAMMessage(&MONRMessage, lastCam); + generateDENMMessage(&MONRMessage, lastDENM); + sendCAM(lastCam); + sendDENM(lastDENM); + } + lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); + LastMONRMessage = MONRMessage; + camTimeCycle = 0; } camTimeCycle++; @@ -247,18 +294,50 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_ACCM: LogMessage(LOG_LEVEL_INFO,"Received action configuration"); UtilPopulateACCMDataStructFromMQ(busReceiveBuffer, sizeof(busReceiveBuffer), &actionConfig); - parseActionConfiguration(actionConfig, storedActionIDs, &numberOfStoredActionIDs); + parseActionConfiguration(actionConfig, &storedActionIDs, &numberOfStoredActionIDs); break; case COMM_EXAC: - LogMessage(LOG_LEVEL_INFO, "Received EXAC"); UtilPopulateEXACDataStructFromMQ(busReceiveBuffer, sizeof(busReceiveBuffer), &actionData); - if (isActionValid(actionData, storedActionIDs, numberOfStoredActionIDs) - && state != DISCONNECTED && state != INIT) + actionIndex = getActionIndex(actionData, storedActionIDs, numberOfStoredActionIDs); + if (actionIndex != -1 && state != DISCONNECTED && state != INIT) { - LogMessage(LOG_LEVEL_INFO,"Received action request: sending DENM message"); - // TODO: Start timer - // TODO: On timer, send DENM + LogMessage(LOG_LEVEL_INFO, "Received action execution request with ID %u", storedActionIDs[actionIndex]); + + timer_gettime(actionTimer, &actionTimerSpec); + if (actionTimerSpec.it_value.tv_sec || actionTimerSpec.it_value.tv_nsec) + { + LogMessage(LOG_LEVEL_WARNING, "Another DENM send already queued"); + break; + } + + // Based on last MONR message, generate a DENM message to send + generateDENMMessage(&MONRMessage, lastDENM); + + if (actionData.delayTime_qms == 0) + { + LogMessage(LOG_LEVEL_INFO, "Received immediate action request: sending DENM message"); + if (lastDENM != NULL) + sendDENM(lastDENM); + else + LogMessage(LOG_LEVEL_ERROR, "Unable to send null DENM"); + } + else + { + actionTimerSpec.it_value.tv_sec = actionData.delayTime_qms / 4000; + actionTimerSpec.it_value.tv_nsec = (actionData.delayTime_qms % 4000) * 250 * 1000; + timer_settime(actionTimer, 0, &actionTimerSpec, NULL); + LogMessage(LOG_LEVEL_INFO, "Received action request: sending DENM in %.3f seconds", (double)(actionData.delayTime_qms)/4000); + } } + else if (actionIndex == -1) + LogMessage(LOG_LEVEL_DEBUG, "Received non-configured action execution request"); + else if (state == INIT || state == DISCONNECTED) + LogMessage(LOG_LEVEL_WARNING, "Received action execution request while in non-connected state %u",(char)(state)); + break; + case COMM_TRCM: + // Future implementation + break; + case COMM_TREO: break; case COMM_OBC_STATE: break; @@ -272,6 +351,16 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } } + + free(storedActionIDs); +} + +void signalHandler(int sig, siginfo_t* siginfo, void* uc) +{ + // TODO: check signal + + if (lastDENM != NULL) + sendDENM(lastDENM); } void init_mqtt(char* ip_addr, char * clientid){ @@ -287,7 +376,7 @@ int connect_mqtt(){ int return_code; if ((return_code = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS) { - LogMessage(LOG_LEVEL_ERROR,"Failed to connect, return code %d\n", return_code); + LogMessage(LOG_LEVEL_ERROR,"Failed to connect, return code %d", return_code); return 1; } return 0; @@ -547,7 +636,11 @@ I32 sendCAM(CAM_t* cam){ */ I32 sendDENM(DENM_t* denm){ - printf("SENDING DENM\n"); + LogMessage(LOG_LEVEL_INFO,"Sending DENM"); + + LogPrint("DENM (lat: %d, lon: %d)", + denm->denm.management.eventPosition.latitude, + denm->denm.management.eventPosition.longitude); FILE *fp = fopen("tmp", "wb"); //asn_enc_rval_t ec = der_encode(&asn_DEF_DENM, denm, write_out, fp); @@ -564,17 +657,19 @@ I32 sendDENM(DENM_t* denm){ * \param nConfiguredActions Length of the actionID array * \return 0 if ACCM was decoded into an action, 1 if ACCM contained irrelevant action, -1 otherwise */ -int parseActionConfiguration(ACCMData config, uint16_t* actionIDs, unsigned int* nConfiguredActions) +int parseActionConfiguration(ACCMData config, uint16_t** actionIDs, int* nConfiguredActions) { int retval = -1; + if (*nConfiguredActions < 0) + return -1; if (config.actionType == ACTION_INFRASTRUCTURE) { switch (config.actionTypeParameter1) { case ACTION_PARAMETER_VS_BRAKE_WARNING: - actionIDs = realloc(actionIDs, (*nConfiguredActions+1)*sizeof(uint16_t)); - actionIDs[*nConfiguredActions] = config.actionID; + *actionIDs = (uint16_t*)realloc(*actionIDs, (unsigned int)(*nConfiguredActions+1)*sizeof(uint16_t)); + (*actionIDs)[*nConfiguredActions] = config.actionID; (*nConfiguredActions)++; retval = 0; break; @@ -606,19 +701,22 @@ int parseActionConfiguration(ACCMData config, uint16_t* actionIDs, unsigned int* } /*! - * \brief isActionValid Checks if specified action is among the configured actions + * \brief getActionIndex Checks if specified action is among the configured actions, and returns its index if so * \param exac Action to check * \param actionIDs Array of configured actions * \param nConfiguredActions Length of actionIDs list - * \return True if action is among configured actions, false otherwise + * \return Index of specified action, -1 if not found */ -bool isActionValid(EXACData exac, uint16_t* actionIDs, unsigned int nConfiguredActions) +int getActionIndex(EXACData exac, uint16_t* actionIDs, int nConfiguredActions) { - for (unsigned int i = 0; i < nConfiguredActions; ++i) + if (actionIDs == NULL) + return -1; + + for (int i = 0; i < nConfiguredActions; ++i) { if (exac.actionID == actionIDs[i]) - return true; + return i; } - return false; + return -1; } From 3d4df60cc7555e04ef62023ddeffc9435bf9865c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 29 Jul 2019 13:58:06 +0200 Subject: [PATCH 379/730] Added delayTime default value and set/getters --- modules/ScenarioControl/inc/action.h | 5 ++++- modules/ScenarioControl/src/action.cpp | 29 ++++++++++++++++++++++++++ 2 files changed, 33 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index d77b70f68..20a646bd3 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -57,6 +57,9 @@ class Action in_addr_t getObjectIP(void) const { return actionObjectIP; } void setObjectIP(in_addr_t ipAddr) { actionObjectIP = ipAddr; } + void setExecuteDalayTime(struct timeval tm); + struct timeval getExecuteDelayTime(void) const; + ActionReturnCode_t appendParameter(ActionParameter_t actionParameter); protected: @@ -64,7 +67,7 @@ class Action ActionID_t actionID = 0; uint32_t remainingAllowedRuns = 0; std::vector parameters; - uint32_t actionDelayTime_qms; + uint32_t actionDelayTime_qms = 0; in_addr_t actionObjectIP = 0; ActionReturnCode_t checkActionParameter(ActionParameter_t actionParameter) const; diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index 0c3bd0f55..5d592d92c 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -1,7 +1,10 @@ +#include #include "action.h" #include "logging.h" +#include "maestroTime.h" + /*! @@ -208,3 +211,29 @@ ACCMData Action::getConfigurationMessageData(void) const } return retval; } + +/*! + * \brief Action::setExecuteDalayTime Sets the delay from when EXAC is sent to when action is to be executed + * \param tm Timeval struct representing the delay + */ +void Action::setExecuteDalayTime(struct timeval tm) +{ + int64_t time_qms = tm.tv_sec*4000 + tm.tv_usec/250; + + if (time_qms < 0) throw std::invalid_argument("Attempted to set a negative execution delay"); + if (time_qms > std::numeric_limits::max()) throw std::invalid_argument("Attempted to set a too large execution delay"); + + actionDelayTime_qms = static_cast(time_qms); +} + +/*! + * \brief Action::getExecuteDelayTime Returns the delay time + * \return Delay time as timeval struct + */ +struct timeval Action::getExecuteDelayTime(void) const +{ + struct timeval tm; + tm.tv_sec = actionDelayTime_qms / 4000; + tm.tv_usec = (actionDelayTime_qms % 4000) * 250; + return tm; +} From ae190f5be34d2e366d5a2873f6703cb3adfa88ac Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 29 Jul 2019 13:59:23 +0200 Subject: [PATCH 380/730] Set delayTime to value in hardcoded setup --- modules/ScenarioControl/src/scenario.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 07e90c09c..0f4fec49f 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -82,6 +82,7 @@ void Scenario::parseScenarioFile(std::ifstream &file) mqttAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_VS_BRAKE_WARNING); mqttAction->setObjectIP(0); + mqttAction->setExecuteDalayTime({1,0}); addTrigger(bt); addAction(mqttAction); From bcf3d0feec0693b5390dd44a2f73532959c72432 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 29 Jul 2019 14:21:49 +0200 Subject: [PATCH 381/730] Removed old debug printout --- server/src/citscontrol.c | 4 ---- 1 file changed, 4 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 991ced169..16fa1d031 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -638,10 +638,6 @@ I32 sendDENM(DENM_t* denm){ LogMessage(LOG_LEVEL_INFO,"Sending DENM"); - LogPrint("DENM (lat: %d, lon: %d)", - denm->denm.management.eventPosition.latitude, - denm->denm.management.eventPosition.longitude); - FILE *fp = fopen("tmp", "wb"); //asn_enc_rval_t ec = der_encode(&asn_DEF_DENM, denm, write_out, fp); fclose(fp); From 3d05459304f9c95dc106ebfb7699b638f90082af Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 29 Jul 2019 17:36:56 +0200 Subject: [PATCH 382/730] Implemented ISO message builder functions for T&A --- server/inc/iso22133.h | 113 +++++++++++++++++++++- server/inc/util.h | 79 +--------------- server/src/objectcontrol.c | 185 +++++++++++++++++++++++++++++++++++++ 3 files changed, 300 insertions(+), 77 deletions(-) diff --git a/server/inc/iso22133.h b/server/inc/iso22133.h index 39d458ee1..6bb2b3f26 100644 --- a/server/inc/iso22133.h +++ b/server/inc/iso22133.h @@ -8,7 +8,46 @@ */ -//! TRCM +#include + +typedef struct +{ + uint16_t SyncWordU16; + uint8_t TransmitterIdU8; + uint8_t MessageCounterU8; + uint8_t AckReqProtVerU8; + uint16_t MessageIdU16; + uint32_t MessageLengthU32; +} HeaderType; //11 bytes + +typedef struct +{ + uint16_t Crc; +} FooterType; //2 bytes + +//! *************************** TRCM +#define COMMAND_TRCM_CODE 11 +typedef struct +{ + HeaderType header; + uint16_t triggerIDValueID; + uint16_t triggerIDContentLength; + uint16_t triggerID; + uint16_t triggerTypeValueID; + uint16_t triggerTypeContentLength; + uint16_t triggerType; + uint16_t triggerTypeParameter1ValueID; + uint16_t triggerTypeParameter1ContentLength; + uint32_t triggerTypeParameter1; + uint16_t triggerTypeParameter2ValueID; + uint16_t triggerTypeParameter2ContentLength; + uint32_t triggerTypeParameter2; + uint16_t triggerTypeParameter3ValueID; + uint16_t triggerTypeParameter3ContentLength; + uint32_t triggerTypeParameter3; + FooterType footer; +} TRCMType; + typedef enum { TRIGGER_UNDEFINED = 0x0000, TRIGGER_TYPE_1 = 0x0001, @@ -66,7 +105,29 @@ typedef enum { } TriggerTypeParameter_t; -//! ACCM +//! *************************** ACCM +#define COMMAND_ACCM_CODE 12 +typedef struct +{ + HeaderType header; + uint16_t actionIDValueID; + uint16_t actionIDContentLength; + uint16_t actionID; + uint16_t actionTypeValueID; + uint16_t actionTypeContentLength; + uint16_t actionType; + uint16_t actionTypeParameter1ValueID; + uint16_t actionTypeParameter1ContentLength; + uint32_t actionTypeParameter1; + uint16_t actionTypeParameter2ValueID; + uint16_t actionTypeParameter2ContentLength; + uint32_t actionTypeParameter2; + uint16_t actionTypeParameter3ValueID; + uint16_t actionTypeParameter3ContentLength; + uint32_t actionTypeParameter3; + FooterType footer; +} ACCMType; + typedef enum { ACTION_NONE = 0x0000, ACTION_TYPE_1 = 0x0001, @@ -106,4 +167,52 @@ typedef enum { ACTION_PARAMETER_UNAVAILABLE = 0xFFFFFFFF } ActionTypeParameter_t; + +//! *************************** TREO +#define COMMAND_TREO_CODE 13 +typedef struct +{ + HeaderType header; + uint16_t triggerIDValueID; + uint16_t triggerIDContentLength; + uint16_t triggerID; + uint16_t timestamp_qmsowValueID; + uint16_t timestamp_qmsowContentLength; + uint32_t timestamp_qmsow; + FooterType footer; +} TREOType; + + +//! *************************** EXAC +#define COMMAND_EXAC_CODE 14 +typedef struct +{ + HeaderType header; + uint16_t actionIDValueID; + uint16_t actionIDContentLength; + uint16_t actionID; + uint16_t delayTime_qmsValueID; + uint16_t delayTime_qmsContentLength; + uint32_t delayTime_qms; + FooterType footer; +} EXACType; + + +//! ACCM / EXAC / CATA value IDs +#define VALUE_ID_ACTION_ID 0x0002 +#define VALUE_ID_ACTION_TYPE 0x0003 +#define VALUE_ID_ACTION_TYPE_PARAM1 0x00A1 +#define VALUE_ID_ACTION_TYPE_PARAM2 0x00A2 +#define VALUE_ID_ACTION_TYPE_PARAM3 0x00A3 +#define VALUE_ID_ACTION_EXECUTE_TIME 0x0003 + +//! TRCM / TREO / CATA value IDs +#define VALUE_ID_TRIGGER_ID 0x0001 +#define VALUE_ID_TRIGGER_TYPE 0x0002 +#define VALUE_ID_TRIGGER_TYPE_PARAM1 0x0011 +#define VALUE_ID_TRIGGER_TYPE_PARAM2 0x0012 +#define VALUE_ID_TRIGGER_TYPE_PARAM3 0x0013 +#define VALUE_ID_TRIGGER_TIMESTAMP 0x0002 + + #endif diff --git a/server/inc/util.h b/server/inc/util.h index 87366a229..8006b52cc 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -31,6 +31,8 @@ extern "C"{ #include #include "mqbus.h" +#include "iso22133.h" + /*------------------------------------------------------------ -- Defines @@ -186,6 +188,7 @@ extern "C"{ #define dbl double #define flt float +// Why do we need this? #pragma pack(1) // #pragma pack ( 1 ) directive can be used for arranging memory for structure members very next to the end of other structure members. #define SYNC_WORD 0x7e7e @@ -309,20 +312,6 @@ typedef struct } CartesianPosition; -typedef struct -{ - U16 SyncWordU16; - U8 TransmitterIdU8; - U8 MessageCounterU8; - U8 AckReqProtVerU8; - U16 MessageIdU16; - U32 MessageLengthU32; -} HeaderType; //11 bytes - -typedef struct -{ - U16 Crc; -} FooterType; //2 bytes typedef struct { @@ -636,17 +625,6 @@ typedef struct int32_t Action; } TriggActionType; // Note: this is the old struct -typedef struct -{ - HeaderType header; - uint16_t actionIDValueID; - uint16_t actionIDContentLength; - uint16_t actionID; - uint16_t delayTime_qmsValueID; - uint16_t delayTime_qmsContentLength; - uint32_t delayTime_qms; -} EXACType; - typedef struct { uint16_t actionID; @@ -654,16 +632,7 @@ typedef struct in_addr_t ip; } EXACData; //!< Data type for MQ message -typedef struct -{ - HeaderType header; - uint16_t triggerIDValueID; - uint16_t triggerIDContentLength; - uint16_t triggerID; - uint16_t timestamp_qmsowValueID; - uint16_t timestamp_qmsowContentLength; - uint32_t timestamp_qmsow; -} TREOType; + typedef struct { @@ -672,26 +641,6 @@ typedef struct in_addr_t ip; } TREOData; //!< Data type for MQ message -typedef struct -{ - HeaderType header; - uint16_t actionIDValueID; - uint16_t actionIDContentLength; - uint16_t actionID; - uint16_t actionTypeValueID; - uint16_t actionTypeContentLength; - uint16_t actionType; - uint16_t actionTypeParameter1ValueID; - uint16_t actionTypeParameter1ContentLength; - uint32_t actionTypeParameter1; - uint16_t actionTypeParameter2ValueID; - uint16_t actionTypeParameter2ContentLength; - uint32_t actionTypeParameter2; - uint16_t actionTypeParameter3ValueID; - uint16_t actionTypeParameter3ContentLength; - uint32_t actionTypeParameter3; -} ACCMType; - typedef struct { uint16_t actionID; @@ -702,26 +651,6 @@ typedef struct in_addr_t ip; } ACCMData; //!< Data type for MQ message -typedef struct -{ - HeaderType header; - uint16_t triggerIDValueID; - uint16_t triggerIDContentLength; - uint16_t triggerID; - uint16_t triggerTypeValueID; - uint16_t triggerTypeContentLength; - uint16_t triggerType; - uint16_t triggerTypeParameter1ValueID; - uint16_t triggerTypeParameter1ContentLength; - uint32_t triggerTypeParameter1; - uint16_t triggerTypeParameter2ValueID; - uint16_t triggerTypeParameter2ContentLength; - uint32_t triggerTypeParameter2; - uint16_t triggerTypeParameter3ValueID; - uint16_t triggerTypeParameter3ContentLength; - uint32_t triggerTypeParameter3; -} TRCMType; - typedef struct { uint16_t triggerID; diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 78c5fd525..155dda2f1 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -30,6 +30,7 @@ #include #include "timecontrol.h" #include "maestroTime.h" +#include "iso22133.h" /*------------------------------------------------------------ @@ -112,6 +113,7 @@ #define COMMAND_MTSP_CODE 0xA104 #define COMMAND_MTSP_MESSAGE_LENGTH sizeof(MTSPType) +// Old T&A (TODO: remove) #define COMMAND_ACM_CODE 11 //Action Configuration Message: Server->Object, TCP #define COMMAND_ACM_MESSAGE_LENGTH 6 @@ -191,6 +193,11 @@ I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* Sim I32 ObjectControlSendDTMMessage(C8 *DTMData, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); I32 ObjectControlBuildDTMMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); I32 ObjectControlBuildASPMessage(C8* MessageBuffer, ASPType *ASPData, U8 debug); +I32 ObjectControlBuildACCMMessage(ACCMData *mqEXACData, ACCMType *ACCM, U8 debug); +I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug); +I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug); +I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug); +I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug); static void vFindObjectsInfo(char object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], char object_address_name[MAX_OBJECTS][MAX_FILE_PATH], @@ -316,6 +323,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) VOILType VOILData; SYPMType SYPMData; MTSPType MTSPData; + ACCMData mqACCMData; GeoPosition OriginPosition; ASPType ASPData; ASPData.MTSPU32 = 0; @@ -958,6 +966,14 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) OSEMSentU8 = 0; STRTSentU8 = 0; + } + else if (iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) + { + UtilPopulateACCMDataStructFromMQ() + } + else if (iCommand == COMM_EXAC && OBCState == OBC_STATE_RUNNING) + { + } else if(iCommand == COMM_CONNECT && OBCState == OBC_STATE_INITIALIZED) { @@ -2342,6 +2358,175 @@ I32 ObjectControlBuildASPMessage(C8* MessageBuffer, ASPType *ASPData, U8 debug) +I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug) +{ + ACCMType isoACCM; + ObjectControlBuildACCMMessage(ACCM, &isoACCM, debug); + U16 crc = 0; + + TrajBuffer[MessageLength] = (U8)(CrcU16); + TrajBuffer[MessageLength+1] = (U8)(CrcU16 >> 8); + MessageLength = MessageLength + 2; + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); +} + +I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug) +{ + +} + +I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug) +{ + +} + + +/*! + * \brief ObjectControlBuildACCMMessage Fills an ISO ACCM struct with relevant data fields, and corresponding value IDs and content lengths + * \param mqACCMData Data which is to fill ACCM struct + * \param ACCM Output ACCM struct + * \param debug Debug flag + * \return Byte size of ACCM struct + */ +I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug) +{ + // Header + ACCM->header.SyncWordU16 = SYNC_WORD; + ACCM->header.TransmitterIdU8 = 0; + ACCM->header.MessageCounterU8 = 0; + ACCM->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + ACCM->header.MessageIdU16 = COMMAND_ACCM_CODE; + ACCM->header.MessageLengthU32 = sizeof(ACCMType) - sizeof(HeaderType) - sizeof(FooterType); + + // Data fields + ACCM->actionID = mqACCMData->actionID; + ACCM->actionType = mqACCMData->actionType; + ACCM->actionTypeParameter1 = mqACCMData->actionTypeParameter1; + ACCM->actionTypeParameter2 = mqACCMData->actionTypeParameter2; + ACCM->actionTypeParameter3 = mqACCMData->actionTypeParameter3; + + // Value ID fields + ACCM->actionIDValueID = VALUE_ID_ACTION_ID; + ACCM->actionIDValueID = VALUE_ID_ACTION_TYPE; + ACCM->actionTypeParameter1ValueID = VALUE_ID_ACTION_TYPE_PARAM1; + ACCM->actionTypeParameter2ValueID = VALUE_ID_ACTION_TYPE_PARAM2; + ACCM->actionTypeParameter3ValueID = VALUE_ID_ACTION_TYPE_PARAM3; + + // Content length fields + ACCM->actionIDContentLength = sizeof(ACCM->actionID); + ACCM->actionTypeContentLength = sizeof(ACCM->actionType); + ACCM->actionTypeParameter1ContentLength = sizeof(ACCM->actionTypeParameter1); + ACCM->actionTypeParameter2ContentLength = sizeof(ACCM->actionTypeParameter2); + ACCM->actionTypeParameter3ContentLength = sizeof(ACCM->actionTypeParameter3); + + if (debug) + { + LogPrint("ACCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(ACCMType), + ACCM->actionIDValueID, ACCM->actionIDContentLength, ACCM->actionID, + ACCM->actionTypeValueID, ACCM->actionTypeContentLength, ACCM->actionType, + ACCM->actionTypeParameter1ValueID, ACCM->actionTypeParameter1ContentLength, ACCM->actionTypeParameter1, + ACCM->actionTypeParameter2ValueID, ACCM->actionTypeParameter2ContentLength, ACCM->actionTypeParameter2, + ACCM->actionTypeParameter3ValueID, ACCM->actionTypeParameter3ContentLength, ACCM->actionTypeParameter3); + } + + return sizeof(ACCMType); +} + +/*! + * \brief ObjectControlBuildEXACMessage Fills an ISO EXAC struct with relevant data fields, and corresponding value IDs and content lengths + * \param mqEXACData Data which is to fill EXAC struct + * \param EXAC Output EXAC struct + * \param debug Debug flag + * \return Byte size of EXAC struct + */ +I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug) +{ + // TODO: Make system time follow GPS time (better) or pass the GSD pointer into here somehow + struct timeval systemTime; + TimeSetToCurrentSystemTime(&systemTime); + + // Header + EXAC->header.SyncWordU16 = SYNC_WORD; + EXAC->header.TransmitterIdU8 = 0; + EXAC->header.MessageCounterU8 = 0; + EXAC->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + EXAC->header.MessageIdU16 = COMMAND_EXAC_CODE; + EXAC->header.MessageLengthU32 = sizeof(EXACType) - sizeof(HeaderType) - sizeof(FooterType); + + // Data fields + EXAC->actionID = mqEXACData->actionID; + EXAC->delayTime_qms = mqEXACData->delayTime_qms == 0 ? 0 : TimeGetAsGPSqmsOfWeek(&systemTime) + mqEXACData->delayTime_qms; + + // Value ID fields + EXAC->actionIDValueID = VALUE_ID_ACTION_ID; + EXAC->delayTime_qmsValueID = VALUE_ID_ACTION_EXECUTE_TIME; + + // Content length fields + EXAC->actionIDContentLength = sizeof(EXAC->actionID); + EXAC->delayTime_qmsContentLength = sizeof(EXAC->delayTime_qms); + + if (debug) + { + LogPrint("EXAC (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(EXACType), + EXAC->actionIDValueID, EXAC->actionIDContentLength, EXAC->actionID, + EXAC->delayTime_qmsValueID, EXAC->delayTime_qmsContentLength, EXAC->delayTime_qms); + } + + return sizeof(EXACType); +} + +/*! + * \brief ObjectControlBuildTRCMMessage Fills an ISO TRCM struct with relevant data fields, and corresponding value IDs and content lengths + * \param mqTRCMData Data which is to fill TRCM struct + * \param TRCM Output TRCM struct + * \param debug Debug flag + * \return Byte size of TRCM struct + */ +I32 ObjectControlBuildTRCMMessage(TRCMData *mqTRCMData, TRCMType *TRCM, U8 debug) +{ + // Header + TRCM->header.SyncWordU16 = SYNC_WORD; + TRCM->header.TransmitterIdU8 = 0; + TRCM->header.MessageCounterU8 = 0; + TRCM->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + TRCM->header.MessageIdU16 = COMMAND_TRCM_CODE; + TRCM->header.MessageLengthU32 = sizeof(TRCMType) - sizeof(HeaderType) - sizeof(FooterType); + + // Data fields + TRCM->triggerID = mqTRCMData->triggerID; + TRCM->triggerType = mqTRCMData->triggerType; + TRCM->triggerTypeParameter1 = mqTRCMData->triggerTypeParameter1; + TRCM->triggerTypeParameter2 = mqTRCMData->triggerTypeParameter2; + TRCM->triggerTypeParameter3 = mqTRCMData->triggerTypeParameter3; + + // Value ID fields + TRCM->triggerIDValueID = VALUE_ID_TRIGGER_ID; + TRCM->triggerIDValueID = VALUE_ID_TRIGGER_TYPE; + TRCM->triggerTypeParameter1ValueID = VALUE_ID_TRIGGER_TYPE_PARAM1; + TRCM->triggerTypeParameter2ValueID = VALUE_ID_TRIGGER_TYPE_PARAM2; + TRCM->triggerTypeParameter3ValueID = VALUE_ID_TRIGGER_TYPE_PARAM3; + + // Content length fields + TRCM->triggerIDContentLength = sizeof(TRCM->triggerID); + TRCM->triggerTypeContentLength = sizeof(TRCM->triggerType); + TRCM->triggerTypeParameter1ContentLength = sizeof(TRCM->triggerTypeParameter1); + TRCM->triggerTypeParameter2ContentLength = sizeof(TRCM->triggerTypeParameter2); + TRCM->triggerTypeParameter3ContentLength = sizeof(TRCM->triggerTypeParameter3); + + if (debug) + { + LogPrint("TRCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(TRCMType), + TRCM->triggerIDValueID, TRCM->triggerIDContentLength, TRCM->triggerID, + TRCM->triggerTypeValueID, TRCM->triggerTypeContentLength, TRCM->triggerType, + TRCM->triggerTypeParameter1ValueID, TRCM->triggerTypeParameter1ContentLength, TRCM->triggerTypeParameter1, + TRCM->triggerTypeParameter2ValueID, TRCM->triggerTypeParameter2ContentLength, TRCM->triggerTypeParameter2, + TRCM->triggerTypeParameter3ValueID, TRCM->triggerTypeParameter3ContentLength, TRCM->triggerTypeParameter3); + } + + return sizeof(TRCMType); +} + + I32 ObjectControlSendDTMMessage(C8 *DTMData, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug) { From 6894442a7e41facb4b81dff6bac479236c226f41 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 29 Jul 2019 18:18:12 +0200 Subject: [PATCH 383/730] Implemented sender functions for T&A messages --- server/src/objectcontrol.c | 264 ++++++++++++++++++++++++++++++++++++- 1 file changed, 257 insertions(+), 7 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 155dda2f1..98783ee6c 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -193,8 +193,9 @@ I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* Sim I32 ObjectControlSendDTMMessage(C8 *DTMData, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); I32 ObjectControlBuildDTMMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); I32 ObjectControlBuildASPMessage(C8* MessageBuffer, ASPType *ASPData, U8 debug); -I32 ObjectControlBuildACCMMessage(ACCMData *mqEXACData, ACCMType *ACCM, U8 debug); +I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug); I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug); +I32 ObjectControlBuildTRCMMessage(TRCMData *mqTRCMData, TRCMType *TRCM, U8 debug); I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug); I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug); I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug); @@ -2357,27 +2358,267 @@ I32 ObjectControlBuildASPMessage(C8* MessageBuffer, ASPType *ASPData, U8 debug) } - +/*! + * \brief ObjectControlSendACCMMessage Sends ACCM data, reformatted to an ISO compliant message, to specified TCP socket + * \param ACCM ACCM data from message bus + * \param socket Socket where to send ACCM + * \param debug Debug flag + * \return Length of sent message + */ I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug) { ACCMType isoACCM; + C8 messageBuffer[sizeof(isoACCM)]; + C8* ptr = messageBuffer; + int messageSize = 0; + ObjectControlBuildACCMMessage(ACCM, &isoACCM, debug); - U16 crc = 0; - TrajBuffer[MessageLength] = (U8)(CrcU16); - TrajBuffer[MessageLength+1] = (U8)(CrcU16 >> 8); - MessageLength = MessageLength + 2; - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); + // Copy ACCM header to send buffer + memcpy(ptr, &isoACCM.header.SyncWordU16, sizeof(isoACCM.header.SyncWordU16)); + ptr += sizeof(isoACCM.header.SyncWordU16); + + memcpy(ptr, &isoACCM.header.TransmitterIdU8, sizeof(isoACCM.header.TransmitterIdU8)); + ptr += sizeof(isoACCM.header.TransmitterIdU8); + + memcpy(ptr, &isoACCM.header.MessageCounterU8, sizeof(isoACCM.header.MessageCounterU8)); + ptr += sizeof(isoACCM.header.MessageCounterU8); + + memcpy(ptr, &isoACCM.header.AckReqProtVerU8, sizeof(isoACCM.header.AckReqProtVerU8)); + ptr += sizeof(isoACCM.header.AckReqProtVerU8); + + memcpy(ptr, &isoACCM.header.MessageIdU16, sizeof(isoACCM.header.MessageIdU16)); + ptr += sizeof(isoACCM.header.MessageIdU16); + + memcpy(ptr, &isoACCM.header.MessageLengthU32, sizeof(isoACCM.header.MessageLengthU32)); + ptr += sizeof(isoACCM.header.MessageLengthU32); + + + // Copy ACCM action ID to send buffer + memcpy(ptr, &isoACCM.actionIDValueID, sizeof(isoACCM.actionIDValueID)); + ptr += sizeof(isoACCM.actionIDValueID); + + memcpy(ptr, &isoACCM.actionIDContentLength, sizeof(isoACCM.actionIDContentLength)); + ptr += sizeof(isoACCM.actionIDContentLength); + + memcpy(ptr, &isoACCM.actionID, sizeof(isoACCM.actionID)); + ptr += sizeof(isoACCM.actionID); + + // Copy ACCM action type to send buffer + memcpy(ptr, &isoACCM.actionTypeValueID, sizeof(isoACCM.actionTypeValueID)); + ptr += sizeof(isoACCM.actionTypeValueID); + + memcpy(ptr, &isoACCM.actionTypeContentLength, sizeof(isoACCM.actionTypeContentLength)); + ptr += sizeof(isoACCM.actionTypeContentLength); + + memcpy(ptr, &isoACCM.actionType, sizeof(isoACCM.actionType)); + ptr += sizeof(isoACCM.actionType); + + // Copy ACCM action parameter 1 to send buffer + memcpy(ptr, &isoACCM.actionTypeParameter1ValueID, sizeof(isoACCM.actionTypeParameter1ValueID)); + ptr += sizeof(isoACCM.actionTypeParameter1ValueID); + + memcpy(ptr, &isoACCM.actionTypeParameter1ContentLength, sizeof(isoACCM.actionTypeParameter1ContentLength)); + ptr += sizeof(isoACCM.actionTypeParameter1ContentLength); + + memcpy(ptr, &isoACCM.actionTypeParameter1, sizeof(isoACCM.actionTypeParameter1)); + ptr += sizeof(isoACCM.actionTypeParameter1); + + // Copy ACCM action parameter 2 to send buffer + memcpy(ptr, &isoACCM.actionTypeParameter2ValueID, sizeof(isoACCM.actionTypeParameter2ValueID)); + ptr += sizeof(isoACCM.actionTypeParameter2ValueID); + + memcpy(ptr, &isoACCM.actionTypeParameter2ContentLength, sizeof(isoACCM.actionTypeParameter2ContentLength)); + ptr += sizeof(isoACCM.actionTypeParameter2ContentLength); + + memcpy(ptr, &isoACCM.actionTypeParameter2, sizeof(isoACCM.actionTypeParameter2)); + ptr += sizeof(isoACCM.actionTypeParameter2); + + // Copy ACCM action parameter 3 to send buffer + memcpy(ptr, &isoACCM.actionTypeParameter3ValueID, sizeof(isoACCM.actionTypeParameter3ValueID)); + ptr += sizeof(isoACCM.actionTypeParameter3ValueID); + + memcpy(ptr, &isoACCM.actionTypeParameter3ContentLength, sizeof(isoACCM.actionTypeParameter3ContentLength)); + ptr += sizeof(isoACCM.actionTypeParameter3ContentLength); + + memcpy(ptr, &isoACCM.actionTypeParameter3, sizeof(isoACCM.actionTypeParameter3)); + ptr += sizeof(isoACCM.actionTypeParameter3); + + + // Copy ACCM footer to send buffer + memcpy(ptr, &isoACCM.footer.Crc, sizeof(isoACCM.footer.Crc)); + ptr += sizeof(isoACCM.footer.Crc); + + messageSize = (int)(ptr-messageBuffer); + + if (messageSize != (int)isoACCM.header.MessageLengthU32) LogMessage(LOG_LEVEL_WARNING, "ACCM message sent with invalid message length"); + + UtilSendTCPData(MODULE_NAME, messageBuffer, messageSize, socket, 0); + + return messageSize; } +/*! + * \brief ObjectControlSendTRCMMessage Sends TRCM data, reformatted to an ISO compliant message, to specified TCP socket + * \param ACCM TRCM data from message bus + * \param socket Socket where to send TRCM + * \param debug Debug flag + * \return Length of sent message + */ I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug) { + TRCMType isoTRCM; + C8 messageBuffer[sizeof(isoTRCM)]; + C8* ptr = messageBuffer; + int messageSize = 0; + + ObjectControlBuildTRCMMessage(TRCM, &isoTRCM, debug); + + // Copy TRCM header to send buffer + memcpy(ptr, &isoTRCM.header.SyncWordU16, sizeof(isoTRCM.header.SyncWordU16)); + ptr += sizeof(isoTRCM.header.SyncWordU16); + + memcpy(ptr, &isoTRCM.header.TransmitterIdU8, sizeof(isoTRCM.header.TransmitterIdU8)); + ptr += sizeof(isoTRCM.header.TransmitterIdU8); + + memcpy(ptr, &isoTRCM.header.MessageCounterU8, sizeof(isoTRCM.header.MessageCounterU8)); + ptr += sizeof(isoTRCM.header.MessageCounterU8); + + memcpy(ptr, &isoTRCM.header.AckReqProtVerU8, sizeof(isoTRCM.header.AckReqProtVerU8)); + ptr += sizeof(isoTRCM.header.AckReqProtVerU8); + + memcpy(ptr, &isoTRCM.header.MessageIdU16, sizeof(isoTRCM.header.MessageIdU16)); + ptr += sizeof(isoTRCM.header.MessageIdU16); + + memcpy(ptr, &isoTRCM.header.MessageLengthU32, sizeof(isoTRCM.header.MessageLengthU32)); + ptr += sizeof(isoTRCM.header.MessageLengthU32); + + // Copy TRCM trigger ID to send buffer + memcpy(ptr, &isoTRCM.triggerIDValueID, sizeof(isoTRCM.triggerIDValueID)); + ptr += sizeof(isoTRCM.triggerIDValueID); + + memcpy(ptr, &isoTRCM.triggerIDContentLength, sizeof(isoTRCM.triggerIDContentLength)); + ptr += sizeof(isoTRCM.triggerIDContentLength); + + memcpy(ptr, &isoTRCM.triggerID, sizeof(isoTRCM.triggerID)); + ptr += sizeof(isoTRCM.triggerID); + + // Copy TRCM trigger type to send buffer + memcpy(ptr, &isoTRCM.triggerTypeValueID, sizeof(isoTRCM.triggerTypeValueID)); + ptr += sizeof(isoTRCM.triggerTypeValueID); + + memcpy(ptr, &isoTRCM.triggerTypeContentLength, sizeof(isoTRCM.triggerTypeContentLength)); + ptr += sizeof(isoTRCM.triggerTypeContentLength); + + memcpy(ptr, &isoTRCM.triggerType, sizeof(isoTRCM.triggerType)); + ptr += sizeof(isoTRCM.triggerType); + + // Copy TRCM trigger parameter 1 to send buffer + memcpy(ptr, &isoTRCM.triggerTypeParameter1ValueID, sizeof(isoTRCM.triggerTypeParameter1ValueID)); + ptr += sizeof(isoTRCM.triggerTypeParameter1ValueID); + + memcpy(ptr, &isoTRCM.triggerTypeParameter1ContentLength, sizeof(isoTRCM.triggerTypeParameter1ContentLength)); + ptr += sizeof(isoTRCM.triggerTypeParameter1ContentLength); + + memcpy(ptr, &isoTRCM.triggerTypeParameter1, sizeof(isoTRCM.triggerTypeParameter1)); + ptr += sizeof(isoTRCM.triggerTypeParameter1); + + // Copy TRCM trigger parameter 2 to send buffer + memcpy(ptr, &isoTRCM.triggerTypeParameter2ValueID, sizeof(isoTRCM.triggerTypeParameter2ValueID)); + ptr += sizeof(isoTRCM.triggerTypeParameter2ValueID); + + memcpy(ptr, &isoTRCM.triggerTypeParameter2ContentLength, sizeof(isoTRCM.triggerTypeParameter2ContentLength)); + ptr += sizeof(isoTRCM.triggerTypeParameter2ContentLength); + + memcpy(ptr, &isoTRCM.triggerTypeParameter2, sizeof(isoTRCM.triggerTypeParameter2)); + ptr += sizeof(isoTRCM.triggerTypeParameter2); + + // Copy TRCM trigger parameter 3 to send buffer + memcpy(ptr, &isoTRCM.triggerTypeParameter3ValueID, sizeof(isoTRCM.triggerTypeParameter3ValueID)); + ptr += sizeof(isoTRCM.triggerTypeParameter3ValueID); + + memcpy(ptr, &isoTRCM.triggerTypeParameter3ContentLength, sizeof(isoTRCM.triggerTypeParameter3ContentLength)); + ptr += sizeof(isoTRCM.triggerTypeParameter3ContentLength); + + memcpy(ptr, &isoTRCM.triggerTypeParameter3, sizeof(isoTRCM.triggerTypeParameter3)); + ptr += sizeof(isoTRCM.triggerTypeParameter3); + + + // Copy TRCM footer to send buffer + memcpy(ptr, &isoTRCM.footer.Crc, sizeof(isoTRCM.footer.Crc)); + ptr += sizeof(isoTRCM.footer.Crc); + + messageSize = (int)(ptr-messageBuffer); + + if (messageSize != (int)isoTRCM.header.MessageLengthU32) LogMessage(LOG_LEVEL_WARNING, "TRCM message sent with invalid message length"); + + UtilSendTCPData(MODULE_NAME, messageBuffer, messageSize, socket, 0); + + return messageSize; } I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug) { + EXACType isoEXAC; + C8 messageBuffer[sizeof(isoEXAC)]; + C8* ptr = messageBuffer; + int messageSize = 0; + + ObjectControlBuildEXACMessage(EXAC, &isoEXAC, debug); + // Copy EXAC header to send buffer + memcpy(ptr, &isoEXAC.header.SyncWordU16, sizeof(isoEXAC.header.SyncWordU16)); + ptr += sizeof(isoEXAC.header.SyncWordU16); + + memcpy(ptr, &isoEXAC.header.TransmitterIdU8, sizeof(isoEXAC.header.TransmitterIdU8)); + ptr += sizeof(isoEXAC.header.TransmitterIdU8); + + memcpy(ptr, &isoEXAC.header.MessageCounterU8, sizeof(isoEXAC.header.MessageCounterU8)); + ptr += sizeof(isoEXAC.header.MessageCounterU8); + + memcpy(ptr, &isoEXAC.header.AckReqProtVerU8, sizeof(isoEXAC.header.AckReqProtVerU8)); + ptr += sizeof(isoEXAC.header.AckReqProtVerU8); + + memcpy(ptr, &isoEXAC.header.MessageIdU16, sizeof(isoEXAC.header.MessageIdU16)); + ptr += sizeof(isoEXAC.header.MessageIdU16); + + memcpy(ptr, &isoEXAC.header.MessageLengthU32, sizeof(isoEXAC.header.MessageLengthU32)); + ptr += sizeof(isoEXAC.header.MessageLengthU32); + + + // Copy EXAC action ID to send buffer + memcpy(ptr, &isoEXAC.actionIDValueID, sizeof(isoEXAC.actionIDValueID)); + ptr += sizeof(isoEXAC.actionIDValueID); + + memcpy(ptr, &isoEXAC.actionIDContentLength, sizeof(isoEXAC.actionIDContentLength)); + ptr += sizeof(isoEXAC.actionIDContentLength); + + memcpy(ptr, &isoEXAC.actionID, sizeof(isoEXAC.actionID)); + ptr += sizeof(isoEXAC.actionID); + + // Copy EXAC action execution time to send buffer + memcpy(ptr, &isoEXAC.delayTime_qmsValueID, sizeof(isoEXAC.delayTime_qmsValueID)); + ptr += sizeof(isoEXAC.delayTime_qmsValueID); + + memcpy(ptr, &isoEXAC.delayTime_qmsContentLength, sizeof(isoEXAC.delayTime_qmsContentLength)); + ptr += sizeof(isoEXAC.delayTime_qmsContentLength); + + memcpy(ptr, &isoEXAC.delayTime_qms, sizeof(isoEXAC.delayTime_qms)); + ptr += sizeof(isoEXAC.delayTime_qms); + + + // Copy EXAC footer to send buffer + memcpy(ptr, &isoEXAC.footer.Crc, sizeof(isoEXAC.footer.Crc)); + ptr += sizeof(isoEXAC.footer.Crc); + + messageSize = (int)(ptr-messageBuffer); + + if (messageSize != (int)isoEXAC.header.MessageLengthU32) LogMessage(LOG_LEVEL_WARNING, "EXAC message sent with invalid message length"); + + UtilSendTCPData(MODULE_NAME, messageBuffer, messageSize, socket, 0); + + return messageSize; } @@ -2419,6 +2660,9 @@ I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug ACCM->actionTypeParameter2ContentLength = sizeof(ACCM->actionTypeParameter2); ACCM->actionTypeParameter3ContentLength = sizeof(ACCM->actionTypeParameter3); + // Footer (TODO) + ACCM->footer.Crc = 0; + if (debug) { LogPrint("ACCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(ACCMType), @@ -2465,6 +2709,9 @@ I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug EXAC->actionIDContentLength = sizeof(EXAC->actionID); EXAC->delayTime_qmsContentLength = sizeof(EXAC->delayTime_qms); + // Footer (TODO) + EXAC->footer.Crc = 0; + if (debug) { LogPrint("EXAC (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(EXACType), @@ -2513,6 +2760,9 @@ I32 ObjectControlBuildTRCMMessage(TRCMData *mqTRCMData, TRCMType *TRCM, U8 debug TRCM->triggerTypeParameter2ContentLength = sizeof(TRCM->triggerTypeParameter2); TRCM->triggerTypeParameter3ContentLength = sizeof(TRCM->triggerTypeParameter3); + // Footer (TODO) + TRCM->footer.Crc = 0; + if (debug) { LogPrint("TRCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(TRCMType), From 19e30d9a8796105dd62dcfba5b720c475342216a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 29 Jul 2019 18:18:46 +0200 Subject: [PATCH 384/730] Added a missing function description --- server/src/objectcontrol.c | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 98783ee6c..ae3765ab6 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -2558,6 +2558,13 @@ I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug) return messageSize; } +/*! + * \brief ObjectControlSendEXACMessage Sends EXAC data, reformatted to an ISO compliant message, to specified TCP socket + * \param ACCM EXAC data from message bus + * \param socket Socket where to send EXAC + * \param debug Debug flag + * \return Length of sent message + */ I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug) { EXACType isoEXAC; From 4f142f91622d6eacb53822ebd38d0677032111a8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 29 Jul 2019 18:34:21 +0200 Subject: [PATCH 385/730] ScenarioControl calculates the absolute EXAC execution time and passes it over MQ --- .../ScenarioControl/src/externalaction.cpp | 7 ++++++- server/inc/iso22133.h | 6 +++--- server/inc/util.h | 2 +- server/src/logger.c | 4 ++-- server/src/objectcontrol.c | 20 +++++++++---------- 5 files changed, 22 insertions(+), 17 deletions(-) diff --git a/modules/ScenarioControl/src/externalaction.cpp b/modules/ScenarioControl/src/externalaction.cpp index 5218c553e..f25bf6dbb 100644 --- a/modules/ScenarioControl/src/externalaction.cpp +++ b/modules/ScenarioControl/src/externalaction.cpp @@ -1,16 +1,21 @@ #include "externalaction.h" #include "logging.h" #include "util.h" +#include "maestroTime.h" Action::ActionReturnCode_t ExternalAction::execute(void) { EXACData data; + struct timeval systemTime; if (remainingAllowedRuns == 0) return NO_REMAINING_RUNS; else { + TimeSetToCurrentSystemTime(&systemTime); // TODO: Set system time according to timecontrol + data.actionID = actionID; - data.delayTime_qms = actionDelayTime_qms; + data.executionTime_qmsoW = actionDelayTime_qms == 0 ? 0 : TimeGetAsGPSqmsOfWeek(&systemTime) + actionDelayTime_qms; + data.ip = actionObjectIP; LogMessage(LOG_LEVEL_INFO, "Sending execute action message over message bus (action ID %u)", actionID); diff --git a/server/inc/iso22133.h b/server/inc/iso22133.h index 6bb2b3f26..548fd19f8 100644 --- a/server/inc/iso22133.h +++ b/server/inc/iso22133.h @@ -191,9 +191,9 @@ typedef struct uint16_t actionIDValueID; uint16_t actionIDContentLength; uint16_t actionID; - uint16_t delayTime_qmsValueID; - uint16_t delayTime_qmsContentLength; - uint32_t delayTime_qms; + uint16_t executionTime_qmsoWValueID; + uint16_t executionTime_qmsoWContentLength; + uint32_t executionTime_qmsoW; FooterType footer; } EXACType; diff --git a/server/inc/util.h b/server/inc/util.h index 8006b52cc..c847314d2 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -628,7 +628,7 @@ typedef struct typedef struct { uint16_t actionID; - uint32_t delayTime_qms; + uint32_t executionTime_qmsoW; in_addr_t ip; } EXACData; //!< Data type for MQ message diff --git a/server/src/logger.c b/server/src/logger.c index f9d761f2a..6c953b75c 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -688,8 +688,8 @@ void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, s case COMM_EXAC: UtilPopulateEXACDataStructFromMQ(commandData, (size_t)commandDatalen, &exac); LogMessage(LOG_LEVEL_INFO,"Action execute request detected, ID %u",exac.actionID); - TimeSetToUTCms(&messageTimeField, exac.delayTime_qms*4); - fprintf(filefd, "%u;%ld;", exac.actionID, TimeGetAsUTCms(&messageTimeField)); + TimeSetToGPStime(&messageTimeField,TimeGetAsGPSweek(&systemTime),exac.executionTime_qmsoW); + fprintf(filefd, "%u;%ld;", exac.actionID, TimeGetAsGPSms(&messageTimeField)); fprintf(filefd, "%s", inet_ntop(AF_INET,&exac.ip,ipStringBuffer,sizeof(ipStringBuffer))); break; case COMM_TRCM: diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index ae3765ab6..2fad9e023 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -2605,14 +2605,14 @@ I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug) ptr += sizeof(isoEXAC.actionID); // Copy EXAC action execution time to send buffer - memcpy(ptr, &isoEXAC.delayTime_qmsValueID, sizeof(isoEXAC.delayTime_qmsValueID)); - ptr += sizeof(isoEXAC.delayTime_qmsValueID); + memcpy(ptr, &isoEXAC.executionTime_qmsoWValueID, sizeof(isoEXAC.executionTime_qmsoWValueID)); + ptr += sizeof(isoEXAC.executionTime_qmsoWValueID); - memcpy(ptr, &isoEXAC.delayTime_qmsContentLength, sizeof(isoEXAC.delayTime_qmsContentLength)); - ptr += sizeof(isoEXAC.delayTime_qmsContentLength); + memcpy(ptr, &isoEXAC.executionTime_qmsoWContentLength, sizeof(isoEXAC.executionTime_qmsoWContentLength)); + ptr += sizeof(isoEXAC.executionTime_qmsoWContentLength); - memcpy(ptr, &isoEXAC.delayTime_qms, sizeof(isoEXAC.delayTime_qms)); - ptr += sizeof(isoEXAC.delayTime_qms); + memcpy(ptr, &isoEXAC.executionTime_qmsoW, sizeof(isoEXAC.executionTime_qmsoW)); + ptr += sizeof(isoEXAC.executionTime_qmsoW); // Copy EXAC footer to send buffer @@ -2706,15 +2706,15 @@ I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug // Data fields EXAC->actionID = mqEXACData->actionID; - EXAC->delayTime_qms = mqEXACData->delayTime_qms == 0 ? 0 : TimeGetAsGPSqmsOfWeek(&systemTime) + mqEXACData->delayTime_qms; + EXAC->executionTime_qmsoW = mqEXACData->executionTime_qmsoW; // Value ID fields EXAC->actionIDValueID = VALUE_ID_ACTION_ID; - EXAC->delayTime_qmsValueID = VALUE_ID_ACTION_EXECUTE_TIME; + EXAC->executionTime_qmsoWValueID = VALUE_ID_ACTION_EXECUTE_TIME; // Content length fields EXAC->actionIDContentLength = sizeof(EXAC->actionID); - EXAC->delayTime_qmsContentLength = sizeof(EXAC->delayTime_qms); + EXAC->executionTime_qmsoWContentLength = sizeof(EXAC->executionTime_qmsoW); // Footer (TODO) EXAC->footer.Crc = 0; @@ -2723,7 +2723,7 @@ I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug { LogPrint("EXAC (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(EXACType), EXAC->actionIDValueID, EXAC->actionIDContentLength, EXAC->actionID, - EXAC->delayTime_qmsValueID, EXAC->delayTime_qmsContentLength, EXAC->delayTime_qms); + EXAC->executionTime_qmsoWValueID, EXAC->executionTime_qmsoWContentLength, EXAC->executionTime_qmsoW); } return sizeof(EXACType); From 7245b992f151e8460c2f3d13b482e7589b96cc23 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 30 Jul 2019 10:42:15 +0200 Subject: [PATCH 386/730] Basic visualization --- server/CMakeLists.txt | 16 ++- server/inc/visualization.h | 24 ++++ server/src/visualization.c | 264 ++++++++++--------------------------- 3 files changed, 103 insertions(+), 201 deletions(-) create mode 100755 server/inc/visualization.h diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 07af2ffad..5e7c66fcf 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -18,7 +18,7 @@ include(GNUInstallDirs) #find_library(MAESTRO_LOGGING_PATH # NAMES MaestroLogging # PATHS "../util/C/logging" -# "../util/C" +# "../util # ${CMAKE_INSTALL_LIBDIR} # ${CMAKE_INSTALL_INCLUDEDIR}) #add_library(MaestroLogging SHARED IMPORTED) @@ -39,6 +39,14 @@ if(USE_CITS) add_definitions(-DCITS_ENABLED) endif() +if(1) + add_library(visualization + src/visualization.c + inc/visualization.h + ) +add_definitions(-DVISUALIZATION_ENABLED) +endif() + # Create library add_library(MaestroLogging ../util/C/logging/logging.h @@ -55,8 +63,6 @@ add_library(MQBus ../util/C/MQBus/mqbus.c ) - - # Create library add_library(util src/util.c @@ -116,6 +122,10 @@ if(USE_CITS) target_link_libraries(TEServer cits) endif() +if(1) + target_link_libraries(TEServer visualization) +endif() + target_link_libraries(TEServer MaestroLogging MaestroTime MQBus) diff --git a/server/inc/visualization.h b/server/inc/visualization.h new file mode 100755 index 000000000..c5b7b48ca --- /dev/null +++ b/server/inc/visualization.h @@ -0,0 +1,24 @@ +/*------------------------------------------------------------------------------ + -- Copyright : (C) 2018 CHRONOS II project + ------------------------------------------------------------------------------ + -- File : citscontrol.h + -- Author : Sebastian Loh Lindholm + -- Description : CHRONOS II + -- Purpose : + -- Reference : + ------------------------------------------------------------------------------*/ + +#ifndef __VISUALIZATION_H_INCLUDED__ +#define __VISUALIZATION_H_INCLUDED__ + +#include "util.h" +#include "logging.h" + +/*------------------------------------------------------------ + -- Function declarations. + ------------------------------------------------------------*/ +void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); + + +#endif + diff --git a/server/src/visualization.c b/server/src/visualization.c index d807ede81..427825787 100755 --- a/server/src/visualization.c +++ b/server/src/visualization.c @@ -1,24 +1,12 @@ -/*------------------------------------------------------------------------------ - -- Copyright : (C) 2016 CHRONOS project - ------------------------------------------------------------------------------ - -- File : visualization.c - -- Author : Karl-Johan Ode - -- Description : CHRONOS - -- Purpose : - -- Reference : - ------------------------------------------------------------------------------*/ - -/*------------------------------------------------------------ - -- Include files. - ------------------------------------------------------------*/ -#include -#include -#include -#include +#include +#include #include #include -#include #include +#include +#include +#include +#include #include "util.h" @@ -32,205 +20,85 @@ #define VISUAL_REPLAY_MODE 1 #define SMALL_ITEM_TEXT_BUFFER_SIZE 20 +#define MODULE_NAME "VisualizationAdapter" + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr); -static void vDisconnectVisualizationChannel(int* sockfd); -static void vSendVisualization(int* sockfd, - struct sockaddr_in* addr, - const char* message); -void vISOtoCHRONOSmsg(char* ISOmsg,char* tarCHRONOSmsg,int MSG_size); /*------------------------------------------------------------ -- Private variables ------------------------------------------------------------*/ -/*------------------------------------------------------------ - -- Public functions - ------------------------------------------------------------*/ -int main(int argc, char *argv[]) -{ - int visual_server; - struct sockaddr_in visual_server_addr; - char cpBuffer[RECV_MESSAGE_BUFFER]; - char chronosbuff[RECV_MESSAGE_BUFFER]; - - printf("[Visualization] DefaultVisualizationAdapter started\n"); - fflush(stdout); - - (void)iCommInit(IPC_RECV,MQ_VA,0); - - vConnectVisualizationChannel(&visual_server,&visual_server_addr); - - /* Listen for commands */ - int iExit = 0; - int iCommand; - - /* Execution mode*/ - int VisualExecutionMode = VISUAL_CONTROL_MODE; - - while(!iExit) - { - bzero(cpBuffer,RECV_MESSAGE_BUFFER); - (void)iCommRecv(&iCommand,cpBuffer,RECV_MESSAGE_BUFFER, NULL); - - if(iCommand == COMM_MONI) - { - DEBUG_LPRINT(DEBUG_LEVEL_LOW,"INF: Recieved MONITOR message: %s\n",cpBuffer); - - vISOtoCHRONOSmsg(cpBuffer,chronosbuff,RECV_MESSAGE_BUFFER); - vSendVisualization(&visual_server,&visual_server_addr,chronosbuff); - - } - else if(iCommand == COMM_REPLAY) - { - VisualExecutionMode = VISUAL_REPLAY_MODE; - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM,"Visualization in REPLAY mode: %s\n",cpBuffer); - } - else if(iCommand == COMM_CONTROL) - { - VisualExecutionMode = VISUAL_CONTROL_MODE; - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM,"Visualization in CONTROL mode: %s\n", cpBuffer); - } - else if(iCommand == COMM_EXIT) - { - iExit = 1; - } - else if (iCommand == COMM_OBC_STATE) { - - } - else - { - DEBUG_LPRINT(DEBUG_LEVEL_LOW,"Vizualization unhandled command: %d",iCommand); - } - } - - /* Close visualization socket */ - vDisconnectVisualizationChannel(&visual_server); - - (void)iCommClose(); -} /*------------------------------------------------------------ - -- Private functions - ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) -{ - struct hostent *server; - char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; - - /* Setup connection to visualization */ - DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); - - *sockfd = socket ( AF_INET, - SOCK_DGRAM, - IPPROTO_UDP ); - - if (*sockfd < 0) - { - util_error("ERR: Failed to create visualization socket"); - } - - bzero((char *)addr, sizeof(*addr)); - - bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); - if(!iUtilGetParaConfFile("VisualizationServerName",pcTempBuffer)) - { - strcat(pcTempBuffer,VISUAL_SERVER_NAME); - } - - DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); - - - server = gethostbyname(pcTempBuffer); - - if (server == NULL) - { - util_error("ERR: Unkonown host\n"); - } - bcopy((char *) server->h_addr, - (char *)&addr->sin_addr.s_addr, server->h_length); - - addr->sin_family = AF_INET; - addr->sin_port = htons(VISUAL_SERVER_PORT); -} - -static void vDisconnectVisualizationChannel(int* sockfd) -{ - close(*sockfd); -} - -static void vSendVisualization(int* sockfd, struct sockaddr_in* addr,const char* message) +-- The main function. +------------------------------------------------------------*/ +void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { - char buffer[1024]; - int result; - - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM,"INF: Buffer to visualization: <%s>\n",message); + int camTimeCycle = 0; + I32 iExit = 0; + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + enum COMMAND command; - result = sendto(*sockfd, - message, - strlen (message), - 0, - (const struct sockaddr *) addr, - sizeof(struct sockaddr_in)); + (void)iCommInit(); + LogInit(MODULE_NAME,LOG_LEVEL_INFO); + LogMessage(LOG_LEVEL_INFO, "Visualization running with PID: %i", getpid()); - if (result < 0) + while(!iExit) { - util_error("ERR: Failed to send on monitor socket"); - } -} + // Handle states specific things + state = pending_state; -void vISOtoCHRONOSmsg(char* ISOmsg,char* tarCHRONOSmsg, int MSG_size) -{ - char IP_address[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char ID[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Timestamp[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Latitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Longitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Altitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Heading[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LonSpeed[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LatSpeed[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LonAcc[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LatAcc[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char DriveDirection[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char StateFlag[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char StatusFlag[SMALL_ITEM_TEXT_BUFFER_SIZE]; - - bzero(tarCHRONOSmsg,MSG_size); - - char* item_p = strtok(ISOmsg,";"); - int item_num = 0; // The placement incoming message - while(item_p != NULL) - { - // What to do with each item at the current placement - switch (item_num) { - case 0: - case 1: - case 2: - case 3: - case 4: - case 5: - case 11: - case 12: - strcat(tarCHRONOSmsg,item_p); strcat(tarCHRONOSmsg,";"); - break; - case 6: - bzero(Heading,SMALL_ITEM_TEXT_BUFFER_SIZE); - int mod_heading = atoi(item_p)/10; - sprintf(Heading,"%d;",mod_heading); + switch (state) { + case INIT: break; - case 7: - strcat(tarCHRONOSmsg,item_p); strcat(tarCHRONOSmsg,";"); - strcat(tarCHRONOSmsg,Heading); + case CONNECTED: break; - default: + case SENDING: break; } - item_num++; - item_p = strtok(NULL,";"); - } + // Handle MQ messages + bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); + (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); + if (command == COMM_ABORT) + { + + } + + if(command == COMM_EXIT) + { + iExit = 1; + printf("Vizualisation exiting.\n"); + + (void)iCommClose(); + } + //usleep(100000); + switch (command) + { + case COMM_INIT: + + break; + case COMM_MONI: + // Ignore old style MONR data + break; + case COMM_MONR: + + break; + case COMM_OBC_STATE: + break; + case COMM_CONNECT: + break; + case COMM_LOG: + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } + } } + + From 7d29378cc863021bc91a07a32584a731a306b145 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 30 Jul 2019 11:06:08 +0200 Subject: [PATCH 387/730] Fixed linking --- server/CMakeLists.txt | 2 -- server/src/visualization.c | 14 ++------------ 2 files changed, 2 insertions(+), 14 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 5e7c66fcf..ecdc0ae8c 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -126,6 +126,4 @@ if(1) target_link_libraries(TEServer visualization) endif() - target_link_libraries(TEServer MaestroLogging MaestroTime MQBus) - diff --git a/server/src/visualization.c b/server/src/visualization.c index 427825787..7a4a1bc39 100755 --- a/server/src/visualization.c +++ b/server/src/visualization.c @@ -8,8 +8,10 @@ #include #include +#include "visualization.h" #include "util.h" + /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ @@ -48,18 +50,6 @@ void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) while(!iExit) { - // Handle states specific things - state = pending_state; - - switch (state) { - case INIT: - break; - case CONNECTED: - break; - case SENDING: - break; - } - // Handle MQ messages bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); From 6af645ea75cfad3597992e0340ec7c36613e51e0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 12:14:57 +0200 Subject: [PATCH 388/730] Implemented socket getter function for specified IP --- server/src/objectcontrol.c | 43 +++++++++++++++++++++++++++++++------- 1 file changed, 36 insertions(+), 7 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 2fad9e023..8c6f7d4ca 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -173,6 +173,7 @@ static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); static size_t uiRecvMonitor(int* sockfd, char* buffer, size_t length); +static int iGetSocketFromObjectIP(in_addr_t ipAddr, int sockfds[], unsigned int nSockfds); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -245,15 +246,17 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { int safety_socket_fd[MAX_OBJECTS]; struct sockaddr_in safety_object_addr[MAX_OBJECTS]; - int socket_fd[MAX_OBJECTS]; + int socket_fds[MAX_OBJECTS]; + int socket_fd = 0; char object_traj_file[MAX_OBJECTS][MAX_FILE_PATH]; char object_address_name[MAX_OBJECTS][MAX_FILE_PATH]; + char ipStringBuffer[INET_ADDRSTRLEN]; uint32_t object_udp_port[MAX_OBJECTS]; uint32_t object_tcp_port[MAX_OBJECTS]; int nbr_objects=0; int iExit = 0; enum COMMAND iCommand; - char pcRecvBuffer[RECV_MESSAGE_BUFFER]; + uint8_t pcRecvBuffer[RECV_MESSAGE_BUFFER]; char pcTempBuffer[512]; C8 MessageBuffer[BUFFER_SIZE_3100]; int iIndex = 0, i=0; @@ -325,6 +328,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) SYPMType SYPMData; MTSPType MTSPData; ACCMData mqACCMData; + EXACData mqEXACData; GeoPosition OriginPosition; ASPType ASPData; ASPData.MTSPU32 = 0; @@ -414,13 +418,13 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) DisconnectU8 = 0; for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - DisconnectU8 |= vCheckRemoteDisconnected(&socket_fd[iIndex]); + DisconnectU8 |= vCheckRemoteDisconnected(&socket_fds[iIndex]); if (DisconnectU8){ LogMessage(LOG_LEVEL_WARNING,"Lost connection to IP %s - returning to IDLE",object_address_name[iIndex]); for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - vDisconnectObject(&socket_fd[iIndex]); + vDisconnectObject(&socket_fds[iIndex]); } /* Close safety socket */ @@ -970,11 +974,21 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else if (iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) { - UtilPopulateACCMDataStructFromMQ() + UtilPopulateACCMDataStructFromMQ(pcRecvBuffer,sizeof(pcRecvBuffer),&mqACCMData); + socket_fd = iGetSocketFromObjectIP(mqACCMData.ip, socket_fds, sizeof(socket_fds)/sizeof(socket_fds[0])); + if (socket_fd != 0) + ObjectControlSendACCMMessage(&mqACCMData,&socket_fd,1); + else + LogMessage(LOG_LEVEL_WARNING, "Unable to send ACCM: no valid socket found"); } else if (iCommand == COMM_EXAC && OBCState == OBC_STATE_RUNNING) { - + UtilPopulateEXACDataStructFromMQ(pcRecvBuffer,sizeof(pcRecvBuffer),&mqEXACData); + socket_fd = iGetSocketFromObjectIP(mqEXACData.ip, socket_fds, sizeof(socket_fds)/sizeof(socket_fds[0])); + if (socket_fd != 0) + ObjectControlSendEXACMessage(&mqEXACData,&socket_fd,1); + else + LogMessage(LOG_LEVEL_WARNING, "Unable to send EXAC: no valid socket found"); } else if(iCommand == COMM_CONNECT && OBCState == OBC_STATE_INITIALIZED) { @@ -1000,7 +1014,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) do { - iResult = vConnectObject(&socket_fd[iIndex],object_address_name[iIndex],object_tcp_port[iIndex], &DisconnectU8); + iResult = vConnectObject(&socket_fds[iIndex],object_address_name[iIndex],object_tcp_port[iIndex], &DisconnectU8); if ( iResult < 0) { @@ -2946,7 +2960,22 @@ I32 ObjectControlBuildDTMMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, D } +static int iGetSocketFromObjectIP(in_addr_t ipAddr, int sockfds[], unsigned int nSockfds) +{ + struct sockaddr_in inaddr; + socklen_t addrlen = sizeof(inaddr); + int result; + + for (unsigned int i = 0; i < nSockfds; ++i) { + result = getsockname(sockfds[i], (struct sockaddr*)&inaddr, &addrlen); + if (result == -1) + continue; + if (inaddr.sin_addr.s_addr == ipAddr) + return sockfds[i]; + } + return 0; +} static I32 vConnectObject(int* sockfd, const char* name, const uint32_t port, U8 *Disconnect) { From 87354617c73389dba4245860335f7b8bf401bb85 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 12:24:10 +0200 Subject: [PATCH 389/730] Linked users of time library to it --- modules/ScenarioControl/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index f66ac298c..8ac288d26 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -68,6 +68,7 @@ install(TARGETS ScenarioControl DESTINATION bin) target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Scenario) target_link_libraries(Scenario Trigger Action) +target_link_libraries(Action MaestroTime) target_link_libraries(util MQBus MaestroTime MaestroLogging) target_link_libraries(MQBus rt m) From 22e7cfe6dee26d8ed003c826721f65ad5a3c969a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 12:27:56 +0200 Subject: [PATCH 390/730] Made OC send message when all objects have been successfully connected to, and ScC to send TRCM/ACCM when receiving this message --- modules/ScenarioControl/inc/scenario.h | 1 + modules/ScenarioControl/src/main.cpp | 41 ++++++++++++++---------- modules/ScenarioControl/src/scenario.cpp | 16 ++++++--- server/inc/util.h | 1 + server/src/objectcontrol.c | 32 ++++++++++-------- server/src/util.c | 12 ++++--- util | 2 +- 7 files changed, 65 insertions(+), 40 deletions(-) diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index 9c439f88d..0808f165a 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -20,6 +20,7 @@ class Scenario ~Scenario(); void initialize(const std::string scenarioFilePath); + void sendConfiguration(void) const; ScenarioReturnCode_t linkTriggersWithActions(std::set tps, std::set aps); ScenarioReturnCode_t linkTriggersWithAction(std::set tps, Action* ap); diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index c7920a47d..4e2ab6941 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -52,27 +52,14 @@ int main() LogMessage(LOG_LEVEL_INFO, "Initializing scenario"); //scenario.initialize(SCENARIO_FILE_PATH); scenario.initialize("log/dummy_scenariofil.fil"); - - LogMessage(LOG_LEVEL_INFO,"1"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"2"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"3"); - scenario.updateTrigger(1,true); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"4"); - scenario.updateTrigger(1,true); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"5"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"6"); } catch (std::invalid_argument) { util_error("Invalid scenario file format"); } catch (std::ifstream::failure) { util_error("Unable to open scenario file <" SCENARIO_FILE_PATH ">"); } break; + case COMM_OBJECTS_CONNECTED: + LogMessage(LOG_LEVEL_INFO, "Distributing scenario configuration"); + scenario.sendConfiguration(); + break; case COMM_OBC_STATE: case COMM_LOG: // Ignore the state of object control and logging messages @@ -105,6 +92,26 @@ int main() case COMM_INV: nanosleep(&sleepTimePeriod,&remTime); break; + case COMM_STRT: + + // PLACEHOLDER + LogMessage(LOG_LEVEL_INFO,"1"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"2"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"3"); + scenario.updateTrigger(1,true); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"4"); + scenario.updateTrigger(1,true); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"5"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"6"); + default: LogMessage(LOG_LEVEL_INFO,"Received command %u",command); } diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 0f4fec49f..ec2ec6c66 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -48,17 +48,25 @@ void Scenario::initialize(const std::string scenarioFilePath) } file.close(); + LogMessage(LOG_LEVEL_INFO, "Successfully initialized scenario with %d unique triggers and %d unique actions", allTriggers.size(), allActions.size()); +} + +/*! + * \brief Scenario::sendConfiguration Sends TRCM and ACCM according to previously initialized scenario + */ +void Scenario::sendConfiguration(void) const +{ for (Trigger* tp : allTriggers) { - iCommSendTRCM(tp->getConfigurationMessageData()); + if(iCommSendTRCM(tp->getConfigurationMessageData()) == -1) + util_error("Fatal communication error sending TRCM"); } for (Action* ap : allActions) { - iCommSendACCM(ap->getConfigurationMessageData()); + if(iCommSendACCM(ap->getConfigurationMessageData()) == -1) + util_error("Fatal communication error sending ACCM"); } - - LogMessage(LOG_LEVEL_INFO, "Successfully initialized scenario with %d unique triggers and %d unique actions", allTriggers.size(), allActions.size()); } void Scenario::parseScenarioFile(std::ifstream &file) diff --git a/server/inc/util.h b/server/inc/util.h index c847314d2..0ac4d4899 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -290,6 +290,7 @@ COMM_TREO = 22, COMM_ACCM = 23, COMM_TRCM = 24, COMM_MONR = 239, +COMM_OBJECTS_CONNECTED = 111, COMM_INV = 255 }; diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 8c6f7d4ca..19c99827c 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -685,7 +685,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*Send DTM data*/ //UtilSendTCPData("[ObjectControl]", MessageBuffer, MessageLength, &socket_fd[iIndex], 0); //printf("Send to object\n"); - UtilSendTCPData("[ObjectControl]", GSD->SupChunk, GSD->SupChunkSize, &socket_fd[iIndex], 0); + UtilSendTCPData("[ObjectControl]", GSD->SupChunk, GSD->SupChunkSize, &socket_fds[iIndex], 0); } } @@ -718,7 +718,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) for(iIndex=0;iIndexSupChunk, GSD->SupChunkSize, &socket_fd[iIndex], 0); + UtilSendTCPData("[ObjectControl]", GSD->SupChunk, GSD->SupChunkSize, &socket_fds[iIndex], 0); } } @@ -1079,7 +1079,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) vSetState(&OBCState,OBC_STATE_ERROR); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fd[iIndex], 0); + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); //Store OSEM in GSD @@ -1106,10 +1106,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount-2, &HeaderData, &TRAJInfoData, 0); /*Send DOTM header*/ - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fd[iIndex], 0); + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); /*Send DOTM data*/ - ObjectControlSendDOTMMEssage(object_traj_file[iIndex], &socket_fd[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); + ObjectControlSendDOTMMEssage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); } @@ -1127,13 +1127,13 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { /*Send SYPM to slave*/ MessageLength =ObjectControlBuildSYPMMessage(MessageBuffer, &SYPMData, ASP[i].SlaveTrajSyncTime*1000, ASP[i].SlaveSyncStopTime*1000, 1); - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fd[iIndex], 1); + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 1); } else if(TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL) { /*Send SYPM to slave*/ MessageLength =ObjectControlBuildSYPMMessage(MessageBuffer, &SYPMData, ASP[i].SlaveTrajSyncTime*1000, ASP[i].SlaveSyncStopTime*1000, 1); - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fd[iIndex], 1); + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 1); } } @@ -1152,7 +1152,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(strstr(object_address_name[iIndex], TAA[i].TriggerIP) != NULL) { MessageLength = ObjectControlBuildTCMMessage(MessageBuffer, &TAA[i], 0); - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fd[iIndex], 0); + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); } } /* ...end*/ @@ -1183,7 +1183,11 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) OriginPosition.Altitude = OriginAltitudeDbl; OriginPosition.Heading = OriginHeadingDbl; - if(DisconnectU8 == 0) vSetState(&OBCState, OBC_STATE_CONNECTED); + if(DisconnectU8 == 0) + { + vSetState(&OBCState, OBC_STATE_CONNECTED); + iCommSend(COMM_OBJECTS_CONNECTED, NULL, 0); + } else if(DisconnectU8 == 1) vSetState(&OBCState, OBC_STATE_IDLE); } else if(iCommand == COMM_DISCONNECT) @@ -1191,7 +1195,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //#ifndef NOTCP for(iIndex=0;iIndexactionID, rdPtr, sizeof(exacData->actionID)); rdPtr += sizeof(exacData->actionID); - memcpy(&exacData->delayTime_qms, rdPtr, sizeof(exacData->delayTime_qms)); - rdPtr += sizeof(exacData->delayTime_qms); + memcpy(&exacData->executionTime_qmsoW, rdPtr, sizeof(exacData->executionTime_qmsoW)); + rdPtr += sizeof(exacData->executionTime_qmsoW); memcpy(&exacData->ip, rdPtr, sizeof(exacData->ip)); rdPtr += sizeof(exacData->ip); diff --git a/util b/util index 4afcc2141..86b2a7568 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 4afcc2141d66b1302b8096727877f983e4452baa +Subproject commit 86b2a7568faf451b3bbd585ab77474178592494f From f534e4ef4f9c54eb6b8206c2a55b0988f2e5a999 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 30 Jul 2019 12:57:20 +0200 Subject: [PATCH 391/730] Connection with vConnectV... --- server/src/main.c | 6 ++++ server/src/visualization.c | 58 ++++++++++++++++++++++++++++++++++++-- 2 files changed, 62 insertions(+), 2 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 21bf17010..356bf995e 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -32,6 +32,8 @@ #include "timecontrol.h" #include "supervisorcontrol.h" #include "citscontrol.h" +#include "visualization.h" + #include "logging.h" #include "mqbus.h" #include "maestroTime.h" @@ -77,6 +79,10 @@ static const ModuleTask allModules[] = { #ifdef CITS_ENABLED ,citscontrol_task #endif + + #ifdef VISUALIZATION_ENABLED + ,visualization_task + #endif }; static const int numberOfModules = sizeof(allModules) / sizeof(ModuleTask); diff --git a/server/src/visualization.c b/server/src/visualization.c index 7a4a1bc39..ce74f802a 100755 --- a/server/src/visualization.c +++ b/server/src/visualization.c @@ -27,7 +27,8 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ - +static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr); +static void vDisconnectVisualizationChannel(int* sockfd); /*------------------------------------------------------------ -- Private variables @@ -39,6 +40,10 @@ ------------------------------------------------------------*/ void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { + int visual_server; + struct sockaddr_in visual_server_addr; + vConnectVisualizationChannel(&visual_server,&visual_server_addr); + int camTimeCycle = 0; I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus @@ -75,7 +80,7 @@ void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Ignore old style MONR data break; case COMM_MONR: - + UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); break; case COMM_OBC_STATE: break; @@ -91,4 +96,53 @@ void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } +/*------------------------------------------------------------ + -- Private functions + ------------------------------------------------------------*/ +static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) +{ + struct hostent *server; + char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; + + /* Setup connection to visualization */ + //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); + + *sockfd = socket ( AF_INET, + SOCK_DGRAM, + IPPROTO_UDP ); + + if (*sockfd < 0) + { + util_error("ERR: Failed to create visualization socket"); + } + + bzero((char *)addr, sizeof(*addr)); + + bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); + if(!iUtilGetParaConfFile("VisualizationServerName",pcTempBuffer)) + { + strcat(pcTempBuffer,VISUAL_SERVER_NAME); + } + + //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); + + + server = gethostbyname(pcTempBuffer); + + if (server == NULL) + { + util_error("ERR: Unkonown host\n"); + } + bcopy((char *) server->h_addr, + (char *)&addr->sin_addr.s_addr, server->h_length); + + addr->sin_family = AF_INET; + addr->sin_port = htons(VISUAL_SERVER_PORT); +} + +static void vDisconnectVisualizationChannel(int* sockfd) +{ + close(*sockfd); +} + From 0e37221af1ef4bca2804cf21f3c5c568dfe677f6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 14:05:03 +0200 Subject: [PATCH 392/730] Added ScenarioControl state machine --- modules/ScenarioControl/src/main.cpp | 94 ++++++++++++++++++---------- 1 file changed, 61 insertions(+), 33 deletions(-) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 4e2ab6941..bca86b600 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -22,6 +22,7 @@ int main() Scenario scenario; TREOData treo; bool terminate = false; + enum {UNINITIALIZED, INITIALIZED, CONNECTED, RUNNING} state = UNINITIALIZED; LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); @@ -36,10 +37,13 @@ int main() while(!terminate) { - // Make all active triggers cause their corresponding actions - scenario.refresh(); - // Allow for retriggering on received TREO messages - scenario.resetISOTriggers(); + if (state == RUNNING) + { + // Make all active triggers cause their corresponding actions + scenario.refresh(); + // Allow for retriggering on received TREO messages + scenario.resetISOTriggers(); + } if (iCommRecv(&command,mqRecvData,MQ_MSG_SIZE,nullptr) < 0) { @@ -48,17 +52,25 @@ int main() switch (command) { case COMM_INIT: - try { - LogMessage(LOG_LEVEL_INFO, "Initializing scenario"); - //scenario.initialize(SCENARIO_FILE_PATH); - scenario.initialize("log/dummy_scenariofil.fil"); + if (state == UNINITIALIZED) + { + try { + LogMessage(LOG_LEVEL_INFO, "Initializing scenario"); + //scenario.initialize(SCENARIO_FILE_PATH); + scenario.initialize("log/dummy_scenariofil.fil"); + state = INITIALIZED; + } + catch (std::invalid_argument) { util_error("Invalid scenario file format"); } + catch (std::ifstream::failure) { util_error("Unable to open scenario file <" SCENARIO_FILE_PATH ">"); } } - catch (std::invalid_argument) { util_error("Invalid scenario file format"); } - catch (std::ifstream::failure) { util_error("Unable to open scenario file <" SCENARIO_FILE_PATH ">"); } break; case COMM_OBJECTS_CONNECTED: - LogMessage(LOG_LEVEL_INFO, "Distributing scenario configuration"); - scenario.sendConfiguration(); + if (state == INITIALIZED) + { + state = CONNECTED; + LogMessage(LOG_LEVEL_INFO, "Distributing scenario configuration"); + scenario.sendConfiguration(); + } break; case COMM_OBC_STATE: case COMM_LOG: @@ -70,8 +82,11 @@ int main() memcpy(&treo.timestamp_qmsow, mqRecvData+sizeof(treo.triggerID), sizeof(treo.timestamp_qmsow)); memcpy(&treo.ip, mqRecvData+sizeof(treo.triggerID)+sizeof(treo.timestamp_qmsow), sizeof(treo.ip)); - // Trigger corresponding trigger - scenario.updateTrigger(treo.triggerID, treo); + if (state == RUNNING) + { + // Trigger corresponding trigger + scenario.updateTrigger(treo.triggerID, treo); + } break; case COMM_EXAC: LogMessage(LOG_LEVEL_ERROR, "Received unexpected execute action message"); @@ -92,26 +107,39 @@ int main() case COMM_INV: nanosleep(&sleepTimePeriod,&remTime); break; + case COMM_ABORT: + if (state == RUNNING) state = CONNECTED; + break; case COMM_STRT: - - // PLACEHOLDER - LogMessage(LOG_LEVEL_INFO,"1"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"2"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"3"); - scenario.updateTrigger(1,true); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"4"); - scenario.updateTrigger(1,true); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"5"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"6"); - + if (state == CONNECTED) + { + state = RUNNING; + + // PLACEHOLDER + LogMessage(LOG_LEVEL_INFO,"1"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"2"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"3"); + scenario.updateTrigger(1,true); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"4"); + scenario.updateTrigger(1,true); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"5"); + scenario.updateTrigger(1,false); + scenario.refresh(); + LogMessage(LOG_LEVEL_INFO,"6"); + } + break; + case COMM_MONR: + // TODO: Update triggers + break; + case COMM_MONI: + // Ignore + break; default: LogMessage(LOG_LEVEL_INFO,"Received command %u",command); } From dfd84ee7f7bc868df9d3955a58fefd7628c99236 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 14:07:03 +0200 Subject: [PATCH 393/730] Removed unnecessary linkage --- server/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index e33fad566..f0ff63c8f 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -113,7 +113,7 @@ target_link_libraries(UserControl util objctrl MaestroLogging MaestroTime) target_link_libraries(TEServer util) if(USE_CITS) - target_link_libraries(cits pahomqtt3c) + target_link_libraries(cits pahomqtt3c MaestroTime) target_link_libraries(TEServer cits) endif() From 84216899e2147ae2406d1d99a8563e7cd9a84ce2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 14:07:41 +0200 Subject: [PATCH 394/730] Made citscontrol run on timers instead of signal/timers --- server/src/citscontrol.c | 76 +++++++++++++++------------------------- 1 file changed, 28 insertions(+), 48 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 16fa1d031..471860baf 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -38,6 +38,7 @@ #include "citscontrol.h" #include "util.h" #include "iso22133.h" +#include "maestroTime.h" @@ -149,45 +150,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "C-ITS control running with PID: %i", getpid()); - //! Timer for sending DENM at later time - timer_t actionTimer; - struct sigevent timerEvent; - struct itimerspec actionTimerSpec; - struct sigaction timerAction; - sigset_t signalMask; - - // Initialize timer - timerAction.sa_flags = SA_SIGINFO; // TODO: which? - timerAction.sa_sigaction = signalHandler; - sigemptyset(&timerAction.sa_mask); - if (sigaction(SIG, &timerAction, NULL) == -1) - util_error("Error calling sigaction"); - - // Block timer signal while setting it up - LogMessage(LOG_LEVEL_DEBUG, "Blocking signal %d", SIG); - sigemptyset(&signalMask); - sigaddset(&signalMask, SIG); - if (sigprocmask(SIG_SETMASK, &signalMask, NULL) == -1) - util_error("Error blocking signal"); - - // Create timer - timerEvent.sigev_notify = SIGEV_SIGNAL; //!< When timer expires, call linked function in a separate thread - timerEvent.sigev_signo = SIG; - timerEvent.sigev_value.sival_ptr = &actionTimer; - if (timer_create(CLOCK_REALTIME, &timerEvent, &actionTimer) == -1) - util_error("Error creating timer"); - - LogMessage(LOG_LEVEL_DEBUG, "Created timer with ID 0x%1x", (long)actionTimer); - - actionTimerSpec.it_interval.tv_sec = 0; //!< Make timer single shot - actionTimerSpec.it_interval.tv_nsec = 0; - actionTimerSpec.it_value.tv_sec = 0; - actionTimerSpec.it_value.tv_nsec = 0; - - LogMessage(LOG_LEVEL_DEBUG, "Unblocking signal %d", SIG); - if (sigprocmask(SIG_UNBLOCK, &signalMask, NULL) == -1) - util_error("Error unblocking signal"); + struct timeval systemTime, exacTime = {0,0}; UtilGetMillisecond(&time); @@ -208,6 +172,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_INFO,"Starting C-ITS control"); while(!iExit) { + TimeSetToCurrentSystemTime(&systemTime); + // Handle states specific things state = pending_state; @@ -267,7 +233,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_DEBUG, "Ignored old style MONR data"); break; case COMM_MONR: - + break; UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof(busReceiveBuffer),&mqMONRdata,0); MONRMessage = mqMONRdata.MONR; @@ -303,8 +269,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_INFO, "Received action execution request with ID %u", storedActionIDs[actionIndex]); - timer_gettime(actionTimer, &actionTimerSpec); - if (actionTimerSpec.it_value.tv_sec || actionTimerSpec.it_value.tv_nsec) + if (timerisset(&exacTime)) { LogMessage(LOG_LEVEL_WARNING, "Another DENM send already queued"); break; @@ -313,7 +278,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Based on last MONR message, generate a DENM message to send generateDENMMessage(&MONRMessage, lastDENM); - if (actionData.delayTime_qms == 0) + if (actionData.executionTime_qmsoW == 0) { LogMessage(LOG_LEVEL_INFO, "Received immediate action request: sending DENM message"); if (lastDENM != NULL) @@ -323,10 +288,10 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } else { - actionTimerSpec.it_value.tv_sec = actionData.delayTime_qms / 4000; - actionTimerSpec.it_value.tv_nsec = (actionData.delayTime_qms % 4000) * 250 * 1000; - timer_settime(actionTimer, 0, &actionTimerSpec, NULL); - LogMessage(LOG_LEVEL_INFO, "Received action request: sending DENM in %.3f seconds", (double)(actionData.delayTime_qms)/4000); + TimeSetToGPStime(&exacTime, TimeGetAsGPSweek(&systemTime), actionData.executionTime_qmsoW); + + LogMessage(LOG_LEVEL_INFO, "Received action request: sending DENM in %.3f seconds", + (double)(actionData.executionTime_qmsoW-TimeGetAsGPSqmsOfWeek(&systemTime))/4000); } } else if (actionIndex == -1) @@ -341,8 +306,13 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_OBC_STATE: break; + case COMM_OSEM: + // Save these values? + break; case COMM_CONNECT: break; + case COMM_OBJECTS_CONNECTED: + break; case COMM_LOG: break; case COMM_INV: @@ -350,6 +320,12 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) default: LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } + + if (timerisset(&exacTime) && timercmp(&systemTime, &exacTime, >)) + { + timerclear(&exacTime); + sendDENM(lastDENM); + } } free(storedActionIDs); @@ -359,8 +335,12 @@ void signalHandler(int sig, siginfo_t* siginfo, void* uc) { // TODO: check signal + LogPrint("Caught %d", sig); + if (lastDENM != NULL) sendDENM(lastDENM); + + signal(sig, SIG_IGN); } void init_mqtt(char* ip_addr, char * clientid){ @@ -638,9 +618,9 @@ I32 sendDENM(DENM_t* denm){ LogMessage(LOG_LEVEL_INFO,"Sending DENM"); - FILE *fp = fopen("tmp", "wb"); + //FILE *fp = fopen("tmp", "wb"); //asn_enc_rval_t ec = der_encode(&asn_DEF_DENM, denm, write_out, fp); - fclose(fp); + //fclose(fp); publish_mqtt((char*)denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); return 1; From c42a2d8c9317b6fa861a10e32a1dfa50c5d209c7 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 30 Jul 2019 15:17:07 +0200 Subject: [PATCH 395/730] Only build visualization if necessary --- server/CMakeLists.txt | 6 ++++-- server/src/visualization.c | 7 ++++--- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index ecdc0ae8c..e57bf40ec 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -25,6 +25,8 @@ include(GNUInstallDirs) #set_property(TARGET MaestroLogging PROPERTY IMPORTED_LOCATION ${MAESTRO_LOGGING_PATH}) SET(USE_CITS FALSE CACHE BOOL "Flag to indicate the use of CITS.") +SET(USE_VISUALIZATION_ADAPTER FALSE CACHE BOOL "Flag to indicate the use of Visualization Adapter.") + # MQTT PAHO if(USE_CITS) @@ -39,7 +41,7 @@ if(USE_CITS) add_definitions(-DCITS_ENABLED) endif() -if(1) +if(USE_VISUALIZATION_ADAPTER) add_library(visualization src/visualization.c inc/visualization.h @@ -122,7 +124,7 @@ if(USE_CITS) target_link_libraries(TEServer cits) endif() -if(1) +if(USE_VISUALIZATION_ADAPTER) target_link_libraries(TEServer visualization) endif() diff --git a/server/src/visualization.c b/server/src/visualization.c index ce74f802a..65e6fdf50 100755 --- a/server/src/visualization.c +++ b/server/src/visualization.c @@ -67,10 +67,10 @@ void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { iExit = 1; printf("Vizualisation exiting.\n"); - + vDisconnectVisualizationChannel(&visual_server); (void)iCommClose(); } - //usleep(100000); + //usleep(100000); switch (command) { case COMM_INIT: @@ -80,7 +80,8 @@ void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Ignore old style MONR data break; case COMM_MONR: - UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); + printf("Vizualisation got MONR.\n"); + //UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); break; case COMM_OBC_STATE: break; From ae217aabfaa17c01e03b7022cb2a05bc3bcde199 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 30 Jul 2019 15:19:36 +0200 Subject: [PATCH 396/730] cleanup --- server/src/visualization.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/visualization.c b/server/src/visualization.c index 65e6fdf50..67f4a2655 100755 --- a/server/src/visualization.c +++ b/server/src/visualization.c @@ -81,7 +81,7 @@ void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_MONR: printf("Vizualisation got MONR.\n"); - //UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); + UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); break; case COMM_OBC_STATE: break; From b6b2ee5b3f4cd676b054620c5b16f6bd592fc6c8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 16:57:53 +0200 Subject: [PATCH 397/730] Added local pragma pack --- server/inc/iso22133.h | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/server/inc/iso22133.h b/server/inc/iso22133.h index 548fd19f8..386846376 100644 --- a/server/inc/iso22133.h +++ b/server/inc/iso22133.h @@ -1,5 +1,8 @@ #ifndef ISO22133_H #define ISO22133_H +#ifdef __cplusplus +extern "C" { +#endif /*! This file contains all definitions pertaining to the ISO standard 22133 * * @@ -7,9 +10,10 @@ * */ - #include +#pragma pack(push,1) + typedef struct { uint16_t SyncWordU16; @@ -214,5 +218,9 @@ typedef struct #define VALUE_ID_TRIGGER_TYPE_PARAM3 0x0013 #define VALUE_ID_TRIGGER_TIMESTAMP 0x0002 +#pragma pack(pop) +#ifdef __cplusplus +} +#endif #endif From f7a87039c3c20108170d7a5ceecd543b571f0576 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 16:58:30 +0200 Subject: [PATCH 398/730] Added localhost IP to action --- modules/ScenarioControl/src/scenario.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index ec2ec6c66..93a22a622 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -79,9 +79,11 @@ void Scenario::parseScenarioFile(std::ifstream &file) // PLACEHOLDER CODE BrakeTrigger* bt = new BrakeTrigger(1); InfrastructureAction* mqttAction = new InfrastructureAction(5, 1); - const char brakeObjectIPString[] = "123.123.123.123"; - in_addr brakeObjectIP; + const char brakeObjectIPString[] = "0.0.0.0"; + const char mqttObjectIPString[] = "127.0.0.1"; + in_addr brakeObjectIP, mqttObjectIP; inet_pton(AF_INET, brakeObjectIPString, &brakeObjectIP); + inet_pton(AF_INET, mqttObjectIPString, &mqttObjectIP); bt->appendParameter(Trigger::TriggerParameter_t::TRIGGER_PARAMETER_PRESSED); bt->parseParameters(); @@ -89,7 +91,7 @@ void Scenario::parseScenarioFile(std::ifstream &file) bt->setObjectIP(brakeObjectIP.s_addr); mqttAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_VS_BRAKE_WARNING); - mqttAction->setObjectIP(0); + mqttAction->setObjectIP(mqttObjectIP.s_addr); mqttAction->setExecuteDalayTime({1,0}); addTrigger(bt); From e672cccbbfc68797324a85488bcee173d2d7656c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 30 Jul 2019 16:59:25 +0200 Subject: [PATCH 399/730] Removed old trigger & action stuff --- server/inc/util.h | 27 +---- server/src/logger.c | 3 +- server/src/objectcontrol.c | 210 +++++++++++-------------------------- server/src/util.c | 7 +- 4 files changed, 63 insertions(+), 184 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 0ac4d4899..01a4b59f3 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -113,20 +113,8 @@ extern "C"{ #define TRAJECTORY_PATH "./traj/" #define ADAPTIVE_SYNC_POINT_CONF "./conf/adaptivesync.conf" -#define TRIGG_ACTION_CONF "./conf/triggeraction.conf" #define VERSION_PATH "../conf/Version.txt" -#define MAX_TRIGG_ACTIONS 20 - - -#define TAA_ACTION_EXT_START 1 -#define TAA_ACTION_TEST_SIGNAL 2 - -#define TAA_TRIGGER_DI_LOW 1 -#define TAA_TRIGGER_DI_HIGH 2 -#define TAA_TRIGGER_DI_RISING_EDGE 3 -#define TAA_TRIGGER_DI_FALLING_EDGE 4 - #define MASTER_FILE_EXTENSION ".sync.m" #define SLAVE_FILE_EXTENSION ".sync.s" @@ -273,7 +261,6 @@ COMM_EXIT = 5, COMM_REPLAY = 6, COMM_CONTROL = 7, COMM_ABORT = 8, -COMM_TOM = 9, COMM_INIT = 10, COMM_CONNECT = 11, COMM_OBC_STATE = 12, @@ -614,18 +601,6 @@ typedef struct } AdaptiveSyncPoint; -typedef struct -{ - char TriggerIP[16]; - char TriggerType[8]; - char TriggerTypeVar[16]; - char ActionType[24]; - char ActionTypeVar[16]; - char ActionDelay[8]; - uint8_t TriggerId; - int32_t Action; -} TriggActionType; // Note: this is the old struct - typedef struct { uint16_t actionID; @@ -819,7 +794,7 @@ int UtilSetMasterObject(ObjectPosition *OP, char *Filename, char debug); int UtilSetSlaveObject(ObjectPosition *OP, char *Filename, char debug); int UtilSetAdaptiveSyncPoint(AdaptiveSyncPoint *ASP, FILE *filefd, char debug); void UtilSetObjectPositionIP(ObjectPosition *OP, char *IP); -int UtilSetTriggActions(TriggActionType *TAA, FILE *filefd, char debug); +//int UtilSetTriggActions(TriggActionType *TAA, FILE *filefd, char debug); // TODO DELETE void llhToXyz(double lat, double lon, double height, double *x, double *y, double *z); void enuToLlh(const double *iLlh, const double *xyz, double *llh); diff --git a/server/src/logger.c b/server/src/logger.c index 6c953b75c..38a160312 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -161,7 +161,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_STRT: case COMM_ARMD: case COMM_STOP: - case COMM_TOM: case COMM_CONNECT: case COMM_VIOP: case COMM_TRAJ: @@ -539,7 +538,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL sprintf(pcBuffer,"unit 0.01 m/s>;;;;;;;\n"); // add more her if we want more data (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); bzero(pcBuffer, sizeof(pcBuffer)); - sprintf(pcBuffer, "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_TOM:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n",COMM_STRT,COMM_STOP,COMM_MONI,COMM_EXIT,COMM_ARMD,COMM_REPLAY,COMM_CONTROL,COMM_ABORT,COMM_TOM,COMM_INIT,COMM_CONNECT,COMM_OBC_STATE,COMM_DISCONNECT,COMM_LOG,COMM_VIOP,COMM_INV); + sprintf(pcBuffer, "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n",COMM_STRT,COMM_STOP,COMM_MONI,COMM_EXIT,COMM_ARMD,COMM_REPLAY,COMM_CONTROL,COMM_ABORT,COMM_INIT,COMM_CONNECT,COMM_OBC_STATE,COMM_DISCONNECT,COMM_LOG,COMM_VIOP,COMM_INV); (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 19c99827c..4fe94382e 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -189,7 +189,6 @@ int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendDa I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I32 Idn, C8 *Id, C8 *Timestamp, C8 *XPosition, C8 *YPosition, C8 *ZPosition, C8 *LongitudinalSpeed, C8 *LateralSpeed, C8 *LongitudinalAcc, C8 *LateralAcc, C8 *Heading, C8 *DriveDirection, C8 *StatusFlag, C8 *StateFlag, C8 debug); I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug); int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId ,char *TriggAction, char *TriggDelay, char debug); -int ObjectControlBuildTCMMessage(char* MessageBuffer, TriggActionType *TAA, char debug); I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* SimData, U8 debug); I32 ObjectControlSendDTMMessage(C8 *DTMData, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); I32 ObjectControlBuildDTMMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); @@ -250,7 +249,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) int socket_fd = 0; char object_traj_file[MAX_OBJECTS][MAX_FILE_PATH]; char object_address_name[MAX_OBJECTS][MAX_FILE_PATH]; - char ipStringBuffer[INET_ADDRSTRLEN]; uint32_t object_udp_port[MAX_OBJECTS]; uint32_t object_tcp_port[MAX_OBJECTS]; int nbr_objects=0; @@ -309,13 +307,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) double OriginLongitudeDbl; double OriginAltitudeDbl; double OriginHeadingDbl; - TriggActionType TAA[MAX_TRIGG_ACTIONS]; - int TriggerActionCount = 0; char pcSendBuffer[MBUS_MAX_DATALEN]; char ObjectPort[SMALL_BUFFER_SIZE_0]; - char TriggId[SMALL_BUFFER_SIZE_1]; - char TriggAction[SMALL_BUFFER_SIZE_1]; - char TriggDelay[SMALL_BUFFER_SIZE_0]; HeaderType HeaderData; OSEMType OSEMData; STRTType STRTData; @@ -483,36 +476,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_DEBUG,"Recieved new data from %s %d %d: %s",object_address_name[iIndex],object_udp_port[iIndex],receivedMONRData,buffer); - if (buffer[0] == COMMAND_TOM_CODE) - { - for(i = 0; i < TriggerActionCount; i ++) - { - LOG_SEND(LogBuffer,"[ObjectControl] External trigg received. %s\n", TAA[i].TriggerIP); - if(strstr(TAA[i].TriggerIP, object_address_name[iIndex]) != NULL) - { - //printf("[ObjectControl] External trigg received\n"); - fflush(stdout); - ObjectControlTOMToASCII(buffer, TriggId, TriggAction, TriggDelay, 1); - bzero(buffer, OBJECT_MESS_BUFFER_SIZE); - bzero(pcSendBuffer, sizeof(pcSendBuffer)); - bzero(ObjectPort, SMALL_BUFFER_SIZE_0); - sprintf(ObjectPort, "%d", object_udp_port[iIndex]); - strcat(pcSendBuffer,object_address_name[iIndex]);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer, ObjectPort);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,TriggId);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,TriggAction);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,TriggDelay);strcat(pcSendBuffer,";"); - if(iCommSend(COMM_TOM, pcSendBuffer, strlen(pcSendBuffer)+1) < 0) - { - LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending TOM command - entering error state"); - vSetState(&OBCState, OBC_STATE_ERROR); - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - - } - } - } - } - if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { // Append IP to buffer @@ -916,21 +879,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) fclose (fd); } - /*Setup Trigger and Action*/ - fd = fopen (TRIGG_ACTION_CONF, "r"); - if(fd) - { - TriggerActionCount = UtilCountFileRows(fd) - 1; - fclose (fd); - fd = fopen (TRIGG_ACTION_CONF, "r"); - UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header - for(i = 0; i < TriggerActionCount; i++) - { - UtilSetTriggActions(&TAA[i], fd, 1); - } - fclose (fd); - } bzero(TextBuffer, SMALL_BUFFER_SIZE_0); UtilSearchTextFile(CONF_FILE_PATH, "ASPMaxTimeDiff=", "", TextBuffer); @@ -1144,18 +1093,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) else if(TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].MasterIP) != NULL) UtilSetSyncPoint(&OP[iIndex], 0, 0, 0, ASP[i].MasterTrajSyncTime); } /* ...end*/ - - - /* Trigg And Action object configuration start...*/ - for(i = 0; i < TriggerActionCount; i++) - { - if(strstr(object_address_name[iIndex], TAA[i].TriggerIP) != NULL) - { - MessageLength = ObjectControlBuildTCMMessage(MessageBuffer, &TAA[i], 0); - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); - } - } - /* ...end*/ } } @@ -1390,71 +1327,6 @@ I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* Sim } -int ObjectControlBuildTCMMessage(char* MessageBuffer, TriggActionType *TAA, char debug) -{ - int MessageIndex = 0; - uint8_t MessageData = 0; - uint16_t MessageDataU16 = 0; - - bzero(MessageBuffer, COMMAND_TCM_MESSAGE_LENGTH + COMMAND_MESSAGE_HEADER_LENGTH); - - - UtilAddOneByteMessageData(MessageBuffer, COMMAND_CODE_INDEX, COMMAND_TCM_CODE); - - - MessageIndex = UtilAddOneByteMessageData(MessageBuffer, MessageIndex+COMMAND_MESSAGE_HEADER_LENGTH, TAA->TriggerId); - - - if(strstr(TAA->TriggerType, "DI") != NULL && strstr(TAA->TriggerTypeVar, "LOW") != NULL) MessageData = TAA_TRIGGER_DI_LOW; - else if(strstr(TAA->TriggerType, "DI") != NULL && strstr(TAA->TriggerTypeVar, "HIGH") != NULL) MessageData = TAA_TRIGGER_DI_HIGH; - else if(strstr(TAA->TriggerType, "DI") != NULL && strstr(TAA->TriggerTypeVar, "RISING_EDGE") != NULL) MessageData = TAA_TRIGGER_DI_RISING_EDGE; - else if(strstr(TAA->TriggerType, "DI") != NULL && strstr(TAA->TriggerTypeVar, "FALLING_EDGE") != NULL) MessageData = TAA_TRIGGER_DI_FALLING_EDGE; - MessageIndex = UtilAddOneByteMessageData(MessageBuffer, MessageIndex, MessageData); - - MessageData = 0; - if(strstr(TAA->ActionType, "SERVER") != NULL && TAA->Action == TAA_ACTION_EXT_START) MessageData = TAA_ACTION_EXT_START; - else if(strstr(TAA->ActionType, "SERVER") != NULL && TAA->Action == TAA_ACTION_TEST_SIGNAL) MessageData = TAA_ACTION_TEST_SIGNAL; - MessageIndex = UtilAddOneByteMessageData(MessageBuffer, MessageIndex, MessageData); - - MessageDataU16 = atoi(TAA->ActionDelay); - MessageIndex = UtilAddTwoBytesMessageData(MessageBuffer, MessageIndex, MessageDataU16); - - - UtilAddFourBytesMessageData(MessageBuffer, COMMAND_MESSAGE_LENGTH_INDEX, (unsigned int) MessageIndex - COMMAND_MESSAGE_HEADER_LENGTH); - - if(debug) - { - int i = 0; - LogMessage(LOG_LEVEL_DEBUG,"TCM:"); - for(i = 0; i < MessageIndex; i ++) LogMessage(LOG_LEVEL_DEBUG,"[%d]= %x", i, (unsigned char)MessageBuffer[i]); - } - - return MessageIndex; //Total number of bytes = COMMAND_MESSAGE_HEADER_LENGTH + message data count -} - -int ObjectControlBuildACMMessage(char* MessageBuffer, TriggActionType *TAA, char debug) -{ - int MessageIndex = 0; - uint8_t MessageData = 0; - - bzero(MessageBuffer, COMMAND_TCM_MESSAGE_LENGTH + COMMAND_MESSAGE_HEADER_LENGTH); - - UtilAddOneByteMessageData(MessageBuffer, COMMAND_CODE_INDEX, COMMAND_TCM_CODE); - - MessageIndex = UtilAddOneByteMessageData(MessageBuffer, MessageIndex+COMMAND_MESSAGE_HEADER_LENGTH, (uint8_t)TAA->Action); - - UtilAddFourBytesMessageData(MessageBuffer, COMMAND_MESSAGE_LENGTH_INDEX, (unsigned int) MessageIndex - COMMAND_MESSAGE_HEADER_LENGTH); - - if(debug) - { - int i = 0; - LogMessage(LOG_LEVEL_DEBUG,"ACM:"); - for(i = 0; i < MessageIndex; i ++) LogMessage(LOG_LEVEL_DEBUG,"[%d]= %x", i, (unsigned char)MessageBuffer[i]); - } - - return MessageIndex; //Total number of bytes = COMMAND_MESSAGE_HEADER_LENGTH + message data count -} - I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug) { @@ -2388,7 +2260,7 @@ I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug) ACCMType isoACCM; C8 messageBuffer[sizeof(isoACCM)]; C8* ptr = messageBuffer; - int messageSize = 0; + U32 messageSize = 0; ObjectControlBuildACCMMessage(ACCM, &isoACCM, debug); @@ -2467,13 +2339,14 @@ I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug) memcpy(ptr, &isoACCM.footer.Crc, sizeof(isoACCM.footer.Crc)); ptr += sizeof(isoACCM.footer.Crc); - messageSize = (int)(ptr-messageBuffer); + if (ptr > messageBuffer) messageSize = (U32)(ptr-messageBuffer); - if (messageSize != (int)isoACCM.header.MessageLengthU32) LogMessage(LOG_LEVEL_WARNING, "ACCM message sent with invalid message length"); + if (messageSize - sizeof(isoACCM.header) - sizeof(isoACCM.footer) != isoACCM.header.MessageLengthU32) + LogMessage(LOG_LEVEL_WARNING, "ACCM message sent with invalid message length"); - UtilSendTCPData(MODULE_NAME, messageBuffer, messageSize, socket, 0); + UtilSendTCPData(MODULE_NAME, messageBuffer, (I32)messageSize, socket, 0); - return messageSize; + return (I32)messageSize; } /*! @@ -2488,7 +2361,7 @@ I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug) TRCMType isoTRCM; C8 messageBuffer[sizeof(isoTRCM)]; C8* ptr = messageBuffer; - int messageSize = 0; + U32 messageSize = 0; ObjectControlBuildTRCMMessage(TRCM, &isoTRCM, debug); @@ -2567,13 +2440,14 @@ I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug) memcpy(ptr, &isoTRCM.footer.Crc, sizeof(isoTRCM.footer.Crc)); ptr += sizeof(isoTRCM.footer.Crc); - messageSize = (int)(ptr-messageBuffer); + if (ptr > messageBuffer) messageSize = (U32)(ptr-messageBuffer); - if (messageSize != (int)isoTRCM.header.MessageLengthU32) LogMessage(LOG_LEVEL_WARNING, "TRCM message sent with invalid message length"); + if (messageSize - sizeof(isoTRCM.header) - sizeof(isoTRCM.footer) != isoTRCM.header.MessageLengthU32) + LogMessage(LOG_LEVEL_WARNING, "TRCM message sent with invalid message length"); - UtilSendTCPData(MODULE_NAME, messageBuffer, messageSize, socket, 0); + UtilSendTCPData(MODULE_NAME, messageBuffer, (I32)messageSize, socket, 0); - return messageSize; + return (I32)messageSize; } /*! @@ -2588,7 +2462,7 @@ I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug) EXACType isoEXAC; C8 messageBuffer[sizeof(isoEXAC)]; C8* ptr = messageBuffer; - int messageSize = 0; + U32 messageSize = 0; ObjectControlBuildEXACMessage(EXAC, &isoEXAC, debug); @@ -2637,13 +2511,14 @@ I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug) memcpy(ptr, &isoEXAC.footer.Crc, sizeof(isoEXAC.footer.Crc)); ptr += sizeof(isoEXAC.footer.Crc); - messageSize = (int)(ptr-messageBuffer); + if (ptr > messageBuffer) messageSize = (U32)(ptr-messageBuffer); - if (messageSize != (int)isoEXAC.header.MessageLengthU32) LogMessage(LOG_LEVEL_WARNING, "EXAC message sent with invalid message length"); + if (messageSize - sizeof(isoEXAC.header) - sizeof(isoEXAC.footer) != isoEXAC.header.MessageLengthU32) + LogMessage(LOG_LEVEL_WARNING, "EXAC message sent with invalid message length"); - UtilSendTCPData(MODULE_NAME, messageBuffer, messageSize, socket, 0); + UtilSendTCPData(MODULE_NAME, messageBuffer, (I32)messageSize, socket, 0); - return messageSize; + return (I32)messageSize; } @@ -2685,12 +2560,23 @@ I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug ACCM->actionTypeParameter2ContentLength = sizeof(ACCM->actionTypeParameter2); ACCM->actionTypeParameter3ContentLength = sizeof(ACCM->actionTypeParameter3); + // Header content length + ACCM->header.MessageLengthU32 = sizeof(ACCM->actionID) + sizeof(ACCM->actionType) + + sizeof(ACCM->actionTypeParameter1) + sizeof(ACCM->actionTypeParameter2) + sizeof(ACCM->actionTypeParameter3) + + sizeof(ACCM->actionIDValueID) + sizeof(ACCM->actionTypeValueID) + + sizeof(ACCM->actionTypeParameter1ValueID) + sizeof(ACCM->actionTypeParameter1ValueID) + sizeof(ACCM->actionTypeParameter3ValueID) + + sizeof(ACCM->actionIDContentLength) + sizeof(ACCM->actionTypeContentLength) + + sizeof(ACCM->actionTypeParameter1ContentLength) + sizeof(ACCM->actionTypeParameter1ContentLength) + sizeof(ACCM->actionTypeParameter3ContentLength); + + // Footer (TODO) ACCM->footer.Crc = 0; + U32 messageLen = ACCM->header.MessageLengthU32 + sizeof(ACCM->footer.Crc) + sizeof(ACCM->header.SyncWordU16) + sizeof(ACCM->header.MessageIdU16) + sizeof(ACCM->header.AckReqProtVerU8) + sizeof(ACCM->header.TransmitterIdU8) + sizeof(ACCM->header.MessageCounterU8) + sizeof(ACCM->header.MessageLengthU32); + if (debug) { - LogPrint("ACCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(ACCMType), + LogPrint("ACCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", messageLen, ACCM->actionIDValueID, ACCM->actionIDContentLength, ACCM->actionID, ACCM->actionTypeValueID, ACCM->actionTypeContentLength, ACCM->actionType, ACCM->actionTypeParameter1ValueID, ACCM->actionTypeParameter1ContentLength, ACCM->actionTypeParameter1, @@ -2698,7 +2584,7 @@ I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug ACCM->actionTypeParameter3ValueID, ACCM->actionTypeParameter3ContentLength, ACCM->actionTypeParameter3); } - return sizeof(ACCMType); + return (I32)messageLen; } /*! @@ -2720,7 +2606,6 @@ I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug EXAC->header.MessageCounterU8 = 0; EXAC->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; EXAC->header.MessageIdU16 = COMMAND_EXAC_CODE; - EXAC->header.MessageLengthU32 = sizeof(EXACType) - sizeof(HeaderType) - sizeof(FooterType); // Data fields EXAC->actionID = mqEXACData->actionID; @@ -2734,17 +2619,25 @@ I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug EXAC->actionIDContentLength = sizeof(EXAC->actionID); EXAC->executionTime_qmsoWContentLength = sizeof(EXAC->executionTime_qmsoW); + + // Header message length + EXAC->header.MessageLengthU32 = sizeof(EXAC->actionID) + sizeof(EXAC->executionTime_qmsoW) + + sizeof(EXAC->actionIDValueID) + sizeof(EXAC->executionTime_qmsoWValueID) + + sizeof(EXAC->actionIDContentLength) + sizeof(EXAC->executionTime_qmsoWContentLength); + // Footer (TODO) EXAC->footer.Crc = 0; + U32 messageLen = EXAC->header.MessageLengthU32 + sizeof(EXAC->footer.Crc) + sizeof(EXAC->header.SyncWordU16) + sizeof(EXAC->header.MessageIdU16) + sizeof(EXAC->header.AckReqProtVerU8) + sizeof(EXAC->header.TransmitterIdU8) + sizeof(EXAC->header.MessageCounterU8) + sizeof(EXAC->header.MessageLengthU32); + if (debug) { - LogPrint("EXAC (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(EXACType), + LogPrint("EXAC (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", messageLen, EXAC->actionIDValueID, EXAC->actionIDContentLength, EXAC->actionID, EXAC->executionTime_qmsoWValueID, EXAC->executionTime_qmsoWContentLength, EXAC->executionTime_qmsoW); } - return sizeof(EXACType); + return (I32)messageLen; } /*! @@ -2762,7 +2655,7 @@ I32 ObjectControlBuildTRCMMessage(TRCMData *mqTRCMData, TRCMType *TRCM, U8 debug TRCM->header.MessageCounterU8 = 0; TRCM->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; TRCM->header.MessageIdU16 = COMMAND_TRCM_CODE; - TRCM->header.MessageLengthU32 = sizeof(TRCMType) - sizeof(HeaderType) - sizeof(FooterType); + // Data fields TRCM->triggerID = mqTRCMData->triggerID; @@ -2785,12 +2678,23 @@ I32 ObjectControlBuildTRCMMessage(TRCMData *mqTRCMData, TRCMType *TRCM, U8 debug TRCM->triggerTypeParameter2ContentLength = sizeof(TRCM->triggerTypeParameter2); TRCM->triggerTypeParameter3ContentLength = sizeof(TRCM->triggerTypeParameter3); + + // Message length in header + TRCM->header.MessageLengthU32 = sizeof(TRCM->triggerID) + sizeof(TRCM->triggerType) + + sizeof(TRCM->triggerTypeParameter1) + sizeof(TRCM->triggerTypeParameter2) + sizeof(TRCM->triggerTypeParameter3) + + sizeof(TRCM->triggerIDValueID) + sizeof(TRCM->triggerTypeValueID) + + sizeof(TRCM->triggerTypeParameter1ValueID) + sizeof(TRCM->triggerTypeParameter1ValueID) + sizeof(TRCM->triggerTypeParameter3ValueID) + + sizeof(TRCM->triggerIDContentLength) + sizeof(TRCM->triggerTypeContentLength) + + sizeof(TRCM->triggerTypeParameter1ContentLength) + sizeof(TRCM->triggerTypeParameter1ContentLength) + sizeof(TRCM->triggerTypeParameter3ContentLength); + + // Footer (TODO) TRCM->footer.Crc = 0; + U32 messageLen = TRCM->header.MessageLengthU32 + sizeof(TRCM->footer.Crc) + sizeof(TRCM->header.SyncWordU16) + sizeof(TRCM->header.MessageIdU16) + sizeof(TRCM->header.AckReqProtVerU8) + sizeof(TRCM->header.TransmitterIdU8) + sizeof(TRCM->header.MessageCounterU8) + sizeof(TRCM->header.MessageLengthU32); if (debug) { - LogPrint("TRCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", sizeof(TRCMType), + LogPrint("TRCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", messageLen, TRCM->triggerIDValueID, TRCM->triggerIDContentLength, TRCM->triggerID, TRCM->triggerTypeValueID, TRCM->triggerTypeContentLength, TRCM->triggerType, TRCM->triggerTypeParameter1ValueID, TRCM->triggerTypeParameter1ContentLength, TRCM->triggerTypeParameter1, @@ -2798,7 +2702,7 @@ I32 ObjectControlBuildTRCMMessage(TRCMData *mqTRCMData, TRCMType *TRCM, U8 debug TRCM->triggerTypeParameter3ValueID, TRCM->triggerTypeParameter3ContentLength, TRCM->triggerTypeParameter3); } - return sizeof(TRCMType); + return (I32)messageLen; } @@ -2969,12 +2873,16 @@ static int iGetSocketFromObjectIP(in_addr_t ipAddr, int sockfds[], unsigned int struct sockaddr_in inaddr; socklen_t addrlen = sizeof(inaddr); int result; + char ip[INET_ADDRSTRLEN]; + + inet_ntop(AF_INET, &ipAddr, ip, INET_ADDRSTRLEN); for (unsigned int i = 0; i < nSockfds; ++i) { result = getsockname(sockfds[i], (struct sockaddr*)&inaddr, &addrlen); if (result == -1) continue; + inet_ntop(AF_INET, &inaddr.sin_addr.s_addr, ip, INET_ADDRSTRLEN); if (inaddr.sin_addr.s_addr == ipAddr) return sockfds[i]; } diff --git a/server/src/util.c b/server/src/util.c index ae4830327..4b8855e1d 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -51,7 +51,6 @@ #define PRIO_COMM_ACCM 80 #define PRIO_COMM_TREO 70 #define PRIO_COMM_TRCM 80 -#define PRIO_COMM_TOM 90 #define PRIO_COMM_INIT 110 #define PRIO_COMM_CONNECT 110 #define PRIO_COMM_OBC_STATE 160 @@ -575,6 +574,7 @@ int UtilSetAdaptiveSyncPoint(AdaptiveSyncPoint *ASP, FILE *filefd, char debug) return 0; } +/* TODO: DELETE int UtilSetTriggActions(TriggActionType *TAA, FILE *filefd, char debug) { @@ -651,7 +651,7 @@ int UtilSetTriggActions(TriggActionType *TAA, FILE *filefd, char debug) return 0; } - +*/ void UtilSetObjectPositionIP(ObjectPosition *OP, char *IP) { strncpy(OP->IP, IP, strlen(IP));} @@ -1932,9 +1932,6 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength case COMM_ABORT: uiMessagePrio = PRIO_COMM_ABORT; break; - case COMM_TOM: - uiMessagePrio = PRIO_COMM_TOM; - break; case COMM_INIT: uiMessagePrio = PRIO_COMM_INIT; break; From 08bfef5b33b7621f9a74ce2e1ab58da4f27b5531 Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Tue, 30 Jul 2019 17:02:19 +0200 Subject: [PATCH 400/730] Added missing break --- server/src/logger.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index f9d761f2a..698f45689 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -157,7 +157,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) vLogScenarioControlData(command, busReceiveBuffer, receivedBytes, recvTime, pcLogFile, pcLogFileComp); else LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); - + break; case COMM_STRT: case COMM_ARMD: case COMM_STOP: From 1f2e94e244c74fa610c1cdf6ff0ca47119c3ca59 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 15:43:11 +0200 Subject: [PATCH 401/730] Modified signal handler for system control --- server/src/systemcontrol.c | 63 +++++++++++++++++++------------------- 1 file changed, 32 insertions(+), 31 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 5ba2831d4..574c4f115 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -163,31 +163,18 @@ I32 SystemControlBuildFileContentInfo(C8 *Path, C8 *ReturnValue, U8 Debug); I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *ReturnValue, U8 Remove, U8 Debug); I32 SystemControlCreateDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); static C8 SystemControlVerifyHostAddress(char* ip); +static void signalHandler(int signo); /*------------------------------------------------------------ -- Private variables ------------------------------------------------------------*/ #define MODULE_NAME "SystemControl" +static volatile int iExit = 0; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ -void sig_handler(int signo) - { - if (signo == SIGINT) - printf("received SIGINT in SystemControl\n"); - printf("Shutting down SystemControl with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - exit(1); - - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); -} void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { @@ -207,7 +194,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) C8 pcBuffer[IPC_BUFFER_SIZE]; char inchr; struct timeval tvTime; - int iExit = 0; ObjectPosition OP; int i,i1; @@ -262,6 +248,9 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO,"System control task running with PID: %i",getpid()); + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + if(iCommInit()) util_error("Unable to connect to message bus"); @@ -1075,11 +1064,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) sleep_time = iCommand == COMM_INV ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; nanosleep(&sleep_time,&ref_time); - - - if (signal(SIGINT, sig_handler) == SIG_ERR) - printf("\ncan't catch SIGINT\n"); - } (void)iCommClose(); @@ -1090,6 +1074,18 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ +void signalHandler(int signo) +{ + if (signo == SIGINT) + { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } +} SystemControlCommand_t SystemControlFindCommand(const char* CommandBuffer, SystemControlCommand_t *CurrentCommand, int *CommandArgCount) { @@ -1258,6 +1254,7 @@ static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct unsigned int control_port = SYSTEM_CONTROL_CONTROL_PORT; int optval = 1; int result = 0; + int sockFlags = 0; /* Init user control socket */ LogMessage(LOG_LEVEL_INFO,"Init control socket"); @@ -1268,6 +1265,7 @@ static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct perror("[SystemControl] ERR: Failed to create control socket"); exit(1); } + bzero((char *) &command_server_addr, sizeof(command_server_addr)); command_server_addr.sin_family = AF_INET; @@ -1295,17 +1293,23 @@ static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct listen(*ServerHandle, 1); cli_length = sizeof(cli_addr); + /* Set socket to nonblocking */ + sockFlags = fcntl(*ServerHandle, F_GETFL, 0); + if (sockFlags == -1) + util_error("Error calling fcntl"); + sockFlags = sockFlags | O_NONBLOCK; + if(fcntl(*ServerHandle, F_SETFL, sockFlags)) + util_error("Error calling fcntl"); - while( *ClientSocket = accept(*ServerHandle, (struct sockaddr *) &cli_addr, &cli_length)) + do { + *ClientSocket = accept(*ServerHandle, (struct sockaddr *) &cli_addr, &cli_length); + if ((*ClientSocket == -1 && errno != EAGAIN && errno != EWOULDBLOCK) || iExit) + util_error("Failed to establish connection"); + } while(*ClientSocket == -1); - LogMessage( LOG_LEVEL_INFO,"Connection accepted!"); - break; - - } - - LogMessage( LOG_LEVEL_INFO,"Connection received: %s:%i", inet_ntoa(cli_addr.sin_addr), htons(command_server_addr.sin_port)); + LogMessage(LOG_LEVEL_INFO, "Connection established: %s:%i", inet_ntoa(cli_addr.sin_addr), htons(command_server_addr.sin_port)); ip_addr->s_addr = cli_addr.sin_addr.s_addr; //Set IP-address of Usercontrol @@ -1315,9 +1319,6 @@ static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct exit(1); } - /* set socket to non-blocking */ - result = fcntl(*ClientSocket, F_SETFL, fcntl(*ClientSocket, F_GETFL, 0) | O_NONBLOCK); - return result; } From 36a39a2ee310b2ea6105a83cccbfe676595ddc6c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:33:16 +0200 Subject: [PATCH 402/730] Made wait for user commands a nonblocking action --- server/src/systemcontrol.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 574c4f115..19589725d 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -248,6 +248,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO,"System control task running with PID: %i",getpid()); + // Set up signal handlers if (signal(SIGINT, signalHandler) == SIG_ERR) util_error("Unable to initialize signal handler"); @@ -340,7 +341,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) PreviousSystemControlCommand = SystemControlCommand; bzero(pcBuffer,IPC_BUFFER_SIZE); - ClientResult = recv(ClientSocket, pcBuffer, IPC_BUFFER_SIZE, 0); + + ClientResult = recv(ClientSocket, pcBuffer, IPC_BUFFER_SIZE, MSG_DONTWAIT); if (ClientResult <= -1) { @@ -436,6 +438,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_WARNING, "Ignored received TCP message which was too large to handle"); } + } else if(ModeU8 == 1) { /* use util.c function to call time @@ -497,6 +500,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) switch (iCommand) { case COMM_OBC_STATE: + LogPrint("REC: %u",OBCStateU8); OBCStateU8 = (U8)*pcRecvBuffer; break; case COMM_LOG: @@ -1062,7 +1066,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } - sleep_time = iCommand == COMM_INV ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; + sleep_time = (iCommand == COMM_INV && server_state != SERVER_STATE_INWORK) ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; nanosleep(&sleep_time,&ref_time); } From 91e84245a599c238f1eb4ee2440b39e5796f7792 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:33:40 +0200 Subject: [PATCH 403/730] Modified object control signal handler --- server/src/objectcontrol.c | 41 +++++++++++++++++++------------------- 1 file changed, 20 insertions(+), 21 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 78c5fd525..090911033 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -171,6 +171,8 @@ static I32 vCheckRemoteDisconnected(int* sockfd); static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); static void vCloseSafetyChannel(int* sockfd); static size_t uiRecvMonitor(int* sockfd, char* buffer, size_t length); +static void signalHandler(int signo); + I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, C8 *Heading, U8 debug); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -211,27 +213,11 @@ int8_t tFromUndefined(OBCState_t *currentState, OBCState_t requestedState); ------------------------------------------------------------*/ #define MODULE_NAME "ObjectControl" +static volatile int iExit = 0; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ -void sig_handlerOC(int signo) - { - if (signo == SIGINT) - printf("received SIGINT in ObjectControl\n"); - printf("Shutting down ObjectControl with pid: %d\n", getpid()); - pid_t iPid = getpid(); /* Process gets its id.*/ - //kill(iPid, SIGINT); - exit(1); - - - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); -} void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { @@ -243,7 +229,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) uint32_t object_udp_port[MAX_OBJECTS]; uint32_t object_tcp_port[MAX_OBJECTS]; int nbr_objects=0; - int iExit = 0; enum COMMAND iCommand; char pcRecvBuffer[RECV_MESSAGE_BUFFER]; char pcTempBuffer[512]; @@ -365,6 +350,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "Object control task running with PID: %i", getpid()); + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + // Set up message bus connection if (iCommInit()) util_error("Unable to connect to message queue bus"); @@ -1205,6 +1194,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(Buffer2, SMALL_BUFFER_SIZE_1); Buffer2[0] = OBCState; + LogPrint("SEND: %u",Buffer2[0]); if (iCommSend(COMM_OBC_STATE, Buffer2, SMALL_BUFFER_SIZE_1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state"); @@ -1215,9 +1205,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) (void)nanosleep(&sleep_time,&ref_time); } - - if (signal(SIGINT, sig_handlerOC) == SIG_ERR) - printf("\ncan't catch SIGINT\n"); } LogMessage(LOG_LEVEL_INFO,"Object control exiting"); @@ -1228,6 +1215,18 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -- Private functions ------------------------------------------------------------*/ +void signalHandler(int signo) + { + if (signo == SIGINT) + { + LogMessage(LOG_LEVEL_WARNING,"Caught keyboard interrupt"); + iExit = 1; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } +} I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* SimData, U8 debug) { From bd620ea590fc4f81e5d7c6efd948f424fb894397 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:39:42 +0200 Subject: [PATCH 404/730] Modified signal handler for supervision --- server/src/supervision.c | 49 ++++++++++++++++++++++++---------------- 1 file changed, 30 insertions(+), 19 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index aaf1d24b5..ca8cfeddf 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -56,24 +56,13 @@ typedef struct int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences); int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof); int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence); - +static void signalHandler(int signo); void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof); + /*------------------------------------------------------------ --- Public functions +-- Static variables ------------------------------------------------------------*/ -void sig_handlerSV(int signo) - { - if (signo == SIGINT) - printf("received SIGINT in Supervision\n"); - printf("Shutting down Supervision with pid: %d\n", getpid()); - exit(1); - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); -} +static int iExit = 0; /*------------------------------------------------------------ -- The main function. @@ -81,7 +70,6 @@ void sig_handlerSV(int signo) void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { - I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus MonitorDataType MONRMessage; @@ -90,10 +78,18 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; - (void)iCommInit(); + // Create log LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + // Set up message bus connection + if (iCommInit()) + util_error("Unable to connect to message queue bus"); + while(!iExit) { bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); @@ -144,8 +140,23 @@ void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) default: LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } - if (signal(SIGINT, sig_handlerSV) == SIG_ERR) - printf("\ncan't catch SIGINT\n"); + } +} + + +/*------------------------------------------------------------ +-- Private functions +------------------------------------------------------------*/ +void signalHandler(int signo) + { + if (signo == SIGINT) + { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); } } From 171e1e3055bcf843a54eefe931615be5cbd66cac Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:42:42 +0200 Subject: [PATCH 405/730] Small correction --- server/src/objectcontrol.c | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 090911033..1c4a7b582 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1216,16 +1216,16 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) ------------------------------------------------------------*/ void signalHandler(int signo) - { - if (signo == SIGINT) - { - LogMessage(LOG_LEVEL_WARNING,"Caught keyboard interrupt"); - iExit = 1; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); - } +{ + if (signo == SIGINT) + { + LogMessage(LOG_LEVEL_WARNING,"Caught keyboard interrupt"); + iExit = 1; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } } I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* SimData, U8 debug) From 5fe77de38299d1f64f99b21aabfb6e9919cc1f8c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:45:26 +0200 Subject: [PATCH 406/730] Implemented signal handler for supervisorcontrol --- server/src/supervisorcontrol.c | 28 ++++++++++++++++++++++++---- 1 file changed, 24 insertions(+), 4 deletions(-) diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index dd37ef5be..5a134e627 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -17,7 +17,8 @@ #include #include #include -#include +#include +#include #include #include @@ -47,13 +48,14 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ - +static void signalHandler(int signo); /*------------------------------------------------------------ -- Private variables ------------------------------------------------------------*/ #define MODULE_NAME "SupervisorControl" +static volatile int iExit = 0; /*------------------------------------------------------------ -- The main function. @@ -99,7 +101,6 @@ void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) U8 ISOMessageReadRestU8 = 0; U8 ISOMessageReceivedU8 = 0; - I32 iExit = 0; enum COMMAND iCommand; C8 MqBuffer[SUP_MQ_MAX_SIZE]; @@ -107,9 +108,15 @@ void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) U16 IterationCounter = 0; U32 TimestampU32 = 0; + // Create log LogInit(MODULE_NAME,logLevel); - LogMessage( LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); + LogMessage(LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); + + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + // Set up message bus connection if(iCommInit()) util_error("Unable to connect to message bus"); @@ -368,5 +375,18 @@ void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } +void signalHandler(int signo) +{ + if (signo == SIGINT) + { + LogMessage(LOG_LEVEL_WARNING,"Caught keyboard interrupt"); + iExit = 1; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } +} + From e8f31b719cb98cfe9e9a2d4e6dbceba56d3701ff Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:50:40 +0200 Subject: [PATCH 407/730] Modified logger interrupt handler --- server/src/logger.c | 40 +++++++++++++++++++++------------------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 698f45689..6c13eaae9 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -11,7 +11,7 @@ /*------------------------------------------------------------ -- Include files. ------------------------------------------------------------*/ -#include "logger.h" + #include #include #include @@ -25,6 +25,7 @@ #include #include "maestroTime.h" +#include "logger.h" /*------------------------------------------------------------ -- Defines @@ -60,28 +61,17 @@ static int CountFileRows(FILE *fd); void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); +static void signalHandler(int signo); /*------------------------------------------------------------ -- Private variables ------------------------------------------------------------*/ #define MODULE_NAME "Logger" - +static volatile int iExit = 0; /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ -void sig_handlerLogger(int signo) -{ - if (signo == SIGINT) - printf("received SIGINT in Logger\n"); - printf("Shutting down Logger with pid: %d\n", getpid()); - exit(1); - if (signo == SIGUSR1) - printf("received SIGUSR1\n"); - if (signo == SIGKILL) - printf("received SIGKILL\n"); - if (signo == SIGSTOP) - printf("received SIGSTOP\n"); -} + void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) @@ -112,6 +102,10 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME, logLevel); LogMessage(LOG_LEVEL_INFO, "Logger task running with PID: %d", getpid()); + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + // Initialize message bus connection if(iCommInit()) util_error("Unable to initialize connection to message bus"); @@ -338,10 +332,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) default: LogMessage(LOG_LEVEL_WARNING,"Unhandled message bus command: %u", command); } - - if (signal(SIGINT, sig_handlerLogger) == SIG_ERR) - printf("\ncan't catch SIGINT\n"); - } (void)iCommClose(); @@ -354,6 +344,18 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ +void signalHandler(int signo) + { + if (signo == SIGINT) + { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } +} void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) { From 68c207a61883dddf4e2fdc7a10e874ed3a017670 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:50:54 +0200 Subject: [PATCH 408/730] Small fix --- server/src/supervision.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index ca8cfeddf..ad983c807 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -62,7 +62,7 @@ void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof); /*------------------------------------------------------------ -- Static variables ------------------------------------------------------------*/ -static int iExit = 0; +static volatile int iExit = 0; /*------------------------------------------------------------ -- The main function. From 43cf76931013c1696ab78423e19e47a3fc06b4c3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:51:14 +0200 Subject: [PATCH 409/730] Modified timecontrol signal handler --- server/src/timecontrol.c | 25 +++++++++++++++++++++++-- 1 file changed, 23 insertions(+), 2 deletions(-) diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 63392b64c..37ff511a2 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -18,6 +18,7 @@ #include #include #include +#include #include @@ -62,12 +63,13 @@ static void TimeControlRecvTime(int* sockfd, C8* buffer, int length, int* reciev U32 TimeControlIPStringToInt(C8 *IP); U16 TimeControlGetMillisecond(TimeType *GPSTime); static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 debug); - +static void signalHandler(int signo); /*------------------------------------------------------------ -- Private variables. ------------------------------------------------------------*/ #define MODULE_NAME "TimeControl" +static volatile int iExit = 0; /*------------------------------------------------------------ -- The main function. @@ -81,7 +83,7 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 SocketfdI32=-1; struct sockaddr_in time_addr; - I32 iExit = 0, iCommand, result; + I32 result; C8 TimeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; C8 LogBuffer[LOG_BUFFER_LENGTH]; I32 ReceivedNewData, i; @@ -100,9 +102,15 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) enum COMMAND command; char busReceiveBuffer[MBUS_MAX_DATALEN]; + // Create log LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO,"Time control task running with PID: %i",getpid()); + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + // Set up message bus connection if(iCommInit()) util_error("Unable to initialize message bus connection"); @@ -255,6 +263,19 @@ void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_INFO,"Time control exiting"); } +void signalHandler(int signo) + { + if (signo == SIGINT) + { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } +} + U16 TimeControlGetMillisecond(TimeType *GPSTime) { struct timeval now; From 470e1caaae537957e95d31e4308c1687cc91a9ef Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:56:19 +0200 Subject: [PATCH 410/730] Added todo --- server/src/citscontrol.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 16fa1d031..3a86532da 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -101,7 +101,7 @@ enum CITS_STATE { static int state = INIT; static volatile int pending_state = INIT; - +static volatile int iExit = 0; static MQTTClient client; static MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer; static MQTTClient_message pubmsg = MQTTClient_message_initializer; @@ -116,7 +116,6 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { int camTimeCycle = 0; - I32 iExit = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus enum COMMAND command; int mqtt_response_code = 0; @@ -201,6 +200,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) lastCam->cam.camParameters.basicContainer.referencePosition.latitude = 0; lastCam->cam.camParameters.basicContainer.referencePosition.longitude = 0; + // TODO: Initialize signal handler + if (iCommInit()) util_error("Unable to connect to message bus"); From fea8dccde36437ee8607726124ddccd5a86c2e7f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 31 Jul 2019 16:56:51 +0200 Subject: [PATCH 411/730] Small fixes --- server/src/logger.c | 1 - server/src/objectcontrol.c | 1 - 2 files changed, 2 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 6c13eaae9..58e3435bd 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -87,7 +87,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) // Listen for commands enum COMMAND command = COMM_INV; ssize_t receivedBytes = 0; - int iExit = 0; int GPSweek; FILE *replayfd; diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 1c4a7b582..402158ba5 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1194,7 +1194,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(Buffer2, SMALL_BUFFER_SIZE_1); Buffer2[0] = OBCState; - LogPrint("SEND: %u",Buffer2[0]); if (iCommSend(COMM_OBC_STATE, Buffer2, SMALL_BUFFER_SIZE_1) < 0) { LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state"); From 5e20a8e5e98e558a40c742635c0a39199b01470c Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 1 Aug 2019 10:21:47 +0200 Subject: [PATCH 412/730] moved Visualization to seperate module --- modules/Visualization/CMakeLists.txt | 46 +++++++ modules/Visualization/README.md | 18 +++ modules/Visualization/inc/visualization.h | 24 ++++ modules/Visualization/src/main.cpp | 51 ++++++++ modules/Visualization/src/visualization.c | 149 ++++++++++++++++++++++ runServer.sh | 7 +- server/CMakeLists.txt | 12 -- server/src/main.c | 4 - 8 files changed, 289 insertions(+), 22 deletions(-) create mode 100644 modules/Visualization/CMakeLists.txt create mode 100644 modules/Visualization/README.md create mode 100755 modules/Visualization/inc/visualization.h create mode 100644 modules/Visualization/src/main.cpp create mode 100755 modules/Visualization/src/visualization.c diff --git a/modules/Visualization/CMakeLists.txt b/modules/Visualization/CMakeLists.txt new file mode 100644 index 000000000..3affc282b --- /dev/null +++ b/modules/Visualization/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 2.8) + +project(Visualization) +# This module is an example of how to set up a new module external to the Maestro executable + + +include_directories(inc) +include_directories(../../util/C/logging) +include_directories(../../util/C/time) +include_directories(../../util/C/MQBus) +include_directories(../../server/inc) +include(GNUInstallDirs) + + +# Create library +add_library(MaestroLogging + ../../util/C/logging/logging.h + ../../util/C/logging/logging.c +) + +add_library(MaestroTime + ../../util/C/time/maestroTime.h + ../../util/C/time/maestroTime.c +) + +add_library(MQBus + ../../util/C/MQBus/mqbus.h + ../../util/C/MQBus/mqbus.c +) + +# Create library +add_library(util + ../../server/src/util.c + ../../server/inc/util.h +) + +add_executable(Visualization src/main.cpp) + +install(TARGETS Visualization DESTINATION bin) + +target_link_libraries(Visualization MaestroTime MaestroLogging util) +target_link_libraries(util MQBus MaestroTime MaestroLogging) +target_link_libraries(MQBus rt m) + + + diff --git a/modules/Visualization/README.md b/modules/Visualization/README.md new file mode 100644 index 000000000..8bbdf1943 --- /dev/null +++ b/modules/Visualization/README.md @@ -0,0 +1,18 @@ +## Visualization module +This is a visualization module used pipe information from the server to a third party app for visualization. + +### Build process +1) Ensure your util repo is up to date +2) Navigate to this README.md file +3) Create the build directory: ```mkdir build``` +4) Enter the build directory: ```cd build``` +5) Generate necessary cmake files: ```cmake ..``` +6) Build the module: ```make``` + +### Run the module +1) Ensure you have built the module +2) Navigate to the build directory +3) Run the module: ```./dummy``` +4) Run Maestro + +Note: steps 3 and 4 can be replaced with running the runServer.sh script in the top directory of this repository diff --git a/modules/Visualization/inc/visualization.h b/modules/Visualization/inc/visualization.h new file mode 100755 index 000000000..c5b7b48ca --- /dev/null +++ b/modules/Visualization/inc/visualization.h @@ -0,0 +1,24 @@ +/*------------------------------------------------------------------------------ + -- Copyright : (C) 2018 CHRONOS II project + ------------------------------------------------------------------------------ + -- File : citscontrol.h + -- Author : Sebastian Loh Lindholm + -- Description : CHRONOS II + -- Purpose : + -- Reference : + ------------------------------------------------------------------------------*/ + +#ifndef __VISUALIZATION_H_INCLUDED__ +#define __VISUALIZATION_H_INCLUDED__ + +#include "util.h" +#include "logging.h" + +/*------------------------------------------------------------ + -- Function declarations. + ------------------------------------------------------------*/ +void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); + + +#endif + diff --git a/modules/Visualization/src/main.cpp b/modules/Visualization/src/main.cpp new file mode 100644 index 000000000..3ef755eaa --- /dev/null +++ b/modules/Visualization/src/main.cpp @@ -0,0 +1,51 @@ +#include +#include + +#include "logging.h" +#include "Visualization.h" +#include "util.h" + +#define MODULE_NAME "Visualization" + +int main() +{ + COMMAND command = COMM_INV; + char mqRecvData[MQ_MSG_SIZE]; + const struct timespec sleepTimePeriod = {0,10000000}; + const struct timespec abortWaitTime = {1,0}; + struct timespec remTime; + + LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); + LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); + + // Initialize message bus connection + while(iCommInit()) + { + nanosleep(&sleepTimePeriod,&remTime); + } + + while(true) + { + if (iCommRecv(&command,mqRecvData,MQ_MSG_SIZE,nullptr) < 0) + { + util_error("Message bus receive error"); + } + + switch (command) { + case COMM_INV: + nanosleep(&sleepTimePeriod,&remTime); + break; + case COMM_OBC_STATE: + break; + case COMM_STRT: + nanosleep(&abortWaitTime,&remTime); + LogMessage(LOG_LEVEL_WARNING,"Sending ABORT"); + iCommSend(COMM_ABORT,nullptr,0); + break; + default: + LogMessage(LOG_LEVEL_INFO,"Received command %u",command); + } + } + + return 0; +} diff --git a/modules/Visualization/src/visualization.c b/modules/Visualization/src/visualization.c new file mode 100755 index 000000000..67f4a2655 --- /dev/null +++ b/modules/Visualization/src/visualization.c @@ -0,0 +1,149 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "visualization.h" +#include "util.h" + + +/*------------------------------------------------------------ + -- Defines + ------------------------------------------------------------*/ +#define RECV_MESSAGE_BUFFER 1024 +#define VISUAL_SERVER_NAME "localhost" +#define VISUAL_SERVER_PORT 53250 +#define VISUAL_CONTROL_MODE 0 +#define VISUAL_REPLAY_MODE 1 + +#define SMALL_ITEM_TEXT_BUFFER_SIZE 20 +#define MODULE_NAME "VisualizationAdapter" + +/*------------------------------------------------------------ + -- Function declarations. + ------------------------------------------------------------*/ +static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr); +static void vDisconnectVisualizationChannel(int* sockfd); + +/*------------------------------------------------------------ +-- Private variables +------------------------------------------------------------*/ + + +/*------------------------------------------------------------ +-- The main function. +------------------------------------------------------------*/ +void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) +{ + int visual_server; + struct sockaddr_in visual_server_addr; + vConnectVisualizationChannel(&visual_server,&visual_server_addr); + + int camTimeCycle = 0; + I32 iExit = 0; + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + enum COMMAND command; + + (void)iCommInit(); + LogInit(MODULE_NAME,LOG_LEVEL_INFO); + LogMessage(LOG_LEVEL_INFO, "Visualization running with PID: %i", getpid()); + + while(!iExit) + { + // Handle MQ messages + bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); + (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); + if (command == COMM_ABORT) + { + + } + + if(command == COMM_EXIT) + { + iExit = 1; + printf("Vizualisation exiting.\n"); + vDisconnectVisualizationChannel(&visual_server); + (void)iCommClose(); + } + //usleep(100000); + switch (command) + { + case COMM_INIT: + + break; + case COMM_MONI: + // Ignore old style MONR data + break; + case COMM_MONR: + printf("Vizualisation got MONR.\n"); + UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); + break; + case COMM_OBC_STATE: + break; + case COMM_CONNECT: + break; + case COMM_LOG: + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } + } +} + +/*------------------------------------------------------------ + -- Private functions + ------------------------------------------------------------*/ +static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) +{ + struct hostent *server; + char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; + + /* Setup connection to visualization */ + //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); + + *sockfd = socket ( AF_INET, + SOCK_DGRAM, + IPPROTO_UDP ); + + if (*sockfd < 0) + { + util_error("ERR: Failed to create visualization socket"); + } + + bzero((char *)addr, sizeof(*addr)); + + bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); + if(!iUtilGetParaConfFile("VisualizationServerName",pcTempBuffer)) + { + strcat(pcTempBuffer,VISUAL_SERVER_NAME); + } + + //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); + + + server = gethostbyname(pcTempBuffer); + + if (server == NULL) + { + util_error("ERR: Unkonown host\n"); + } + bcopy((char *) server->h_addr, + (char *)&addr->sin_addr.s_addr, server->h_length); + + addr->sin_family = AF_INET; + addr->sin_port = htons(VISUAL_SERVER_PORT); +} + +static void vDisconnectVisualizationChannel(int* sockfd) +{ + close(*sockfd); +} + + diff --git a/runServer.sh b/runServer.sh index 7b12c1d7d..0e3cb260d 100755 --- a/runServer.sh +++ b/runServer.sh @@ -2,12 +2,7 @@ #### User settings # Modify this array by adding more modules to include them in the execution -MODULES=(ScenarioControl) - - - - - +MODULES=(ScenarioControl, Visualization) #### # Save top directory diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index e57bf40ec..58df91378 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -25,7 +25,6 @@ include(GNUInstallDirs) #set_property(TARGET MaestroLogging PROPERTY IMPORTED_LOCATION ${MAESTRO_LOGGING_PATH}) SET(USE_CITS FALSE CACHE BOOL "Flag to indicate the use of CITS.") -SET(USE_VISUALIZATION_ADAPTER FALSE CACHE BOOL "Flag to indicate the use of Visualization Adapter.") # MQTT PAHO @@ -41,13 +40,6 @@ if(USE_CITS) add_definitions(-DCITS_ENABLED) endif() -if(USE_VISUALIZATION_ADAPTER) - add_library(visualization - src/visualization.c - inc/visualization.h - ) -add_definitions(-DVISUALIZATION_ENABLED) -endif() # Create library add_library(MaestroLogging @@ -124,8 +116,4 @@ if(USE_CITS) target_link_libraries(TEServer cits) endif() -if(USE_VISUALIZATION_ADAPTER) - target_link_libraries(TEServer visualization) -endif() - target_link_libraries(TEServer MaestroLogging MaestroTime MQBus) diff --git a/server/src/main.c b/server/src/main.c index 356bf995e..6aff7205d 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -79,10 +79,6 @@ static const ModuleTask allModules[] = { #ifdef CITS_ENABLED ,citscontrol_task #endif - - #ifdef VISUALIZATION_ENABLED - ,visualization_task - #endif }; static const int numberOfModules = sizeof(allModules) / sizeof(ModuleTask); From 9d6f1cdce70c843090289b15dd3656a971bda1b2 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 1 Aug 2019 15:10:19 +0200 Subject: [PATCH 413/730] Moved Visualization to own module --- modules/Visualization/CMakeLists.txt | 3 +- modules/Visualization/inc/visualization.h | 2 +- modules/Visualization/src/main.c | 153 ++++++++++++++++++++++ modules/Visualization/src/main.cpp | 51 -------- modules/Visualization/src/visualization.c | 18 +-- runServer.sh | 2 +- server/src/visualization.c | 2 +- 7 files changed, 161 insertions(+), 70 deletions(-) create mode 100644 modules/Visualization/src/main.c delete mode 100644 modules/Visualization/src/main.cpp diff --git a/modules/Visualization/CMakeLists.txt b/modules/Visualization/CMakeLists.txt index 3affc282b..c0cdd4bda 100644 --- a/modules/Visualization/CMakeLists.txt +++ b/modules/Visualization/CMakeLists.txt @@ -34,7 +34,8 @@ add_library(util ../../server/inc/util.h ) -add_executable(Visualization src/main.cpp) +add_executable(Visualization + src/main.c) install(TARGETS Visualization DESTINATION bin) diff --git a/modules/Visualization/inc/visualization.h b/modules/Visualization/inc/visualization.h index c5b7b48ca..305563759 100755 --- a/modules/Visualization/inc/visualization.h +++ b/modules/Visualization/inc/visualization.h @@ -17,7 +17,7 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); +extern #endif diff --git a/modules/Visualization/src/main.c b/modules/Visualization/src/main.c new file mode 100644 index 000000000..44708c231 --- /dev/null +++ b/modules/Visualization/src/main.c @@ -0,0 +1,153 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "logging.h" +#include "util.h" + +/*------------------------------------------------------------ + -- Defines + ------------------------------------------------------------*/ +#define MODULE_NAME "Visualization" +#define RECV_MESSAGE_BUFFER 1024 +#define VISUAL_SERVER_NAME "localhost" +#define VISUAL_SERVER_PORT 53250 +#define VISUAL_CONTROL_MODE 0 +#define VISUAL_REPLAY_MODE 1 + +#define SMALL_ITEM_TEXT_BUFFER_SIZE 20 + +/*------------------------------------------------------------ + -- Function declarations. + ------------------------------------------------------------*/ +static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr); +static void vDisconnectVisualizationChannel(int* sockfd); + + +int main() +{ + enum COMMAND command = COMM_INV; + char mqRecvData[MQ_MSG_SIZE]; + const struct timespec sleepTimePeriod = {0,10000000}; + const struct timespec abortWaitTime = {1,0}; + struct timespec remTime; + + LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); + LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); + + int visual_server; + struct sockaddr_in visual_server_addr; + vConnectVisualizationChannel(&visual_server,&visual_server_addr); + + I32 iExit = 0; + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + + + // Initialize message bus connection + while(iCommInit()) + { + nanosleep(&sleepTimePeriod,&remTime); + } + + while(true) + { + if (iCommRecv(&command,mqRecvData,MQ_MSG_SIZE, NULL) < 0) + { + util_error("Message bus receive error"); + } + + + if (command == COMM_ABORT){ + } + + if(command == COMM_EXIT){ + iExit = 1; + printf("Vizualisation exiting.\n"); + vDisconnectVisualizationChannel(&visual_server); + (void)iCommClose(); + } + + + switch (command) { + case COMM_INIT: + break; + case COMM_MONI: + // Ignore old style MONR data + break; + case COMM_MONR: + printf("Vizualisation got MONR.\n"); + UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); + break; + case COMM_LOG: + break; + case COMM_INV: + break; + case COMM_OBC_STATE: + break; + case COMM_STRT: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } + } + + return 0; +} + + +/*------------------------------------------------------------ + -- Private functions + ------------------------------------------------------------*/ +static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) +{ + struct hostent *server; + char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; + + /* Setup connection to visualization */ + //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); + + *sockfd = socket ( AF_INET, + SOCK_DGRAM, + IPPROTO_UDP ); + + if (*sockfd < 0) + { + util_error("ERR: Failed to create visualization socket"); + } + + bzero((char *)addr, sizeof(*addr)); + + bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); + if(!iUtilGetParaConfFile("VisualizationServerName",pcTempBuffer)) + { + strcat(pcTempBuffer,VISUAL_SERVER_NAME); + } + + //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); + + + server = gethostbyname(pcTempBuffer); + + if (server == NULL) + { + util_error("ERR: Unkonown host\n"); + } + bcopy((char *) server->h_addr, + (char *)&addr->sin_addr.s_addr, server->h_length); + + addr->sin_family = AF_INET; + addr->sin_port = htons(VISUAL_SERVER_PORT); +} + +static void vDisconnectVisualizationChannel(int* sockfd) +{ + close(*sockfd); +} + diff --git a/modules/Visualization/src/main.cpp b/modules/Visualization/src/main.cpp deleted file mode 100644 index 3ef755eaa..000000000 --- a/modules/Visualization/src/main.cpp +++ /dev/null @@ -1,51 +0,0 @@ -#include -#include - -#include "logging.h" -#include "Visualization.h" -#include "util.h" - -#define MODULE_NAME "Visualization" - -int main() -{ - COMMAND command = COMM_INV; - char mqRecvData[MQ_MSG_SIZE]; - const struct timespec sleepTimePeriod = {0,10000000}; - const struct timespec abortWaitTime = {1,0}; - struct timespec remTime; - - LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); - LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); - - // Initialize message bus connection - while(iCommInit()) - { - nanosleep(&sleepTimePeriod,&remTime); - } - - while(true) - { - if (iCommRecv(&command,mqRecvData,MQ_MSG_SIZE,nullptr) < 0) - { - util_error("Message bus receive error"); - } - - switch (command) { - case COMM_INV: - nanosleep(&sleepTimePeriod,&remTime); - break; - case COMM_OBC_STATE: - break; - case COMM_STRT: - nanosleep(&abortWaitTime,&remTime); - LogMessage(LOG_LEVEL_WARNING,"Sending ABORT"); - iCommSend(COMM_ABORT,nullptr,0); - break; - default: - LogMessage(LOG_LEVEL_INFO,"Received command %u",command); - } - } - - return 0; -} diff --git a/modules/Visualization/src/visualization.c b/modules/Visualization/src/visualization.c index 67f4a2655..1fedbf4d4 100755 --- a/modules/Visualization/src/visualization.c +++ b/modules/Visualization/src/visualization.c @@ -22,23 +22,11 @@ #define VISUAL_REPLAY_MODE 1 #define SMALL_ITEM_TEXT_BUFFER_SIZE 20 -#define MODULE_NAME "VisualizationAdapter" - -/*------------------------------------------------------------ - -- Function declarations. - ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr); -static void vDisconnectVisualizationChannel(int* sockfd); - -/*------------------------------------------------------------ --- Private variables -------------------------------------------------------------*/ - /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) +void visualization_task(LOG_LEVEL logLevel) { int visual_server; struct sockaddr_in visual_server_addr; @@ -100,7 +88,7 @@ void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) +void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) { struct hostent *server; char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; @@ -141,7 +129,7 @@ static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) addr->sin_port = htons(VISUAL_SERVER_PORT); } -static void vDisconnectVisualizationChannel(int* sockfd) +void vDisconnectVisualizationChannel(int* sockfd) { close(*sockfd); } diff --git a/runServer.sh b/runServer.sh index 0e3cb260d..3b989f36f 100755 --- a/runServer.sh +++ b/runServer.sh @@ -2,7 +2,7 @@ #### User settings # Modify this array by adding more modules to include them in the execution -MODULES=(ScenarioControl, Visualization) +MODULES=(ScenarioControl) #### # Save top directory diff --git a/server/src/visualization.c b/server/src/visualization.c index 67f4a2655..8501967e5 100755 --- a/server/src/visualization.c +++ b/server/src/visualization.c @@ -38,7 +38,7 @@ static void vDisconnectVisualizationChannel(int* sockfd); /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) +void visualization_task(LOG_LEVEL logLevel) { int visual_server; struct sockaddr_in visual_server_addr; From d65eaf97bdeb26ce9db7122acfa5b2dbed762e4a Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 1 Aug 2019 15:11:19 +0200 Subject: [PATCH 414/730] Removed unused --- modules/Visualization/inc/visualization.h | 24 ---- modules/Visualization/src/visualization.c | 137 ---------------------- 2 files changed, 161 deletions(-) delete mode 100755 modules/Visualization/inc/visualization.h delete mode 100755 modules/Visualization/src/visualization.c diff --git a/modules/Visualization/inc/visualization.h b/modules/Visualization/inc/visualization.h deleted file mode 100755 index 305563759..000000000 --- a/modules/Visualization/inc/visualization.h +++ /dev/null @@ -1,24 +0,0 @@ -/*------------------------------------------------------------------------------ - -- Copyright : (C) 2018 CHRONOS II project - ------------------------------------------------------------------------------ - -- File : citscontrol.h - -- Author : Sebastian Loh Lindholm - -- Description : CHRONOS II - -- Purpose : - -- Reference : - ------------------------------------------------------------------------------*/ - -#ifndef __VISUALIZATION_H_INCLUDED__ -#define __VISUALIZATION_H_INCLUDED__ - -#include "util.h" -#include "logging.h" - -/*------------------------------------------------------------ - -- Function declarations. - ------------------------------------------------------------*/ -extern - - -#endif - diff --git a/modules/Visualization/src/visualization.c b/modules/Visualization/src/visualization.c deleted file mode 100755 index 1fedbf4d4..000000000 --- a/modules/Visualization/src/visualization.c +++ /dev/null @@ -1,137 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "visualization.h" -#include "util.h" - - -/*------------------------------------------------------------ - -- Defines - ------------------------------------------------------------*/ -#define RECV_MESSAGE_BUFFER 1024 -#define VISUAL_SERVER_NAME "localhost" -#define VISUAL_SERVER_PORT 53250 -#define VISUAL_CONTROL_MODE 0 -#define VISUAL_REPLAY_MODE 1 - -#define SMALL_ITEM_TEXT_BUFFER_SIZE 20 - -/*------------------------------------------------------------ --- The main function. -------------------------------------------------------------*/ -void visualization_task(LOG_LEVEL logLevel) -{ - int visual_server; - struct sockaddr_in visual_server_addr; - vConnectVisualizationChannel(&visual_server,&visual_server_addr); - - int camTimeCycle = 0; - I32 iExit = 0; - char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus - enum COMMAND command; - - (void)iCommInit(); - LogInit(MODULE_NAME,LOG_LEVEL_INFO); - LogMessage(LOG_LEVEL_INFO, "Visualization running with PID: %i", getpid()); - - while(!iExit) - { - // Handle MQ messages - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if (command == COMM_ABORT) - { - - } - - if(command == COMM_EXIT) - { - iExit = 1; - printf("Vizualisation exiting.\n"); - vDisconnectVisualizationChannel(&visual_server); - (void)iCommClose(); - } - //usleep(100000); - switch (command) - { - case COMM_INIT: - - break; - case COMM_MONI: - // Ignore old style MONR data - break; - case COMM_MONR: - printf("Vizualisation got MONR.\n"); - UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); - break; - case COMM_OBC_STATE: - break; - case COMM_CONNECT: - break; - case COMM_LOG: - break; - case COMM_INV: - break; - default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); - } - } -} - -/*------------------------------------------------------------ - -- Private functions - ------------------------------------------------------------*/ -void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) -{ - struct hostent *server; - char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; - - /* Setup connection to visualization */ - //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); - - *sockfd = socket ( AF_INET, - SOCK_DGRAM, - IPPROTO_UDP ); - - if (*sockfd < 0) - { - util_error("ERR: Failed to create visualization socket"); - } - - bzero((char *)addr, sizeof(*addr)); - - bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); - if(!iUtilGetParaConfFile("VisualizationServerName",pcTempBuffer)) - { - strcat(pcTempBuffer,VISUAL_SERVER_NAME); - } - - //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); - - - server = gethostbyname(pcTempBuffer); - - if (server == NULL) - { - util_error("ERR: Unkonown host\n"); - } - bcopy((char *) server->h_addr, - (char *)&addr->sin_addr.s_addr, server->h_length); - - addr->sin_family = AF_INET; - addr->sin_port = htons(VISUAL_SERVER_PORT); -} - -void vDisconnectVisualizationChannel(int* sockfd) -{ - close(*sockfd); -} - - From fee052763807970f93c9203bad59a0c913d3c75f Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 1 Aug 2019 15:18:50 +0200 Subject: [PATCH 415/730] Removed unused include in action --- server/src/main.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/main.c b/server/src/main.c index 6aff7205d..555c70397 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -32,7 +32,6 @@ #include "timecontrol.h" #include "supervisorcontrol.h" #include "citscontrol.h" -#include "visualization.h" #include "logging.h" #include "mqbus.h" From 538a9909d3198a9fc150ea2e2023a372127399ff Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 1 Aug 2019 15:20:33 +0200 Subject: [PATCH 416/730] Removed visualization.h and c from server src --- server/inc/visualization.h | 24 ------ server/src/visualization.c | 149 ------------------------------------- 2 files changed, 173 deletions(-) delete mode 100755 server/inc/visualization.h delete mode 100755 server/src/visualization.c diff --git a/server/inc/visualization.h b/server/inc/visualization.h deleted file mode 100755 index c5b7b48ca..000000000 --- a/server/inc/visualization.h +++ /dev/null @@ -1,24 +0,0 @@ -/*------------------------------------------------------------------------------ - -- Copyright : (C) 2018 CHRONOS II project - ------------------------------------------------------------------------------ - -- File : citscontrol.h - -- Author : Sebastian Loh Lindholm - -- Description : CHRONOS II - -- Purpose : - -- Reference : - ------------------------------------------------------------------------------*/ - -#ifndef __VISUALIZATION_H_INCLUDED__ -#define __VISUALIZATION_H_INCLUDED__ - -#include "util.h" -#include "logging.h" - -/*------------------------------------------------------------ - -- Function declarations. - ------------------------------------------------------------*/ -void visualization_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); - - -#endif - diff --git a/server/src/visualization.c b/server/src/visualization.c deleted file mode 100755 index 8501967e5..000000000 --- a/server/src/visualization.c +++ /dev/null @@ -1,149 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "visualization.h" -#include "util.h" - - -/*------------------------------------------------------------ - -- Defines - ------------------------------------------------------------*/ -#define RECV_MESSAGE_BUFFER 1024 -#define VISUAL_SERVER_NAME "localhost" -#define VISUAL_SERVER_PORT 53250 -#define VISUAL_CONTROL_MODE 0 -#define VISUAL_REPLAY_MODE 1 - -#define SMALL_ITEM_TEXT_BUFFER_SIZE 20 -#define MODULE_NAME "VisualizationAdapter" - -/*------------------------------------------------------------ - -- Function declarations. - ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr); -static void vDisconnectVisualizationChannel(int* sockfd); - -/*------------------------------------------------------------ --- Private variables -------------------------------------------------------------*/ - - -/*------------------------------------------------------------ --- The main function. -------------------------------------------------------------*/ -void visualization_task(LOG_LEVEL logLevel) -{ - int visual_server; - struct sockaddr_in visual_server_addr; - vConnectVisualizationChannel(&visual_server,&visual_server_addr); - - int camTimeCycle = 0; - I32 iExit = 0; - char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus - enum COMMAND command; - - (void)iCommInit(); - LogInit(MODULE_NAME,LOG_LEVEL_INFO); - LogMessage(LOG_LEVEL_INFO, "Visualization running with PID: %i", getpid()); - - while(!iExit) - { - // Handle MQ messages - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if (command == COMM_ABORT) - { - - } - - if(command == COMM_EXIT) - { - iExit = 1; - printf("Vizualisation exiting.\n"); - vDisconnectVisualizationChannel(&visual_server); - (void)iCommClose(); - } - //usleep(100000); - switch (command) - { - case COMM_INIT: - - break; - case COMM_MONI: - // Ignore old style MONR data - break; - case COMM_MONR: - printf("Vizualisation got MONR.\n"); - UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); - break; - case COMM_OBC_STATE: - break; - case COMM_CONNECT: - break; - case COMM_LOG: - break; - case COMM_INV: - break; - default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); - } - } -} - -/*------------------------------------------------------------ - -- Private functions - ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) -{ - struct hostent *server; - char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; - - /* Setup connection to visualization */ - //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); - - *sockfd = socket ( AF_INET, - SOCK_DGRAM, - IPPROTO_UDP ); - - if (*sockfd < 0) - { - util_error("ERR: Failed to create visualization socket"); - } - - bzero((char *)addr, sizeof(*addr)); - - bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); - if(!iUtilGetParaConfFile("VisualizationServerName",pcTempBuffer)) - { - strcat(pcTempBuffer,VISUAL_SERVER_NAME); - } - - //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); - - - server = gethostbyname(pcTempBuffer); - - if (server == NULL) - { - util_error("ERR: Unkonown host\n"); - } - bcopy((char *) server->h_addr, - (char *)&addr->sin_addr.s_addr, server->h_length); - - addr->sin_family = AF_INET; - addr->sin_port = htons(VISUAL_SERVER_PORT); -} - -static void vDisconnectVisualizationChannel(int* sockfd) -{ - close(*sockfd); -} - - From 8d91c96896d069cb2928de693706b5e3e03bf85a Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 1 Aug 2019 15:23:26 +0200 Subject: [PATCH 417/730] Cleanup --- server/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 58df91378..04c9710af 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -18,7 +18,7 @@ include(GNUInstallDirs) #find_library(MAESTRO_LOGGING_PATH # NAMES MaestroLogging # PATHS "../util/C/logging" -# "../util +# "../util/C" # ${CMAKE_INSTALL_LIBDIR} # ${CMAKE_INSTALL_INCLUDEDIR}) #add_library(MaestroLogging SHARED IMPORTED) From 6a35e116ae7913621415d07c4e798f8cf1c75629 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 2 Aug 2019 09:09:22 +0200 Subject: [PATCH 418/730] Removed MaestroTime from CMakeLists.txt --- modules/Visualization/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/Visualization/CMakeLists.txt b/modules/Visualization/CMakeLists.txt index c0cdd4bda..538c8f749 100644 --- a/modules/Visualization/CMakeLists.txt +++ b/modules/Visualization/CMakeLists.txt @@ -40,7 +40,7 @@ add_executable(Visualization install(TARGETS Visualization DESTINATION bin) target_link_libraries(Visualization MaestroTime MaestroLogging util) -target_link_libraries(util MQBus MaestroTime MaestroLogging) +target_link_libraries(util MQBus MaestroLogging) target_link_libraries(MQBus rt m) From 62bd6351166bed0d7a7262fac00c1516e8a26758 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 2 Aug 2019 09:11:37 +0200 Subject: [PATCH 419/730] Replaced printf with LogMessage --- modules/Visualization/src/main.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/Visualization/src/main.c b/modules/Visualization/src/main.c index 44708c231..619a52aad 100644 --- a/modules/Visualization/src/main.c +++ b/modules/Visualization/src/main.c @@ -69,7 +69,7 @@ int main() if(command == COMM_EXIT){ iExit = 1; - printf("Vizualisation exiting.\n"); + LogMessage(LOG_LEVEL_INFO, "Visualization exiting"); vDisconnectVisualizationChannel(&visual_server); (void)iCommClose(); } @@ -82,7 +82,7 @@ int main() // Ignore old style MONR data break; case COMM_MONR: - printf("Vizualisation got MONR.\n"); + LogMessage(LOG_LEVEL_INFO, "got MONR.\n"); UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); break; case COMM_LOG: From 9488856c9510f1272d29c0dfb8d60e5be7c4ae15 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 2 Aug 2019 09:12:30 +0200 Subject: [PATCH 420/730] Changed ./dummy in Readme to Visualization --- modules/Visualization/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/Visualization/README.md b/modules/Visualization/README.md index 8bbdf1943..d7b411961 100644 --- a/modules/Visualization/README.md +++ b/modules/Visualization/README.md @@ -12,7 +12,7 @@ This is a visualization module used pipe information from the server to a third ### Run the module 1) Ensure you have built the module 2) Navigate to the build directory -3) Run the module: ```./dummy``` +3) Run the module: ```./Visualization``` 4) Run Maestro Note: steps 3 and 4 can be replaced with running the runServer.sh script in the top directory of this repository From df1d9ecd2ae3609412dbde57ae0373b74e16eaf7 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 2 Aug 2019 09:16:40 +0200 Subject: [PATCH 421/730] Casting command to (unsigned char) --- modules/Visualization/src/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/Visualization/src/main.c b/modules/Visualization/src/main.c index 619a52aad..9d7a9609e 100644 --- a/modules/Visualization/src/main.c +++ b/modules/Visualization/src/main.c @@ -94,7 +94,7 @@ int main() case COMM_STRT: break; default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", (unsigned char)command); } } From e8c814abae836a8392780f409f354dd068da2817 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 2 Aug 2019 14:54:29 +0200 Subject: [PATCH 422/730] Implemented a rudimentary Kalman filter for detecting hard braking based on velocity deta from MONR --- modules/ScenarioControl/inc/booleantrigger.h | 1 - modules/ScenarioControl/inc/braketrigger.h | 6 +++ modules/ScenarioControl/src/braketrigger.cpp | 45 +++++++++++++++++++- 3 files changed, 50 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/booleantrigger.h b/modules/ScenarioControl/inc/booleantrigger.h index 9a89bfc49..3c8324545 100644 --- a/modules/ScenarioControl/inc/booleantrigger.h +++ b/modules/ScenarioControl/inc/booleantrigger.h @@ -30,7 +30,6 @@ class BooleanTrigger : public Trigger bool isStateTrue = false, wasStateTrue = false; private: - virtual const std::set getAcceptedParameters() const override { std::set accParams; diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index 2a05f34c7..b14bde280 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -12,8 +12,14 @@ class BrakeTrigger : public BooleanTrigger BrakeTrigger(TriggerID_t triggerID); TriggerReturnCode_t parseParameters() override; + using BooleanTrigger::update; + TriggerReturnCode_t update(double newValue) override; + TriggerReturnCode_t update(float newValue) override { return update(static_cast(newValue)); } + + void setBrakeRetardationThreshold(double threshold_m_s2); private: + double brakeRetardationThreshold_m_s2 = 0; const std::set getAcceptedParameters() const override { std::set accParams; diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 4bdfc7f7a..b3a47a7b1 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,8 +1,51 @@ - +#include +#include "maestroTime.h" #include "braketrigger.h" BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : BooleanTrigger(triggerID, Trigger::TriggerTypeCode_t::TRIGGER_BRAKE) { } +void BrakeTrigger::setBrakeRetardationThreshold(double threshold_m_s2) +{ + brakeRetardationThreshold_m_s2 = fabs(threshold_m_s2); +} + +BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasurement) +{ + static struct timeval lastMeasurementTime; + struct timeval currentTime, timeDifference; + double deltaT, velocityInnovation, accelerationInnovation; + static double velocityEstimate, accelerationEstimate; + constexpr double velocityInnovationWeight = 0.85; + constexpr double accelerationInnovationWeight = 0.4; + + if (!timerisset(&lastMeasurementTime)) + { + // Initialize + velocityEstimate = velocityMeasurement; + accelerationEstimate = 0; + return OK; + } + + // Calculate time difference and save current time + TimeSetToCurrentSystemTime(¤tTime); + timersub(¤tTime, &lastMeasurementTime, &timeDifference); + deltaT = timeDifference.tv_sec + timeDifference.tv_usec * 1000000; + lastMeasurementTime = currentTime; + + // Prediction step + velocityEstimate = velocityEstimate + accelerationEstimate * deltaT; + accelerationEstimate = accelerationEstimate; + + // Update step + accelerationInnovation = (velocityMeasurement - velocityEstimate) / deltaT; + velocityInnovation = (velocityMeasurement - velocityEstimate); + accelerationEstimate = accelerationEstimate + accelerationInnovationWeight * accelerationInnovation; + velocityEstimate = velocityEstimate + velocityInnovationWeight * velocityInnovation; + + // Check for negative acceleration + return update(accelerationEstimate < -brakeRetardationThreshold_m_s2); +} + /*! * \brief BooleanTrigger::parseParameters Parses the parameter vector and sets the trigger mode accordingly * \return Value according to ::TriggerReturnCode_t From da32cc31185a7bda0177c03d2163c8976c1d9b3a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 2 Aug 2019 15:09:05 +0200 Subject: [PATCH 423/730] Refactored --- modules/ScenarioControl/inc/braketrigger.h | 2 +- modules/ScenarioControl/src/braketrigger.cpp | 8 +++++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index b14bde280..f27d7d17e 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -19,7 +19,7 @@ class BrakeTrigger : public BooleanTrigger void setBrakeRetardationThreshold(double threshold_m_s2); private: - double brakeRetardationThreshold_m_s2 = 0; + double brakeRetardationThreshold_m_s2; const std::set getAcceptedParameters() const override { std::set accParams; diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index b3a47a7b1..055bcc69e 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -2,7 +2,13 @@ #include "maestroTime.h" #include "braketrigger.h" -BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : BooleanTrigger(triggerID, Trigger::TriggerTypeCode_t::TRIGGER_BRAKE) { } +#define ACCELERATION_OF_GRAVITY_M_S2 9.81 +#define DEFAULT_RETARDATION_THRESHOLD_G 0.1 + +BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : BooleanTrigger(triggerID, Trigger::TriggerTypeCode_t::TRIGGER_BRAKE) +{ + setBrakeRetardationThreshold(DEFAULT_RETARDATION_THRESHOLD_G * ACCELERATION_OF_GRAVITY_M_S2); +} void BrakeTrigger::setBrakeRetardationThreshold(double threshold_m_s2) { From 5bdcd5a64f52782ceecb7d9ab6dc56fcd8f88022 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 2 Aug 2019 15:47:44 +0200 Subject: [PATCH 424/730] Made all update functions include the time of measurement --- modules/ScenarioControl/inc/booleantrigger.h | 2 +- modules/ScenarioControl/inc/braketrigger.h | 4 +-- modules/ScenarioControl/inc/scenario.h | 2 ++ modules/ScenarioControl/inc/trigger.h | 11 ++++--- .../ScenarioControl/src/booleantrigger.cpp | 3 +- modules/ScenarioControl/src/braketrigger.cpp | 11 +++---- modules/ScenarioControl/src/scenario.cpp | 31 +++++++++++++++++-- 7 files changed, 46 insertions(+), 18 deletions(-) diff --git a/modules/ScenarioControl/inc/booleantrigger.h b/modules/ScenarioControl/inc/booleantrigger.h index 3c8324545..95c575fba 100644 --- a/modules/ScenarioControl/inc/booleantrigger.h +++ b/modules/ScenarioControl/inc/booleantrigger.h @@ -13,7 +13,7 @@ class BooleanTrigger : public Trigger virtual TriggerReturnCode_t parseParameters() override = 0; - TriggerReturnCode_t update(bool) override; + TriggerReturnCode_t update(bool, struct timeval measurementTime) override; protected: TriggerReturnCode_t checkIfTriggered(void) const override; diff --git a/modules/ScenarioControl/inc/braketrigger.h b/modules/ScenarioControl/inc/braketrigger.h index f27d7d17e..083146203 100644 --- a/modules/ScenarioControl/inc/braketrigger.h +++ b/modules/ScenarioControl/inc/braketrigger.h @@ -13,8 +13,8 @@ class BrakeTrigger : public BooleanTrigger TriggerReturnCode_t parseParameters() override; using BooleanTrigger::update; - TriggerReturnCode_t update(double newValue) override; - TriggerReturnCode_t update(float newValue) override { return update(static_cast(newValue)); } + TriggerReturnCode_t update(double newValue, struct timeval measurementTime) override; + TriggerReturnCode_t update(float newValue, struct timeval measurementTime) override { return update(static_cast(newValue),measurementTime); } void setBrakeRetardationThreshold(double threshold_m_s2); private: diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index 0808f165a..02badebba 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -52,6 +52,8 @@ class Scenario void refresh(void) const; void clear(void); + ScenarioReturnCode_t updateTrigger(MonitorDataType); + private: std::set causalities; std::set allTriggers; diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index c80ce54f8..678ed5dd1 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -83,11 +83,12 @@ class Trigger * update(float) and update(double) */ virtual TriggerReturnCode_t update(void) { throw std::invalid_argument("Invalid signal type"); } - virtual TriggerReturnCode_t update(bool) { throw std::invalid_argument("Invalid signal type"); } - virtual TriggerReturnCode_t update(char) { throw std::invalid_argument("Invalid signal type"); } - virtual TriggerReturnCode_t update(int) { throw std::invalid_argument("Invalid signal type"); } - virtual TriggerReturnCode_t update(float) { throw std::invalid_argument("Invalid signal type"); } - virtual TriggerReturnCode_t update(double) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(struct timeval) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(bool, struct timeval) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(char, struct timeval) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(int, struct timeval) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(float, struct timeval) { throw std::invalid_argument("Invalid signal type"); } + virtual TriggerReturnCode_t update(double, struct timeval) { throw std::invalid_argument("Invalid signal type"); } virtual TriggerReturnCode_t update(TREOData){ throw std::invalid_argument("Invalid signal type"); } protected: TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter) const; diff --git a/modules/ScenarioControl/src/booleantrigger.cpp b/modules/ScenarioControl/src/booleantrigger.cpp index f977379c3..048b2e2d9 100644 --- a/modules/ScenarioControl/src/booleantrigger.cpp +++ b/modules/ScenarioControl/src/booleantrigger.cpp @@ -3,9 +3,10 @@ /*! * \brief BooleanTrigger::update Updates the tracked signal (i.e. which causes the trigger) to the value specified * \param isBrakeCurrentlyPressed Boolean describing if the boolean + * \param Unused time of measurement * \return Value according to ::TriggerReturnCode_t */ -Trigger::TriggerReturnCode_t BooleanTrigger::update(bool currentStateValue) +Trigger::TriggerReturnCode_t BooleanTrigger::update(bool currentStateValue, struct timeval) { wasStateTrue = isStateTrue; isStateTrue = currentStateValue; diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 055bcc69e..15923c601 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -15,10 +15,10 @@ void BrakeTrigger::setBrakeRetardationThreshold(double threshold_m_s2) brakeRetardationThreshold_m_s2 = fabs(threshold_m_s2); } -BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasurement) +BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasurement, struct timeval measurementTime) { static struct timeval lastMeasurementTime; - struct timeval currentTime, timeDifference; + struct timeval timeDifference; double deltaT, velocityInnovation, accelerationInnovation; static double velocityEstimate, accelerationEstimate; constexpr double velocityInnovationWeight = 0.85; @@ -33,10 +33,9 @@ BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasuremen } // Calculate time difference and save current time - TimeSetToCurrentSystemTime(¤tTime); - timersub(¤tTime, &lastMeasurementTime, &timeDifference); + timersub(&measurementTime, &lastMeasurementTime, &timeDifference); deltaT = timeDifference.tv_sec + timeDifference.tv_usec * 1000000; - lastMeasurementTime = currentTime; + lastMeasurementTime = measurementTime; // Prediction step velocityEstimate = velocityEstimate + accelerationEstimate * deltaT; @@ -49,7 +48,7 @@ BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasuremen velocityEstimate = velocityEstimate + velocityInnovationWeight * velocityInnovation; // Check for negative acceleration - return update(accelerationEstimate < -brakeRetardationThreshold_m_s2); + return update(accelerationEstimate < -brakeRetardationThreshold_m_s2, measurementTime); } /*! diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 93a22a622..e4d492b46 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -1,9 +1,12 @@ -#include "scenario.h" +#include "logging.h" +#include "maestroTime.h" #include #include -#include "logging.h" +#include "scenario.h" + + #include "isotrigger.h" #include "externalaction.h" @@ -87,7 +90,6 @@ void Scenario::parseScenarioFile(std::ifstream &file) bt->appendParameter(Trigger::TriggerParameter_t::TRIGGER_PARAMETER_PRESSED); bt->parseParameters(); - bt->setObjectIP(brakeObjectIP.s_addr); mqttAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_VS_BRAKE_WARNING); @@ -184,3 +186,26 @@ void Scenario::resetISOTriggers(void) } } +Scenario::ScenarioReturnCode_t Scenario::updateTrigger(MonitorDataType monr) +{ + std::set relevantTriggers; + for (Trigger* tp : allTriggers) + { + if(tp->getObjectIP() == monr.ClientIP && dynamic_cast(tp) == nullptr) + { + switch (tp->getTypeCode()) + { + case Trigger::TriggerTypeCode_t::TRIGGER_BRAKE: + struct timeval monrTime, currentTime; + TimeSetToCurrentSystemTime(¤tTime); + TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(¤tTime), monr.MONR.GPSQmsOfWeekU32); + tp->update(static_cast(monr.MONR.LongitudinalSpeedI16*100), monrTime); + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled trigger type in update: %s", + tp->getTypeAsString(tp->getTypeCode()).c_str()); + } + } + } +} + From 62ab0914b4a2f1918130e8ef86b2075e3a704310 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 2 Aug 2019 16:01:12 +0200 Subject: [PATCH 425/730] Implemented call of Kalman filter update on received MONR --- modules/ScenarioControl/inc/scenario.h | 2 +- modules/ScenarioControl/src/main.cpp | 26 +++++++----------------- modules/ScenarioControl/src/scenario.cpp | 2 +- 3 files changed, 9 insertions(+), 21 deletions(-) diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index 02badebba..733b45c5c 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -52,7 +52,7 @@ class Scenario void refresh(void) const; void clear(void); - ScenarioReturnCode_t updateTrigger(MonitorDataType); + ScenarioReturnCode_t updateTrigger(const MonitorDataType&); private: std::set causalities; diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index bca86b600..1b6a86abb 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -21,6 +21,7 @@ int main() struct timespec remTime; Scenario scenario; TREOData treo; + MonitorDataType monr; bool terminate = false; enum {UNINITIALIZED, INITIALIZED, CONNECTED, RUNNING} state = UNINITIALIZED; @@ -114,28 +115,15 @@ int main() if (state == CONNECTED) { state = RUNNING; - - // PLACEHOLDER - LogMessage(LOG_LEVEL_INFO,"1"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"2"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"3"); - scenario.updateTrigger(1,true); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"4"); - scenario.updateTrigger(1,true); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"5"); - scenario.updateTrigger(1,false); - scenario.refresh(); - LogMessage(LOG_LEVEL_INFO,"6"); } break; case COMM_MONR: - // TODO: Update triggers + // Update triggers + if (state == RUNNING) + { + UtilPopulateMonitorDataStruct(reinterpret_cast(mqRecvData), sizeof(mqRecvData), &monr, 0); + scenario.updateTrigger(monr); + } break; case COMM_MONI: // Ignore diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index e4d492b46..40c4e0da1 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -186,7 +186,7 @@ void Scenario::resetISOTriggers(void) } } -Scenario::ScenarioReturnCode_t Scenario::updateTrigger(MonitorDataType monr) +Scenario::ScenarioReturnCode_t Scenario::updateTrigger(const MonitorDataType &monr) { std::set relevantTriggers; for (Trigger* tp : allTriggers) From 2f4c5356afe8063625a6d0411fd1aa74638918cd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 14:21:59 +0200 Subject: [PATCH 426/730] Made MONR decoding also accept messages actually adhering to the ISO spec .......... --- server/inc/util.h | 1 + server/src/util.c | 34 +++++++++++++++++++++++++++++++++- 2 files changed, 34 insertions(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 01a4b59f3..3c81ad48f 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -142,6 +142,7 @@ extern "C"{ #define VALUE_ID_GPS_SECOND_OF_WEEK 0x2 #define VALUE_ID_GPS_WEEK 0x3 #define VALUE_ID_DATE_ISO8601 0x4 +#define VALUE_ID_MONR_STRUCT 0x8 #define VALUE_ID_X_POSITION 0x10 #define VALUE_ID_Y_POSITION 0x11 #define VALUE_ID_Z_POSITION 0x12 diff --git a/server/src/util.c b/server/src/util.c index 4b8855e1d..eec9be75d 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3134,8 +3134,10 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy U32 U32Data = 0; I32 I32Data = 0; U64 U64Data = 0; - C8 *rdPtr = rawMONR; // Pointer to keep track of where in rawMONR we are currently reading + C8 *rdPtr = rawMONR, *monrStruct; // Pointer to keep track of where in rawMONR we are currently reading + U16 contentLength = 0; in_addr_t IPData = 0; + const size_t monrPacketSize = sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC); if (rawMONRsize < sizeof(MonitorDataType)) { @@ -3143,6 +3145,7 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy return -1; } + // ISO message header memcpy(&U16Data, rdPtr, sizeof(U16Data)); monitorData->MONR.Header.SyncWordU16 = U16Data; rdPtr += sizeof(U16Data); @@ -3162,6 +3165,35 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy rdPtr += sizeof(U32Data); U32Data = 0; + // ISO content header? + memcpy(&U16Data, rdPtr, sizeof(U16Data)); + if (U16Data == VALUE_ID_MONR_STRUCT) + { + rdPtr += sizeof(U16Data); + U16Data = 0; + + memcpy(&contentLength, rdPtr, sizeof(contentLength)); + rdPtr += sizeof(contentLength); + + if (contentLength < monrPacketSize) + { + LogMessage(LOG_LEVEL_ERROR, "Content length %u too small to hold necessary MONR data (expected %u)", + contentLength, monrPacketSize); + return -1; + } + else if (contentLength > monrPacketSize) + { + LogMessage(LOG_LEVEL_ERROR, "Content length %u too large to follow MONR data specification (expected %u)", + contentLength, monrPacketSize); + return -1; + } + } + else + { + LogMessage(LOG_LEVEL_WARNING, "Received MONR message without content header: corrupt data may result"); + U16Data = 0; + } + memcpy(&U32Data, rdPtr, sizeof(U32Data)); monitorData->MONR.GPSQmsOfWeekU32 = U32Data; rdPtr += sizeof(U32Data); From 7a804f08b35f2906628e3ef5d0918f603b157507 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 14:22:45 +0200 Subject: [PATCH 427/730] Some bugfixes in the Kalman filter --- modules/ScenarioControl/src/braketrigger.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 15923c601..176f06438 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,5 +1,6 @@ #include #include "maestroTime.h" +#include "logging.h" #include "braketrigger.h" #define ACCELERATION_OF_GRAVITY_M_S2 9.81 @@ -20,6 +21,7 @@ BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasuremen static struct timeval lastMeasurementTime; struct timeval timeDifference; double deltaT, velocityInnovation, accelerationInnovation; + constexpr double minimumDeltaT = 0.001; static double velocityEstimate, accelerationEstimate; constexpr double velocityInnovationWeight = 0.85; constexpr double accelerationInnovationWeight = 0.4; @@ -29,13 +31,20 @@ BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasuremen // Initialize velocityEstimate = velocityMeasurement; accelerationEstimate = 0; - return OK; + lastMeasurementTime = measurementTime; + return NO_TRIGGER_OCCURRED; } // Calculate time difference and save current time timersub(&measurementTime, &lastMeasurementTime, &timeDifference); deltaT = timeDifference.tv_sec + timeDifference.tv_usec * 1000000; - lastMeasurementTime = measurementTime; + if (deltaT < minimumDeltaT) + { + // Short sample time difference risks division by zero: ignore too rapid MONR messages + LogMessage(LOG_LEVEL_WARNING, "Received two MONR messages from same object within time span of %.6f ms",deltaT/1000); + return update(static_cast(accelerationEstimate < -brakeRetardationThreshold_m_s2), measurementTime); + } + else lastMeasurementTime = measurementTime; // Prediction step velocityEstimate = velocityEstimate + accelerationEstimate * deltaT; @@ -48,7 +57,7 @@ BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasuremen velocityEstimate = velocityEstimate + velocityInnovationWeight * velocityInnovation; // Check for negative acceleration - return update(accelerationEstimate < -brakeRetardationThreshold_m_s2, measurementTime); + return update(static_cast(accelerationEstimate < -brakeRetardationThreshold_m_s2), measurementTime); } /*! From b1afd43b3d86f484427b3ecaeca615f2cb4f33bc Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 14:23:17 +0200 Subject: [PATCH 428/730] Made MONR decoding happen also in the connected state --- modules/ScenarioControl/src/main.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 1b6a86abb..a126e6096 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -119,11 +119,8 @@ int main() break; case COMM_MONR: // Update triggers - if (state == RUNNING) - { - UtilPopulateMonitorDataStruct(reinterpret_cast(mqRecvData), sizeof(mqRecvData), &monr, 0); - scenario.updateTrigger(monr); - } + UtilPopulateMonitorDataStruct(reinterpret_cast(mqRecvData), sizeof(mqRecvData), &monr, 0); + scenario.updateTrigger(monr); break; case COMM_MONI: // Ignore From 0af12a0a80c78bbbd791ab0e4782d349f3a9bc18 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 14:23:52 +0200 Subject: [PATCH 429/730] Some hardcoding in lieu of file decoder --- modules/ScenarioControl/src/scenario.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 40c4e0da1..4a5a15ccc 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -82,7 +82,7 @@ void Scenario::parseScenarioFile(std::ifstream &file) // PLACEHOLDER CODE BrakeTrigger* bt = new BrakeTrigger(1); InfrastructureAction* mqttAction = new InfrastructureAction(5, 1); - const char brakeObjectIPString[] = "0.0.0.0"; + const char brakeObjectIPString[] = "127.0.0.1"; const char mqttObjectIPString[] = "127.0.0.1"; in_addr brakeObjectIP, mqttObjectIP; inet_pton(AF_INET, brakeObjectIPString, &brakeObjectIP); @@ -188,7 +188,6 @@ void Scenario::resetISOTriggers(void) Scenario::ScenarioReturnCode_t Scenario::updateTrigger(const MonitorDataType &monr) { - std::set relevantTriggers; for (Trigger* tp : allTriggers) { if(tp->getObjectIP() == monr.ClientIP && dynamic_cast(tp) == nullptr) From ec20de2bbbe4af2404ef1c812fd40a8424dda711 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 6 Aug 2019 14:27:04 +0200 Subject: [PATCH 430/730] Origo from DataDictionary --- log/Central-2019-08-05.log | 42 +++ log/Logger-2019-08-05.log | 33 +++ log/ObjectControl-2019-08-05.log | 409 +++++++++++++++++++++++++++ log/Supervisor-2019-08-05.log | 21 ++ log/SystemControl-2019-08-05.log | 21 ++ log/TimeControl-2019-08-05.log | 21 ++ log/logging-meta-info-2019-08-05.log | 1 + server/src/citscontrol.c | 24 +- 8 files changed, 563 insertions(+), 9 deletions(-) create mode 100644 log/Central-2019-08-05.log create mode 100644 log/Logger-2019-08-05.log create mode 100644 log/ObjectControl-2019-08-05.log create mode 100644 log/Supervisor-2019-08-05.log create mode 100644 log/SystemControl-2019-08-05.log create mode 100644 log/TimeControl-2019-08-05.log create mode 100644 log/logging-meta-info-2019-08-05.log diff --git a/log/Central-2019-08-05.log b/log/Central-2019-08-05.log new file mode 100644 index 000000000..ddf44d2bc --- /dev/null +++ b/log/Central-2019-08-05.log @@ -0,0 +1,42 @@ +[2019-08-05|15:56:03|IFO]: Waiting for shutdown of all modules... +[2019-08-05|15:56:03|IFO]: All modules exited successfully +[2019-08-05|15:56:21|IFO]: Created directory log +[2019-08-05|15:56:21|IFO]: Log initialized +[2019-08-05|15:56:21|N/A]: Version Maestro 0.1.x +[2019-08-05|15:56:21|IFO]: Central started +[2019-08-05|15:56:21|IFO]: About to enter mq init +[2019-08-05|15:56:21|IFO]: Awaiting shutdown signal... +[2019-08-05|16:01:20|IFO]: Waiting for shutdown of all modules... +[2019-08-05|16:01:20|IFO]: All modules exited successfully +[2019-08-05|16:01:26|IFO]: Created directory log +[2019-08-05|16:01:26|IFO]: Log initialized +[2019-08-05|16:01:26|N/A]: Version Maestro 0.1.x +[2019-08-05|16:01:26|IFO]: Central started +[2019-08-05|16:01:26|IFO]: About to enter mq init +[2019-08-05|16:01:26|IFO]: Awaiting shutdown signal... +[2019-08-05|16:01:50|IFO]: Waiting for shutdown of all modules... +[2019-08-05|16:01:50|IFO]: All modules exited successfully +[2019-08-05|16:01:54|IFO]: Created directory log +[2019-08-05|16:01:54|IFO]: Log initialized +[2019-08-05|16:01:54|N/A]: Version Maestro 0.1.x +[2019-08-05|16:01:54|IFO]: Central started +[2019-08-05|16:01:54|IFO]: About to enter mq init +[2019-08-05|16:01:54|IFO]: Awaiting shutdown signal... +[2019-08-05|16:02:11|IFO]: Waiting for shutdown of all modules... +[2019-08-05|16:02:11|IFO]: All modules exited successfully +[2019-08-05|16:02:45|IFO]: Created directory log +[2019-08-05|16:02:45|IFO]: Log initialized +[2019-08-05|16:02:45|N/A]: Version Maestro 0.1.x +[2019-08-05|16:02:45|IFO]: Central started +[2019-08-05|16:02:45|IFO]: About to enter mq init +[2019-08-05|16:02:45|IFO]: Awaiting shutdown signal... +[2019-08-05|16:02:57|IFO]: Waiting for shutdown of all modules... +[2019-08-05|16:02:57|IFO]: All modules exited successfully +[2019-08-05|16:03:03|IFO]: Created directory log +[2019-08-05|16:03:03|IFO]: Log initialized +[2019-08-05|16:03:03|N/A]: Version Maestro 0.1.x +[2019-08-05|16:03:03|IFO]: Central started +[2019-08-05|16:03:03|IFO]: About to enter mq init +[2019-08-05|16:03:03|IFO]: Awaiting shutdown signal... +[2019-08-05|16:03:25|IFO]: Waiting for shutdown of all modules... +[2019-08-05|16:03:25|IFO]: All modules exited successfully diff --git a/log/Logger-2019-08-05.log b/log/Logger-2019-08-05.log new file mode 100644 index 000000000..ac07e12b9 --- /dev/null +++ b/log/Logger-2019-08-05.log @@ -0,0 +1,33 @@ +[2019-08-05|15:56:03|WRN]: Caught keyboard interrupt +[2019-08-05|15:56:03|WRN]: Attempted to release message bus slot when none was claimed +[2019-08-05|15:56:03|IFO]: Logger exiting +[2019-08-05|15:56:21|IFO]: Created directory log +[2019-08-05|15:56:21|IFO]: Log initialized +[2019-08-05|15:56:21|IFO]: Logger task running with PID: 10695 +[2019-08-05|16:01:20|WRN]: Caught keyboard interrupt +[2019-08-05|16:01:20|WRN]: Attempted to release message bus slot when none was claimed +[2019-08-05|16:01:20|IFO]: Logger exiting +[2019-08-05|16:01:26|IFO]: Created directory log +[2019-08-05|16:01:26|IFO]: Log initialized +[2019-08-05|16:01:26|IFO]: Logger task running with PID: 11798 +[2019-08-05|16:01:50|WRN]: Caught keyboard interrupt +[2019-08-05|16:01:50|WRN]: Attempted to release message bus slot when none was claimed +[2019-08-05|16:01:50|IFO]: Logger exiting +[2019-08-05|16:01:54|IFO]: Created directory log +[2019-08-05|16:01:54|IFO]: Log initialized +[2019-08-05|16:01:54|IFO]: Logger task running with PID: 11825 +[2019-08-05|16:02:11|WRN]: Caught keyboard interrupt +[2019-08-05|16:02:11|WRN]: Attempted to release message bus slot when none was claimed +[2019-08-05|16:02:11|IFO]: Logger exiting +[2019-08-05|16:02:45|IFO]: Created directory log +[2019-08-05|16:02:45|IFO]: Log initialized +[2019-08-05|16:02:45|IFO]: Logger task running with PID: 11906 +[2019-08-05|16:02:57|WRN]: Caught keyboard interrupt +[2019-08-05|16:02:57|WRN]: Attempted to release message bus slot when none was claimed +[2019-08-05|16:02:57|IFO]: Logger exiting +[2019-08-05|16:03:03|IFO]: Created directory log +[2019-08-05|16:03:03|IFO]: Log initialized +[2019-08-05|16:03:03|IFO]: Logger task running with PID: 11994 +[2019-08-05|16:03:25|WRN]: Caught keyboard interrupt +[2019-08-05|16:03:25|WRN]: Attempted to release message bus slot when none was claimed +[2019-08-05|16:03:25|IFO]: Logger exiting diff --git a/log/ObjectControl-2019-08-05.log b/log/ObjectControl-2019-08-05.log new file mode 100644 index 000000000..f119f6be0 --- /dev/null +++ b/log/ObjectControl-2019-08-05.log @@ -0,0 +1,409 @@ +[2019-08-05|15:55:01|IFO]: Log initialized +[2019-08-05|15:55:01|IFO]: Object control task running with PID: 10126 +[2019-08-05|15:55:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:55:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:03|WRN]: Caught keyboard interrupt +[2019-08-05|15:56:03|IFO]: Object control exiting +[2019-08-05|15:56:21|IFO]: Created directory log +[2019-08-05|15:56:21|IFO]: Log initialized +[2019-08-05|15:56:21|IFO]: Object control task running with PID: 10699 +[2019-08-05|15:56:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:56:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:57:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:58:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|15:59:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:00:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:20|WRN]: Caught keyboard interrupt +[2019-08-05|16:01:20|IFO]: Object control exiting +[2019-08-05|16:01:26|IFO]: Created directory log +[2019-08-05|16:01:26|IFO]: Log initialized +[2019-08-05|16:01:26|IFO]: Object control task running with PID: 11802 +[2019-08-05|16:01:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:01:50|WRN]: Caught keyboard interrupt +[2019-08-05|16:01:50|IFO]: Object control exiting +[2019-08-05|16:01:54|IFO]: Created directory log +[2019-08-05|16:01:54|IFO]: Log initialized +[2019-08-05|16:01:54|IFO]: Object control task running with PID: 11829 +[2019-08-05|16:02:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:11|WRN]: Caught keyboard interrupt +[2019-08-05|16:02:11|IFO]: Object control exiting +[2019-08-05|16:02:45|IFO]: Created directory log +[2019-08-05|16:02:45|IFO]: Log initialized +[2019-08-05|16:02:45|IFO]: Object control task running with PID: 11910 +[2019-08-05|16:02:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:02:57|WRN]: Caught keyboard interrupt +[2019-08-05|16:02:57|IFO]: Object control exiting +[2019-08-05|16:03:03|IFO]: Created directory log +[2019-08-05|16:03:03|IFO]: Log initialized +[2019-08-05|16:03:03|IFO]: Object control task running with PID: 11998 +[2019-08-05|16:03:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> +[2019-08-05|16:03:25|WRN]: Caught keyboard interrupt +[2019-08-05|16:03:25|IFO]: Object control exiting diff --git a/log/Supervisor-2019-08-05.log b/log/Supervisor-2019-08-05.log new file mode 100644 index 000000000..a8d237301 --- /dev/null +++ b/log/Supervisor-2019-08-05.log @@ -0,0 +1,21 @@ +[2019-08-05|15:56:03|WRN]: Caught keyboard interrupt +[2019-08-05|15:56:21|IFO]: Created directory log +[2019-08-05|15:56:21|IFO]: Log initialized +[2019-08-05|15:56:21|IFO]: Supervision running with PID: 10697 +[2019-08-05|16:01:20|WRN]: Caught keyboard interrupt +[2019-08-05|16:01:26|IFO]: Created directory log +[2019-08-05|16:01:26|IFO]: Log initialized +[2019-08-05|16:01:26|IFO]: Supervision running with PID: 11800 +[2019-08-05|16:01:50|WRN]: Caught keyboard interrupt +[2019-08-05|16:01:54|IFO]: Created directory log +[2019-08-05|16:01:54|IFO]: Log initialized +[2019-08-05|16:01:54|IFO]: Supervision running with PID: 11827 +[2019-08-05|16:02:11|WRN]: Caught keyboard interrupt +[2019-08-05|16:02:45|IFO]: Created directory log +[2019-08-05|16:02:45|IFO]: Log initialized +[2019-08-05|16:02:45|IFO]: Supervision running with PID: 11908 +[2019-08-05|16:02:57|WRN]: Caught keyboard interrupt +[2019-08-05|16:03:03|IFO]: Created directory log +[2019-08-05|16:03:03|IFO]: Log initialized +[2019-08-05|16:03:03|IFO]: Supervision running with PID: 11996 +[2019-08-05|16:03:25|WRN]: Caught keyboard interrupt diff --git a/log/SystemControl-2019-08-05.log b/log/SystemControl-2019-08-05.log new file mode 100644 index 000000000..2b4baa23d --- /dev/null +++ b/log/SystemControl-2019-08-05.log @@ -0,0 +1,21 @@ +[2019-08-05|15:55:01|ERR]: Unable to open file +[2019-08-05|15:56:21|IFO]: Created directory log +[2019-08-05|15:56:21|IFO]: Log initialized +[2019-08-05|15:56:21|IFO]: System control task running with PID: 10698 +[2019-08-05|15:56:21|ERR]: Unable to open file +[2019-08-05|16:01:26|IFO]: Created directory log +[2019-08-05|16:01:26|IFO]: Log initialized +[2019-08-05|16:01:26|IFO]: System control task running with PID: 11801 +[2019-08-05|16:01:26|ERR]: Unable to open file +[2019-08-05|16:01:54|IFO]: Created directory log +[2019-08-05|16:01:54|IFO]: Log initialized +[2019-08-05|16:01:54|IFO]: System control task running with PID: 11828 +[2019-08-05|16:01:54|ERR]: Unable to open file +[2019-08-05|16:02:45|IFO]: Created directory log +[2019-08-05|16:02:45|IFO]: Log initialized +[2019-08-05|16:02:45|IFO]: System control task running with PID: 11909 +[2019-08-05|16:02:45|ERR]: Unable to open file +[2019-08-05|16:03:03|IFO]: Created directory log +[2019-08-05|16:03:03|IFO]: Log initialized +[2019-08-05|16:03:03|IFO]: System control task running with PID: 11997 +[2019-08-05|16:03:03|ERR]: Unable to open file diff --git a/log/TimeControl-2019-08-05.log b/log/TimeControl-2019-08-05.log new file mode 100644 index 000000000..868182590 --- /dev/null +++ b/log/TimeControl-2019-08-05.log @@ -0,0 +1,21 @@ +[2019-08-05|15:55:01|ERR]: Unable to open file <./conf/test.conf> +[2019-08-05|15:56:21|IFO]: Created directory log +[2019-08-05|15:56:21|IFO]: Log initialized +[2019-08-05|15:56:21|IFO]: Time control task running with PID: 10696 +[2019-08-05|15:56:21|ERR]: Unable to open file <./conf/test.conf> +[2019-08-05|16:01:26|IFO]: Created directory log +[2019-08-05|16:01:26|IFO]: Log initialized +[2019-08-05|16:01:26|IFO]: Time control task running with PID: 11799 +[2019-08-05|16:01:26|ERR]: Unable to open file <./conf/test.conf> +[2019-08-05|16:01:54|IFO]: Created directory log +[2019-08-05|16:01:54|IFO]: Log initialized +[2019-08-05|16:01:54|IFO]: Time control task running with PID: 11826 +[2019-08-05|16:01:54|ERR]: Unable to open file <./conf/test.conf> +[2019-08-05|16:02:45|IFO]: Created directory log +[2019-08-05|16:02:45|IFO]: Log initialized +[2019-08-05|16:02:45|IFO]: Time control task running with PID: 11907 +[2019-08-05|16:02:45|ERR]: Unable to open file <./conf/test.conf> +[2019-08-05|16:03:03|IFO]: Created directory log +[2019-08-05|16:03:03|IFO]: Log initialized +[2019-08-05|16:03:03|IFO]: Time control task running with PID: 11995 +[2019-08-05|16:03:03|ERR]: Unable to open file <./conf/test.conf> diff --git a/log/logging-meta-info-2019-08-05.log b/log/logging-meta-info-2019-08-05.log new file mode 100644 index 000000000..c8c5aefcd --- /dev/null +++ b/log/logging-meta-info-2019-08-05.log @@ -0,0 +1 @@ +[2019-08-05|15:55:01|ERR]: Unable to open log file for writing: log/SystemControl-2019-08-05.log diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index c178970b6..d9aeb901e 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -39,6 +39,7 @@ #include "util.h" #include "iso22133.h" #include "maestroTime.h" +#include "datadictionary.h" @@ -68,7 +69,7 @@ -- Function declarations. ------------------------------------------------------------*/ I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); -I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm); +I32 generateDENMMessage(GSDType* GSD, MONRType *MONRData, DENM_t* denm); I32 sendCAM(CAM_t* lastCam); I32 sendDENM(DENM_t* lastDENM); @@ -247,7 +248,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ generateCAMMessage(&MONRMessage, lastCam); - generateDENMMessage(&MONRMessage, lastDENM); + generateDENMMessage(GSD, &MONRMessage, lastDENM); sendCAM(lastCam); sendDENM(lastDENM); } @@ -277,7 +278,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } // Based on last MONR message, generate a DENM message to send - generateDENMMessage(&MONRMessage, lastDENM); + generateDENMMessage(GSD, &MONRMessage, lastDENM); if (actionData.executionTime_qmsoW == 0) { @@ -474,6 +475,7 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ double origoLong = 12.77011670; double origoLat = 57.77315060; + fail = UtilVincentyDirect(origoLat,origoLong,azimuth1,distance ,&latitude,&longitude,&azimuth2); tempCam.cam.camParameters.basicContainer.referencePosition.latitude = latitude; @@ -518,7 +520,7 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ * \param lastDENM struct to fill with DENM data if DENM should be sent, used as reference to calculate new DENM. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ +I32 generateDENMMessage(GSDType* GSD, MONRType *MONRData, DENM_t* denm){ TimeType time; DENM_t tempDENM; @@ -554,16 +556,20 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ // calculate the norm value distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - // TODO: Get From RVSSgetParameter - double origoLong = 12.77011670; - double origoLat = 57.77315060; + double origoLong = 0; + double origoLat = 0; + + DataDictionaryGetOriginLatitudeDbl(GSD, &origoLat); + DataDictionaryGetOriginLongitudeDbl(GSD, &origoLong); fail = UtilVincentyDirect(origoLat,origoLong,azimuth1,distance ,&latitude,&longitude,&azimuth2); - tempDENM.denm.management.eventPosition.latitude = latitude; - tempDENM.denm.management.eventPosition.longitude = longitude; + tempDENM.denm.management.eventPosition.latitude = origoLat; + tempDENM.denm.management.eventPosition.longitude = origoLong; /* + printf("latitude %f \n", origoLat); + printf("longitude %f \n", origoLong); printf("DENM latitude %f \n", tempDENM.denm.management.eventPosition.latitude); printf("DENM longitude %f \n", tempDENM.denm.management.eventPosition.longitude); */ From a70be2d47d93cee12fe06f35b3d128c1339eb82b Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 6 Aug 2019 14:31:43 +0200 Subject: [PATCH 431/730] Removed log files added by error --- log/Central-2019-08-05.log | 42 --- log/Logger-2019-08-05.log | 33 --- log/ObjectControl-2019-08-05.log | 409 --------------------------- log/Supervisor-2019-08-05.log | 21 -- log/SystemControl-2019-08-05.log | 21 -- log/TimeControl-2019-08-05.log | 21 -- log/logging-meta-info-2019-08-05.log | 1 - 7 files changed, 548 deletions(-) delete mode 100644 log/Central-2019-08-05.log delete mode 100644 log/Logger-2019-08-05.log delete mode 100644 log/ObjectControl-2019-08-05.log delete mode 100644 log/Supervisor-2019-08-05.log delete mode 100644 log/SystemControl-2019-08-05.log delete mode 100644 log/TimeControl-2019-08-05.log delete mode 100644 log/logging-meta-info-2019-08-05.log diff --git a/log/Central-2019-08-05.log b/log/Central-2019-08-05.log deleted file mode 100644 index ddf44d2bc..000000000 --- a/log/Central-2019-08-05.log +++ /dev/null @@ -1,42 +0,0 @@ -[2019-08-05|15:56:03|IFO]: Waiting for shutdown of all modules... -[2019-08-05|15:56:03|IFO]: All modules exited successfully -[2019-08-05|15:56:21|IFO]: Created directory log -[2019-08-05|15:56:21|IFO]: Log initialized -[2019-08-05|15:56:21|N/A]: Version Maestro 0.1.x -[2019-08-05|15:56:21|IFO]: Central started -[2019-08-05|15:56:21|IFO]: About to enter mq init -[2019-08-05|15:56:21|IFO]: Awaiting shutdown signal... -[2019-08-05|16:01:20|IFO]: Waiting for shutdown of all modules... -[2019-08-05|16:01:20|IFO]: All modules exited successfully -[2019-08-05|16:01:26|IFO]: Created directory log -[2019-08-05|16:01:26|IFO]: Log initialized -[2019-08-05|16:01:26|N/A]: Version Maestro 0.1.x -[2019-08-05|16:01:26|IFO]: Central started -[2019-08-05|16:01:26|IFO]: About to enter mq init -[2019-08-05|16:01:26|IFO]: Awaiting shutdown signal... -[2019-08-05|16:01:50|IFO]: Waiting for shutdown of all modules... -[2019-08-05|16:01:50|IFO]: All modules exited successfully -[2019-08-05|16:01:54|IFO]: Created directory log -[2019-08-05|16:01:54|IFO]: Log initialized -[2019-08-05|16:01:54|N/A]: Version Maestro 0.1.x -[2019-08-05|16:01:54|IFO]: Central started -[2019-08-05|16:01:54|IFO]: About to enter mq init -[2019-08-05|16:01:54|IFO]: Awaiting shutdown signal... -[2019-08-05|16:02:11|IFO]: Waiting for shutdown of all modules... -[2019-08-05|16:02:11|IFO]: All modules exited successfully -[2019-08-05|16:02:45|IFO]: Created directory log -[2019-08-05|16:02:45|IFO]: Log initialized -[2019-08-05|16:02:45|N/A]: Version Maestro 0.1.x -[2019-08-05|16:02:45|IFO]: Central started -[2019-08-05|16:02:45|IFO]: About to enter mq init -[2019-08-05|16:02:45|IFO]: Awaiting shutdown signal... -[2019-08-05|16:02:57|IFO]: Waiting for shutdown of all modules... -[2019-08-05|16:02:57|IFO]: All modules exited successfully -[2019-08-05|16:03:03|IFO]: Created directory log -[2019-08-05|16:03:03|IFO]: Log initialized -[2019-08-05|16:03:03|N/A]: Version Maestro 0.1.x -[2019-08-05|16:03:03|IFO]: Central started -[2019-08-05|16:03:03|IFO]: About to enter mq init -[2019-08-05|16:03:03|IFO]: Awaiting shutdown signal... -[2019-08-05|16:03:25|IFO]: Waiting for shutdown of all modules... -[2019-08-05|16:03:25|IFO]: All modules exited successfully diff --git a/log/Logger-2019-08-05.log b/log/Logger-2019-08-05.log deleted file mode 100644 index ac07e12b9..000000000 --- a/log/Logger-2019-08-05.log +++ /dev/null @@ -1,33 +0,0 @@ -[2019-08-05|15:56:03|WRN]: Caught keyboard interrupt -[2019-08-05|15:56:03|WRN]: Attempted to release message bus slot when none was claimed -[2019-08-05|15:56:03|IFO]: Logger exiting -[2019-08-05|15:56:21|IFO]: Created directory log -[2019-08-05|15:56:21|IFO]: Log initialized -[2019-08-05|15:56:21|IFO]: Logger task running with PID: 10695 -[2019-08-05|16:01:20|WRN]: Caught keyboard interrupt -[2019-08-05|16:01:20|WRN]: Attempted to release message bus slot when none was claimed -[2019-08-05|16:01:20|IFO]: Logger exiting -[2019-08-05|16:01:26|IFO]: Created directory log -[2019-08-05|16:01:26|IFO]: Log initialized -[2019-08-05|16:01:26|IFO]: Logger task running with PID: 11798 -[2019-08-05|16:01:50|WRN]: Caught keyboard interrupt -[2019-08-05|16:01:50|WRN]: Attempted to release message bus slot when none was claimed -[2019-08-05|16:01:50|IFO]: Logger exiting -[2019-08-05|16:01:54|IFO]: Created directory log -[2019-08-05|16:01:54|IFO]: Log initialized -[2019-08-05|16:01:54|IFO]: Logger task running with PID: 11825 -[2019-08-05|16:02:11|WRN]: Caught keyboard interrupt -[2019-08-05|16:02:11|WRN]: Attempted to release message bus slot when none was claimed -[2019-08-05|16:02:11|IFO]: Logger exiting -[2019-08-05|16:02:45|IFO]: Created directory log -[2019-08-05|16:02:45|IFO]: Log initialized -[2019-08-05|16:02:45|IFO]: Logger task running with PID: 11906 -[2019-08-05|16:02:57|WRN]: Caught keyboard interrupt -[2019-08-05|16:02:57|WRN]: Attempted to release message bus slot when none was claimed -[2019-08-05|16:02:57|IFO]: Logger exiting -[2019-08-05|16:03:03|IFO]: Created directory log -[2019-08-05|16:03:03|IFO]: Log initialized -[2019-08-05|16:03:03|IFO]: Logger task running with PID: 11994 -[2019-08-05|16:03:25|WRN]: Caught keyboard interrupt -[2019-08-05|16:03:25|WRN]: Attempted to release message bus slot when none was claimed -[2019-08-05|16:03:25|IFO]: Logger exiting diff --git a/log/ObjectControl-2019-08-05.log b/log/ObjectControl-2019-08-05.log deleted file mode 100644 index f119f6be0..000000000 --- a/log/ObjectControl-2019-08-05.log +++ /dev/null @@ -1,409 +0,0 @@ -[2019-08-05|15:55:01|IFO]: Log initialized -[2019-08-05|15:55:01|IFO]: Object control task running with PID: 10126 -[2019-08-05|15:55:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:55:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:03|WRN]: Caught keyboard interrupt -[2019-08-05|15:56:03|IFO]: Object control exiting -[2019-08-05|15:56:21|IFO]: Created directory log -[2019-08-05|15:56:21|IFO]: Log initialized -[2019-08-05|15:56:21|IFO]: Object control task running with PID: 10699 -[2019-08-05|15:56:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:56:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:57:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:58:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|15:59:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:26|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:27|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:28|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:29|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:30|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:31|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:32|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:33|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:34|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:35|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:50|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:51|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:52|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:53|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:54|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:58|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:00:59|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:00|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:01|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:02|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:03|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:12|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:20|WRN]: Caught keyboard interrupt -[2019-08-05|16:01:20|IFO]: Object control exiting -[2019-08-05|16:01:26|IFO]: Created directory log -[2019-08-05|16:01:26|IFO]: Log initialized -[2019-08-05|16:01:26|IFO]: Object control task running with PID: 11802 -[2019-08-05|16:01:36|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:37|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:38|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:39|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:40|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:41|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:42|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:43|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:44|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:45|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:46|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:47|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:48|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:49|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:01:50|WRN]: Caught keyboard interrupt -[2019-08-05|16:01:50|IFO]: Object control exiting -[2019-08-05|16:01:54|IFO]: Created directory log -[2019-08-05|16:01:54|IFO]: Log initialized -[2019-08-05|16:01:54|IFO]: Object control task running with PID: 11829 -[2019-08-05|16:02:04|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:05|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:06|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:07|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:08|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:09|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:10|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:11|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:11|WRN]: Caught keyboard interrupt -[2019-08-05|16:02:11|IFO]: Object control exiting -[2019-08-05|16:02:45|IFO]: Created directory log -[2019-08-05|16:02:45|IFO]: Log initialized -[2019-08-05|16:02:45|IFO]: Object control task running with PID: 11910 -[2019-08-05|16:02:55|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:56|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:57|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:02:57|WRN]: Caught keyboard interrupt -[2019-08-05|16:02:57|IFO]: Object control exiting -[2019-08-05|16:03:03|IFO]: Created directory log -[2019-08-05|16:03:03|IFO]: Log initialized -[2019-08-05|16:03:03|IFO]: Object control task running with PID: 11998 -[2019-08-05|16:03:13|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:14|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:15|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:16|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:17|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:18|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:19|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:20|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:21|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:22|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:23|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:24|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:25|WRN]: Attempted to write to full message queue - message may be lost: <12><> -[2019-08-05|16:03:25|WRN]: Caught keyboard interrupt -[2019-08-05|16:03:25|IFO]: Object control exiting diff --git a/log/Supervisor-2019-08-05.log b/log/Supervisor-2019-08-05.log deleted file mode 100644 index a8d237301..000000000 --- a/log/Supervisor-2019-08-05.log +++ /dev/null @@ -1,21 +0,0 @@ -[2019-08-05|15:56:03|WRN]: Caught keyboard interrupt -[2019-08-05|15:56:21|IFO]: Created directory log -[2019-08-05|15:56:21|IFO]: Log initialized -[2019-08-05|15:56:21|IFO]: Supervision running with PID: 10697 -[2019-08-05|16:01:20|WRN]: Caught keyboard interrupt -[2019-08-05|16:01:26|IFO]: Created directory log -[2019-08-05|16:01:26|IFO]: Log initialized -[2019-08-05|16:01:26|IFO]: Supervision running with PID: 11800 -[2019-08-05|16:01:50|WRN]: Caught keyboard interrupt -[2019-08-05|16:01:54|IFO]: Created directory log -[2019-08-05|16:01:54|IFO]: Log initialized -[2019-08-05|16:01:54|IFO]: Supervision running with PID: 11827 -[2019-08-05|16:02:11|WRN]: Caught keyboard interrupt -[2019-08-05|16:02:45|IFO]: Created directory log -[2019-08-05|16:02:45|IFO]: Log initialized -[2019-08-05|16:02:45|IFO]: Supervision running with PID: 11908 -[2019-08-05|16:02:57|WRN]: Caught keyboard interrupt -[2019-08-05|16:03:03|IFO]: Created directory log -[2019-08-05|16:03:03|IFO]: Log initialized -[2019-08-05|16:03:03|IFO]: Supervision running with PID: 11996 -[2019-08-05|16:03:25|WRN]: Caught keyboard interrupt diff --git a/log/SystemControl-2019-08-05.log b/log/SystemControl-2019-08-05.log deleted file mode 100644 index 2b4baa23d..000000000 --- a/log/SystemControl-2019-08-05.log +++ /dev/null @@ -1,21 +0,0 @@ -[2019-08-05|15:55:01|ERR]: Unable to open file -[2019-08-05|15:56:21|IFO]: Created directory log -[2019-08-05|15:56:21|IFO]: Log initialized -[2019-08-05|15:56:21|IFO]: System control task running with PID: 10698 -[2019-08-05|15:56:21|ERR]: Unable to open file -[2019-08-05|16:01:26|IFO]: Created directory log -[2019-08-05|16:01:26|IFO]: Log initialized -[2019-08-05|16:01:26|IFO]: System control task running with PID: 11801 -[2019-08-05|16:01:26|ERR]: Unable to open file -[2019-08-05|16:01:54|IFO]: Created directory log -[2019-08-05|16:01:54|IFO]: Log initialized -[2019-08-05|16:01:54|IFO]: System control task running with PID: 11828 -[2019-08-05|16:01:54|ERR]: Unable to open file -[2019-08-05|16:02:45|IFO]: Created directory log -[2019-08-05|16:02:45|IFO]: Log initialized -[2019-08-05|16:02:45|IFO]: System control task running with PID: 11909 -[2019-08-05|16:02:45|ERR]: Unable to open file -[2019-08-05|16:03:03|IFO]: Created directory log -[2019-08-05|16:03:03|IFO]: Log initialized -[2019-08-05|16:03:03|IFO]: System control task running with PID: 11997 -[2019-08-05|16:03:03|ERR]: Unable to open file diff --git a/log/TimeControl-2019-08-05.log b/log/TimeControl-2019-08-05.log deleted file mode 100644 index 868182590..000000000 --- a/log/TimeControl-2019-08-05.log +++ /dev/null @@ -1,21 +0,0 @@ -[2019-08-05|15:55:01|ERR]: Unable to open file <./conf/test.conf> -[2019-08-05|15:56:21|IFO]: Created directory log -[2019-08-05|15:56:21|IFO]: Log initialized -[2019-08-05|15:56:21|IFO]: Time control task running with PID: 10696 -[2019-08-05|15:56:21|ERR]: Unable to open file <./conf/test.conf> -[2019-08-05|16:01:26|IFO]: Created directory log -[2019-08-05|16:01:26|IFO]: Log initialized -[2019-08-05|16:01:26|IFO]: Time control task running with PID: 11799 -[2019-08-05|16:01:26|ERR]: Unable to open file <./conf/test.conf> -[2019-08-05|16:01:54|IFO]: Created directory log -[2019-08-05|16:01:54|IFO]: Log initialized -[2019-08-05|16:01:54|IFO]: Time control task running with PID: 11826 -[2019-08-05|16:01:54|ERR]: Unable to open file <./conf/test.conf> -[2019-08-05|16:02:45|IFO]: Created directory log -[2019-08-05|16:02:45|IFO]: Log initialized -[2019-08-05|16:02:45|IFO]: Time control task running with PID: 11907 -[2019-08-05|16:02:45|ERR]: Unable to open file <./conf/test.conf> -[2019-08-05|16:03:03|IFO]: Created directory log -[2019-08-05|16:03:03|IFO]: Log initialized -[2019-08-05|16:03:03|IFO]: Time control task running with PID: 11995 -[2019-08-05|16:03:03|ERR]: Unable to open file <./conf/test.conf> diff --git a/log/logging-meta-info-2019-08-05.log b/log/logging-meta-info-2019-08-05.log deleted file mode 100644 index c8c5aefcd..000000000 --- a/log/logging-meta-info-2019-08-05.log +++ /dev/null @@ -1 +0,0 @@ -[2019-08-05|15:55:01|ERR]: Unable to open log file for writing: log/SystemControl-2019-08-05.log From bd32f509e51354e79fcb7f4d8e3155572142fb41 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 15:27:42 +0200 Subject: [PATCH 432/730] Removed UserControl and SupervisorControl from build --- server/CMakeLists.txt | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 031e58ca7..9fa3dd15b 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -71,17 +71,6 @@ add_library(objctrl ) -add_executable(UserControl - src/usercontrol.c -) - -# TODO: Make citscontrol into a separate program that is started when the server starts -#add_executable(CitsControl -# inc/citscontrol.h -# src/citscontrol.c -#) - - # add the executable add_executable(TEServer src/main.c @@ -90,7 +79,6 @@ add_executable(TEServer src/supervision.c src/systemcontrol.c src/timecontrol.c - src/supervisorcontrol.c src/datadictionary.c inc/logger.h inc/objectcontrol.h @@ -98,7 +86,6 @@ add_executable(TEServer inc/systemcontrol.h inc/timecontrol.h inc/datadictionary.h - inc/supervisorcontrol.h ) # add the install targets @@ -110,8 +97,6 @@ target_link_libraries(util m) target_link_libraries(util rt) target_link_libraries(util MaestroLogging MaestroTime MQBus) -target_link_libraries(UserControl util objctrl MaestroLogging MaestroTime) - target_link_libraries(TEServer util) if(USE_CITS) From 9e6a19fb9f17233fab3bb25541264df22718b060 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 15:30:25 +0200 Subject: [PATCH 433/730] Removed debug printout --- server/src/systemcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 1c537c4d5..7c60f9729 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -1084,7 +1084,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(RVSSConfigU32 & RVSS_TIME_CHANNEL) { SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 1); - UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 1); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); } if(RVSSConfigU32 & RVSS_MAESTRO_CHANNEL) From bfbef9c7559b6ce533baf9a1144e56df3f7e50bd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 15:41:11 +0200 Subject: [PATCH 434/730] Removed manual modification of DD OBC state --- server/src/objectcontrol.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 1aea57e5f..a13fc4df6 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1098,7 +1098,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) DataDictionaryGetDTMReceiversC8(GSD, DTMReceivers, SMALL_BUFFER_SIZE_254); if(DisconnectU8 == 0) vSetState(OBC_STATE_CONNECTED, GSD); else if(DisconnectU8 == 1) vSetState(OBC_STATE_IDLE, GSD); - DataDictionarySetOBCStateU8(GSD, OBCState); } else if(iCommand == COMM_DISCONNECT) { From b773181716c8bdee495a4d69373f568d5d7210be Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 15:44:31 +0200 Subject: [PATCH 435/730] Removed state transition when receiving COMM_DATA_DICT --- server/src/objectcontrol.c | 2 -- 1 file changed, 2 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index a13fc4df6..8854d3436 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1096,8 +1096,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) ASPDebugRate = 1; DataDictionaryGetVOILReceiversC8(GSD, VOILReceivers, SMALL_BUFFER_SIZE_254); DataDictionaryGetDTMReceiversC8(GSD, DTMReceivers, SMALL_BUFFER_SIZE_254); - if(DisconnectU8 == 0) vSetState(OBC_STATE_CONNECTED, GSD); - else if(DisconnectU8 == 1) vSetState(OBC_STATE_IDLE, GSD); } else if(iCommand == COMM_DISCONNECT) { From db410b73031164d4bb6c7dca18444aee60760da3 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 6 Aug 2019 15:46:47 +0200 Subject: [PATCH 436/730] Added RVSS origo to camMessage generatioN --- server/src/citscontrol.c | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index d9aeb901e..8e08e5788 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -68,7 +68,7 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); +I32 generateCAMMessage(GSDType* GSD, MONRType *MONRData, CAM_t* lastCam); I32 generateDENMMessage(GSDType* GSD, MONRType *MONRData, DENM_t* denm); I32 sendCAM(CAM_t* lastCam); @@ -247,7 +247,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ - generateCAMMessage(&MONRMessage, lastCam); + generateCAMMessage(GSD, &MONRMessage, lastCam); generateDENMMessage(GSD, &MONRMessage, lastDENM); sendCAM(lastCam); sendDENM(lastDENM); @@ -440,7 +440,7 @@ static int write_out(const void *buffer, size_t size, void *app_key){ * \param lastCam struct to fill with cam data if cam should be sent, used as reference to calculate new cam. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ +I32 generateCAMMessage(GSDType* GSD, MONRType *MONRData, CAM_t* cam){ TimeType time; CAM_t tempCam; @@ -471,15 +471,16 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ // calculate the norm value distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - // TODO: Get From RVSSgetParameter - double origoLong = 12.77011670; - double origoLat = 57.77315060; + double origoLong = 0; + double origoLat = 0; + DataDictionaryGetOriginLatitudeDbl(GSD, &origoLat); + DataDictionaryGetOriginLongitudeDbl(GSD, &origoLong); fail = UtilVincentyDirect(origoLat,origoLong,azimuth1,distance ,&latitude,&longitude,&azimuth2); - tempCam.cam.camParameters.basicContainer.referencePosition.latitude = latitude; - tempCam.cam.camParameters.basicContainer.referencePosition.longitude = longitude; + tempCam.cam.camParameters.basicContainer.referencePosition.latitude = origoLat; + tempCam.cam.camParameters.basicContainer.referencePosition.longitude = origoLong; /* printf("calc latitude %f \n", latitude); From 2bf02d44de416291a29fa1288f5eeb0f96dfd4a5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 15:53:42 +0200 Subject: [PATCH 437/730] Addressed comment from @sepast --- server/src/systemcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 7c60f9729..1ad41e247 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -1083,7 +1083,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(RVSSConfigU32 & RVSS_TIME_CHANNEL) { - SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 1); + SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 0); UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); } From bad069d9712f5ed69636fe280696e6095ced9b74 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 16:03:14 +0200 Subject: [PATCH 438/730] Debug printout removed --- server/src/systemcontrol.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 1ad41e247..9d0851563 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -524,7 +524,6 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) switch (iCommand) { case COMM_OBC_STATE: - LogPrint("REC: %u",DataDictionaryGetOBCStateU8(GSD)); break; case COMM_LOG: SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); From aef1ff0297fa1c73786eb77e096d0aa14e572d07 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 16:18:52 +0200 Subject: [PATCH 439/730] Added guard for file opening, and added message on state transition in OC --- server/src/objectcontrol.c | 30 ++++++++++++++++++++---------- 1 file changed, 20 insertions(+), 10 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 8854d3436..9b56928f2 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -975,7 +975,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /* Send OSEM command in mq so that we get some information like GPSweek, origin (latitude,logitude,altitude in gps coordinates)*/ LogMessage(LOG_LEVEL_INFO,"Sending OSEM"); LOG_SEND(LogBuffer, "[ObjectControl] Sending OSEM."); - + ObjectControlOSEMtoASCII(&OSEMData, GPSWeek, OriginLatitude, OriginLongitude, OriginAltitude ); bzero(pcSendBuffer, sizeof(pcSendBuffer)); strcat(pcSendBuffer,GPSWeek);strcat(pcSendBuffer,";"); @@ -997,18 +997,22 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) fd = fopen (object_traj_file[iIndex], "r"); - RowCount = UtilCountFileRows(fd); - //printf("RowCount: %d\n", RowCount); - fclose (fd); + if (fd != NULL) + { + RowCount = UtilCountFileRows(fd); + //printf("RowCount: %d\n", RowCount); + fclose (fd); - /*DOTM*/ - MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount-2, &HeaderData, &TRAJInfoData, 0); + /*DOTM*/ + MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount-2, &HeaderData, &TRAJInfoData, 0); - /*Send DOTM header*/ - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); + /*Send DOTM header*/ + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); - /*Send DOTM data*/ - ObjectControlSendDOTMMEssage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); + /*Send DOTM data*/ + ObjectControlSendDOTMMEssage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); + } + else LogMessage(LOG_LEVEL_WARNING, "Could not open file <%s>", object_traj_file[iIndex]); } @@ -3110,7 +3114,10 @@ StateTransitionResult vSetState(OBCState_t requestedState, GSDType *GSD) if (requestedState == OBC_STATE_ERROR || requestedState == OBC_STATE_UNDEFINED) { if (DataDictionarySetOBCStateU8(GSD, requestedState) == WRITE_OK) + { + LogMessage(LOG_LEVEL_WARNING,"Transitioning to state %u",(unsigned char)requestedState); retval = TRANSITION_OK; + } else retval = TRANSITION_MEMORY_ERROR; } @@ -3125,7 +3132,10 @@ StateTransitionResult vSetState(OBCState_t requestedState, GSDType *GSD) if (retval != TRANSITION_INVALID) { if(DataDictionarySetOBCStateU8(GSD, currentState) == WRITE_OK) + { + LogMessage(LOG_LEVEL_INFO,"Transitioning to state %u",(unsigned char)requestedState); retval = TRANSITION_OK; + } else retval = TRANSITION_MEMORY_ERROR; } From 945c0a4639653c60f42584f56198fd2166c2d105 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 16:21:13 +0200 Subject: [PATCH 440/730] Removed spelling error --- server/inc/objectcontrol.h | 2 +- server/src/objectcontrol.c | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/server/inc/objectcontrol.h b/server/inc/objectcontrol.h index ee12d7430..f0420b0c5 100755 --- a/server/inc/objectcontrol.h +++ b/server/inc/objectcontrol.h @@ -34,7 +34,7 @@ I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderT //I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, U8 debug); I32 ObjectControlBuildDOTMMessage(C8* MessageBuffer, FILE *fd, I32 RowCount, DOTMType *DOTMType, U8 debug); I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* SimData, U8 debug); -I32 ObjectControlSendDOTMMEssage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); +I32 ObjectControlSendDOTMMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); //I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, int Idn, char *Id, char *Timestamp, char *XPosition, char *YPosition, char *ZPosition, char *LongitudinalSpeed, char *LateralSpeed, char *LongitudinalAcc, char *LateralAcc, char *Heading, char *DriveDirection, char *StatusFlag, char *StateFlag, char debug) I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I32 Idn, C8 *Id, C8 *Timestamp, C8 *XPosition, C8 *YPosition, C8 *ZPosition, C8 *LongitudinalSpeed, C8 *LateralSpeed, C8 *LongitudinalAcc, C8 *LateralAcc, C8 *Heading, C8 *DriveDirection, C8 *StatusFlag, C8 *StateFlag, C8 debug); int ObjectControlOSEMtoASCII(OSEMType *OSEMData,char *GPSWeek, char *GPSLatitude, char *GPSLongitude, char *GPSAltitude); diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 9b56928f2..715e5d528 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1011,6 +1011,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*Send DOTM data*/ ObjectControlSendDOTMMEssage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); + } else LogMessage(LOG_LEVEL_WARNING, "Could not open file <%s>", object_traj_file[iIndex]); } From 8308565f05cfc4a432cbdf257866ff9d32a756f0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 16:21:54 +0200 Subject: [PATCH 441/730] Removed accidental debug inclusion --- server/src/objectcontrol.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 715e5d528..18aa8437f 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -195,7 +195,7 @@ I32 ObjectControlBuildMTSPMessage(C8* MessageBuffer, MTSPType *MTSPData, U32 Syn I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, U8 debug); //I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, U8 debug); I32 ObjectControlBuildDOTMMessage(C8* MessageBuffer, FILE *fd, I32 RowCount, DOTMType *DOTMData, U8 debug); -I32 ObjectControlSendDOTMMEssage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); +I32 ObjectControlSendDOTMMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendData, int Length, char debug); I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I32 Idn, C8 *Id, C8 *Timestamp, C8 *XPosition, C8 *YPosition, C8 *ZPosition, C8 *LongitudinalSpeed, C8 *LateralSpeed, C8 *LongitudinalAcc, C8 *LateralAcc, C8 *Heading, C8 *DriveDirection, C8 *StatusFlag, C8 *StateFlag, C8 debug); I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug); @@ -1010,7 +1010,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); /*Send DOTM data*/ - ObjectControlSendDOTMMEssage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); + ObjectControlSendDOTMMessage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); } else LogMessage(LOG_LEVEL_WARNING, "Could not open file <%s>", object_traj_file[iIndex]); @@ -2014,7 +2014,7 @@ I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderT -I32 ObjectControlSendDOTMMEssage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug) +I32 ObjectControlSendDOTMMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug) { FILE *fd; From f029cfd7dabe7aff72427aa8970efb091d3ea188 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 6 Aug 2019 16:30:55 +0200 Subject: [PATCH 442/730] Origo updated on COMM_DATADICT --- server/src/citscontrol.c | 64 +++++++++++++++++++++------------------- 1 file changed, 33 insertions(+), 31 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 8e08e5788..0efa3a2df 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -68,8 +68,8 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -I32 generateCAMMessage(GSDType* GSD, MONRType *MONRData, CAM_t* lastCam); -I32 generateDENMMessage(GSDType* GSD, MONRType *MONRData, DENM_t* denm); +I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); +I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm); I32 sendCAM(CAM_t* lastCam); I32 sendDENM(DENM_t* lastDENM); @@ -101,6 +101,11 @@ enum CITS_STATE { SENDING }; +struct Origo { + double longitude; + double latitude; +}; + static int state = INIT; static volatile int pending_state = INIT; static volatile int iExit = 0; @@ -110,12 +115,16 @@ static MQTTClient_message pubmsg = MQTTClient_message_initializer; static volatile MQTTClient_deliveryToken deliveredtoken = 0; static MQTTClient_deliveryToken sendtoken = 0; static DENM_t* lastDENM; +static struct Origo origin; + /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { + origin.longitude = -1; + origin.latitude = -1; int camTimeCycle = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus @@ -247,8 +256,8 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ - generateCAMMessage(GSD, &MONRMessage, lastCam); - generateDENMMessage(GSD, &MONRMessage, lastDENM); + generateCAMMessage(&MONRMessage, lastCam); + generateDENMMessage(&MONRMessage, lastDENM); sendCAM(lastCam); sendDENM(lastDENM); } @@ -278,7 +287,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } // Based on last MONR message, generate a DENM message to send - generateDENMMessage(GSD, &MONRMessage, lastDENM); + generateDENMMessage(&MONRMessage, lastDENM); if (actionData.executionTime_qmsoW == 0) { @@ -319,6 +328,11 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_INV: break; + case COMM_DATA_DICT: + DataDictionaryGetOriginLatitudeDbl(GSD, &origin.latitude); + DataDictionaryGetOriginLongitudeDbl(GSD, &origin.longitude); + break; + default: LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } @@ -440,7 +454,7 @@ static int write_out(const void *buffer, size_t size, void *app_key){ * \param lastCam struct to fill with cam data if cam should be sent, used as reference to calculate new cam. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateCAMMessage(GSDType* GSD, MONRType *MONRData, CAM_t* cam){ +I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ TimeType time; CAM_t tempCam; @@ -471,23 +485,17 @@ I32 generateCAMMessage(GSDType* GSD, MONRType *MONRData, CAM_t* cam){ // calculate the norm value distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - double origoLong = 0; - double origoLat = 0; + fail = UtilVincentyDirect(origin.latitude, origin.longitude, azimuth1,distance ,&latitude,&longitude,&azimuth2); - DataDictionaryGetOriginLatitudeDbl(GSD, &origoLat); - DataDictionaryGetOriginLongitudeDbl(GSD, &origoLong); - - fail = UtilVincentyDirect(origoLat,origoLong,azimuth1,distance ,&latitude,&longitude,&azimuth2); - - tempCam.cam.camParameters.basicContainer.referencePosition.latitude = origoLat; - tempCam.cam.camParameters.basicContainer.referencePosition.longitude = origoLong; + tempCam.cam.camParameters.basicContainer.referencePosition.latitude = origin.latitude; + tempCam.cam.camParameters.basicContainer.referencePosition.longitude = origin.longitude; /* - printf("calc latitude %f \n", latitude); - printf("calc longitude %f \n", longitude); + printf("\ncalc latitude %f \n", origin.latitude); + printf("\ncalc longitude %f \n", origin.longitude); - printf("CAM latitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.latitude); - printf("CAM longitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.longitude); + printf("\nCAM latitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.latitude); + printf("\nCAM longitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.longitude); */ tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = MONRData->HeadingU16; @@ -521,7 +529,7 @@ I32 generateCAMMessage(GSDType* GSD, MONRType *MONRData, CAM_t* cam){ * \param lastDENM struct to fill with DENM data if DENM should be sent, used as reference to calculate new DENM. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateDENMMessage(GSDType* GSD, MONRType *MONRData, DENM_t* denm){ +I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ TimeType time; DENM_t tempDENM; @@ -557,20 +565,14 @@ I32 generateDENMMessage(GSDType* GSD, MONRType *MONRData, DENM_t* denm){ // calculate the norm value distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - double origoLong = 0; - double origoLat = 0; - - DataDictionaryGetOriginLatitudeDbl(GSD, &origoLat); - DataDictionaryGetOriginLongitudeDbl(GSD, &origoLong); - - fail = UtilVincentyDirect(origoLat,origoLong,azimuth1,distance ,&latitude,&longitude,&azimuth2); + fail = UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2); - tempDENM.denm.management.eventPosition.latitude = origoLat; - tempDENM.denm.management.eventPosition.longitude = origoLong; + tempDENM.denm.management.eventPosition.latitude = origin.latitude; + tempDENM.denm.management.eventPosition.longitude = origin.longitude; /* - printf("latitude %f \n", origoLat); - printf("longitude %f \n", origoLong); + printf("latitude %f \n", origin.latitude); + printf("longitude %f \n", origin.longitude); printf("DENM latitude %f \n", tempDENM.denm.management.eventPosition.latitude); printf("DENM longitude %f \n", tempDENM.denm.management.eventPosition.longitude); */ From 3ad4494b83d0ac44af36f942c004449b1839e6d0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 6 Aug 2019 16:36:54 +0200 Subject: [PATCH 443/730] Added another file pointer guard --- server/src/objectcontrol.c | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 18aa8437f..d3944e34a 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1009,6 +1009,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*Send DOTM header*/ UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); + LogPrint("1"); /*Send DOTM data*/ ObjectControlSendDOTMMessage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); @@ -2016,9 +2017,14 @@ I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderT I32 ObjectControlSendDOTMMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug) { - FILE *fd; fd = fopen (Filename, "r"); + if (fd == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", Filename); + return -1; + } + UtilReadLineCntSpecChars(fd, TrajBuffer);//Read first line int Rest = 0, i = 0, MessageLength = 0, SumMessageLength = 0, Modulo = 0, Transmissions = 0; Transmissions = RowCount / COMMAND_DOTM_ROWS_IN_TRANSMISSION; From 0ebeac45fd9b3f062e874ed475e28b5113dcda7d Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 6 Aug 2019 16:38:31 +0200 Subject: [PATCH 444/730] removed debug prints --- server/src/citscontrol.c | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 0efa3a2df..d97138f99 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -517,12 +517,11 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ if(MONRData != NULL ){ *cam = tempCam; } + return 0; } - - /*! * \brief GenerateDENMMessage generates a DENM message to send on MQTT * \param MONRData MONR data struct @@ -601,7 +600,7 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ if(MONRData != NULL ){ *denm = tempDENM; } - + return 0; } /*! * \brief SendCam publishes a cam message on MQTT with hardcoded topic. @@ -625,9 +624,7 @@ I32 sendCAM(CAM_t* cam){ * \return 1 if message sent succesfully */ I32 sendDENM(DENM_t* denm){ - LogMessage(LOG_LEVEL_INFO,"Sending DENM"); - //FILE *fp = fopen("tmp", "wb"); //asn_enc_rval_t ec = der_encode(&asn_DEF_DENM, denm, write_out, fp); //fclose(fp); From 71eebe9d6a2dc3c282a7ea16bf3c22f7dc24a190 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 7 Aug 2019 09:46:13 +0200 Subject: [PATCH 445/730] Added guards for log lat outside reasonable values --- server/src/citscontrol.c | 61 ++++++++-------------------------------- 1 file changed, 12 insertions(+), 49 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index d97138f99..9cb11ea55 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -41,9 +41,6 @@ #include "maestroTime.h" #include "datadictionary.h" - - - #define H_THRESHOLD 1 //HEADING THRESHOLD #define S_THRESHOLD 0 //SPEED THRESHOLD #define D_THRESHOLD 1 //DISTANCE THRESHOLD @@ -123,8 +120,8 @@ static struct Origo origin; ------------------------------------------------------------*/ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { - origin.longitude = -1; - origin.latitude = -1; + origin.longitude = -200; //Initialize longitude to something outside -180 to 180 + origin.latitude = -100; //Initialize latitude to something outside -90 to 90 int camTimeCycle = 0; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus @@ -472,32 +469,14 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ double z = MONRData->ZPositionI32; double latitude, longitude, height; - double distance=0; - double azimuth1 = 0; - double azimuth2 =0; - int fail; - - /* Calculate the geodetic forward azimuth in the direction from known origo - * */ - - azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); - - // calculate the norm value - distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - - fail = UtilVincentyDirect(origin.latitude, origin.longitude, azimuth1,distance ,&latitude,&longitude,&azimuth2); + if(origin.latitude < -90 || origin.latitude > 90 || origin.longitude < -180 || origin.longitude > 180){ + LogMessage(LOG_LEVEL_ERROR,"Tried to send CAM with longitude %f, latitude %f", origin.longitude, origin.latitude); + return 1; + } tempCam.cam.camParameters.basicContainer.referencePosition.latitude = origin.latitude; tempCam.cam.camParameters.basicContainer.referencePosition.longitude = origin.longitude; - /* - printf("\ncalc latitude %f \n", origin.latitude); - printf("\ncalc longitude %f \n", origin.longitude); - - printf("\nCAM latitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.latitude); - printf("\nCAM longitude %f \n", tempCam.cam.camParameters.basicContainer.referencePosition.longitude); - */ - tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = MONRData->HeadingU16; tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16)); @@ -506,7 +485,6 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 10; //TEMP WIDTH tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 10; //TEMP LENGTH - //tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16; tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16; tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = 0; @@ -541,8 +519,8 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ tempDENM.denm.management.actionID.sequenceNumber = 0; UtilGetMillisecond(&time); - // tempDENM.denm.management.detectionTime = time.MillisecondU16; - // tempDENM.denm.management.referenceTime = time.MillisecondU16; + //tempDENM.denm.management.detectionTime = time.MillisecondU16; + //tempDENM.denm.management.referenceTime = time.MillisecondU16; //LOG LAT from XY double x = MONRData->XPositionI32; @@ -555,27 +533,13 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ double azimuth2 =0; int fail; - /* Calculate the geodetic forward azimuth in the direction from origo to point we want to know, - * A problem right now is that I belive that the GUC and virtualObject needs to have the same origin - * */ - - azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); - - // calculate the norm value - distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - - fail = UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2); - + if(origin.latitude < -90 || origin.latitude > 90 || origin.longitude < -180 || origin.longitude > 180){ + LogMessage(LOG_LEVEL_ERROR,"Tried to send DENM with longitude %f, latitude %f ", origin.longitude, origin.latitude); + return 1; + } tempDENM.denm.management.eventPosition.latitude = origin.latitude; tempDENM.denm.management.eventPosition.longitude = origin.longitude; - /* - printf("latitude %f \n", origin.latitude); - printf("longitude %f \n", origin.longitude); - printf("DENM latitude %f \n", tempDENM.denm.management.eventPosition.latitude); - printf("DENM longitude %f \n", tempDENM.denm.management.eventPosition.longitude); - */ - tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 7; tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 10; @@ -592,7 +556,6 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ //tempDENM.denm.situation->eventType.subCauseCode = 1; //Emergency break engaged - //tempDENM.denm.location->eventSpeed->speedValue = 0; //CHECK THIS //tempDENM.denm.location->eventSpeed->speedConfidence = 0; //unavaliabe From 8bfc2ae6cfd5f81c6097b2eb9f1e14863a15c242 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 7 Aug 2019 13:15:57 +0200 Subject: [PATCH 446/730] Removed chronos2 code. --- server/src/objectcontrol.c | 143 ------------------------------------- 1 file changed, 143 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 1aea57e5f..77a17ce61 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -392,9 +392,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } - //Store HEAB in GSD - //for(j = 0; j < MessageLength; j++) GSD->HEABData[j] = MessageBuffer[j]; - //GSD->HEABSizeU8 = (U8)MessageLength; // Check if any object has disconnected - if so, disconnect all objects and return to idle DisconnectU8 = 0; @@ -526,8 +523,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } - - //Ok, let's do the ASP for(i = 0; i < SyncPointCount; i++) { @@ -606,44 +601,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } - //This is used for sending DTM chunks, will be updated when dev is merged with chronos2 - if(GSD->SupChunkSize > 0 && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_RUNNING) ) - { - - //bzero(TrajBuffer, strlen(pcRecvBuffer)); - //DTMLengthU32 = UtilHexTextToBinary(strlen(pcRecvBuffer), pcRecvBuffer, TrajBuffer, 0); - //UtilISOBuildTRAJInfo(GSD->SupChunk, &TRAJInfoData, 1); - - //MiscU16 = sizeof(TRAJInfoType); //72 = Number of bytes in [Ip, Id, Name, Version] - DTMIpU32 = 0; - DTMIpU32 = (C8)GSD->SupChunk[98]; - DTMIpU32 = (C8)GSD->SupChunk[97] | (DTMIpU32 << 8); - DTMIpU32 = (C8)GSD->SupChunk[96] | (DTMIpU32 << 8); - DTMIpU32 = (C8)GSD->SupChunk[95] | (DTMIpU32 << 8); - /*DTM*/ - for(iIndex=0;iIndexSupChunk, GSD->SupChunkSize, &socket_fds[iIndex], 0); - } - } - - GSD->SupChunkSize = 0; - - } - bzero(pcRecvBuffer,RECV_MESSAGE_BUFFER); //Have we recieved a command? @@ -672,10 +629,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) UtilSendTCPData("[Object Control test]", MessageBuffer, MessageLength, &socket_fds[iIndex], 1); } - //Store OSTM in GSD - //for(i = 0; i < MessageLength; i++) GSD->OSTMData[i] = MessageBuffer[i]; - //GSD->OSTMSizeU8 = (U8)MessageLength; - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY } else if(iCommand == COMM_STRT && (OBCState == OBC_STATE_ARMED) /*|| OBC_STATE_INITIALIZED)*/) //OBC_STATE_INITIALIZED is temporary! @@ -714,99 +667,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(MiscText, SMALL_BUFFER_SIZE_0); sprintf(MiscText, "%" PRIu32, GSD->ScenarioStartTimeU32 << 2); LOG_SEND(LogBuffer, "[ObjectControl] START received <%s>, GPS time <%s>\n",pcRecvBuffer, MiscText); - - } - else if(iCommand == COMM_TRAJ && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_RUNNING) ) - { - - DTMLengthU32 = UtilHexTextToBinary(strlen(pcRecvBuffer), pcRecvBuffer, TrajBuffer, 0); - DTMIpU32 = (C8)TrajBuffer[0]; - DTMIpU32 = (C8)TrajBuffer[1] | (DTMIpU32 << 8); - DTMIpU32 = (C8)TrajBuffer[2] | (DTMIpU32 << 8); - DTMIpU32 = (C8)TrajBuffer[3] | (DTMIpU32 << 8); - TRAJInfoData.IpAddressU32 = DTMIpU32; - - MiscU16 = (C8)TrajBuffer[4]; - MiscU16 = (C8)TrajBuffer[5] | (MiscU16 << 8); - TRAJInfoData.TrajectoryIDU16 = MiscU16; - i = 0; - do - { - TRAJInfoData.TrajectoryNameC8[i] = (C8)TrajBuffer[i + 6]; - i ++; - } while(TRAJInfoData.TrajectoryNameC8[i-1] != 0); - - MiscU16 = (C8)TrajBuffer[70]; - MiscU16 = (C8)TrajBuffer[71] | (MiscU16 << 8); - - TRAJInfoData.TrajectoryVersionU16 = MiscU16; - - MiscU16 = 72; //Number of bytes in [Ip, Id, Name, Version] - - /*DTM*/ - for(iIndex=0;iIndexSupChunkSize > 0 && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_RUNNING) ) - { - - //bzero(TrajBuffer, strlen(pcRecvBuffer)); - //DTMLengthU32 = UtilHexTextToBinary(strlen(pcRecvBuffer), pcRecvBuffer, TrajBuffer, 0); - UtilISOBuildTRAJInfo(GSD->SupChunk, &TRAJInfoData, 0); - - //MiscU16 = sizeof(TRAJInfoType); //72 = Number of bytes in [Ip, Id, Name, Version] - printf("[ObjectControl] Send DTM %d\n", DTMLengthU32); - /*DTM*/ - for(iIndex=0;iIndexSupChunk, GSD->SupChunkSize, &socket_fds[iIndex], 0); - } - } - - GSD->SupChunkSize = 0; - - } - else if(iCommand == COMM_VIOP && OBCState == OBC_STATE_RUNNING/*OBC_STATE_INITIALIZED*/) - { - /*Build the VOIL message*/ - MessageLength = ObjectControlBuildVOILMessage(MessageBuffer, &VOILData, (C8*)GSD->VOILData, 0); - for(iIndex=0;iIndex Date: Wed, 7 Aug 2019 13:51:58 +0200 Subject: [PATCH 447/730] Fixed integer division problem and removed unnecessary printout --- modules/ScenarioControl/src/braketrigger.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index 176f06438..c4bbba32f 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -37,11 +37,11 @@ BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasuremen // Calculate time difference and save current time timersub(&measurementTime, &lastMeasurementTime, &timeDifference); - deltaT = timeDifference.tv_sec + timeDifference.tv_usec * 1000000; + deltaT = TimeGetAsUTCms(&timeDifference) / 1000.0; if (deltaT < minimumDeltaT) { // Short sample time difference risks division by zero: ignore too rapid MONR messages - LogMessage(LOG_LEVEL_WARNING, "Received two MONR messages from same object within time span of %.6f ms",deltaT/1000); + // Also filters away MONR messages which are repeated with the same information return update(static_cast(accelerationEstimate < -brakeRetardationThreshold_m_s2), measurementTime); } else lastMeasurementTime = measurementTime; From 453507e5e1d8a45d65eed87c75733d4720005554 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 7 Aug 2019 13:52:41 +0200 Subject: [PATCH 448/730] Added state error message when unable to accept START command --- modules/ScenarioControl/src/main.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index a126e6096..91791977c 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -116,6 +116,7 @@ int main() { state = RUNNING; } + else LogMessage(LOG_LEVEL_ERROR, "Received unexpected START command (current state: %u)",static_cast(state)); break; case COMM_MONR: // Update triggers From 38ec3e3cf0e2fbc9399d2fa2f9afe0b5dc994ed2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 7 Aug 2019 13:53:20 +0200 Subject: [PATCH 449/730] Fixed another integer division problem --- modules/ScenarioControl/src/scenario.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 4a5a15ccc..9aa7dc275 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -198,7 +198,7 @@ Scenario::ScenarioReturnCode_t Scenario::updateTrigger(const MonitorDataType &mo struct timeval monrTime, currentTime; TimeSetToCurrentSystemTime(¤tTime); TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(¤tTime), monr.MONR.GPSQmsOfWeekU32); - tp->update(static_cast(monr.MONR.LongitudinalSpeedI16*100), monrTime); + tp->update(static_cast(monr.MONR.LongitudinalSpeedI16/100.0), monrTime); break; default: LogMessage(LOG_LEVEL_WARNING, "Unhandled trigger type in update: %s", From c2e18c9d073128db29490b411eaa172084248df5 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 7 Aug 2019 13:53:58 +0200 Subject: [PATCH 450/730] Merged with feature_fixRVSSStuff. --- server/inc/util.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index c63d93ef2..ac0335517 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -73,8 +73,8 @@ extern "C"{ #define TCP_RX_BUFFER 1024 #define MAX_ADAPTIVE_SYNC_POINTS 512 -#define USE_LOCAL_USER_CONTROL 0 -#define LOCAL_USER_CONTROL_IP "10.130.24.50" +#define USE_LOCAL_USER_CONTROL 0 +#define LOCAL_USER_CONTROL_IP "10.168.54.90" #define USE_TEST_HOST 0 #define TESTHOST_IP LOCAL_USER_CONTROL_IP #define TESTSERVER_IP LOCAL_USER_CONTROL_IP From 7bb2b1d17ce6e4a0578f5b44e6283d68b3282869 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 7 Aug 2019 13:54:27 +0200 Subject: [PATCH 451/730] Re-implemented removed OC 'connection success' MQ message --- server/src/objectcontrol.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d3944e34a..e4f4e8f86 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1066,7 +1066,11 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*Set server status*/ ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY - if(DisconnectU8 == 0) vSetState(OBC_STATE_CONNECTED, GSD); + if(DisconnectU8 == 0) + { + vSetState(OBC_STATE_CONNECTED, GSD); + iCommSend(COMM_OBJECTS_CONNECTED,NULL,0); + } else if(DisconnectU8 == 1) vSetState(OBC_STATE_IDLE, GSD); } else if(iCommand == COMM_DATA_DICT) From ddec4d127ab6da699bcbcac1f5de63d45f2891e3 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 7 Aug 2019 14:30:10 +0200 Subject: [PATCH 452/730] Re-added vincenty equations --- server/src/citscontrol.c | 28 +++++++++++++++++++++++----- 1 file changed, 23 insertions(+), 5 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 9cb11ea55..82de567bf 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -195,7 +195,6 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } break; case CONNECTED: - /* if ((mqtt_response_code = publish_mqtt(DEFAULT_MQTT_PAYLOAD,strlen(DEFAULT_MQTT_PAYLOAD),DEFAULT_MQTT_TOPIC))) { LogMessage(LOG_LEVEL_ERROR,"Could not publish message, error code %d", mqtt_response_code); } @@ -469,13 +468,24 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ double z = MONRData->ZPositionI32; double latitude, longitude, height; + double distance=0; + double azimuth1 = 0; + double azimuth2 =0; + int fail; + if(origin.latitude < -90 || origin.latitude > 90 || origin.longitude < -180 || origin.longitude > 180){ LogMessage(LOG_LEVEL_ERROR,"Tried to send CAM with longitude %f, latitude %f", origin.longitude, origin.latitude); return 1; } - tempCam.cam.camParameters.basicContainer.referencePosition.latitude = origin.latitude; - tempCam.cam.camParameters.basicContainer.referencePosition.longitude = origin.longitude; + azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); + // calculate the norm value + distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); + + fail = UtilVincentyDirect(origin.latitude, origin.longitude, azimuth1,distance ,&latitude,&longitude,&azimuth2); + + tempCam.cam.camParameters.basicContainer.referencePosition.latitude = latitude; + tempCam.cam.camParameters.basicContainer.referencePosition.longitude = longitude; tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = MONRData->HeadingU16; @@ -537,8 +547,16 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ LogMessage(LOG_LEVEL_ERROR,"Tried to send DENM with longitude %f, latitude %f ", origin.longitude, origin.latitude); return 1; } - tempDENM.denm.management.eventPosition.latitude = origin.latitude; - tempDENM.denm.management.eventPosition.longitude = origin.longitude; + + azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); + + // calculate the norm value + distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); + + fail = UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2); + + tempDENM.denm.management.eventPosition.latitude = latitude; + tempDENM.denm.management.eventPosition.longitude = longitude; tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 7; tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 10; From fede38d3dd5558c7eb2e29881c448105ebee9b3d Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Wed, 7 Aug 2019 14:43:29 +0200 Subject: [PATCH 453/730] Removed a printout I mistakely let into a commit --- server/src/objectcontrol.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 861f2134a..690ed0fd7 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -866,7 +866,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*Send DOTM header*/ UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); - LogPrint("1"); /*Send DOTM data*/ ObjectControlSendDOTMMessage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); From fc8ba08f7a363aec06ed5f012e79042e24cc9c71 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 7 Aug 2019 14:47:19 +0200 Subject: [PATCH 454/730] Added causeCode paramater to DENM generation --- server/src/citscontrol.c | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 82de567bf..12e4fca83 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -66,7 +66,7 @@ -- Function declarations. ------------------------------------------------------------*/ I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); -I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm); +I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode); I32 sendCAM(CAM_t* lastCam); I32 sendDENM(DENM_t* lastDENM); @@ -253,7 +253,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ generateCAMMessage(&MONRMessage, lastCam); - generateDENMMessage(&MONRMessage, lastDENM); + generateDENMMessage(&MONRMessage, lastDENM, CauseCodeType_reserved); sendCAM(lastCam); sendDENM(lastDENM); } @@ -283,7 +283,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } // Based on last MONR message, generate a DENM message to send - generateDENMMessage(&MONRMessage, lastDENM); + generateDENMMessage(&MONRMessage, lastDENM, CauseCodeType_collisionRisk); if (actionData.executionTime_qmsoW == 0) { @@ -516,7 +516,7 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ * \param lastDENM struct to fill with DENM data if DENM should be sent, used as reference to calculate new DENM. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ +I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ TimeType time; DENM_t tempDENM; @@ -570,9 +570,15 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm){ //tempDENM.denm.management.transmissionInterval = 100; //tempDENM.denm.management.stationType = StationType_heavyTruck; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian //tempDENM.denm.situation->informationQuality = InformationQuality_highest; - //tempDENM.denm.situation->eventType.causeCode = CauseCodeType_dangerousSituation; + tempDENM.denm.situation->eventType.causeCode = causeCode; + + if(causeCode == CauseCodeType_collisionRisk){ + tempDENM.denm.situation->eventType.subCauseCode = 1; //Emergency break engaged + } + else{ + tempDENM.denm.situation->eventType.subCauseCode = 0; + } - //tempDENM.denm.situation->eventType.subCauseCode = 1; //Emergency break engaged //tempDENM.denm.location->eventSpeed->speedValue = 0; //CHECK THIS //tempDENM.denm.location->eventSpeed->speedConfidence = 0; //unavaliabe From 17cc97382f996cb5652f9f62c0e9c2921b039e7f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 7 Aug 2019 17:24:22 +0200 Subject: [PATCH 455/730] added light turn on action --- modules/ScenarioControl/src/scenario.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 9aa7dc275..eb464a512 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -82,24 +82,32 @@ void Scenario::parseScenarioFile(std::ifstream &file) // PLACEHOLDER CODE BrakeTrigger* bt = new BrakeTrigger(1); InfrastructureAction* mqttAction = new InfrastructureAction(5, 1); + ExternalAction* brakeLightAction = new ExternalAction(6,Action::ActionTypeCode_t::ACTION_MISC_DIGITAL_OUTPUT,1); const char brakeObjectIPString[] = "127.0.0.1"; const char mqttObjectIPString[] = "127.0.0.1"; - in_addr brakeObjectIP, mqttObjectIP; + const char ledObjectIPString[] = "10.130.254.197"; + in_addr brakeObjectIP, mqttObjectIP, ledObjectIP; inet_pton(AF_INET, brakeObjectIPString, &brakeObjectIP); inet_pton(AF_INET, mqttObjectIPString, &mqttObjectIP); + inet_pton(AF_INET, ledObjectIPString, &ledObjectIP); bt->appendParameter(Trigger::TriggerParameter_t::TRIGGER_PARAMETER_PRESSED); bt->parseParameters(); bt->setObjectIP(brakeObjectIP.s_addr); + brakeLightAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_SET_TRUE); + brakeLightAction->setObjectIP(ledObjectIP.s_addr); + mqttAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_VS_BRAKE_WARNING); mqttAction->setObjectIP(mqttObjectIP.s_addr); mqttAction->setExecuteDalayTime({1,0}); addTrigger(bt); addAction(mqttAction); + addAction(brakeLightAction); linkTriggerWithAction(bt, mqttAction); + linkTriggerWithAction(bt, brakeLightAction); } Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger* tp) From fedecdd3b0fe6b5e566f095d36ca28962e656a2e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 9 Aug 2019 10:59:47 +0200 Subject: [PATCH 456/730] Fixed MONR decoding --- server/src/objectcontrol.c | 152 ++++++++++++++++++++----------------- server/src/util.c | 10 +-- 2 files changed, 86 insertions(+), 76 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 07a79fffe..364457546 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -740,7 +740,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //OSEMSentU8 = 0; STRTSentU8 = 0; } - else if (iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) + else if(iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) { UtilPopulateACCMDataStructFromMQ(pcRecvBuffer,sizeof(pcRecvBuffer),&mqACCMData); socket_fd = iGetSocketFromObjectIP(mqACCMData.ip, socket_fds, sizeof(socket_fds)/sizeof(socket_fds[0])); @@ -1182,87 +1182,90 @@ I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug) U32 U32Data = 0; I32 I32Data = 0; U64 U64Data = 0; - C8 *p; - U16Data = (U16Data | *(MonrData+1)) << 8; - U16Data = U16Data | *MonrData; + U16 contentLength = 0; + U16 valueID = 0; + C8 *p = MonrData; - MONRData->Header.SyncWordU16 = U16Data; - MONRData->Header.TransmitterIdU8 = *(MonrData+2); - MONRData->Header.MessageCounterU8 = *(MonrData+3); - MONRData->Header.AckReqProtVerU8 = *(MonrData+4); + // Decode ISO header + memcpy(p, &MONRData->Header.SyncWordU16, sizeof(MONRData->Header.SyncWordU16)); + p += sizeof(MONRData->Header.SyncWordU16); - U16Data = 0; - U16Data = (U16Data | *(MonrData+6)) << 8; - U16Data = U16Data | *(MonrData+5); - MONRData->Header.MessageIdU16 = U16Data; - - U32Data = (U32Data | *(MonrData+10)) << 8; - U32Data = (U32Data | *(MonrData+9)) << 8; - U32Data = (U32Data | *(MonrData+8)) << 8; - U32Data = U32Data | *(MonrData+7); - MONRData->Header.MessageLengthU32 = U32Data; - - U32Data = 0; - U32Data = (U32Data | *(MonrData+14)) << 8; - U32Data = (U32Data | *(MonrData+13)) << 8; - U32Data = (U32Data | *(MonrData+12)) << 8; - U32Data = U32Data | *(MonrData+11); - MONRData->GPSQmsOfWeekU32 = U32Data; + memcpy(p, &MONRData->Header.TransmitterIdU8, sizeof(MONRData->Header.TransmitterIdU8)); + p += sizeof(MONRData->Header.TransmitterIdU8); - I32Data = 0; - I32Data = (I32Data | *(MonrData+18)) << 8; - I32Data = (I32Data | *(MonrData+17)) << 8; - I32Data = (I32Data | *(MonrData+16)) << 8; - I32Data = I32Data | *(MonrData+15); - MONRData->XPositionI32 = I32Data; + memcpy(p, &MONRData->Header.MessageCounterU8, sizeof(MONRData->Header.MessageCounterU8)); + p += sizeof(MONRData->Header.MessageCounterU8); + memcpy(p, &MONRData->Header.AckReqProtVerU8, sizeof(MONRData->Header.AckReqProtVerU8)); + p += sizeof(MONRData->Header.AckReqProtVerU8); - I32Data = 0; - I32Data = (I32Data | *(MonrData+22)) << 8; - I32Data = (I32Data | *(MonrData+21)) << 8; - I32Data = (I32Data | *(MonrData+20)) << 8; - I32Data = I32Data | *(MonrData+19); - MONRData->YPositionI32 = I32Data; + memcpy(p, &MONRData->Header.MessageIdU16, sizeof(MONRData->Header.MessageIdU16)); + p += sizeof(MONRData->Header.MessageIdU16); + memcpy(p, &MONRData->Header.MessageLengthU32, sizeof(MONRData->Header.MessageLengthU32)); + p += sizeof(MONRData->Header.MessageLengthU32); - I32Data = 0; - I32Data = (I32Data | *(MonrData+26)) << 8; - I32Data = (I32Data | *(MonrData+25)) << 8; - I32Data = (I32Data | *(MonrData+24)) << 8; - I32Data = I32Data | *(MonrData+23); - MONRData->ZPositionI32 = I32Data; + // Decode content header + memcpy(p, &valueID, sizeof(valueID)); + if (valueID == VALUE_ID_MONR_STRUCT) + { + p += sizeof(valueID); - U16Data = 0; - U16Data = (U16Data | *(MonrData+28)) << 8; - U16Data = U16Data | *(MonrData+27); - MONRData->HeadingU16 = U16Data; + memcpy(p, &contentLength, sizeof(contentLength)); + p += sizeof(contentLength); - I16Data = 0; - I16Data = (I16Data | *(MonrData+30)) << 8; - I16Data = I16Data | *(MonrData+29); - MONRData->LongitudinalSpeedI16 = I16Data; + // TODO: check on content length + } + else if (debug) + { + LogPrint("MONR message did not contain a content header"); + } - I16Data = 0; - I16Data = (I16Data | *(MonrData+32)) << 8; - I16Data = I16Data | *(MonrData+31); - MONRData->LateralSpeedI16 = I16Data; + // Decode content + memcpy(p, &MONRData->GPSQmsOfWeekU32, sizeof(MONRData->GPSQmsOfWeekU32)); + p += sizeof(MONRData->GPSQmsOfWeekU32); - I16Data = 0; - I16Data = (I16Data | *(MonrData+34)) << 8; - I16Data = I16Data | *(MonrData+33); - MONRData->LongitudinalAccI16 = I16Data; + memcpy(p, &MONRData->XPositionI32, sizeof(MONRData->XPositionI32)); + p += sizeof(MONRData->XPositionI32); - I16Data = 0; - I16Data = (I16Data | *(MonrData+36)) << 8; - I16Data = I16Data | *(MonrData+35); - MONRData->LateralAccI16 = I16Data; + memcpy(p, &MONRData->YPositionI32, sizeof(MONRData->YPositionI32)); + p += sizeof(MONRData->YPositionI32); - MONRData->DriveDirectionU8 = *(MonrData+37); - MONRData->StateU8 = *(MonrData+38); - MONRData->ReadyToArmU8 = *(MonrData+39); - MONRData->ErrorStatusU8 = *(MonrData+40); + memcpy(p, &MONRData->ZPositionI32, sizeof(MONRData->ZPositionI32)); + p += sizeof(MONRData->ZPositionI32); + memcpy(p, &MONRData->HeadingU16, sizeof(MONRData->HeadingU16)); + p += sizeof(MONRData->HeadingU16); + memcpy(p, &MONRData->LongitudinalSpeedI16, sizeof(MONRData->LongitudinalSpeedI16)); + p += sizeof(MONRData->LongitudinalSpeedI16); + + memcpy(p, &MONRData->LateralSpeedI16, sizeof(MONRData->LateralSpeedI16)); + p += sizeof(MONRData->LateralSpeedI16); + + memcpy(p, &MONRData->LongitudinalAccI16, sizeof(MONRData->LongitudinalAccI16)); + p += sizeof(MONRData->LongitudinalAccI16); + + memcpy(p, &MONRData->LateralAccI16, sizeof(MONRData->LateralAccI16)); + p += sizeof(MONRData->LateralAccI16); + + memcpy(p, &MONRData->DriveDirectionU8, sizeof(MONRData->DriveDirectionU8)); + p += sizeof(MONRData->DriveDirectionU8); + + memcpy(p, &MONRData->StateU8, sizeof(MONRData->StateU8)); + p += sizeof(MONRData->StateU8); + + memcpy(p, &MONRData->ReadyToArmU8, sizeof(MONRData->ReadyToArmU8)); + p += sizeof(MONRData->ReadyToArmU8); + + memcpy(p, &MONRData->ErrorStatusU8, sizeof(MONRData->ErrorStatusU8)); + p += sizeof(MONRData->ErrorStatusU8); + + // Footer + memcpy(p, &MONRData->CRC, sizeof(MONRData->CRC)); + p += sizeof(MONRData->CRC); + + // TODO: check on CRC if(debug == 1) { @@ -2194,7 +2197,7 @@ I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug) if (messageSize - sizeof(isoACCM.header) - sizeof(isoACCM.footer) != isoACCM.header.MessageLengthU32) LogMessage(LOG_LEVEL_WARNING, "ACCM message sent with invalid message length"); - UtilSendTCPData(MODULE_NAME, messageBuffer, (I32)messageSize, socket, 0); + UtilSendTCPData(MODULE_NAME, messageBuffer, (I32)messageSize, socket, 1); return (I32)messageSize; } @@ -2398,7 +2401,7 @@ I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug // Value ID fields ACCM->actionIDValueID = VALUE_ID_ACTION_ID; - ACCM->actionIDValueID = VALUE_ID_ACTION_TYPE; + ACCM->actionTypeValueID = VALUE_ID_ACTION_TYPE; ACCM->actionTypeParameter1ValueID = VALUE_ID_ACTION_TYPE_PARAM1; ACCM->actionTypeParameter2ValueID = VALUE_ID_ACTION_TYPE_PARAM2; ACCM->actionTypeParameter3ValueID = VALUE_ID_ACTION_TYPE_PARAM3; @@ -2724,15 +2727,22 @@ static int iGetSocketFromObjectIP(in_addr_t ipAddr, int sockfds[], unsigned int socklen_t addrlen = sizeof(inaddr); int result; char ip[INET_ADDRSTRLEN]; + char ip2[INET_ADDRSTRLEN]; inet_ntop(AF_INET, &ipAddr, ip, INET_ADDRSTRLEN); + LogPrint("Searching for %s",ip); for (unsigned int i = 0; i < nSockfds; ++i) { - result = getsockname(sockfds[i], (struct sockaddr*)&inaddr, &addrlen); + result = getsockname(sockfds[i], (struct sockaddr*)&inaddr, &addrlen); /// RETURNS 10.130.254.221 when should be 220 ????????? + inet_ntop(AF_INET, &inaddr.sin_addr.s_addr, ip2, INET_ADDRSTRLEN); if (result == -1) + { + LogMessage(LOG_LEVEL_ERROR,"Error!"); continue; - + } inet_ntop(AF_INET, &inaddr.sin_addr.s_addr, ip, INET_ADDRSTRLEN); + LogPrint("Is it: %s ?",ip); + if (inaddr.sin_addr.s_addr == ipAddr) return sockfds[i]; } diff --git a/server/src/util.c b/server/src/util.c index 9de43ae29..7e55a24b0 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2011,7 +2011,7 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength case MQBUS_OK: return 0; case MQBUS_MQ_FULL: - LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); + //LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); return 1; case MQBUS_INVALID_INPUT_ARGUMENT: LogMessage(LOG_LEVEL_WARNING, "Invalid message queue message length"); @@ -3268,7 +3268,6 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy if (U16Data == VALUE_ID_MONR_STRUCT) { rdPtr += sizeof(U16Data); - U16Data = 0; memcpy(&contentLength, rdPtr, sizeof(contentLength)); rdPtr += sizeof(contentLength); @@ -3286,12 +3285,13 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy return -1; } } - else + else if (debug) { - LogMessage(LOG_LEVEL_WARNING, "Received MONR message without content header: corrupt data may result"); - U16Data = 0; + LogPrint("Received MONR message without content header: corrupt data may result"); } + U16Data = 0; + memcpy(&U32Data, rdPtr, sizeof(U32Data)); monitorData->MONR.GPSQmsOfWeekU32 = U32Data; rdPtr += sizeof(U32Data); From 4348081724509d633c7d98458c00a2ed2748a52b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 9 Aug 2019 11:11:51 +0200 Subject: [PATCH 457/730] Fixed the memcpy direction --- server/src/objectcontrol.c | 44 +++++++++++++++++++------------------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 364457546..59fcb29a9 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1187,31 +1187,31 @@ I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug) C8 *p = MonrData; // Decode ISO header - memcpy(p, &MONRData->Header.SyncWordU16, sizeof(MONRData->Header.SyncWordU16)); + memcpy(&MONRData->Header.SyncWordU16, p, sizeof(MONRData->Header.SyncWordU16)); p += sizeof(MONRData->Header.SyncWordU16); - memcpy(p, &MONRData->Header.TransmitterIdU8, sizeof(MONRData->Header.TransmitterIdU8)); + memcpy(&MONRData->Header.TransmitterIdU8, p, sizeof(MONRData->Header.TransmitterIdU8)); p += sizeof(MONRData->Header.TransmitterIdU8); - memcpy(p, &MONRData->Header.MessageCounterU8, sizeof(MONRData->Header.MessageCounterU8)); + memcpy(&MONRData->Header.MessageCounterU8, p, sizeof(MONRData->Header.MessageCounterU8)); p += sizeof(MONRData->Header.MessageCounterU8); - memcpy(p, &MONRData->Header.AckReqProtVerU8, sizeof(MONRData->Header.AckReqProtVerU8)); + memcpy(&MONRData->Header.AckReqProtVerU8, p, sizeof(MONRData->Header.AckReqProtVerU8)); p += sizeof(MONRData->Header.AckReqProtVerU8); - memcpy(p, &MONRData->Header.MessageIdU16, sizeof(MONRData->Header.MessageIdU16)); + memcpy(&MONRData->Header.MessageIdU16, p, sizeof(MONRData->Header.MessageIdU16)); p += sizeof(MONRData->Header.MessageIdU16); - memcpy(p, &MONRData->Header.MessageLengthU32, sizeof(MONRData->Header.MessageLengthU32)); + memcpy(&MONRData->Header.MessageLengthU32, p, sizeof(MONRData->Header.MessageLengthU32)); p += sizeof(MONRData->Header.MessageLengthU32); // Decode content header - memcpy(p, &valueID, sizeof(valueID)); + memcpy(&valueID, p, sizeof(valueID)); if (valueID == VALUE_ID_MONR_STRUCT) { p += sizeof(valueID); - memcpy(p, &contentLength, sizeof(contentLength)); + memcpy(&contentLength, p, sizeof(contentLength)); p += sizeof(contentLength); // TODO: check on content length @@ -1222,47 +1222,47 @@ I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug) } // Decode content - memcpy(p, &MONRData->GPSQmsOfWeekU32, sizeof(MONRData->GPSQmsOfWeekU32)); + memcpy(&MONRData->GPSQmsOfWeekU32, p, sizeof(MONRData->GPSQmsOfWeekU32)); p += sizeof(MONRData->GPSQmsOfWeekU32); - memcpy(p, &MONRData->XPositionI32, sizeof(MONRData->XPositionI32)); + memcpy(&MONRData->XPositionI32, p, sizeof(MONRData->XPositionI32)); p += sizeof(MONRData->XPositionI32); - memcpy(p, &MONRData->YPositionI32, sizeof(MONRData->YPositionI32)); + memcpy(&MONRData->YPositionI32, p, sizeof(MONRData->YPositionI32)); p += sizeof(MONRData->YPositionI32); - memcpy(p, &MONRData->ZPositionI32, sizeof(MONRData->ZPositionI32)); + memcpy(&MONRData->ZPositionI32, p, sizeof(MONRData->ZPositionI32)); p += sizeof(MONRData->ZPositionI32); - memcpy(p, &MONRData->HeadingU16, sizeof(MONRData->HeadingU16)); + memcpy(&MONRData->HeadingU16, p, sizeof(MONRData->HeadingU16)); p += sizeof(MONRData->HeadingU16); - memcpy(p, &MONRData->LongitudinalSpeedI16, sizeof(MONRData->LongitudinalSpeedI16)); + memcpy(&MONRData->LongitudinalSpeedI16, p, sizeof(MONRData->LongitudinalSpeedI16)); p += sizeof(MONRData->LongitudinalSpeedI16); - memcpy(p, &MONRData->LateralSpeedI16, sizeof(MONRData->LateralSpeedI16)); + memcpy(&MONRData->LateralSpeedI16, p, sizeof(MONRData->LateralSpeedI16)); p += sizeof(MONRData->LateralSpeedI16); - memcpy(p, &MONRData->LongitudinalAccI16, sizeof(MONRData->LongitudinalAccI16)); + memcpy(&MONRData->LongitudinalAccI16, p, sizeof(MONRData->LongitudinalAccI16)); p += sizeof(MONRData->LongitudinalAccI16); - memcpy(p, &MONRData->LateralAccI16, sizeof(MONRData->LateralAccI16)); + memcpy(&MONRData->LateralAccI16, p, sizeof(MONRData->LateralAccI16)); p += sizeof(MONRData->LateralAccI16); - memcpy(p, &MONRData->DriveDirectionU8, sizeof(MONRData->DriveDirectionU8)); + memcpy(&MONRData->DriveDirectionU8, p, sizeof(MONRData->DriveDirectionU8)); p += sizeof(MONRData->DriveDirectionU8); - memcpy(p, &MONRData->StateU8, sizeof(MONRData->StateU8)); + memcpy(&MONRData->StateU8, p, sizeof(MONRData->StateU8)); p += sizeof(MONRData->StateU8); - memcpy(p, &MONRData->ReadyToArmU8, sizeof(MONRData->ReadyToArmU8)); + memcpy(&MONRData->ReadyToArmU8, p, sizeof(MONRData->ReadyToArmU8)); p += sizeof(MONRData->ReadyToArmU8); - memcpy(p, &MONRData->ErrorStatusU8, sizeof(MONRData->ErrorStatusU8)); + memcpy(&MONRData->ErrorStatusU8, p, sizeof(MONRData->ErrorStatusU8)); p += sizeof(MONRData->ErrorStatusU8); // Footer - memcpy(p, &MONRData->CRC, sizeof(MONRData->CRC)); + memcpy(&MONRData->CRC, p, sizeof(MONRData->CRC)); p += sizeof(MONRData->CRC); // TODO: check on CRC From f46c76bf3789cf607093a03dd5e7964f5854d6e7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 9 Aug 2019 13:34:24 +0200 Subject: [PATCH 458/730] Fixed IP search function --- server/src/objectcontrol.c | 42 ++++++++++++++++---------------------- 1 file changed, 18 insertions(+), 24 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 59fcb29a9..6a1cf7ab9 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -184,7 +184,7 @@ static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sock static void vCloseSafetyChannel(int* sockfd); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, U8 debug); static size_t uiRecvMonitor(int* sockfd, char* buffer, size_t length); -static int iGetSocketFromObjectIP(in_addr_t ipAddr, int sockfds[], unsigned int nSockfds); +static int iGetObjectIndexFromObjectIP(in_addr_t ipAddr, C8 *objectIPStrings[], unsigned int numberOfStrings); static void signalHandler(int signo); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -622,7 +622,6 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) vSetState(OBC_STATE_CONNECTED, GSD); } MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, pcRecvBuffer[0], 0); - for(iIndex=0;iIndex Date: Fri, 9 Aug 2019 16:59:10 +0200 Subject: [PATCH 459/730] Saved object IPs as numbers --- server/src/objectcontrol.c | 49 +++++++++++++++++++++----------------- 1 file changed, 27 insertions(+), 22 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 6a1cf7ab9..1fddfab3f 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -184,7 +184,7 @@ static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sock static void vCloseSafetyChannel(int* sockfd); I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, U8 debug); static size_t uiRecvMonitor(int* sockfd, char* buffer, size_t length); -static int iGetObjectIndexFromObjectIP(in_addr_t ipAddr, C8 *objectIPStrings[], unsigned int numberOfStrings); +static int iGetObjectIndexFromObjectIP(in_addr_t ipAddr, in_addr_t objectIPs[], unsigned int numberOfObjects); static void signalHandler(int signo); I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); @@ -213,6 +213,7 @@ I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug); static void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], + in_addr_t objectIPs[MAX_OBJECTS], I32 *nbr_objects); OBCState_t vInitializeState(OBCState_t firstState, GSDType *GSD); @@ -246,6 +247,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) I32 socket_fd = 0; C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH]; C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH]; + in_addr_t objectIPs[MAX_OBJECTS]; U32 object_udp_port[MAX_OBJECTS]; U32 object_tcp_port[MAX_OBJECTS]; I32 nbr_objects=0; @@ -690,7 +692,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LOG_SEND(LogBuffer, "[ObjectControl] INIT received."); /* Get objects; name and drive file */ nbr_objects = 0; - vFindObjectsInfo(object_traj_file,object_address_name,&nbr_objects); + vFindObjectsInfo(object_traj_file,object_address_name,objectIPs,&nbr_objects); DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); for(iIndex=0;iIndexd_name,strlen(directory_entry->d_name)); + result = inet_pton(AF_INET,object_address_name[*nbr_objects],&sockaddr.sin_addr); + if (result == -1) + { + LogMessage(LOG_LEVEL_ERROR,"Invalid address family"); + continue; + } + else if (result == 0) + { + LogMessage(LOG_LEVEL_WARNING,"Address <%s> is not a valid IPv4 address",object_address_name[*nbr_objects]); + continue; + } + else + objectIPs[*nbr_objects] = sockaddr.sin_addr.s_addr; } else { From 1254ef53d41fb45e71328ab18be880a59bf623a0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 12 Aug 2019 09:52:15 +0200 Subject: [PATCH 460/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 86b2a7568..d74dee0a6 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 86b2a7568faf451b3bbd585ab77474178592494f +Subproject commit d74dee0a63f80db20d6d8ab739d168792e1837b1 From a7b168dcde29a83df8475785604e97492a06e135 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 12 Aug 2019 13:25:41 +0200 Subject: [PATCH 461/730] Fixed HTTP header decoding problem --- server/src/util.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index 7e55a24b0..d12e2210a 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -145,7 +145,7 @@ void CopyHTTPHeaderField(char* request, char* targetContainer, size_t targetCont // Check length fieldLength = lastPos - firstPos; - if (fieldLength > targetContainerSize) + if (fieldLength >= targetContainerSize) { LogMessage(LOG_LEVEL_WARNING, "Received too long HTTP header field: %s", fieldName); targetContainer[0] = '\0'; @@ -153,7 +153,9 @@ void CopyHTTPHeaderField(char* request, char* targetContainer, size_t targetCont } else { + // Strings in the request may not be null terminated: make them so after copying them strncpy(targetContainer, firstPos, fieldLength); + targetContainer[fieldLength] = '\0'; } } From 294723b4468eace5f5bcf30c5bc9e44abc0c8aa0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 12 Aug 2019 16:24:37 +0200 Subject: [PATCH 462/730] Fixed wrong message IDs --- server/inc/iso22133.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/server/inc/iso22133.h b/server/inc/iso22133.h index 386846376..478b0bbcd 100644 --- a/server/inc/iso22133.h +++ b/server/inc/iso22133.h @@ -30,7 +30,7 @@ typedef struct } FooterType; //2 bytes //! *************************** TRCM -#define COMMAND_TRCM_CODE 11 +#define COMMAND_TRCM_CODE 0x0011 typedef struct { HeaderType header; @@ -110,7 +110,7 @@ typedef enum { //! *************************** ACCM -#define COMMAND_ACCM_CODE 12 +#define COMMAND_ACCM_CODE 0x0012 typedef struct { HeaderType header; @@ -173,7 +173,7 @@ typedef enum { //! *************************** TREO -#define COMMAND_TREO_CODE 13 +#define COMMAND_TREO_CODE 0x0013 typedef struct { HeaderType header; @@ -188,7 +188,7 @@ typedef struct //! *************************** EXAC -#define COMMAND_EXAC_CODE 14 +#define COMMAND_EXAC_CODE 0x0014 typedef struct { HeaderType header; From cb114d50d6fcdbf18f1369e62d47353d3b831ee6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 13 Aug 2019 14:21:33 +0200 Subject: [PATCH 463/730] Made paths used by Maestro general --- server/inc/util.h | 39 +++------ server/src/datadictionary.c | 5 +- server/src/logger.c | 37 +++++--- server/src/objectcontrol.c | 15 ++-- server/src/systemcontrol.c | 98 +++++++++++---------- server/src/timecontrol.c | 1 - server/src/util.c | 168 +++++++++++++++++++++++++++++++++--- 7 files changed, 257 insertions(+), 106 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index ff25d60f1..aa4312d1f 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -106,13 +106,9 @@ extern "C"{ // 60 * 1000 #define MINUTE_TIME_MS 60000 - -#define TEST_CONF_FILE "./conf/test.conf" -#define TRAJECTORY_PATH "./traj/" - -#define ADAPTIVE_SYNC_POINT_CONF "./conf/adaptivesync.conf" -#define VERSION_PATH "../conf/Version.txt" - +#define CONF_FILE_NAME "test.conf" +#define ADAPTIVE_SYNC_FILE_NAME "adaptivesync.conf" +#define TRIGGER_ACTION_FILE_NAME "triggeraction.conf" #define MASTER_FILE_EXTENSION ".sync.m" #define SLAVE_FILE_EXTENSION ".sync.s" @@ -175,7 +171,7 @@ extern "C"{ #define dbl double #define flt float -// Why do we need this? +// Why do we need this memory efficiency? There is a risk that this breaks included code which isn't using pragma pack #pragma pack(1) // #pragma pack ( 1 ) directive can be used for arranging memory for structure members very next to the end of other structure members. #define SYNC_WORD 0x7e7e @@ -195,26 +191,6 @@ extern "C"{ #define FAILED_DELETE 0x02 #define FILE_TO_MUCH_DATA 0x06 -/* DEBUGGING DEFINES */ - -#define DEBUG_LEVEL_LOW 1 -#define DEBUG_LEVEL_MEDIUM 2 -#define DEBUG_LEVEL_HIGH 3 - -// Enable debugging by defining DEBUG -#define DEBUG - - - -#ifdef DEBUG -// Set level of DEBUG -#define DEBUG_TEST 1 -#else -#define DEBUG_TEST 0 -#endif - -//#define DEBUG_PRINT(fmt,...) do {if(DEBUG_TEST) {fprintf(stdout,"[%s]: " fmt "\n",__func__,__VA_ARGS__);fflush(stdout);}} while (0) -//#define DEBUG_ERR_PRINT(...) do {if(DEBUG_TEST) {fprintf(stderr,__VA_ARGS__);fflush(stderr);}} while (0) // The do - while loop makes sure that each function call is properly handled using macros #define LOG_SEND(buf, ...) \ @@ -843,6 +819,13 @@ int iCommSendTRCM(TRCMData data); int iCommSendEXAC(EXACData data); int iCommSendACCM(ACCMData data); +// File system functions +void UtilGetTestDirectoryPath(char* path, size_t pathLen); +void UtilGetJournalDirectoryPath(char* path, size_t pathLen); +void UtilGetConfDirectoryPath(char* path, size_t pathLen); +void UtilGetTrajDirectoryPath(char* path, size_t pathLen); +void UtilGetGeofenceDirectoryPath(char* path, size_t pathLen); + // char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 2715f000a..7f9d7528c 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -1709,7 +1709,10 @@ the parameter value. */ U64 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) { + char confPathDir[MAX_FILE_PATH]; + UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); bzero(ResultBuffer, DD_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, ParameterName, "", ResultBuffer); + UtilSearchTextFile(confPathDir, ParameterName, "", ResultBuffer); return strlen(ResultBuffer); } diff --git a/server/src/logger.c b/server/src/logger.c index cdbd6e3c7..f75329b93 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -30,7 +30,7 @@ /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ -#define LOG_PATH "./log/" +#define LOG_PATH MAESTRO_TEST_DIR_PATH "journal/" #define LOG_FILE_ENDING ".log" #define CSV_FILE_ENDING ".csv" #define FORWARD_SLASH "/" @@ -82,6 +82,8 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) char busSendBuffer[MBUS_MAX_DATALEN]; //!< Buffer for sending to message bus char pcReadBuffer[MAX_LOG_ROW_LENGTH]; //!< Buffer for reading files char subStrings[MBUS_MAX_DATALEN]; + char journalPathDir[MAX_FILE_PATH]; + UtilGetJournalDirectoryPath(journalPathDir, sizeof(journalPathDir)); struct timeval recvTime; // Listen for commands @@ -110,7 +112,7 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) util_error("Unable to initialize connection to message bus"); // Create log directory if it does not exist - vCreateLogFolder(LOG_PATH); + vCreateLogFolder(journalPathDir); // our time char *src; @@ -384,6 +386,9 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL { struct timeval tvTime; char logFileDirectoryPath[MAX_FILE_PATH]; + char trajPathDir[MAX_FILE_PATH]; + char confPathDir[MAX_FILE_PATH]; + char journalPathDir[MAX_FILE_PATH]; char DateBuffer[FILENAME_MAX]; FILE *filefd, *fileread; char msString[10]; @@ -393,6 +398,10 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL struct dirent *ent; int read; + UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); + UtilGetTrajDirectoryPath(trajPathDir, sizeof(trajPathDir)); + UtilGetJournalDirectoryPath(journalPathDir, sizeof(journalPathDir)); + // Clear the two path strings bzero(logFilePath, filePathLength); bzero(csvLogFilePath, csvFilePathLength); @@ -406,7 +415,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL strcat(DateBuffer, msString); // Create log folder named with initialization date and time - (void)strcpy(logFileDirectoryPath, LOG_PATH); + (void)strcpy(logFileDirectoryPath, journalPathDir); (void)strcat(logFileDirectoryPath, DateBuffer); vCreateLogFolder(logFileDirectoryPath); @@ -416,15 +425,15 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL // Copy configuration file to log directory LogMessage(LOG_LEVEL_INFO, "Copying configuration file to log directory"); (void)strcpy(sysCommand, "cp "); - (void)strcat(sysCommand, TEST_CONF_FILE); + (void)strcat(sysCommand, confPathDir); (void)strcat(sysCommand, " "); (void)strcat(sysCommand, logFileDirectoryPath); (void)system(sysCommand); // Check if ./traj directory exists - if ((dir = opendir(TRAJECTORY_PATH)) == NULL) + if ((dir = opendir(trajPathDir)) == NULL) { - sprintf(sysCommand,"Unable to open traj directory <%s>",TRAJECTORY_PATH); + sprintf(sysCommand,"Unable to open traj directory <%s>",trajPathDir); util_error(sysCommand); } else @@ -433,7 +442,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL // Copy trajectory files to subdirectory LogMessage(LOG_LEVEL_INFO, "Copying trajectory files to log directory"); (void)strcpy(sysCommand, "cp -R "); - (void)strcat(sysCommand, TRAJECTORY_PATH); + (void)strcat(sysCommand, trajPathDir); (void)strcat(sysCommand, " "); (void)strcat(sysCommand, logFileDirectoryPath); (void)system(sysCommand); @@ -458,14 +467,14 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL sprintf(pcBuffer,"------------------------------------------\nWhole Trajectory files:\n------------------------------------------\n"); (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); - // Open directory ./traj/ - if ((dir = opendir(TRAJECTORY_PATH)) != NULL) + // Open directory traj + if ((dir = opendir(trajPathDir)) != NULL) { while ((ent = readdir(dir)) != NULL) { // Copy all files in trajectory and add them to the log file bzero(pcBuffer, sizeof(pcBuffer)); - strcpy(pcBuffer, TRAJECTORY_PATH); + strcpy(pcBuffer, trajPathDir); strcat(pcBuffer, ent->d_name); if (access(pcBuffer, 0) == 0) { @@ -486,7 +495,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL } else { - sprintf(sysCommand,"Unable to open traj directory <%s>",TRAJECTORY_PATH); + sprintf(sysCommand,"Unable to open traj directory <%s>",trajPathDir); util_error(sysCommand); } fclose(filefd); @@ -501,10 +510,10 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL /* If file conf file exists and we have read permission do*/ - if (access(TEST_CONF_FILE, 0) == 0) + if (access(confPathDir, 0) == 0) { /*read the .conf file and print it in to the .log file */ - fileread = fopen(TEST_CONF_FILE, ACCESS_MODE_READ); + fileread = fopen(confPathDir, ACCESS_MODE_READ); read = fgetc(fileread); while(read!= EOF) { @@ -515,7 +524,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL } else { - sprintf(sysCommand,"Unable to open <%s>",TEST_CONF_FILE); + sprintf(sysCommand,"Unable to open <%s>",confPathDir); util_error(sysCommand); } diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 1fddfab3f..f86fbea9c 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -132,8 +132,6 @@ #define ASP_MESSAGE_LENGTH sizeof(ASPType) -#define CONF_FILE_PATH "conf/test.conf" - #define SMALL_BUFFER_SIZE_0 20 #define SMALL_BUFFER_SIZE_1 2 #define SMALL_BUFFER_SIZE_2 1 @@ -322,6 +320,7 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) dbl ASPMaxDeltaTimeDbl = 0; I32 ASPDebugRate = 1; I32 ASPStepBackCount = 0; + char confDirectoryPath[MAX_FILE_PATH]; U8 ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_BOOTING; @@ -710,12 +709,14 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } /*Setup Adaptive Sync Points (ASP)*/ - fd = fopen (ADAPTIVE_SYNC_POINT_CONF, "r"); + UtilGetConfDirectoryPath(confDirectoryPath, sizeof(confDirectoryPath)); + strcat(confDirectoryPath, ADAPTIVE_SYNC_FILE_NAME); + fd = fopen (confDirectoryPath, "r"); if(fd) { SyncPointCount = UtilCountFileRows(fd) - 1; fclose (fd); - fd = fopen (ADAPTIVE_SYNC_POINT_CONF, "r"); + fd = fopen (confDirectoryPath, "r"); UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header for(i = 0; i < SyncPointCount; i++) @@ -2920,10 +2921,12 @@ void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], C8 object int iForceObjectToLocalhost; struct sockaddr_in sockaddr; int result; + char trajPathDir[MAX_FILE_PATH]; + UtilGetTrajDirectoryPath(trajPathDir, sizeof(trajPathDir)); iForceObjectToLocalhost = 0; - traj_directory = opendir(TRAJECTORY_PATH); + traj_directory = opendir(trajPathDir); if(traj_directory == NULL) { util_error("ERR: Failed to open trajectory directory"); @@ -2940,7 +2943,7 @@ void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], C8 object bzero(object_address_name[(*nbr_objects)],MAX_FILE_PATH); bzero(object_traj_file[(*nbr_objects)],MAX_FILE_PATH); - (void)strcat(object_traj_file[(*nbr_objects)],TRAJECTORY_PATH); + (void)strcat(object_traj_file[(*nbr_objects)],trajPathDir); (void)strcat(object_traj_file[(*nbr_objects)],directory_entry->d_name); if(0 == iForceObjectToLocalhost) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 9d0851563..b31e018a1 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -60,7 +60,6 @@ typedef enum { #define SYSTEM_CONTROL_PROCESS_PORT 54242 // Default port, process channel #define SYSTEM_CONTROL_RX_PACKET_SIZE 1280 #define SYSTEM_CONTROL_TX_PACKET_SIZE SYSTEM_CONTROL_RX_PACKET_SIZE -#define SYSTEM_CONTROL_MAX_PATH_LENGTH 255 #define IPC_BUFFER_SIZE SYSTEM_CONTROL_RX_PACKET_SIZE //#define IPC_BUFFER_SIZE 1024 #define SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE 64 @@ -88,12 +87,8 @@ typedef enum { #define SMALL_BUFFER_SIZE_2 2 #define SYSTEM_CONTROL_SEND_BUFFER_SIZE 1024 -#define SYSTEM_CONTROL_CONF_FILE_PATH "conf/test.conf" -#define SYSTEM_CONTROL_TEMP_CONF_FILE_PATH "conf/temp.conf" - #define SYSTEM_CONTROL_SERVER_PARAMETER_LIST_SIZE 1024 - #define SYSTEM_CONTROL_RESPONSE_CODE_OK 0x0001 #define SYSTEM_CONTROL_RESPONSE_CODE_ERROR 0x0F10 #define SYSTEM_CONTROL_RESPONSE_CODE_FUNCTION_NOT_AVAILABLE 0x0F20 @@ -700,11 +695,11 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetDirectoryContent:", ControlResponseBuffer, 1, &ClientSocket, 0); if(ControlResponseBuffer[0] == FOLDER_EXIST) { - UtilCreateDirContent(SystemControlArgument[0], "/dir.info"); + UtilCreateDirContent(SystemControlArgument[0], "dir.info"); bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlBuildFileContentInfo("/dir.info", ControlResponseBuffer, 0); + SystemControlBuildFileContentInfo("dir.info", ControlResponseBuffer, 0); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetDirectoryContent:", ControlResponseBuffer, 4, &ClientSocket, 0); - SystemControlSendFileContent(&ClientSocket, "/dir.info", STR_SYSTEM_CONTROL_TX_PACKET_SIZE, ControlResponseBuffer, REMOVE_FILE, 0); + SystemControlSendFileContent(&ClientSocket, "dir.info", STR_SYSTEM_CONTROL_TX_PACKET_SIZE, ControlResponseBuffer, REMOVE_FILE, 0); } } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in GetDirectoryContent(path)!"); SystemControlCommand = Idle_0;} @@ -743,8 +738,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) else if (ControlResponseBuffer[0] == PATH_INVALID_MISSING) { LogMessage(LOG_LEVEL_INFO,"Failed receiving file: %s", SystemControlArgument[0]); - SystemControlReceiveRxData(&ClientSocket, "/file.tmp", SystemControlArgument[1], STR_SYSTEM_CONTROL_RX_PACKET_SIZE, ControlResponseBuffer, 0); - SystemControlDeleteFileDirectory("/file.tmp", ControlResponseBuffer, 0); + SystemControlReceiveRxData(&ClientSocket, "file.tmp", SystemControlArgument[1], STR_SYSTEM_CONTROL_RX_PACKET_SIZE, ControlResponseBuffer, 0); + SystemControlDeleteFileDirectory("file.tmp", ControlResponseBuffer, 0); ControlResponseBuffer[0] = PATH_INVALID_MISSING; } else @@ -1692,25 +1687,34 @@ I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) FILE *fd, *TempFd; C8 *ptr1, *ptr2; U8 ParameterFound = 0; + char confPathFileDir[MAX_FILE_PATH]; + char tempConfPathFileDir[MAX_FILE_PATH]; + const char TEMP_FILE_NAME[] = "temp-" MODULE_NAME ".conf"; + + UtilGetConfDirectoryPath(confPathFileDir, sizeof(confPathFileDir)); + strcpy(tempConfPathFileDir,confPathFileDir); + strcat(confPathFileDir, CONF_FILE_NAME); + strcat(tempConfPathFileDir, TEMP_FILE_NAME); + bzero(Parameter, SMALL_BUFFER_SIZE_64); strcat(Parameter, ParameterName); strcat(Parameter, "="); //Remove temporary file - remove(SYSTEM_CONTROL_TEMP_CONF_FILE_PATH); + remove(tempConfPathFileDir); //Create temporary file - TempFd = fopen (SYSTEM_CONTROL_TEMP_CONF_FILE_PATH, "w+"); + TempFd = fopen (tempConfPathFileDir, "w+"); //Open configuration file - fd = fopen (SYSTEM_CONTROL_CONF_FILE_PATH, "r"); + fd = fopen (confPathFileDir, "r"); if(fd > 0) { RowCount = UtilCountFileRows(fd); fclose(fd); - fd = fopen (SYSTEM_CONTROL_CONF_FILE_PATH, "r"); + fd = fopen (confPathFileDir, "r"); for(i = 0; i < RowCount; i++) { @@ -1751,13 +1755,13 @@ I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) fclose(fd); //Remove test.conf - remove(SYSTEM_CONTROL_CONF_FILE_PATH); + remove(confPathFileDir); //Rename temp.conf to test.conf - rename(SYSTEM_CONTROL_TEMP_CONF_FILE_PATH, SYSTEM_CONTROL_CONF_FILE_PATH); + rename(tempConfPathFileDir, confPathFileDir); //Remove temporary file - remove(SYSTEM_CONTROL_TEMP_CONF_FILE_PATH); + remove(tempConfPathFileDir); } return 0; @@ -1770,13 +1774,16 @@ I32 SystemControlReadServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debu I32 RowCount, i; C8 TextBuffer[SMALL_BUFFER_SIZE_128]; + char confPathDir[MAX_FILE_PATH]; + UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); bzero(TextBuffer, SMALL_BUFFER_SIZE_128); strcat(TextBuffer, ParameterName); strcat(TextBuffer, "="); - UtilSearchTextFile(SYSTEM_CONTROL_CONF_FILE_PATH, TextBuffer, "", ReturnValue); + UtilSearchTextFile(confPathDir, TextBuffer, "", ReturnValue); if(Debug) { @@ -1793,13 +1800,16 @@ I32 SystemControlReadServerParameterList(C8 *ParameterList, U8 Debug) I32 RowCount, i; C8 TextBuffer[SMALL_BUFFER_SIZE_128]; FILE *fd; + char confPathDir[MAX_FILE_PATH]; + UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); - fd = fopen (SYSTEM_CONTROL_CONF_FILE_PATH, "r"); + fd = fopen (confPathDir, "r"); if(fd > 0) { RowCount = UtilCountFileRows(fd); fclose(fd); - fd = fopen (SYSTEM_CONTROL_CONF_FILE_PATH, "r"); + fd = fopen (confPathDir, "r"); for(i = 0; i < RowCount; i++) { @@ -1827,9 +1837,9 @@ I32 SystemControlBuildFileContentInfo(C8 *Path, C8 *ReturnValue, U8 Debug) { struct stat st; - C8 CompletePath[SYSTEM_CONTROL_MAX_PATH_LENGTH]; - bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); + C8 CompletePath[MAX_FILE_PATH]; + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, Path); stat(CompletePath, &st); @@ -1849,9 +1859,9 @@ I32 SystemControlCheckFileDirectoryExist(C8 *ParameterName, C8 *ReturnValue, U8 DIR *pDir; FILE *fd; - C8 CompletePath[SYSTEM_CONTROL_MAX_PATH_LENGTH]; - bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); + C8 CompletePath[MAX_FILE_PATH]; + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, ParameterName); *ReturnValue = PATH_INVALID_MISSING; @@ -1885,9 +1895,9 @@ I32 SystemControlDeleteFileDirectory(C8 *Path, C8 *ReturnValue, U8 Debug) DIR *pDir; FILE *fd; - C8 CompletePath[SYSTEM_CONTROL_MAX_PATH_LENGTH]; - bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); + C8 CompletePath[MAX_FILE_PATH]; + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, Path); *ReturnValue = PATH_INVALID_MISSING; @@ -1936,9 +1946,9 @@ I32 SystemControlCreateDirectory(C8 *Path, C8 *ReturnValue, U8 Debug) DIR *pDir; FILE *fd; - C8 CompletePath[SYSTEM_CONTROL_MAX_PATH_LENGTH]; - bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); + C8 CompletePath[MAX_FILE_PATH]; + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, Path); *ReturnValue = PATH_INVALID_MISSING; @@ -1984,9 +1994,9 @@ I32 SystemControlUploadFile(C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnVa { FILE *fd; - C8 CompletePath[SYSTEM_CONTROL_MAX_PATH_LENGTH]; - bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); + C8 CompletePath[MAX_FILE_PATH]; + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, Path); if(Debug) @@ -2021,9 +2031,9 @@ I32 SystemControlUploadFile(C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnVa else { //ok, path invalid create temporary file - bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - strcat(CompletePath, "/file.tmp"); + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); + strcat(CompletePath, "file.tmp"); fd = fopen(CompletePath, "r"); if(fd != NULL) { @@ -2044,9 +2054,9 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi { FILE *fd; - C8 CompletePath[SYSTEM_CONTROL_MAX_PATH_LENGTH]; - bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); + C8 CompletePath[MAX_FILE_PATH]; + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, Path); U32 FileSizeU32 = atoi(FileSize); U16 PacketSizeU16 = atoi(PacketSize); @@ -2128,9 +2138,9 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *ReturnValue, U8 Remove, U8 Debug) { FILE *fd; - C8 CompletePath[SYSTEM_CONTROL_MAX_PATH_LENGTH]; - bzero(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, SYSTEM_CONTROL_MAX_PATH_LENGTH); + C8 CompletePath[MAX_FILE_PATH]; + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, Path); U32 FileSizeU32 = 0; U16 PacketSizeU16 = atoi(PacketSize); diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 9cc44c4b9..c27afb450 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -33,7 +33,6 @@ #include "datadictionary.h" -#define TIME_CONTROL_CONF_FILE_PATH "conf/test.conf" #define TIME_CONTROL_HOSTNAME_BUFFER_SIZE 20 #define TIME_CONTROL_RECEIVE_BUFFER_SIZE 54 #define TIME_CONTROL_TASK_PERIOD_MS 1 diff --git a/server/src/util.c b/server/src/util.c index d12e2210a..040b928c4 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -38,11 +38,17 @@ #define FE_WGS84 (1.0/298.257223563) // earth flattening (WGS84) #define RE_WGS84 6378137.0 // earth semimajor axis (WGS84) (m) -#define TEMP_CONF_FILE_PATH "conf/temp.conf" -//#define CONF_FILE_PATH "conf/test.conf" #define SMALL_BUFFER_SIZE_128 128 #define SMALL_BUFFER_SIZE_64 64 +// File paths +#define TEST_DIR_ENV_VARIABLE_NAME "MAESTRO_TEST_DIR" +#define JOURNAL_DIR_NAME "journal" +#define MAESTRO_TEST_DIR_NAME ".maestro" +#define CONFIGURATION_DIR_NAME "conf" +#define TRAJECTORY_DIR_NAME "traj" +#define GEOFENCE_DIR_NAME "geofence" + // Message priorities on message queue #define PRIO_COMM_STRT 100 #define PRIO_COMM_ARMD 110 @@ -490,10 +496,13 @@ int iUtilGetParaConfFile(char* pcParameter, char* pcValue) FILE *filefd; int iFindResult; char pcTemp[512]; + char confPathDir[MAX_FILE_PATH]; + UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); iFindResult = 0; - filefd = fopen (TEST_CONF_FILE, "rb"); + filefd = fopen (confPathDir, "rb"); if (filefd == NULL) { @@ -2155,6 +2164,133 @@ int iCommSendACCM(ACCMData data) return iCommSend(COMM_ACCM, sendBuffer, sizeof(sendBuffer)); } + +/*------------------------------------------------------------ + -- File system functions + ------------------------------------------------------------*/ +/*! + * \brief getTestDirectoryPath Gets the absolute path to the directory where subdirectories for + * trajectories, geofences, configuration etc. are stored, ending with a forward slash. The + * function defaults to a subdirectory of the user's home directory if the environment variable + * MAESTRO_TEST_DIR is not set. + * \param path Char array to hold path name + * \param pathLen Length of char array + */ +void UtilGetTestDirectoryPath(char* path, size_t pathLen) +{ + char* envVar; + static short int pathInfoEmitted = 0; + + if (pathLen > MAX_FILE_PATH) + { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + + envVar = getenv(TEST_DIR_ENV_VARIABLE_NAME); + if (envVar == NULL) + { + if (!pathInfoEmitted) + { + LogMessage(LOG_LEVEL_INFO,"Environment variable %s unset: defaulting to home directory", TEST_DIR_ENV_VARIABLE_NAME); + pathInfoEmitted = 1; + } + strcpy(path, getenv("HOME")); + strcat(path,"/"); + strcat(path,MAESTRO_TEST_DIR_NAME); + strcat(path,"/"); + } + else + { + if (!pathInfoEmitted) + { + LogMessage(LOG_LEVEL_INFO,"Using test directory %s", envVar); + pathInfoEmitted = 1; + } + strcpy(path, envVar); + strcat(path,"/"); + } +} + +/*! + * \brief UtilGetJournalDirectoryPath Fetches the absolute path to where test logs are stored, + * ending with a forward slash. + * \param path Char array to hold the path + * \param pathLen Length of char array + */ +void UtilGetJournalDirectoryPath(char* path, size_t pathLen) +{ + if (pathLen > MAX_FILE_PATH) + { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + UtilGetTestDirectoryPath(path, pathLen); + strcat(path, JOURNAL_DIR_NAME); + strcat(path, "/"); +} + +/*! + * \brief UtilGetConfDirectoryPath Fetches the absolute path to where configuration files + * are stored, ending with a forward slash. + * \param path Char array to hold the path + * \param pathLen Length of char array + */ +void UtilGetConfDirectoryPath(char* path, size_t pathLen) +{ + if (pathLen > MAX_FILE_PATH) + { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + UtilGetTestDirectoryPath(path, pathLen); + strcat(path, CONFIGURATION_DIR_NAME); + strcat(path, "/"); +} + +/*! + * \brief UtilGetTrajDirectoryPath Fetches the absolute path to where trajectory files + * are stored, ending with a forward slash. + * \param path Char array to hold the path + * \param pathLen Length of char array + */ +void UtilGetTrajDirectoryPath(char* path, size_t pathLen) +{ + if (pathLen > MAX_FILE_PATH) + { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + UtilGetTestDirectoryPath(path, pathLen); + strcat(path, TRAJECTORY_DIR_NAME); + strcat(path, "/"); +} + +/*! + * \brief UtilGetGeofenceDirectoryPath Fetches the absolute path to where geofence files + * are stored, ending with a forward slash. + * \param path Char array to hold the path + * \param pathLen Length of char array + */ +void UtilGetGeofenceDirectoryPath(char* path, size_t pathLen) +{ + if (pathLen > MAX_FILE_PATH) + { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + UtilGetTestDirectoryPath(path, pathLen); + strcat(path, GEOFENCE_DIR_NAME); + strcat(path, "/"); +} + + + /*------------------------------------------------------------ -- Function traj2ldm -- converts a traj file format to a ldm:monitor_t @@ -2634,7 +2770,7 @@ U32 UtilCreateDirContent(C8* DirPath, C8* TempPath) C8 Filename[FILE_INFO_LENGTH]; C8 CompletePath[MAX_PATH_LENGTH]; bzero(CompletePath, MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, MAX_PATH_LENGTH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, DirPath);//Concatenate dir path DIR * d = opendir(CompletePath); // open the path @@ -2642,7 +2778,7 @@ U32 UtilCreateDirContent(C8* DirPath, C8* TempPath) struct dirent * dir; // for the directory entries bzero(CompletePath, MAX_PATH_LENGTH); - GetCurrentDir(CompletePath, MAX_PATH_LENGTH); + UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); strcat(CompletePath, TempPath); //Concatenate temp file path fd = fopen(CompletePath, "r"); @@ -3148,25 +3284,33 @@ I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) FILE *fd, *TempFd; C8 *ptr1, *ptr2; U8 ParameterFound = 0; + char confPathDir[MAX_FILE_PATH]; + char tempConfPathDir[MAX_FILE_PATH]; + char TEMP_FILE_NAME[] = "temp-util.conf"; + UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); + strcpy(tempConfPathDir,confPathDir); + strcat(confPathDir, CONF_FILE_NAME); + strcat(tempConfPathDir, TEMP_FILE_NAME); + bzero(Parameter, SMALL_BUFFER_SIZE_64); strcat(Parameter, ParameterName); strcat(Parameter, "="); //Remove temporary file - remove(TEMP_CONF_FILE_PATH); + remove(tempConfPathDir); //Create temporary file - TempFd = fopen (TEMP_CONF_FILE_PATH, "w+"); + TempFd = fopen (tempConfPathDir, "w+"); //Open configuration file - fd = fopen (TEST_CONF_FILE, "r"); + fd = fopen (confPathDir, "r"); if(fd > 0) { RowCount = UtilCountFileRows(fd); fclose(fd); - fd = fopen (TEST_CONF_FILE, "r"); + fd = fopen (confPathDir, "r"); for(i = 0; i < RowCount; i++) { @@ -3207,13 +3351,13 @@ I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) fclose(fd); //Remove test.conf - remove(TEST_CONF_FILE); + remove(confPathDir); //Rename temp.conf to test.conf - rename(TEMP_CONF_FILE_PATH, TEST_CONF_FILE); + rename(tempConfPathDir, confPathDir); //Remove temporary file - remove(TEMP_CONF_FILE_PATH); + remove(tempConfPathDir); } return (I32)ParameterFound; From 65fd432d99c752e1e381b4f1acdb9aab4c4e3eae Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 13 Aug 2019 14:34:57 +0200 Subject: [PATCH 464/730] Disabled sending log data as it ends up on the same port as MSCP TCP data --- server/src/systemcontrol.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index b31e018a1..b7a666a16 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -521,7 +521,8 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_OBC_STATE: break; case COMM_LOG: - SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); + // This creates a problem in GUC: disabled it for now + //SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); break; case COMM_MONR: // TODO: Decode From 80361af8cb5c97b45faae341144b15854ce211f7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 13 Aug 2019 16:25:20 +0200 Subject: [PATCH 465/730] Added check at start of program --- server/inc/util.h | 1 + server/src/logger.c | 1 + server/src/main.c | 4 ++ server/src/util.c | 110 +++++++++++++++++++++++++++++++++++++++----- 4 files changed, 105 insertions(+), 11 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index aa4312d1f..19f8b5333 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -820,6 +820,7 @@ int iCommSendEXAC(EXACData data); int iCommSendACCM(ACCMData data); // File system functions +int UtilVerifyTestDirectory(); void UtilGetTestDirectoryPath(char* path, size_t pathLen); void UtilGetJournalDirectoryPath(char* path, size_t pathLen); void UtilGetConfDirectoryPath(char* path, size_t pathLen); diff --git a/server/src/logger.c b/server/src/logger.c index f75329b93..0afaed00f 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -399,6 +399,7 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL int read; UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); UtilGetTrajDirectoryPath(trajPathDir, sizeof(trajPathDir)); UtilGetJournalDirectoryPath(journalPathDir, sizeof(journalPathDir)); diff --git a/server/src/main.c b/server/src/main.c index a301293bf..c02eb315a 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -120,6 +120,10 @@ int main(int argc, char *argv[]) LogMessage(LOG_LEVEL_INFO, "Central started"); LogMessage(LOG_LEVEL_DEBUG, "Verbose mode enabled"); + // Check file path validity + if (UtilVerifyTestDirectory() == -1) + util_error("Test directory could not be verified"); + // Initialise data dictionary LogMessage(LOG_LEVEL_INFO,"Initializing data dictionary"); dataDictInitResult = DataDictionaryConstructor(GSD); diff --git a/server/src/util.c b/server/src/util.c index 040b928c4..2f1c497fd 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -24,6 +24,7 @@ #include #include #include +#include #include "util.h" #include "logging.h" @@ -2168,6 +2169,104 @@ int iCommSendACCM(ACCMData data) /*------------------------------------------------------------ -- File system functions ------------------------------------------------------------*/ +/*! + * \brief UtilVerifyTestDirectory Checks so that all the required directories exist + * (i.e. traj, conf etc.) and that a configuration file exists. + * \return 0 if successfully verified, -1 otherwise + */ +int UtilVerifyTestDirectory() +{ + DIR* dir; + FILE* file; + char testDir[MAX_FILE_PATH]; + char subDir[MAX_FILE_PATH]; + const char expectedDirs[][MAX_FILE_PATH] = {CONFIGURATION_DIR_NAME, + GEOFENCE_DIR_NAME, + JOURNAL_DIR_NAME, + TRAJECTORY_DIR_NAME}; + char* envVar; + int result; + + envVar = getenv(TEST_DIR_ENV_VARIABLE_NAME); + if (envVar == NULL) + { + strcpy(testDir, getenv("HOME")); + strcat(testDir,"/"); + strcat(testDir,MAESTRO_TEST_DIR_NAME); + + LogMessage(LOG_LEVEL_INFO,"Environment variable %s unset: defaulting to directory %s", TEST_DIR_ENV_VARIABLE_NAME, testDir); + } + else + { + strcpy(testDir, envVar); + LogMessage(LOG_LEVEL_INFO,"Using specified test directory %s", testDir); + } + + // Check top level dir + dir = opendir(testDir); + if (dir) + closedir(dir); + else if (errno == ENOENT) + { + LogMessage(LOG_LEVEL_ERROR, "Nonexistent top level test directory %s", testDir); + return -1; + } + else if (errno == EACCES) + { + LogMessage(LOG_LEVEL_ERROR, "Permission to access top level test directory %s denied (please do not run me as root)", testDir); + return -1; + } + else if (errno == ENOTDIR) + { + LogMessage(LOG_LEVEL_ERROR, "Top level test directory %s is not a directory", testDir); + return -1; + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Error opening top level directory %s", testDir); + return -1; + } + + // Check so that all expected directories exist + strcat(testDir, "/"); + for (unsigned int i = 0; i < sizeof (expectedDirs)/sizeof(expectedDirs[0]); ++i) + { + strcpy(subDir, testDir); + strcat(subDir, expectedDirs[i]); + + dir = opendir(subDir); + if (dir) + closedir(dir); + else if (errno == ENOENT) + { + // It did not exist: create it + LogMessage(LOG_LEVEL_INFO, "Directory %s does not exist: creating it", subDir); + result = mkdir(subDir, S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH); + if (result < 0) util_error("Unable to create directory"); + } + else + { + LogMessage(LOG_LEVEL_ERROR, "Error opening directory %s", subDir); + return -1; + } + } + + // Check so that a configuration file exists + strcpy(subDir, testDir); + strcat(subDir, CONFIGURATION_DIR_NAME "/" CONF_FILE_NAME); + file = fopen(subDir, "r+"); + + if (file != NULL) + { + fclose(file); + return 0; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Configuration file %s does not exist", subDir); + return -1; + } +} + /*! * \brief getTestDirectoryPath Gets the absolute path to the directory where subdirectories for * trajectories, geofences, configuration etc. are stored, ending with a forward slash. The @@ -2179,7 +2278,6 @@ int iCommSendACCM(ACCMData data) void UtilGetTestDirectoryPath(char* path, size_t pathLen) { char* envVar; - static short int pathInfoEmitted = 0; if (pathLen > MAX_FILE_PATH) { @@ -2191,11 +2289,6 @@ void UtilGetTestDirectoryPath(char* path, size_t pathLen) envVar = getenv(TEST_DIR_ENV_VARIABLE_NAME); if (envVar == NULL) { - if (!pathInfoEmitted) - { - LogMessage(LOG_LEVEL_INFO,"Environment variable %s unset: defaulting to home directory", TEST_DIR_ENV_VARIABLE_NAME); - pathInfoEmitted = 1; - } strcpy(path, getenv("HOME")); strcat(path,"/"); strcat(path,MAESTRO_TEST_DIR_NAME); @@ -2203,11 +2296,6 @@ void UtilGetTestDirectoryPath(char* path, size_t pathLen) } else { - if (!pathInfoEmitted) - { - LogMessage(LOG_LEVEL_INFO,"Using test directory %s", envVar); - pathInfoEmitted = 1; - } strcpy(path, envVar); strcat(path,"/"); } From 69927fb0a9de85c8d64c74c56a84793980c6c861 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 13 Aug 2019 16:27:50 +0200 Subject: [PATCH 466/730] Updated util reference to one using general logging locations --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index d74dee0a6..9461950e1 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit d74dee0a63f80db20d6d8ab739d168792e1837b1 +Subproject commit 9461950e11024f83c38007838558dc55bc112e55 From 320eff5b24ca0e1b0b1c10e681bd96c4ebff6266 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 15 Aug 2019 11:11:23 +0200 Subject: [PATCH 467/730] Added string parser functions to Action --- modules/ScenarioControl/inc/action.h | 7 +- modules/ScenarioControl/src/action.cpp | 94 +++++++++++++++++++++++++- 2 files changed, 98 insertions(+), 3 deletions(-) diff --git a/modules/ScenarioControl/inc/action.h b/modules/ScenarioControl/inc/action.h index 20a646bd3..36c3b0417 100644 --- a/modules/ScenarioControl/inc/action.h +++ b/modules/ScenarioControl/inc/action.h @@ -57,10 +57,13 @@ class Action in_addr_t getObjectIP(void) const { return actionObjectIP; } void setObjectIP(in_addr_t ipAddr) { actionObjectIP = ipAddr; } - void setExecuteDalayTime(struct timeval tm); + void setExecuteDelayTime(struct timeval tm); struct timeval getExecuteDelayTime(void) const; ActionReturnCode_t appendParameter(ActionParameter_t actionParameter); + virtual ActionReturnCode_t appendParameter(std::string parameterString); + + static ActionTypeCode_t asTypeCode(const std::string &typeCodeString); protected: ActionTypeCode_t actionTypeCode = ACTION_NONE; @@ -71,6 +74,8 @@ class Action in_addr_t actionObjectIP = 0; ActionReturnCode_t checkActionParameter(ActionParameter_t actionParameter) const; + virtual ActionParameter_t asParameterCode(const std::string ¶meterCodeString) const; + static char toUpper(const char c); private: virtual const std::set getAcceptedParameters(void) const diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index 5d592d92c..c09e0ae6d 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -1,12 +1,12 @@ #include +#include #include "action.h" #include "logging.h" #include "maestroTime.h" - /*! * \brief Action::Action Constructor for Action objects. * \param actionID ISO ID of the action @@ -139,6 +139,89 @@ std::string Action::getTypeAsString(Action::ActionTypeCode_t typeCode) return "<>"; } +char Action::toUpper(const char c) +{ + if (c >= 'a' && c <= 'z') + return c - ('a' - 'A'); + return c; +} + +/*! + * \brief Action::asTypeCode Tries to interpret the input as an action type, and returns the type code. + * \param inputStr String to be interpreted + * \return Type code matching the string + */ +Action::ActionTypeCode_t Action::asTypeCode(const std::string &inputStr) +{ + std::string str = inputStr; + for (char &ch : str) + ch = toUpper(ch); + if (!str.compare("NONE")) + return ACTION_NONE; + if (!str.compare("TYPE_1")) + return ACTION_TYPE_1; + if (!str.compare("TYPE_2")) + return ACTION_TYPE_2; + if (!str.compare("SET_SPEED")) + return ACTION_SET_SPEED; + if (!str.compare("SET_DISTANCE")) + return ACTION_SET_DISTANCE; + if (!str.compare("SET_ACCELERATION")) + return ACTION_SET_ACCELERATION; + if (!str.compare("LANE_CHANGE")) + return ACTION_LANE_CHANGE; + if (!str.compare("LANE_OFFSET")) + return ACTION_LANE_OFFSET; + if (!str.compare("SET_POSITION")) + return ACTION_SET_POSITION; + if (!str.compare("SET_STEERING_ANGLE")) + return ACTION_SET_STEERING_ANGLE; + if (!str.compare("SET_THROTTLE_VALUE")) + return ACTION_SET_TRHOTTLE_VALUE; + if (!str.compare("BRAKE")) + return ACTION_BRAKE; + if (!str.compare("FOLLOW_TRAJECTORY")) + return ACTION_FOLLOW_TRAJECTORY; + if (!str.compare("OTHER_OBJECT_FEATURE")) + return ACTION_OTHER_OBJECT_FEATURE; + if (!str.compare("INFRASTRUCTURE")) + return ACTION_INFRASTRUCTURE; + if (!str.compare("TEST_SCENARIO_COMMAND")) + return ACTION_TEST_SCENARIO_COMMAND; + if (!str.compare("MISC_DIGITAL_OUTPUT")) + return ACTION_MISC_DIGITAL_OUTPUT; + if (!str.compare("MISC_ANALOG_OUTPUT")) + return ACTION_MISC_ANALOG_OUTPUT; + if (!str.compare("START_TIMER")) + return ACTION_START_TIMER; + if (!str.compare("MODE_CHANGE")) + return ACTION_MODE_CHANGE; + if (!str.compare("UNAVAILABLE")) + return ACTION_UNAVAILABLE; + + throw std::invalid_argument("Action name " + inputStr + " does not match any known action type"); +} + + +Action::ActionParameter_t Action::asParameterCode(const std::string &inputStr) const +{ + std::string str = inputStr; + for (char &ch : str) + ch = toUpper(ch); + if(!str.compare("ENABLE") || !str.compare("SET_TRUE")) + return ACTION_PARAMETER_SET_TRUE; + if(!str.compare("DISABLE") || !str.compare("SET_FALSE")) + return ACTION_PARAMETER_SET_FALSE; + if(!str.compare("SET_VALUE")) + return ACTION_PARAMETER_SET_VALUE; + if(!str.compare("PRESS")) + return ACTION_PARAMETER_PRESS; + if(!str.compare("RELEASE")) + return ACTION_PARAMETER_RELEASE; + + throw std::invalid_argument("Action parameter " + inputStr + " is not a valid parameter"); +} + /*! * \brief Action::checkActionParameter Checks if the queried parameter is within the list of accepted parameters * \param actionParameter Queried parameter @@ -154,6 +237,7 @@ Action::ActionReturnCode_t Action::checkActionParameter(ActionParameter_t action return NOT_OK; } + /*! * \brief Action::appendParameter * \param actionParameter @@ -170,6 +254,12 @@ Action::ActionReturnCode_t Action::appendParameter(ActionParameter_t actionParam return OK; } +Action::ActionReturnCode_t Action::appendParameter(std::string inputStr) +{ + ActionParameter_t param = asParameterCode(inputStr); + return appendParameter(param); +} + /*! * \brief Action::getConfigurationMessageData Constructs a ACCMData struct from object members * \return A struct which can be sent on message bus @@ -216,7 +306,7 @@ ACCMData Action::getConfigurationMessageData(void) const * \brief Action::setExecuteDalayTime Sets the delay from when EXAC is sent to when action is to be executed * \param tm Timeval struct representing the delay */ -void Action::setExecuteDalayTime(struct timeval tm) +void Action::setExecuteDelayTime(struct timeval tm) { int64_t time_qms = tm.tv_sec*4000 + tm.tv_usec/250; From 14080cb2c333e125f340feb7f0af5461cb48fa2d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 15 Aug 2019 11:11:55 +0200 Subject: [PATCH 468/730] Same as previous but for ExternalAction --- modules/ScenarioControl/inc/externalaction.h | 3 +++ modules/ScenarioControl/src/externalaction.cpp | 14 ++++++++++++++ 2 files changed, 17 insertions(+) diff --git a/modules/ScenarioControl/inc/externalaction.h b/modules/ScenarioControl/inc/externalaction.h index e4a9d6e64..c813bd256 100644 --- a/modules/ScenarioControl/inc/externalaction.h +++ b/modules/ScenarioControl/inc/externalaction.h @@ -17,6 +17,9 @@ class InfrastructureAction : public ExternalAction public: InfrastructureAction(ActionID_t actionID = 0, uint32_t allowedNumberOfRuns = 1); +protected: + ActionParameter_t asParameterCode(const std::string ¶meterCodeString) const; + private: const std::set getAcceptedParameters(void) const { diff --git a/modules/ScenarioControl/src/externalaction.cpp b/modules/ScenarioControl/src/externalaction.cpp index f25bf6dbb..5af17ce20 100644 --- a/modules/ScenarioControl/src/externalaction.cpp +++ b/modules/ScenarioControl/src/externalaction.cpp @@ -31,3 +31,17 @@ InfrastructureAction::InfrastructureAction(ActionID_t actionID, uint32_t allowed : ExternalAction(actionID, Action::ActionTypeCode_t::ACTION_INFRASTRUCTURE, allowedNumberOfRuns) { } + +Action::ActionParameter_t InfrastructureAction::asParameterCode(const std::string &inputStr) const +{ + try { + return Action::asParameterCode(inputStr); + } catch (std::invalid_argument e) { + std::string str = inputStr; + for (char &ch : str) + ch = toUpper(ch); + if (!str.compare("DENM_BRAKE_WARNING")) + return ACTION_PARAMETER_VS_BRAKE_WARNING; + throw e; + } +} From 05a595eea6ce3628bcfac5c2f4028fd9b18b08e8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 15 Aug 2019 11:12:58 +0200 Subject: [PATCH 469/730] Same as previous but for Trigger. Also added isSimilar function --- modules/ScenarioControl/inc/trigger.h | 9 +- modules/ScenarioControl/src/trigger.cpp | 148 ++++++++++++++++++++++++ 2 files changed, 155 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index 678ed5dd1..d5fc800c2 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -44,7 +44,8 @@ class Trigger bool isActive() const; in_addr_t getObjectIP(void) const { return triggerObjectIP; } - bool operator==(const Trigger &other) const { return other.triggerID == triggerID; } + bool operator==(const Trigger &other) const { return (other.triggerID == triggerID) && isSimilar(other); } + bool isSimilar(const Trigger &other) const; /*! Setters */ void setID(TriggerID_t triggerID) { this->triggerID = triggerID; } @@ -56,6 +57,7 @@ class Trigger * \return Value according to ::TriggerReturnCode_t */ TriggerReturnCode_t appendParameter(TriggerParameter_t triggerParameter); + virtual TriggerReturnCode_t appendParameter(std::string parameterString); /*! * \brief parseParameters Parse the parameters list into an appropriate Trigger mode. @@ -90,12 +92,15 @@ class Trigger virtual TriggerReturnCode_t update(float, struct timeval) { throw std::invalid_argument("Invalid signal type"); } virtual TriggerReturnCode_t update(double, struct timeval) { throw std::invalid_argument("Invalid signal type"); } virtual TriggerReturnCode_t update(TREOData){ throw std::invalid_argument("Invalid signal type"); } + + static TriggerTypeCode_t asTypeCode(std::string typeCodeString); protected: TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter) const; TriggerTypeCode_t triggerTypeCode; TriggerReturnCode_t wasTriggeredByLastUpdate = NOT_OK; //!< State saving the last result of update std::vector parameters; - + virtual TriggerParameter_t asParameterCode(const std::string ¶meterCodeString) const; + static char toUpper(const char c); in_addr_t triggerObjectIP = 0; private: diff --git a/modules/ScenarioControl/src/trigger.cpp b/modules/ScenarioControl/src/trigger.cpp index 48d69cc64..ad81fa852 100644 --- a/modules/ScenarioControl/src/trigger.cpp +++ b/modules/ScenarioControl/src/trigger.cpp @@ -189,6 +189,142 @@ std::string Trigger::getTypeAsString(Trigger::TriggerTypeCode_t typeCode) return "<>"; } +char Trigger::toUpper(const char c) +{ + if (c >= 'a' && c <= 'z') + return c - ('a' - 'A'); + return c; +} + +/*! + * \brief Trigger::asTypeCode Tries to interpret the input as a trigger type, and returns the type code. + * \param inputStr String to be interpreted + * \return Type code matching the string + */ +Trigger::TriggerTypeCode_t Trigger::asTypeCode(std::string inputStr) +{ + std::string str = inputStr; + for (char &ch : str) + ch = toUpper(ch); + if(!str.compare("UNDEFINED")) + return TRIGGER_UNDEFINED; + if(!str.compare("TYPE_1")) + return TRIGGER_TYPE_1; + if(!str.compare("SPEED")) + return TRIGGER_SPEED; + if(!str.compare("DISTANCE")) + return TRIGGER_DISTANCE; + if(!str.compare("ACCELERATION")) + return TRIGGER_ACCELERATION; + if(!str.compare("LANE_CHANGED")) + return TRIGGER_LANE_CHANGED; + if(!str.compare("LANE_OFFSET")) + return TRIGGER_LANE_OFFSET; + if(!str.compare("POSITION_REACHED")) + return TRIGGER_POSITION_REACHED; + if(!str.compare("POSITION_LEFT")) + return TRIGGER_POSITION_LEFT; + if(!str.compare("POSITION_OFFSET")) + return TRIGGER_POSITION_OFFSET; + if(!str.compare("STEERING_ANGLE")) + return TRIGGER_STEERING_ANGLE; + if(!str.compare("THROTTLE_VALUE")) + return TRIGGER_THROTTLE_VALUE; + if(!str.compare("BRAKE")) + return TRIGGER_BRAKE; + if(!str.compare("ACTIVE_TRAJECTORY")) + return TRIGGER_ACTIVE_TRAJECTORY; + if(!str.compare("OTHER_OBJECT_FEATURE")) + return TRIGGER_OTHER_OBJECT_FEATURE; + if(!str.compare("INFRASTRUCTURE")) + return TRIGGER_INFRASTRUCTURE; + if(!str.compare("TEST_SCENARIO_EVENT")) + return TRIGGER_TEST_SCENARIO_EVENT; + if(!str.compare("MISC_DIGITAL_INPUT")) + return TRIGGER_MISC_DIGITAL_INPUT; + if(!str.compare("MISC_ANALOG_INPUT")) + return TRIGGER_MISC_ANALOG_INPUT; + if(!str.compare("TIMER_EVENT_OCCURRED")) + return TRIGGER_TIMER_EVENT_OCCURRED; + if(!str.compare("MODE_CHANGED")) + return TRIGGER_MODE_CHANGED; + if(!str.compare("UNAVAILABLE")) + return TRIGGER_UNAVAILABLE; + + throw std::invalid_argument("Trigger name " + inputStr + " does not match any known trigger type"); +} + +Trigger::TriggerParameter_t Trigger::asParameterCode(const std::string &inputStr) const +{ + std::string str = inputStr; + for (char &ch : str) + ch = toUpper(ch); + if(!str.compare("FALSE")) + return TRIGGER_PARAMETER_FALSE; + if(!str.compare("TRUE")) + return TRIGGER_PARAMETER_TRUE; + if(!str.compare("RELEASED")) + return TRIGGER_PARAMETER_RELEASED; + if(!str.compare("PRESSED")) + return TRIGGER_PARAMETER_PRESSED; + if(!str.compare("LOW")) + return TRIGGER_PARAMETER_LOW; + if(!str.compare("HIGH")) + return TRIGGER_PARAMETER_HIGH; + if(!str.compare("RISING_EDGE")) + return TRIGGER_PARAMETER_RISING_EDGE; + if(!str.compare("FALLING_EDGE")) + return TRIGGER_PARAMETER_FALLING_EDGE; + if(!str.compare("ANY_EDGE")) + return TRIGGER_PARAMETER_ANY_EDGE; + if(!str.compare("RELATIVE")) + return TRIGGER_PARAMETER_RELATIVE; + if(!str.compare("ABSOLUTE")) + return TRIGGER_PARAMETER_ABSOLUTE; + if(!str.compare("VALUE")) + return TRIGGER_PARAMETER_VALUE; + if(!str.compare("MIN")) + return TRIGGER_PARAMETER_MIN; + if(!str.compare("MAX")) + return TRIGGER_PARAMETER_MAX; + if(!str.compare("MEAN")) + return TRIGGER_PARAMETER_MEAN; + if(!str.compare("EQUAL_TO") || !str.compare("==") || (!str.compare("=") && str.length() == 1)) + return TRIGGER_PARAMETER_EQUAL_TO; + if((!str.compare("GREATER_THAN") && str.length() == strlen("GREATER_THAN")) || (!str.compare(">") && str.length() == 1)) + return TRIGGER_PARAMETER_GREATER_THAN; + if(!str.compare("GREATER_THAN_OR_EQUAL_TO") || !str.compare(">=")) + return TRIGGER_PARAMETER_GREATER_THAN_OR_EQUAL_TO; + if((!str.compare("LESS_THAN") && str.length() == strlen("LESS_THAN")) || (!str.compare("<") && str.length() == 1)) + return TRIGGER_PARAMETER_LESS_THAN; + if(!str.compare("LESS_THAN_OR_EQUAL_TO") || !str.compare("<=")) + return TRIGGER_PARAMETER_LESS_THAN_OR_EQUAL_TO; + if(!str.compare("NOT_EQUAL_TO") || !str.compare("!=") || !str.compare("~=")) + return TRIGGER_PARAMETER_NOT_EQUAL_TO; + if(!str.compare("X") && str.length() == 1) + return TRIGGER_PARAMETER_X; + if(!str.compare("Y") && str.length() == 1) + return TRIGGER_PARAMETER_Y; + if(!str.compare("Z") && str.length() == 1) + return TRIGGER_PARAMETER_Z; + if(!str.compare("TIME")) + return TRIGGER_PARAMETER_TIME; + if(!str.compare("DATE")) + return TRIGGER_PARAMETER_DATE; + if(!str.compare("RULE")) + return TRIGGER_PARAMETER_RULE; + if(!str.compare("UNAVAILABLE")) + return TRIGGER_PARAMETER_UNAVAILABLE; + + throw std::invalid_argument("Action parameter " + inputStr + " is not a valid parameter"); +} + +Trigger::TriggerReturnCode_t Trigger::appendParameter(std::string inputStr) +{ + TriggerParameter_t param = asParameterCode(inputStr); + return appendParameter(param); +} + /*! * \brief Trigger::isActive Check if the last update to tracked signal caused trigger to occur * \return Boolean according to trigger status @@ -202,6 +338,18 @@ bool Trigger::isActive() const throw std::logic_error("Trigger in undefined state"); } +bool Trigger::isSimilar(const Trigger &other) const +{ + if (parameters.size() != other.parameters.size()) return false; + + bool similar = true; + similar = similar && (triggerTypeCode == other.triggerTypeCode); + similar = similar && (triggerObjectIP == other.triggerObjectIP); + for (unsigned i = 0; i < parameters.size(); ++i) + similar = similar && (parameters[i] == other.parameters[i]); + return similar; +} + /*! * \brief Trigger::getConfigurationMessageData Constructs a TRCMData struct from object members * \return A struct which can be sent on message bus From 8dbe961ab0172596596e2dd4b6fdf44b2713a5f7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 15 Aug 2019 11:13:45 +0200 Subject: [PATCH 470/730] Implemented file parser functionality --- modules/ScenarioControl/inc/scenario.h | 5 + modules/ScenarioControl/src/scenario.cpp | 229 ++++++++++++++++++++++- 2 files changed, 232 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/inc/scenario.h b/modules/ScenarioControl/inc/scenario.h index 733b45c5c..21b33cce3 100644 --- a/modules/ScenarioControl/inc/scenario.h +++ b/modules/ScenarioControl/inc/scenario.h @@ -60,6 +60,11 @@ class Scenario std::set allActions; void parseScenarioFile(std::ifstream &file); + void parseScenarioFileLine(const std::string &line); + void splitLine(const std::string &line, const char delimiter, std::vector &result); + std::set parseTriggerConfiguration(const std::string &config); + std::set parseActionConfiguration(const std::string &config); + }; #endif diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index eb464a512..555c15bdb 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -3,6 +3,7 @@ #include #include +#include #include "scenario.h" @@ -37,7 +38,7 @@ void Scenario::clear() void Scenario::initialize(const std::string scenarioFilePath) { std::ifstream file; - file.exceptions(std::ios_base::badbit | std::ios_base::failbit); + std::string debugStr; clear(); LogMessage(LOG_LEVEL_DEBUG, "Opening scenario file <%s>", scenarioFilePath.c_str()); @@ -52,6 +53,17 @@ void Scenario::initialize(const std::string scenarioFilePath) file.close(); LogMessage(LOG_LEVEL_INFO, "Successfully initialized scenario with %d unique triggers and %d unique actions", allTriggers.size(), allActions.size()); + + debugStr = "Triggers:\n"; + for (Trigger* tp : allTriggers) + debugStr += "\t" + tp->getTypeAsString(tp->getTypeCode()) + "\n"; + + debugStr += "Actions:\n"; + for (Action* ap : allActions) + debugStr += "\t" + ap->getTypeAsString(ap->getTypeCode()) + "\n"; + + debugStr.pop_back(); + LogMessage(LOG_LEVEL_DEBUG, debugStr.c_str()); } /*! @@ -72,9 +84,222 @@ void Scenario::sendConfiguration(void) const } } + +void Scenario::splitLine(const std::string &line, const char delimiter, std::vector &result) +{ + std::istringstream strm(line); + std::string part; + while (getline(strm,part,delimiter)) + { + result.push_back(part); + } + return; +} + +void Scenario::parseScenarioFileLine(const std::string &inputLine) +{ + using namespace std; + if (inputLine[0] == '#' || inputLine.length() == 0) return; + string line = inputLine; + + // Remove whitespace + string::iterator endPos = remove_if(line.begin(), line.end(), ::isspace); + line.erase(endPos,line.end()); + + // Split into parts + vector parts; + constexpr char delimiter = ';'; + splitLine(line,delimiter,parts); + + // Match and act on relevant fields + regex ipAddrPattern("([0-2]?[0-9]?[0-9]\\.){3}([0-2]?[0-9]?[0-9])"); // Match 3 "<000-299>." followed by "<000-299>" + regex triggerActionPattern("(([a-zA-Z_])+\\[([a-zA-Z0-9\\.,<=>_])+\\])+"); + in_addr triggerIP, actionIP; + string errMsg; + set actions; + set triggers; + enum {TRIGGER_IP,TRIGGER,ACTION_IP,ACTION,DONE} parseState = TRIGGER_IP; + + for (const string &part : parts) + { + switch (parseState) + { + case TRIGGER_IP: + if(!regex_match(part,ipAddrPattern)) + { + errMsg = "Specified trigger IP address field <" + part + "> is invalid"; + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw invalid_argument(errMsg); + } + + if(inet_pton(AF_INET, part.c_str(), &triggerIP) <= 0) + { + errMsg = "Error parsing IP string <" + part + ">"; + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw invalid_argument(errMsg); + } + parseState = TRIGGER; + break; + case TRIGGER: + if(!regex_match(part,triggerActionPattern)) + { + errMsg = "Trigger configuration field <" + part + "> is invalid"; + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw invalid_argument(errMsg); + } + + triggers = parseTriggerConfiguration(part); + for (Trigger* tp : triggers) + { + tp->setObjectIP(triggerIP.s_addr); + for (Trigger* knownTrigger : allTriggers) + tp = tp->isSimilar(*knownTrigger) ? knownTrigger : tp; + addTrigger(tp); + } + parseState = ACTION_IP; + break; + case ACTION_IP: + if(!regex_match(part,ipAddrPattern)) + { + errMsg = "Specified action IP address field <" + part + "> is invalid"; + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw invalid_argument(errMsg); + } + + if(inet_pton(AF_INET, part.c_str(), &actionIP) <= 0) + { + errMsg = "Error parsing IP string <" + part + ">"; + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw invalid_argument(errMsg); + } + parseState = ACTION; + break; + case ACTION: + if(!regex_match(part,triggerActionPattern)) + { + errMsg = "Action configuration field <" + part + "> is invalid"; + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw invalid_argument(errMsg); + } + + actions = parseActionConfiguration(part); + for (Action* ap : actions) + { + ap->setObjectIP(actionIP.s_addr); + addAction(ap); + } + parseState = DONE; + break; + case DONE: + if (part.length() != 0) LogMessage(LOG_LEVEL_WARNING,"Ignored tail field of row in configuration file: <%s>",part.c_str()); + break; + } + } + + linkTriggersWithActions(triggers, actions); + return; +} + +std::set Scenario::parseTriggerConfiguration(const std::string &inputConfig) +{ + using namespace std; + regex triggerPattern("([a-zA-Z_]+)\\[([^,^\\]]+)(?:,([^,^\\]]+))?(?:,([^,^\\]]+))?\\]"); + smatch match; + string errMsg; + vector configs; + Trigger::TriggerTypeCode_t triggerType; + set returnTriggers; + Trigger* trigger; + Trigger::TriggerID_t baseTriggerID = static_cast(allTriggers.size()); + + splitLine(inputConfig, ']', configs); + for (string &config : configs) + config.append("]"); + + for(const string &config : configs) + { + if (!regex_search(config, match, triggerPattern)) + { + errMsg = "The following is not a valid configuration: <" + config + ">"; + LogMessage(LOG_LEVEL_ERROR,errMsg.c_str()); + throw invalid_argument(errMsg); + } + vector matches; + for (unsigned int i = 0; i < match.size(); i++) + matches.push_back(match[i].str()); + + triggerType = Trigger::asTypeCode(match[1]); + switch (triggerType) { + case TRIGGER_BRAKE: + trigger = new BrakeTrigger(baseTriggerID + static_cast(returnTriggers.size())); + // TODO: the OR between the Maestro trigger and possible TREO messages + break; + default: + // TODO: implement ISO triggers with TRCM and whatnot + // trigger = new ISOTrigger(baseTriggerID + static_cast(returnTriggers.size(), triggerType); + errMsg = "Unimplemented trigger type " + match[0].str(); + LogMessage(LOG_LEVEL_ERROR,errMsg.c_str()); + throw logic_error(errMsg); + break; + } + for (unsigned int i = 2; i < match.size(); ++i) + if (!match[i].str().empty()) trigger->appendParameter(match[i].str()); + returnTriggers.insert(trigger); + } + return returnTriggers; +} + +std::set Scenario::parseActionConfiguration(const std::string &inputConfig) +{ + using namespace std; + regex triggerPattern("([a-zA-Z_]+)\\[([^,^\\]]+)(?:,([^,^\\]]+))?(?:,([^,^\\]]+))?\\]"); + smatch match; + string errMsg; + vector configs; + Action::ActionTypeCode_t actionType; + set returnActions; + Action* action; + Action::ActionID_t baseActionID = static_cast(allActions.size()); + + splitLine(inputConfig, ']', configs); + for (string &config : configs) + config.append("]"); + + for(const string &config : configs) + { + if (!regex_search(config, match, triggerPattern)) + { + errMsg = "The following is not a valid configuration: <" + config + ">"; + LogMessage(LOG_LEVEL_ERROR,errMsg.c_str()); + throw invalid_argument(errMsg); + } + + actionType = Action::asTypeCode(match[1]); + switch (actionType) + { + case ACTION_INFRASTRUCTURE: + action = new InfrastructureAction(baseActionID + static_cast(returnActions.size())); + break; + default: + action = new ExternalAction(baseActionID + static_cast(returnActions.size()), actionType); + break; + } + for (unsigned int i = 2; i < match.size(); ++i) + if(!match[i].str().empty()) action->appendParameter(match[i].str()); + returnActions.insert(action); + } + + return returnActions; +} + void Scenario::parseScenarioFile(std::ifstream &file) { LogMessage(LOG_LEVEL_DEBUG, "Parsing scenario file"); + + std::string line; + while ( std::getline(file, line) ) parseScenarioFileLine(line); + + return; // TODO: read file, throw std::invalid_argument if badly formatted // TODO: decode file into triggers and actions // TODO: link triggers and actions @@ -100,7 +325,7 @@ void Scenario::parseScenarioFile(std::ifstream &file) mqttAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_VS_BRAKE_WARNING); mqttAction->setObjectIP(mqttObjectIP.s_addr); - mqttAction->setExecuteDalayTime({1,0}); + mqttAction->setExecuteDelayTime({1,0}); addTrigger(bt); addAction(mqttAction); From 41495e4d0ca437aced957dcd6fbff20e9da8721d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 15 Aug 2019 15:57:26 +0200 Subject: [PATCH 471/730] Throw an error if the file does not exist --- modules/ScenarioControl/src/scenario.cpp | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 555c15bdb..726f4f460 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -44,14 +44,19 @@ void Scenario::initialize(const std::string scenarioFilePath) LogMessage(LOG_LEVEL_DEBUG, "Opening scenario file <%s>", scenarioFilePath.c_str()); file.open(scenarioFilePath); - try { - parseScenarioFile(file); - } catch (std::invalid_argument) { + if (file.is_open()) + { + try { + parseScenarioFile(file); + } catch (std::invalid_argument) { + file.close(); + throw; + } file.close(); - throw; } - file.close(); - + else { + throw std::ifstream::failure("Unable to open file <" + scenarioFilePath + ">"); + } LogMessage(LOG_LEVEL_INFO, "Successfully initialized scenario with %d unique triggers and %d unique actions", allTriggers.size(), allActions.size()); debugStr = "Triggers:\n"; From f736f47356b7d93dfb92b85059eac879f8303c4c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 15 Aug 2019 15:58:52 +0200 Subject: [PATCH 472/730] Added the file parsing to main --- modules/ScenarioControl/src/main.cpp | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 91791977c..54a57c6e1 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -10,7 +10,6 @@ #define MODULE_NAME "ScenarioControl" -#define SCENARIO_FILE_PATH "path/to/file" /************************ Main task ******************************************/ int main() @@ -23,6 +22,9 @@ int main() TREOData treo; MonitorDataType monr; bool terminate = false; + char configPath[MAX_FILE_PATH]; + UtilGetConfDirectoryPath(configPath, sizeof(configPath)); + strcat(configPath,TRIGGER_ACTION_FILE_NAME); enum {UNINITIALIZED, INITIALIZED, CONNECTED, RUNNING} state = UNINITIALIZED; LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); @@ -34,7 +36,6 @@ int main() nanosleep(&sleepTimePeriod,&remTime); } - //exit(0); while(!terminate) { @@ -57,12 +58,17 @@ int main() { try { LogMessage(LOG_LEVEL_INFO, "Initializing scenario"); - //scenario.initialize(SCENARIO_FILE_PATH); - scenario.initialize("log/dummy_scenariofil.fil"); + scenario.initialize(configPath); state = INITIALIZED; } - catch (std::invalid_argument) { util_error("Invalid scenario file format"); } - catch (std::ifstream::failure) { util_error("Unable to open scenario file <" SCENARIO_FILE_PATH ">"); } + catch (std::invalid_argument e) { + std::string errMsg = "Invalid scenario file format: " + std::string(e.what()); + util_error(errMsg.c_str()); + } + catch (std::ifstream::failure) { + std::string errMsg = "Unable to open scenario file <" + std::string(configPath) + ">"; + util_error(errMsg.c_str()); + } } break; case COMM_OBJECTS_CONNECTED: From 65935819756cab53933af8d8b555cb93adb94bc0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 15 Aug 2019 19:52:27 +0200 Subject: [PATCH 473/730] Implemented missing check function --- modules/ScenarioControl/inc/isotrigger.h | 1 + modules/ScenarioControl/src/isotrigger.cpp | 8 +++++++- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/inc/isotrigger.h b/modules/ScenarioControl/inc/isotrigger.h index ded134ac2..1b03c4ea5 100644 --- a/modules/ScenarioControl/inc/isotrigger.h +++ b/modules/ScenarioControl/inc/isotrigger.h @@ -15,6 +15,7 @@ class ISOTrigger : public Trigger TriggerReturnCode_t update(void) override { return wasTriggeredByLastUpdate = NO_TRIGGER_OCCURRED; } TriggerReturnCode_t update(TREOData) override; private: + TriggerReturnCode_t checkIfTriggered() const override; const std::set getAcceptedParameters() const override { std::set retval; diff --git a/modules/ScenarioControl/src/isotrigger.cpp b/modules/ScenarioControl/src/isotrigger.cpp index 9dce109eb..952a9fc41 100644 --- a/modules/ScenarioControl/src/isotrigger.cpp +++ b/modules/ScenarioControl/src/isotrigger.cpp @@ -2,11 +2,17 @@ Trigger::TriggerReturnCode_t ISOTrigger::update(TREOData data) { - if (data.triggerID == getID()) + if (data.triggerID == getID() && data.ip == triggerObjectIP) { // TODO: Check IP as well? wasTriggeredByLastUpdate = TRIGGER_OCCURRED; + return checkIfTriggered(); } else return INVALID_ARGUMENT; } + +Trigger::TriggerReturnCode_t ISOTrigger::checkIfTriggered() const +{ + return wasTriggeredByLastUpdate; +} From 49f956f58eaad93dd52663e8d75f186814cd2586 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 15 Aug 2019 19:52:40 +0200 Subject: [PATCH 474/730] Some function descriptions --- modules/ScenarioControl/src/scenario.cpp | 142 +++++++++++------------ 1 file changed, 67 insertions(+), 75 deletions(-) diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 726f4f460..36d38023a 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -89,18 +89,25 @@ void Scenario::sendConfiguration(void) const } } - +/*! + * \brief Scenario::splitLine Splits a line at specified delimiter and stores the generated substrings in a vector (excluding the delimiters) + * \param line Line to be split + * \param delimiter Delimiter at which line is to be split + * \param result Vector in which to store substrings generated by splitting operation + */ void Scenario::splitLine(const std::string &line, const char delimiter, std::vector &result) { std::istringstream strm(line); std::string part; - while (getline(strm,part,delimiter)) - { - result.push_back(part); - } + while (getline(strm,part,delimiter)) result.push_back(part); return; } +/*! + * \brief Scenario::parseScenarioFileLine Converts a line from the trigger and action configuration file into a number of linked triggers + * and actions, and modifies members accordingly. Lines which are empty or start with a pound sign are ignored. + * \param inputLine Line to be decoded + */ void Scenario::parseScenarioFileLine(const std::string &inputLine) { using namespace std; @@ -116,29 +123,27 @@ void Scenario::parseScenarioFileLine(const std::string &inputLine) constexpr char delimiter = ';'; splitLine(line,delimiter,parts); - // Match and act on relevant fields + // Match relevant field according to below patterns regex ipAddrPattern("([0-2]?[0-9]?[0-9]\\.){3}([0-2]?[0-9]?[0-9])"); // Match 3 "<000-299>." followed by "<000-299>" regex triggerActionPattern("(([a-zA-Z_])+\\[([a-zA-Z0-9\\.,<=>_])+\\])+"); in_addr triggerIP, actionIP; string errMsg; set actions; set triggers; + + // Expect a line to consist of trigger IP, triggers, action IP and actions in that order enum {TRIGGER_IP,TRIGGER,ACTION_IP,ACTION,DONE} parseState = TRIGGER_IP; - for (const string &part : parts) - { - switch (parseState) - { + for (const string &part : parts) { + switch (parseState) { case TRIGGER_IP: - if(!regex_match(part,ipAddrPattern)) - { + if(!regex_match(part,ipAddrPattern)) { errMsg = "Specified trigger IP address field <" + part + "> is invalid"; LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); throw invalid_argument(errMsg); } - if(inet_pton(AF_INET, part.c_str(), &triggerIP) <= 0) - { + if(inet_pton(AF_INET, part.c_str(), &triggerIP) <= 0) { errMsg = "Error parsing IP string <" + part + ">"; LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); throw invalid_argument(errMsg); @@ -146,16 +151,14 @@ void Scenario::parseScenarioFileLine(const std::string &inputLine) parseState = TRIGGER; break; case TRIGGER: - if(!regex_match(part,triggerActionPattern)) - { + if(!regex_match(part,triggerActionPattern)) { errMsg = "Trigger configuration field <" + part + "> is invalid"; LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); throw invalid_argument(errMsg); } triggers = parseTriggerConfiguration(part); - for (Trigger* tp : triggers) - { + for (Trigger* tp : triggers) { tp->setObjectIP(triggerIP.s_addr); for (Trigger* knownTrigger : allTriggers) tp = tp->isSimilar(*knownTrigger) ? knownTrigger : tp; @@ -164,15 +167,13 @@ void Scenario::parseScenarioFileLine(const std::string &inputLine) parseState = ACTION_IP; break; case ACTION_IP: - if(!regex_match(part,ipAddrPattern)) - { + if(!regex_match(part,ipAddrPattern)) { errMsg = "Specified action IP address field <" + part + "> is invalid"; LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); throw invalid_argument(errMsg); } - if(inet_pton(AF_INET, part.c_str(), &actionIP) <= 0) - { + if(inet_pton(AF_INET, part.c_str(), &actionIP) <= 0) { errMsg = "Error parsing IP string <" + part + ">"; LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); throw invalid_argument(errMsg); @@ -180,16 +181,14 @@ void Scenario::parseScenarioFileLine(const std::string &inputLine) parseState = ACTION; break; case ACTION: - if(!regex_match(part,triggerActionPattern)) - { + if(!regex_match(part,triggerActionPattern)) { errMsg = "Action configuration field <" + part + "> is invalid"; LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); throw invalid_argument(errMsg); } actions = parseActionConfiguration(part); - for (Action* ap : actions) - { + for (Action* ap : actions) { ap->setObjectIP(actionIP.s_addr); addAction(ap); } @@ -205,6 +204,12 @@ void Scenario::parseScenarioFileLine(const std::string &inputLine) return; } +/*! + * \brief Scenario::parseTriggerConfiguration Parses a field from the trigger and action configuration file corresponding to trigger + * configurations. + * \param inputConfig The part of a configuration line which corresponds to trigger configurations + * \return A set of trigger pointers according to what was found in the configuration + */ std::set Scenario::parseTriggerConfiguration(const std::string &inputConfig) { using namespace std; @@ -217,10 +222,12 @@ std::set Scenario::parseTriggerConfiguration(const std::string &inputC Trigger* trigger; Trigger::TriggerID_t baseTriggerID = static_cast(allTriggers.size()); + // Split the configuration to allow for several in a row splitLine(inputConfig, ']', configs); for (string &config : configs) config.append("]"); + // Loop through the specified triggers and generate a trigger for each for(const string &config : configs) { if (!regex_search(config, match, triggerPattern)) @@ -229,31 +236,35 @@ std::set Scenario::parseTriggerConfiguration(const std::string &inputC LogMessage(LOG_LEVEL_ERROR,errMsg.c_str()); throw invalid_argument(errMsg); } - vector matches; - for (unsigned int i = 0; i < match.size(); i++) - matches.push_back(match[i].str()); triggerType = Trigger::asTypeCode(match[1]); switch (triggerType) { + // If the trigger type has Maestro monitoring implemented, use that case TRIGGER_BRAKE: trigger = new BrakeTrigger(baseTriggerID + static_cast(returnTriggers.size())); - // TODO: the OR between the Maestro trigger and possible TREO messages + // TODO: possibly the OR between the Maestro trigger and possible TREO messages break; default: - // TODO: implement ISO triggers with TRCM and whatnot - // trigger = new ISOTrigger(baseTriggerID + static_cast(returnTriggers.size(), triggerType); - errMsg = "Unimplemented trigger type " + match[0].str(); - LogMessage(LOG_LEVEL_ERROR,errMsg.c_str()); - throw logic_error(errMsg); + // Trigger with unimplemented Maestro monitoring: let object handle trigger reporting + trigger = new ISOTrigger(baseTriggerID + static_cast(returnTriggers.size()), triggerType); break; } + + // Transfer specified parameters to relevant containers for (unsigned int i = 2; i < match.size(); ++i) if (!match[i].str().empty()) trigger->appendParameter(match[i].str()); returnTriggers.insert(trigger); } + return returnTriggers; } +/*! + * \brief Scenario::parseActionConfiguration Parses a field from the trigger and action configuration file corresponding to action + * configurations. + * \param inputConfig The part of a configuration line which corresponds to action configurations + * \return A set of action pointers according to what was found in the configuration + */ std::set Scenario::parseActionConfiguration(const std::string &inputConfig) { using namespace std; @@ -266,10 +277,12 @@ std::set Scenario::parseActionConfiguration(const std::string &inputCon Action* action; Action::ActionID_t baseActionID = static_cast(allActions.size()); + // Split the configuration to allow for several in a row splitLine(inputConfig, ']', configs); for (string &config : configs) config.append("]"); + // Loop through specified actions and generate an action for each for(const string &config : configs) { if (!regex_search(config, match, triggerPattern)) @@ -280,15 +293,18 @@ std::set Scenario::parseActionConfiguration(const std::string &inputCon } actionType = Action::asTypeCode(match[1]); - switch (actionType) - { + switch (actionType) { + // Handle any specialised action types case ACTION_INFRASTRUCTURE: action = new InfrastructureAction(baseActionID + static_cast(returnActions.size())); break; default: + // Regular action (only ACCM and EXAC) action = new ExternalAction(baseActionID + static_cast(returnActions.size()), actionType); break; } + + // Transfer specified parameters to relevant containers for (unsigned int i = 2; i < match.size(); ++i) if(!match[i].str().empty()) action->appendParameter(match[i].str()); returnActions.insert(action); @@ -297,66 +313,42 @@ std::set Scenario::parseActionConfiguration(const std::string &inputCon return returnActions; } +/*! + * \brief Scenario::parseScenarioFile Parses the trigger and action configuration file into relevant triggers and actions, and links between them. + * \param file File stream for an open configuration file + */ void Scenario::parseScenarioFile(std::ifstream &file) { LogMessage(LOG_LEVEL_DEBUG, "Parsing scenario file"); std::string line; while ( std::getline(file, line) ) parseScenarioFileLine(line); - return; - // TODO: read file, throw std::invalid_argument if badly formatted - // TODO: decode file into triggers and actions - // TODO: link triggers and actions - - // PLACEHOLDER CODE - BrakeTrigger* bt = new BrakeTrigger(1); - InfrastructureAction* mqttAction = new InfrastructureAction(5, 1); - ExternalAction* brakeLightAction = new ExternalAction(6,Action::ActionTypeCode_t::ACTION_MISC_DIGITAL_OUTPUT,1); - const char brakeObjectIPString[] = "127.0.0.1"; - const char mqttObjectIPString[] = "127.0.0.1"; - const char ledObjectIPString[] = "10.130.254.197"; - in_addr brakeObjectIP, mqttObjectIP, ledObjectIP; - inet_pton(AF_INET, brakeObjectIPString, &brakeObjectIP); - inet_pton(AF_INET, mqttObjectIPString, &mqttObjectIP); - inet_pton(AF_INET, ledObjectIPString, &ledObjectIP); - - bt->appendParameter(Trigger::TriggerParameter_t::TRIGGER_PARAMETER_PRESSED); - bt->parseParameters(); - bt->setObjectIP(brakeObjectIP.s_addr); - - brakeLightAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_SET_TRUE); - brakeLightAction->setObjectIP(ledObjectIP.s_addr); - - mqttAction->appendParameter(Action::ActionParameter_t::ACTION_PARAMETER_VS_BRAKE_WARNING); - mqttAction->setObjectIP(mqttObjectIP.s_addr); - mqttAction->setExecuteDelayTime({1,0}); - - addTrigger(bt); - addAction(mqttAction); - addAction(brakeLightAction); - - linkTriggerWithAction(bt, mqttAction); - linkTriggerWithAction(bt, brakeLightAction); } +/*! + * \brief Scenario::addTrigger Appends a trigger to the list of known triggers, unless another trigger of the same ID is already in place. + * \param tp Trigger pointer to be added + * \return Return code according to ::ScenarioReturnCode_t + */ Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger* tp) { for (Trigger* knownTrigger : allTriggers) - { if (knownTrigger->getID() == tp->getID()) return DUPLICATE_ELEMENT; - } allTriggers.insert(tp); return OK; } +/*! + * \brief Scenario::addAction Appends an action to the list of known actions, unless another action of the same ID is already in place. + * \param ap Action pointer to be added + * \return Return code according to ::ScenarioReturnCode_t + */ Scenario::ScenarioReturnCode_t Scenario::addAction(Action* ap) { for (Action* knownAction : allActions) - { if (knownAction->getID() == ap->getID()) return DUPLICATE_ELEMENT; - } allActions.insert(ap); return OK; From 3eb715560f010fe4da94a483f52ea5e12d89d92a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 20 Aug 2019 09:24:05 +0200 Subject: [PATCH 475/730] Implemented missing toString function --- modules/ScenarioControl/src/causality.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/modules/ScenarioControl/src/causality.cpp b/modules/ScenarioControl/src/causality.cpp index 256859b77..cf3e1f9fb 100644 --- a/modules/ScenarioControl/src/causality.cpp +++ b/modules/ScenarioControl/src/causality.cpp @@ -1,4 +1,5 @@ #include "causality.h" +#include "logging.h" Causality::Causality(Causality::TriggerOperator_t op) { @@ -41,6 +42,11 @@ Trigger* Causality::getTriggerByID(Trigger::TriggerID_t id) const return nullptr; } +std::string Causality::getOperatorString() const +{ + return oper == OR ? "OR" : "AND"; +} + void Causality::refresh(void) const { if (isActive()) From ff08096053ed088ab3d054ec8f3c69a0448b4e70 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 20 Aug 2019 09:25:26 +0200 Subject: [PATCH 476/730] Fixed bug where duplicate triggers were still being listed in some places --- modules/ScenarioControl/src/scenario.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/src/scenario.cpp b/modules/ScenarioControl/src/scenario.cpp index 36d38023a..8a7e6691a 100644 --- a/modules/ScenarioControl/src/scenario.cpp +++ b/modules/ScenarioControl/src/scenario.cpp @@ -161,7 +161,14 @@ void Scenario::parseScenarioFileLine(const std::string &inputLine) for (Trigger* tp : triggers) { tp->setObjectIP(triggerIP.s_addr); for (Trigger* knownTrigger : allTriggers) - tp = tp->isSimilar(*knownTrigger) ? knownTrigger : tp; + { + if(tp->isSimilar(*knownTrigger)) + { + triggers.erase(tp); + triggers.insert(knownTrigger); + tp = knownTrigger; + } + } addTrigger(tp); } parseState = ACTION_IP; @@ -336,6 +343,7 @@ Scenario::ScenarioReturnCode_t Scenario::addTrigger(Trigger* tp) for (Trigger* knownTrigger : allTriggers) if (knownTrigger->getID() == tp->getID()) return DUPLICATE_ELEMENT; + LogMessage(LOG_LEVEL_DEBUG,"Adding trigger with ID: %d",tp->getID()); allTriggers.insert(tp); return OK; } @@ -428,7 +436,7 @@ Scenario::ScenarioReturnCode_t Scenario::updateTrigger(const MonitorDataType &mo struct timeval monrTime, currentTime; TimeSetToCurrentSystemTime(¤tTime); TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(¤tTime), monr.MONR.GPSQmsOfWeekU32); - tp->update(static_cast(monr.MONR.LongitudinalSpeedI16/100.0), monrTime); + tp->update(static_cast(monr.MONR.LongitudinalSpeedI16)/100.0, monrTime); break; default: LogMessage(LOG_LEVEL_WARNING, "Unhandled trigger type in update: %s", From 1d5bf3a6f067643464e1cedc09a7843194cb90a4 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 20 Aug 2019 15:25:25 +0200 Subject: [PATCH 477/730] Implemented median filter to get rid of outliers. Also modified weight in Kalman filter --- modules/ScenarioControl/src/braketrigger.cpp | 29 +++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/modules/ScenarioControl/src/braketrigger.cpp b/modules/ScenarioControl/src/braketrigger.cpp index c4bbba32f..352561530 100644 --- a/modules/ScenarioControl/src/braketrigger.cpp +++ b/modules/ScenarioControl/src/braketrigger.cpp @@ -1,4 +1,6 @@ #include +#include +#include #include "maestroTime.h" #include "logging.h" #include "braketrigger.h" @@ -6,6 +8,8 @@ #define ACCELERATION_OF_GRAVITY_M_S2 9.81 #define DEFAULT_RETARDATION_THRESHOLD_G 0.1 +double findMedian(double arr[], unsigned int n); + BrakeTrigger::BrakeTrigger(Trigger::TriggerID_t triggerID) : BooleanTrigger(triggerID, Trigger::TriggerTypeCode_t::TRIGGER_BRAKE) { setBrakeRetardationThreshold(DEFAULT_RETARDATION_THRESHOLD_G * ACCELERATION_OF_GRAVITY_M_S2); @@ -16,6 +20,19 @@ void BrakeTrigger::setBrakeRetardationThreshold(double threshold_m_s2) brakeRetardationThreshold_m_s2 = fabs(threshold_m_s2); } +double findMedian(double arr[], unsigned int n) +{ + // First we sort the array + std::sort(arr, arr+n); + + // check for even case + if (n % 2 != 0) + return arr[n/2]; + + return (arr[(n-1)/2] + arr[n/2])/2.0; +} + +#define BRAKETRIGGER_MEDIAN_FILTER_LENGTH 5 BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasurement, struct timeval measurementTime) { static struct timeval lastMeasurementTime; @@ -23,8 +40,11 @@ BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasuremen double deltaT, velocityInnovation, accelerationInnovation; constexpr double minimumDeltaT = 0.001; static double velocityEstimate, accelerationEstimate; + constexpr double velocityInnovationWeight = 0.85; - constexpr double accelerationInnovationWeight = 0.4; + constexpr double accelerationInnovationWeight = 0.05; + static std::deque velocityMedianFilter(BRAKETRIGGER_MEDIAN_FILTER_LENGTH, 0.0); + double tempArray[BRAKETRIGGER_MEDIAN_FILTER_LENGTH]; if (!timerisset(&lastMeasurementTime)) { @@ -51,6 +71,13 @@ BrakeTrigger::TriggerReturnCode_t BrakeTrigger::update(double velocityMeasuremen accelerationEstimate = accelerationEstimate; // Update step + velocityMedianFilter.pop_back(); + velocityMedianFilter.push_front(velocityMeasurement); + for (unsigned int i = 0; i < sizeof (tempArray)/sizeof (tempArray[0]); ++i) + tempArray[i] = velocityMedianFilter[i]; + + velocityMeasurement = findMedian(tempArray,sizeof (tempArray)/sizeof (tempArray[0])); + accelerationInnovation = (velocityMeasurement - velocityEstimate) / deltaT; velocityInnovation = (velocityMeasurement - velocityEstimate); accelerationEstimate = accelerationEstimate + accelerationInnovationWeight * accelerationInnovation; From 87a7e207a9a2dbaa69e2fa2f4c864e2670e03682 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 20 Aug 2019 15:29:24 +0200 Subject: [PATCH 478/730] Removed misplaced break statement --- server/src/citscontrol.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 12e4fca83..4745ab5e7 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -240,7 +240,6 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_DEBUG, "Ignored old style MONR data"); break; case COMM_MONR: - break; UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof(busReceiveBuffer),&mqMONRdata,0); MONRMessage = mqMONRdata.MONR; From b65bc99151a420d494591055aa73f4f5f35de848 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 20 Aug 2019 17:03:30 +0200 Subject: [PATCH 479/730] Implemented allocation, deallocation function for DENM. Started on initialisation function for DENM fields --- server/src/citscontrol.c | 196 +++++++++++++++++++++++++++++++++++++-- 1 file changed, 187 insertions(+), 9 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 4745ab5e7..2b34e7943 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -60,11 +60,17 @@ #define DEFAULT_MQTT_QOS 1 #define DEFAULT_MQTT_TIMEOUT 10000L +#define ITS_STATION_ID 0x7E7E00000000 + #define MODULE_NAME "CitsControl" /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ +DENM_t* allocateDENMStruct(void); +void deallocateDENMStruct(DENM_t* denm); +void initializeDENMStruct(DENM_t* denm); + I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode); @@ -135,26 +141,27 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) uint16_t* storedActionIDs = NULL; int numberOfStoredActionIDs = 0; int actionIndex = -1; - - asn_enc_rval_t ec; + LogInit(MODULE_NAME,logLevel); + LogMessage(LOG_LEVEL_INFO, "C-ITS control running with PID: %i", getpid()); + CAM_t* lastCam; lastCam = calloc(1, sizeof(CAM_t)); - if(!lastCam){ - exit(1); + if (lastCam == NULL){ + exit(EXIT_FAILURE); } - lastDENM = calloc(1, sizeof(DENM_t)); - if(!lastDENM) { - exit(1); + //lastDENM = calloc(1, sizeof(DENM_t)); + lastDENM = allocateDENMStruct(); + if (lastDENM == NULL) { + exit(EXIT_FAILURE); } + initializeDENMStruct(lastDENM); TimeType time; I16 lastSpeed = 0; - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO, "C-ITS control running with PID: %i", getpid()); //! Timer for sending DENM at later time struct timeval systemTime, exacTime = {0,0}; @@ -339,9 +346,180 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } } + deallocateDENMStruct(lastDENM); free(storedActionIDs); } +void initializeDENMStruct(DENM_t* denm) +{ + /****** MANAGEMENT ******/ + denm->denm.management.actionID.originatingStationID = ITS_STATION_ID; + denm->denm.management.actionID.sequenceNumber = 0; + denm->denm.management.stationType = 0; // TODO: relevant stationType + // TODO: denm->denm.management.detectionTime.buf + // TODO: denm->denm.management.referenceTime.buf + // TODO: denm->denm.management.detectionTime.size + // TODO: denm->denm.management.referenceTime.size + denm->denm.management.eventPosition.altitude.altitudeValue = 0; + denm->denm.management.eventPosition.altitude.altitudeConfidence = 0; + denm->denm.management.eventPosition.latitude = 0; + denm->denm.management.eventPosition.longitude = 0; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = 0; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; + + + // Unused management optional fields (null their pointers to show unused) + // TODO: Modify here to ocne relevant information can be used + free(denm->denm.management.termination); + free(denm->denm.management.relevanceDistance); + free(denm->denm.management.relevanceTrafficDirection); + free(denm->denm.management.validityDuration); + free(denm->denm.management.transmissionInterval); + denm->denm.management.termination = NULL; + denm->denm.management.relevanceDistance = NULL; + denm->denm.management.relevanceTrafficDirection = NULL; + denm->denm.management.validityDuration = NULL; + denm->denm.management.transmissionInterval = NULL; + + /****** SITUATION ******/ + // TODO + + /****** LOCATION ******/ + // TODO + + /****** ALACARTE ******/ + // TODO +} + +DENM_t* allocateDENMStruct(void) +{ + // Allocate entire struct + DENM_t* denm = calloc(1, sizeof(DENM_t)); + if (denm == NULL) + return NULL; + + // Allocate subcontainers + denm->denm.situation = calloc(1, sizeof(SituationContainer_t)); + denm->denm.location = calloc(1, sizeof(LocationContainer_t)); + denm->denm.alacarte = calloc(1, sizeof(AlacarteContainer_t)); + if (denm->denm.situation == NULL || denm->denm.location == NULL || denm->denm.alacarte == NULL) + { + deallocateDENMStruct(denm); + return NULL; + } + else { + // Initialize all pointers to null so that they can be passed to the deallocation + // function if something goes wrong during initialization + denm->denm.management.termination = NULL; + denm->denm.management.relevanceDistance = NULL; + denm->denm.management.relevanceTrafficDirection = NULL; + denm->denm.management.validityDuration = NULL; + denm->denm.management.transmissionInterval = NULL; + + denm->denm.situation->linkedCause = NULL; + denm->denm.situation->eventHistory = NULL; + + denm->denm.location->eventSpeed = NULL; + denm->denm.location->eventPositionHeading = NULL; + denm->denm.location->roadType = NULL; + + denm->denm.alacarte->lanePosition = NULL; + denm->denm.alacarte->impactReduction = NULL; + denm->denm.alacarte->externalTemperature = NULL; + denm->denm.alacarte->roadWorks = NULL; + denm->denm.alacarte->positioningSolution = NULL; + denm->denm.alacarte->stationaryVehicle = NULL; + } + + // Allocate management subcontainers + denm->denm.management.termination = calloc(1, sizeof (Termination_t)); + denm->denm.management.relevanceDistance = calloc(1, sizeof (RelevanceDistance_t)); + denm->denm.management.relevanceTrafficDirection = calloc(1, sizeof (RelevanceTrafficDirection_t)); + denm->denm.management.validityDuration = calloc(1, sizeof (ValidityDuration_t)); + denm->denm.management.transmissionInterval = calloc(1, sizeof (TransmissionInterval_t)); + if (denm->denm.management.termination == NULL || denm->denm.management.relevanceDistance == NULL + || denm->denm.management.relevanceTrafficDirection == NULL || denm->denm.management.validityDuration == NULL + || denm->denm.management.transmissionInterval == NULL) + { + deallocateDENMStruct(denm); + return NULL; + } + + // Allocate situation subcontainers + denm->denm.situation->linkedCause = calloc(1,sizeof (CauseCode_t)); + denm->denm.situation->eventHistory = NULL; // TODO: allocate memory for this + if (denm->denm.situation->linkedCause == NULL /*|| denm->denm.situation->eventHistory == NULL*/) + { + deallocateDENMStruct(denm); + return NULL; + } + + // Allocate location subcontainers + denm->denm.location->eventSpeed = calloc(1, sizeof (Speed_t)); + denm->denm.location->eventPositionHeading = calloc(1, sizeof (Heading_t)); + denm->denm.location->roadType = calloc(1, sizeof (RoadType_t)); + if (denm->denm.location->eventSpeed == NULL || denm->denm.location->eventPositionHeading == NULL + || denm->denm.location->roadType == NULL) + { + deallocateDENMStruct(denm); + return NULL; + } + + // Allocate alacarte subcontainers + denm->denm.alacarte->lanePosition = calloc(1, sizeof(LanePosition_t)); + denm->denm.alacarte->impactReduction = NULL; // TODO: allocate memory for this + denm->denm.alacarte->externalTemperature = calloc(1, sizeof(Temperature_t)); + denm->denm.alacarte->roadWorks = NULL; // TODO: allocate memory for this + denm->denm.alacarte->positioningSolution = calloc(1, sizeof (PositioningSolutionType_t)); + denm->denm.alacarte->stationaryVehicle = NULL; // TODO: allocate memory for this + if (denm->denm.alacarte->lanePosition == NULL || denm->denm.alacarte->externalTemperature == NULL + || denm->denm.alacarte->positioningSolution == NULL /*|| denm->denm.alacarte->impactReduction == NULL + || denm->denm.alacarte->roadWorks == NULL || denm->denm.alacarte->stationaryVehicle == NULL*/) + { + deallocateDENMStruct(denm); + return NULL; + } + + return denm; +} + +void deallocateDENMStruct(DENM_t* denm) +{ + if (denm == NULL) return; + + if (denm->denm.situation != NULL) + { + free(denm->denm.situation->linkedCause); + free(denm->denm.situation->eventHistory); // TODO: deallocate possible submembers + + free(denm->denm.situation); + } + + if (denm->denm.location != NULL) + { + free(denm->denm.location->eventSpeed); + free(denm->denm.location->eventPositionHeading); + free(denm->denm.location->roadType); + + free(denm->denm.location); + } + + if (denm->denm.alacarte != NULL) + { + free(denm->denm.alacarte->lanePosition); + free(denm->denm.alacarte->impactReduction); // TODO: deallocate possible submembers + free(denm->denm.alacarte->externalTemperature); + free(denm->denm.alacarte->roadWorks); // TODO: deallocate possible submembers + free(denm->denm.alacarte->positioningSolution); + free(denm->denm.alacarte->stationaryVehicle); // TODO: deallocate possible submembers + + free(denm->denm.alacarte); + } + + free(denm); +} + void signalHandler(int sig, siginfo_t* siginfo, void* uc) { // TODO: check signal From f4961fa60d9f4d2d269aeef62ac22281dd4022ce Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 21 Aug 2019 17:47:00 +0200 Subject: [PATCH 480/730] Bare minimum of a DENM message in initialization --- server/src/citscontrol.c | 33 ++++++++++++++++++++++++--------- 1 file changed, 24 insertions(+), 9 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 2b34e7943..748e95b2d 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -356,10 +356,8 @@ void initializeDENMStruct(DENM_t* denm) denm->denm.management.actionID.originatingStationID = ITS_STATION_ID; denm->denm.management.actionID.sequenceNumber = 0; denm->denm.management.stationType = 0; // TODO: relevant stationType - // TODO: denm->denm.management.detectionTime.buf - // TODO: denm->denm.management.referenceTime.buf - // TODO: denm->denm.management.detectionTime.size - // TODO: denm->denm.management.referenceTime.size + asn_long2INTEGER(&denm->denm.management.detectionTime,0); // TODO: double check + asn_long2INTEGER(&denm->denm.management.referenceTime,0); // TODO: double check denm->denm.management.eventPosition.altitude.altitudeValue = 0; denm->denm.management.eventPosition.altitude.altitudeConfidence = 0; denm->denm.management.eventPosition.latitude = 0; @@ -367,29 +365,43 @@ void initializeDENMStruct(DENM_t* denm) denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = 0; denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - + *denm->denm.management.validityDuration = 600; // Unused management optional fields (null their pointers to show unused) - // TODO: Modify here to ocne relevant information can be used + // TODO: Modify here to once relevant information can be used free(denm->denm.management.termination); free(denm->denm.management.relevanceDistance); free(denm->denm.management.relevanceTrafficDirection); - free(denm->denm.management.validityDuration); free(denm->denm.management.transmissionInterval); denm->denm.management.termination = NULL; denm->denm.management.relevanceDistance = NULL; denm->denm.management.relevanceTrafficDirection = NULL; - denm->denm.management.validityDuration = NULL; denm->denm.management.transmissionInterval = NULL; /****** SITUATION ******/ // TODO + free(denm->denm.situation); + denm->denm.situation = NULL; + // denm->denm.situation->informationQuality = 0; // TODO: what should this be initialised to? + // denm->denm.situation->eventType.causeCode = CauseCodeType_reserved; + // denm->denm.situation->eventType.subCauseCode = 0; // TODO: what should this be initialised to? + // + // // Unused situation optional fields (null their pointers to show unused) + // // TODO: Modify here to once relevant information can be used + // free(denm->denm.situation->linkedCause); + // free(denm->denm.situation->eventHistory); + // denm->denm.situation->linkedCause = NULL; + // denm->denm.situation->eventHistory = NULL; /****** LOCATION ******/ // TODO + free(denm->denm.location); + denm->denm.location = NULL; /****** ALACARTE ******/ // TODO + free(denm->denm.alacarte); + denm->denm.alacarte = NULL; } DENM_t* allocateDENMStruct(void) @@ -792,8 +804,11 @@ I32 sendDENM(DENM_t* denm){ //FILE *fp = fopen("tmp", "wb"); //asn_enc_rval_t ec = der_encode(&asn_DEF_DENM, denm, write_out, fp); //fclose(fp); + //void* buffer; + //struct asn_per_constraints_s* constraints = NULL; + //const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_DENM, constraints, denm, &buffer); - publish_mqtt((char*)denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); + publish_mqtt(buffer, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); return 1; } From 786e3b0d3db441c7841e42fc8cc1c4cddbd357f3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 21 Aug 2019 17:48:39 +0200 Subject: [PATCH 481/730] Fixed compile error --- server/src/citscontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 748e95b2d..a184aa94d 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -808,7 +808,7 @@ I32 sendDENM(DENM_t* denm){ //struct asn_per_constraints_s* constraints = NULL; //const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_DENM, constraints, denm, &buffer); - publish_mqtt(buffer, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); + publish_mqtt((char*)denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); return 1; } From 29f76d65e1afb34abcfce6c0ae718d857ffd6f8b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 21 Aug 2019 20:16:40 +0200 Subject: [PATCH 482/730] Included ASN1 generated files in build --- server/CMakeLists.txt | 8 +++++++- util | 2 +- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 9fa3dd15b..82bf14ab8 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -37,6 +37,12 @@ if(USE_CITS) src/citscontrol.c inc/citscontrol.h ) + file(GLOB ASN1_HEADERS "../util/ASN1/generatedfiles/*.h") + file(GLOB ASN1_SOURCES "../util/ASN1/generatedfiles/*.c") + add_library(ASN1_ITS + ${ASN1_HEADERS} + ${ASN1_SOURCES} + ) add_definitions(-DCITS_ENABLED) endif() @@ -100,7 +106,7 @@ target_link_libraries(util MaestroLogging MaestroTime MQBus) target_link_libraries(TEServer util) if(USE_CITS) - target_link_libraries(cits pahomqtt3c MaestroTime) + target_link_libraries(cits pahomqtt3c MaestroTime ASN1_ITS) target_link_libraries(TEServer cits) endif() diff --git a/util b/util index 9461950e1..4054faa62 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 9461950e11024f83c38007838558dc55bc112e55 +Subproject commit 4054faa62871daa56d2316a16dda5ce328723ed2 From 3ca2f801a5d99add197192de93343d7228d4409e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 23 Aug 2019 16:19:49 +0200 Subject: [PATCH 483/730] Implemented retransmission of DENM --- server/src/citscontrol.c | 627 ++++++++++++++++++++++++++++----------- 1 file changed, 455 insertions(+), 172 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index a184aa94d..573c068ff 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -23,6 +23,7 @@ #include #include #include +#include #include @@ -44,7 +45,12 @@ #define H_THRESHOLD 1 //HEADING THRESHOLD #define S_THRESHOLD 0 //SPEED THRESHOLD #define D_THRESHOLD 1 //DISTANCE THRESHOLD -#define CHECK_PERIOD 100 +#define DENM_RETRANSMIT_CYCLE_S 1 +#define DENM_RETRANSMIT_CYCLE_US 0 +#define DENM_VALIDITY_DURATION_S 10 +#define MAX_SIMULTANEOUS_DENM 10 +#define CAM_TIME_CYCLE_S 1 +#define CAM_TIME_CYCLE_US 0 #define SIG SIGRTMIN // Signal type to use for timers #define CITS_CONTROL_CONF_FILE_PATH "conf/test.conf" @@ -60,10 +66,27 @@ #define DEFAULT_MQTT_QOS 1 #define DEFAULT_MQTT_TIMEOUT 10000L -#define ITS_STATION_ID 0x7E7E00000000 +#define ITS_STATION_ID 1000 + +#define DENM_V_1_2_1_MESSAGE_ID 1 +#define DENM_V_1_2_1_PROTOCOL_VERSION 1 +#define CAM_V_1_3_1_MESSAGE_ID 2 +#define CAM_V_1_3_1_PROTOCOL_VERSION 1 #define MODULE_NAME "CitsControl" + +/*------------------------------------------------------------ + -- Typedefs + ------------------------------------------------------------*/ +typedef struct +{ + struct timeval retransmissionEndTime; + struct timeval nextRetransmissionTime; + struct timeval retransmissionInterval; + DENM_t* message; +} DENMRetransmission_t; + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ @@ -71,6 +94,10 @@ DENM_t* allocateDENMStruct(void); void deallocateDENMStruct(DENM_t* denm); void initializeDENMStruct(DENM_t* denm); +CAM_t* allocateCAMStruct(void); +void deallocateCAMStruct(CAM_t* cam); +void initializeCAMStruct(CAM_t* cam); + I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode); @@ -92,6 +119,7 @@ int getActionIndex(EXACData exac, uint16_t* actionIDs, int nConfiguredActions); int storeDENM(DENM_t denm); static void signalHandler(int sig, siginfo_t *siginfo, void* uc); void sendLastDENM(void); +ssize_t insertNewDENMIntoList(DENMRetransmission_t** list, size_t listSize); /*------------------------------------------------------------ -- Private variables @@ -109,6 +137,7 @@ struct Origo { double latitude; }; + static int state = INIT; static volatile int pending_state = INIT; static volatile int iExit = 0; @@ -117,9 +146,10 @@ static MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializ static MQTTClient_message pubmsg = MQTTClient_message_initializer; static volatile MQTTClient_deliveryToken deliveredtoken = 0; static MQTTClient_deliveryToken sendtoken = 0; -static DENM_t* lastDENM; +static DENM_t *tempDENM; +static CAM_t* lastCAM, *tempCAM; static struct Origo origin; - +static DENMRetransmission_t* activeDENMs[MAX_SIMULTANEOUS_DENM]; /*------------------------------------------------------------ -- The main function. @@ -127,9 +157,10 @@ static struct Origo origin; void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) { origin.longitude = -200; //Initialize longitude to something outside -180 to 180 - origin.latitude = -100; //Initialize latitude to something outside -90 to 90 + origin.latitude = -100; //Initialize latitude to something outside -90 to 90 - int camTimeCycle = 0; + const struct timeval timeCycleCAM = {CAM_TIME_CYCLE_S,CAM_TIME_CYCLE_US}; + struct timeval nextCAMCycle; char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus enum COMMAND command; int mqtt_response_code = 0; @@ -146,18 +177,20 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogInit(MODULE_NAME,logLevel); LogMessage(LOG_LEVEL_INFO, "C-ITS control running with PID: %i", getpid()); - CAM_t* lastCam; - lastCam = calloc(1, sizeof(CAM_t)); - if (lastCam == NULL){ + + lastCAM = allocateCAMStruct(); + tempCAM = allocateCAMStruct(); + if (lastCAM == NULL || tempCAM == NULL){ exit(EXIT_FAILURE); } + initializeCAMStruct(lastCAM); + + bzero(activeDENMs,sizeof (activeDENMs)); - //lastDENM = calloc(1, sizeof(DENM_t)); - lastDENM = allocateDENMStruct(); - if (lastDENM == NULL) { + tempDENM = allocateDENMStruct(); + if (tempDENM == NULL) { exit(EXIT_FAILURE); } - initializeDENMStruct(lastDENM); TimeType time; @@ -165,6 +198,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) //! Timer for sending DENM at later time struct timeval systemTime, exacTime = {0,0}; + TimeSetToCurrentSystemTime(&nextCAMCycle); UtilGetMillisecond(&time); @@ -173,10 +207,10 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) MQTTClient_setCallbacks(client, NULL, connlost_mqtt, msgarrvd_mqtt, delivered_mqtt); - lastCam->cam.generationDeltaTime = time.MillisecondU16; + lastCAM->cam.generationDeltaTime = time.MillisecondU16; - lastCam->cam.camParameters.basicContainer.referencePosition.latitude = 0; - lastCam->cam.camParameters.basicContainer.referencePosition.longitude = 0; + lastCAM->cam.camParameters.basicContainer.referencePosition.latitude = 0; + lastCAM->cam.camParameters.basicContainer.referencePosition.longitude = 0; // TODO: Initialize signal handler @@ -250,24 +284,26 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof(busReceiveBuffer),&mqMONRdata,0); MONRMessage = mqMONRdata.MONR; - if(camTimeCycle == CHECK_PERIOD) + TimeSetToCurrentSystemTime(&systemTime); + if(timercmp(&systemTime,&nextCAMCycle,>)) { + timeradd(&nextCAMCycle,&timeCycleCAM,&nextCAMCycle); + I16 distanceDelta = 0;// UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); - if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ - generateCAMMessage(&MONRMessage, lastCam); - generateDENMMessage(&MONRMessage, lastDENM, CauseCodeType_reserved); - sendCAM(lastCam); - sendDENM(lastDENM); + generateCAMMessage(&MONRMessage, lastCAM); + sendCAM(lastCAM); + + // Temporary + //generateDENMMessage(&MONRMessage, lastDENM, CauseCodeType_reserved); + //sendDENM(lastDENM); } lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); LastMONRMessage = MONRMessage; - camTimeCycle = 0; } - camTimeCycle++; break; case COMM_ACCM: @@ -289,23 +325,24 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) } // Based on last MONR message, generate a DENM message to send - generateDENMMessage(&MONRMessage, lastDENM, CauseCodeType_collisionRisk); - - if (actionData.executionTime_qmsoW == 0) + ssize_t DENMindex = insertNewDENMIntoList(activeDENMs,MAX_SIMULTANEOUS_DENM); + if (DENMindex == -1) { - LogMessage(LOG_LEVEL_INFO, "Received immediate action request: sending DENM message"); - if (lastDENM != NULL) - sendDENM(lastDENM); - else - LogMessage(LOG_LEVEL_ERROR, "Unable to send null DENM"); + LogMessage(LOG_LEVEL_ERROR,"Could not insert new DENM into list"); + break; } - else - { - TimeSetToGPStime(&exacTime, TimeGetAsGPSweek(&systemTime), actionData.executionTime_qmsoW); + generateDENMMessage(&MONRMessage, activeDENMs[DENMindex]->message, CauseCodeType_dangerousSituation); - LogMessage(LOG_LEVEL_INFO, "Received action request: sending DENM in %.3f seconds", - (double)(actionData.executionTime_qmsoW-TimeGetAsGPSqmsOfWeek(&systemTime))/4000); - } + struct timeval validityDuration; + TimeSetToGPStime(&activeDENMs[DENMindex]->nextRetransmissionTime, TimeGetAsGPSweek(&systemTime), actionData.executionTime_qmsoW); + + validityDuration.tv_sec = *activeDENMs[DENMindex]->message->denm.management.validityDuration; + validityDuration.tv_usec = 0; + + timeradd(&activeDENMs[DENMindex]->nextRetransmissionTime, &validityDuration, &activeDENMs[DENMindex]->retransmissionEndTime); + + activeDENMs[DENMindex]->retransmissionInterval.tv_sec = DENM_RETRANSMIT_CYCLE_S; + activeDENMs[DENMindex]->retransmissionInterval.tv_usec = DENM_RETRANSMIT_CYCLE_US; } else if (actionIndex == -1) LogMessage(LOG_LEVEL_DEBUG, "Received non-configured action execution request"); @@ -339,23 +376,65 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } - if (timerisset(&exacTime) && timercmp(&systemTime, &exacTime, >)) + TimeSetToCurrentSystemTime(&systemTime); + for (int i = 0; i < MAX_SIMULTANEOUS_DENM; ++i) { - timerclear(&exacTime); - sendDENM(lastDENM); + if(activeDENMs[i] == NULL) continue; + + DENMRetransmission_t* aDENM = activeDENMs[i]; + + if (timerisset(&aDENM->nextRetransmissionTime) && timercmp(&systemTime, &aDENM->nextRetransmissionTime, >)) + { + sendDENM(aDENM->message); + + timeradd(&aDENM->nextRetransmissionTime,&aDENM->retransmissionInterval,&aDENM->nextRetransmissionTime); + if (timercmp(&aDENM->nextRetransmissionTime,&aDENM->retransmissionEndTime,>)) + { + deallocateDENMStruct(aDENM->message); + free(aDENM); + activeDENMs[i] = NULL; + } + } } } - deallocateDENMStruct(lastDENM); + for (int i = 0; i < MAX_SIMULTANEOUS_DENM; ++i) + { + deallocateDENMStruct(activeDENMs[i]->message); + free(activeDENMs[i]); + } free(storedActionIDs); } + +ssize_t insertNewDENMIntoList(DENMRetransmission_t** list, size_t listSize) +{ + for (unsigned int i = 0; i < listSize; ++i) + { + if (list[i] == NULL) + { + list[i]->message = allocateDENMStruct(); + if (list[i]->message != NULL) + { + initializeDENMStruct(list[i]->message); + return i; + } + else return -1; + } + } + return -1; +} + void initializeDENMStruct(DENM_t* denm) { + denm->header.messageID = DENM_V_1_2_1_MESSAGE_ID; + denm->header.protocolVersion = DENM_V_1_2_1_PROTOCOL_VERSION; + denm->header.stationID = ITS_STATION_ID; + /****** MANAGEMENT ******/ denm->denm.management.actionID.originatingStationID = ITS_STATION_ID; denm->denm.management.actionID.sequenceNumber = 0; - denm->denm.management.stationType = 0; // TODO: relevant stationType + denm->denm.management.stationType = StationType_roadSideUnit; asn_long2INTEGER(&denm->denm.management.detectionTime,0); // TODO: double check asn_long2INTEGER(&denm->denm.management.referenceTime,0); // TODO: double check denm->denm.management.eventPosition.altitude.altitudeValue = 0; @@ -366,51 +445,86 @@ void initializeDENMStruct(DENM_t* denm) denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = 0; denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; *denm->denm.management.validityDuration = 600; + *denm->denm.management.relevanceDistance = RelevanceDistance_over10km; + *denm->denm.management.relevanceTrafficDirection = RelevanceTrafficDirection_allTrafficDirections; // Unused management optional fields (null their pointers to show unused) // TODO: Modify here to once relevant information can be used free(denm->denm.management.termination); - free(denm->denm.management.relevanceDistance); - free(denm->denm.management.relevanceTrafficDirection); - free(denm->denm.management.transmissionInterval); denm->denm.management.termination = NULL; - denm->denm.management.relevanceDistance = NULL; - denm->denm.management.relevanceTrafficDirection = NULL; - denm->denm.management.transmissionInterval = NULL; /****** SITUATION ******/ - // TODO - free(denm->denm.situation); - denm->denm.situation = NULL; - // denm->denm.situation->informationQuality = 0; // TODO: what should this be initialised to? - // denm->denm.situation->eventType.causeCode = CauseCodeType_reserved; - // denm->denm.situation->eventType.subCauseCode = 0; // TODO: what should this be initialised to? - // - // // Unused situation optional fields (null their pointers to show unused) - // // TODO: Modify here to once relevant information can be used - // free(denm->denm.situation->linkedCause); - // free(denm->denm.situation->eventHistory); - // denm->denm.situation->linkedCause = NULL; - // denm->denm.situation->eventHistory = NULL; + denm->denm.situation->informationQuality = InformationQuality_highest; + denm->denm.situation->eventType.causeCode = CauseCodeType_reserved; + denm->denm.situation->eventType.subCauseCode = CauseCodeType_reserved; + + // Unused situation optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(denm->denm.situation->linkedCause); + free(denm->denm.situation->eventHistory); + denm->denm.situation->linkedCause = NULL; + denm->denm.situation->eventHistory = NULL; /****** LOCATION ******/ - // TODO free(denm->denm.location); denm->denm.location = NULL; + if (denm->denm.location != NULL) + { + denm->denm.location->eventSpeed->speedValue = 0; + denm->denm.location->eventSpeed->speedValue = SpeedConfidence_unavailable; + + // Unused location optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(denm->denm.location->roadType); + free(denm->denm.location->eventPositionHeading); + denm->denm.location->roadType = NULL; + denm->denm.location->eventPositionHeading = NULL; + } + /****** ALACARTE ******/ + + // Unused alacarte optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(denm->denm.alacarte->lanePosition); + free(denm->denm.alacarte->impactReduction); + free(denm->denm.alacarte->externalTemperature); + free(denm->denm.alacarte->roadWorks); + free(denm->denm.alacarte->positioningSolution); + free(denm->denm.alacarte->stationaryVehicle); + denm->denm.alacarte->lanePosition = NULL; + denm->denm.alacarte->impactReduction = NULL; + denm->denm.alacarte->externalTemperature = NULL; + denm->denm.alacarte->roadWorks = NULL; + denm->denm.alacarte->positioningSolution = NULL; + denm->denm.alacarte->stationaryVehicle = NULL; + // TODO - free(denm->denm.alacarte); - denm->denm.alacarte = NULL; } DENM_t* allocateDENMStruct(void) { // Allocate entire struct DENM_t* denm = calloc(1, sizeof(DENM_t)); + LogPrint("denm: %p ", denm); if (denm == NULL) return NULL; + // Allocate management subcontainers + denm->denm.management.termination = calloc(1, sizeof (Termination_t)); + denm->denm.management.relevanceDistance = calloc(1, sizeof (RelevanceDistance_t)); + denm->denm.management.relevanceTrafficDirection = calloc(1, sizeof (RelevanceTrafficDirection_t)); + denm->denm.management.validityDuration = calloc(1, sizeof (ValidityDuration_t)); + denm->denm.management.transmissionInterval = calloc(1, sizeof (TransmissionInterval_t)); + + if (denm->denm.management.termination == NULL || denm->denm.management.relevanceDistance == NULL + || denm->denm.management.relevanceTrafficDirection == NULL || denm->denm.management.validityDuration == NULL + || denm->denm.management.transmissionInterval == NULL) + { + deallocateDENMStruct(denm); + return NULL; + } + // Allocate subcontainers denm->denm.situation = calloc(1, sizeof(SituationContainer_t)); denm->denm.location = calloc(1, sizeof(LocationContainer_t)); @@ -423,11 +537,6 @@ DENM_t* allocateDENMStruct(void) else { // Initialize all pointers to null so that they can be passed to the deallocation // function if something goes wrong during initialization - denm->denm.management.termination = NULL; - denm->denm.management.relevanceDistance = NULL; - denm->denm.management.relevanceTrafficDirection = NULL; - denm->denm.management.validityDuration = NULL; - denm->denm.management.transmissionInterval = NULL; denm->denm.situation->linkedCause = NULL; denm->denm.situation->eventHistory = NULL; @@ -444,19 +553,6 @@ DENM_t* allocateDENMStruct(void) denm->denm.alacarte->stationaryVehicle = NULL; } - // Allocate management subcontainers - denm->denm.management.termination = calloc(1, sizeof (Termination_t)); - denm->denm.management.relevanceDistance = calloc(1, sizeof (RelevanceDistance_t)); - denm->denm.management.relevanceTrafficDirection = calloc(1, sizeof (RelevanceTrafficDirection_t)); - denm->denm.management.validityDuration = calloc(1, sizeof (ValidityDuration_t)); - denm->denm.management.transmissionInterval = calloc(1, sizeof (TransmissionInterval_t)); - if (denm->denm.management.termination == NULL || denm->denm.management.relevanceDistance == NULL - || denm->denm.management.relevanceTrafficDirection == NULL || denm->denm.management.validityDuration == NULL - || denm->denm.management.transmissionInterval == NULL) - { - deallocateDENMStruct(denm); - return NULL; - } // Allocate situation subcontainers denm->denm.situation->linkedCause = calloc(1,sizeof (CauseCode_t)); @@ -532,14 +628,124 @@ void deallocateDENMStruct(DENM_t* denm) free(denm); } +CAM_t* allocateCAMStruct(void) +{ + CAM_t* cam = calloc(1,sizeof (CAM_t)); + const HighFrequencyContainer_PR chosenHFContainerType = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency; + + if (cam == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate CAM struct"); + return NULL; + } + + cam->cam.camParameters.highFrequencyContainer.present = chosenHFContainerType; + switch (cam->cam.camParameters.highFrequencyContainer.present) + { + case HighFrequencyContainer_PR_NOTHING: + util_error("Empty container unimplemented"); + break; + case HighFrequencyContainer_PR_basicVehicleContainerHighFrequency: + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.accelerationControl = NULL; // TODO: Allocate memory for this + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition = calloc(1,sizeof(LanePosition_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.steeringWheelAngle = calloc(1,sizeof(SteeringWheelAngle_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration = calloc(1,sizeof(LateralAcceleration_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.verticalAcceleration = calloc(1,sizeof(VerticalAcceleration_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.performanceClass = calloc(1,sizeof(PerformanceClass_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone = calloc(1,sizeof(CenDsrcTollingZone_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone->cenDsrcTollingZoneID = NULL; // TODO: Allocate memory for this + + BasicVehicleContainerHighFrequency_t* bvc = &cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency; + if (bvc->lanePosition == NULL || bvc->steeringWheelAngle == NULL + || bvc->lateralAcceleration == NULL || bvc->verticalAcceleration == NULL + || bvc->performanceClass == NULL || bvc->cenDsrcTollingZone == NULL /*|| bvc->cenDsrcTollingZone->cenDsrcTollingZoneID == NULL || bvc->accelerationControl == NULL*/) + { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate CAM struct basic vehicle container"); + deallocateCAMStruct(cam); + return NULL; + } + break; + case HighFrequencyContainer_PR_rsuContainerHighFrequency: + util_error("RSU container unimplemented"); + break; + } + return cam; +} + +void initializeCAMStruct(CAM_t* cam) +{ + cam->header.stationID = ITS_STATION_ID; + cam->header.messageID = CAM_V_1_3_1_MESSAGE_ID; + cam->header.protocolVersion = CAM_V_1_3_1_PROTOCOL_VERSION; + + cam->cam.generationDeltaTime = 0; + cam->cam.camParameters.basicContainer.stationType = StationType_roadSideUnit; + cam->cam.camParameters.basicContainer.referencePosition.latitude = 0; + cam->cam.camParameters.basicContainer.referencePosition.longitude = 0; + cam->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = 0; + cam->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; + cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; + cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; + cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = 0; + + cam->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency; + + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = HeadingValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = HeadingConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = SpeedValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedConfidence = SpeedConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = DriveDirection_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = VehicleLengthValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = VehicleWidth_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = CurvatureValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureConfidence = CurvatureConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = CurvatureCalculationMode_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = YawRateValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateConfidence = YawRateConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = LateralAccelerationValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; + + // Unused highFrequencyContainer optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.accelerationControl); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.steeringWheelAngle); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.verticalAcceleration); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.performanceClass); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.accelerationControl = NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition = NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.steeringWheelAngle = NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.verticalAcceleration = NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.performanceClass = NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone = NULL; + + // Low frequency container and special vehicle containers unused for now (TODO) + free(cam->cam.camParameters.lowFrequencyContainer); + free(cam->cam.camParameters.specialVehicleContainer); + cam->cam.camParameters.lowFrequencyContainer = NULL; + cam->cam.camParameters.specialVehicleContainer = NULL; + + return; +} + +void deallocateCAMStruct(CAM_t* cam) +{ + free(cam); + // TODO: more +} + void signalHandler(int sig, siginfo_t* siginfo, void* uc) { // TODO: check signal LogPrint("Caught %d", sig); - if (lastDENM != NULL) - sendDENM(lastDENM); + //if (lastDENM != NULL) + // sendDENM(lastDENM); signal(sig, SIG_IGN); } @@ -640,16 +846,17 @@ static int write_out(const void *buffer, size_t size, void *app_key){ * \param lastSpeed variable keeping track of last speed recorded. */ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ + struct timeval tv, systemTime; - TimeType time; - CAM_t tempCam; + initializeCAMStruct(tempCAM); - tempCam.header.protocolVersion = 1; - tempCam.header.messageID = 2; - tempCam.header.stationID = 1000; + tempCAM->header.protocolVersion = CAM_V_1_3_1_PROTOCOL_VERSION; + tempCAM->header.messageID = CAM_V_1_3_1_MESSAGE_ID; + tempCAM->header.stationID = ITS_STATION_ID; - UtilGetMillisecond(&time); - tempCam.cam.generationDeltaTime = time.MillisecondU16; + TimeSetToCurrentSystemTime(&systemTime); + TimeSetToGPStime(&tv, TimeGetAsGPSweek(&systemTime), MONRData->GPSQmsOfWeekU32); + tempCAM->cam.generationDeltaTime = TimeGetAsETSIms(&tv) % 65536; // Wrap to 65536 according to standard //LOG LAT from XY double x = MONRData->XPositionI32; @@ -662,43 +869,68 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ double azimuth2 =0; int fail; - if(origin.latitude < -90 || origin.latitude > 90 || origin.longitude < -180 || origin.longitude > 180){ - LogMessage(LOG_LEVEL_ERROR,"Tried to send CAM with longitude %f, latitude %f", origin.longitude, origin.latitude); - return 1; + if(origin.latitude < -90 || origin.latitude > 90 || origin.longitude < -180 || origin.longitude > 180) + { + LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to CAM", origin.longitude, origin.latitude); + return -1; } + else + { + azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); + distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); - // calculate the norm value - distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); + if(UtilVincentyDirect(origin.latitude, origin.longitude, azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) + { + // Convert to microdegrees + tempCAM->cam.camParameters.basicContainer.referencePosition.latitude = (long)latitude*1000000; + tempCAM->cam.camParameters.basicContainer.referencePosition.longitude = (long)longitude*1000000; - fail = UtilVincentyDirect(origin.latitude, origin.longitude, azimuth1,distance ,&latitude,&longitude,&azimuth2); + tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; + tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; + tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = 0; - tempCam.cam.camParameters.basicContainer.referencePosition.latitude = latitude; - tempCam.cam.camParameters.basicContainer.referencePosition.longitude = longitude; + tempCAM->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = AltitudeValue_unavailable; + tempCAM->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; + } + else LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for CAM"); + } + tempCAM->cam.camParameters.basicContainer.stationType = StationType_roadSideUnit; + if (tempCAM->cam.camParameters.highFrequencyContainer.present == HighFrequencyContainer_PR_basicVehicleContainerHighFrequency) + { + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = (long)(sqrt(pow((double)(MONRData->LongitudinalSpeedI16), 2) + pow((double)(MONRData->LateralSpeedI16), 2))); + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedConfidence = SpeedConfidence_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = MONRData->DriveDirectionU8; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = MONRData->HeadingU16 / 10; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = HeadingConfidence_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = (MONRData->LongitudinalAccI16 == 32001) ? LongitudinalAccelerationValue_unavailable : MONRData->LongitudinalAccI16 / 200; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = (MONRData->LateralAccI16 == 32001) ? LateralAccelerationValue_unavailable : MONRData->LateralAccI16 / 200; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = YawRateValue_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateConfidence = YawRateConfidence_unavailable; - tempCam.cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = MONRData->HeadingU16; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = CurvatureValue_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureConfidence = CurvatureConfidence_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = CurvatureCalculationMode_unavailable; - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = sqrt((MONRData->LateralSpeedI16*MONRData->LateralSpeedI16) + (MONRData->LongitudinalSpeedI16*MONRData->LongitudinalSpeedI16)); + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = VehicleWidth_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = VehicleLengthValue_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = DriveDirection_forward; //FORWARD - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 10; //TEMP WIDTH - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 10; //TEMP LENGTH - //tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16; - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16; - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = 0; - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = 7; - tempCam.cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = 0; + } else LogMessage(LOG_LEVEL_ERROR, "Unimplemented CAM container %d", tempCAM->cam.camParameters.highFrequencyContainer.present); if(MONRData != NULL ){ - *cam = tempCam; + *cam = *tempCAM; } return 0; - } - /*! * \brief GenerateDENMMessage generates a DENM message to send on MQTT * \param MONRData MONR data struct @@ -706,20 +938,22 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ * \param lastSpeed variable keeping track of last speed recorded. */ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ - TimeType time; - DENM_t tempDENM; + struct timeval tv; + long detectionTime; + initializeDENMStruct(tempDENM); - tempDENM.header.protocolVersion = 1; - tempDENM.header.messageID = 1; - tempDENM.header.stationID = 1000; + // Set reference time to current time, leave detection time as in previous message + TimeSetToCurrentSystemTime(&tv); + // TODO: make to work + //asn_long2INTEGER(&tempDENM->denm.management.referenceTime,TimeGetAsETSIms(&tv)); + //asn_INTEGER2long(&lastDENM->denm.management.detectionTime,&detectionTime); + //asn_INTEGER2long(&lastDENM->denm.management.referenceTime,&detectionTime); + //LogPrint("rt: %ld, dt: %ld",TimeGetAsETSIms(&tv),detectionTime); - tempDENM.denm.management.actionID.originatingStationID = 12345; - tempDENM.denm.management.actionID.sequenceNumber = 0; + //exit(EXIT_FAILURE); - UtilGetMillisecond(&time); - //tempDENM.denm.management.detectionTime = time.MillisecondU16; - //tempDENM.denm.management.referenceTime = time.MillisecondU16; + //asn_long2INTEGER(&tempDENM->denm.management.detectionTime,detectionTime); //LOG LAT from XY double x = MONRData->XPositionI32; @@ -727,54 +961,67 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ double z = MONRData->ZPositionI32; double latitude, longitude, height; - double distance=0; + double distance = 0; double azimuth1 = 0; - double azimuth2 =0; - int fail; + double azimuth2 = 0; - if(origin.latitude < -90 || origin.latitude > 90 || origin.longitude < -180 || origin.longitude > 180){ - LogMessage(LOG_LEVEL_ERROR,"Tried to send DENM with longitude %f, latitude %f ", origin.longitude, origin.latitude); - return 1; - } + if (origin.longitude > 180 || origin.longitude < -180 || origin.latitude > 90 || origin.latitude < -90) + { + LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to DENM"); - azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); + tempDENM->denm.management.eventPosition.latitude = 0; + tempDENM->denm.management.eventPosition.longitude = 0; - // calculate the norm value - distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - fail = UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2); + tempDENM->denm.management.eventPosition.altitude.altitudeValue = 0; + tempDENM->denm.management.eventPosition.altitude.altitudeConfidence = 0; + } + else + { + azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); + distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - tempDENM.denm.management.eventPosition.latitude = latitude; - tempDENM.denm.management.eventPosition.longitude = longitude; + if(UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) + { + // Convert to microdegrees + tempDENM->denm.management.eventPosition.latitude = (long)latitude*1000000; + tempDENM->denm.management.eventPosition.longitude = (long)longitude*1000000; - tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 7; - tempDENM.denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 10; + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - tempDENM.denm.management.eventPosition.altitude.altitudeValue = 0; - tempDENM.denm.management.eventPosition.altitude.altitudeConfidence = 0; + tempDENM->denm.management.eventPosition.altitude.altitudeValue = AltitudeValue_unavailable; + tempDENM->denm.management.eventPosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; + } + else LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for DENM"); + } - //tempDENM.denm.management.relevanceDistance = 3; - //tempDENM.denm.management.relevanceTrafficDirection = 1; - //tempDENM.denm.management.validityDuration = 0; - //tempDENM.denm.management.transmissionInterval = 100; - //tempDENM.denm.management.stationType = StationType_heavyTruck; //HEAVY TRUCK. 5 = passenger car, 1 = Pedestrian - //tempDENM.denm.situation->informationQuality = InformationQuality_highest; - tempDENM.denm.situation->eventType.causeCode = causeCode; + *tempDENM->denm.management.relevanceDistance = RelevanceDistance_lessThan500m; + *tempDENM->denm.management.relevanceTrafficDirection = RelevanceTrafficDirection_upstreamTraffic; - if(causeCode == CauseCodeType_collisionRisk){ - tempDENM.denm.situation->eventType.subCauseCode = 1; //Emergency break engaged + *tempDENM->denm.management.transmissionInterval = CAM_TIME_CYCLE_S*1000 + CAM_TIME_CYCLE_US/1000; + + tempDENM->denm.situation->eventType.causeCode = causeCode; + + if(causeCode == CauseCodeType_dangerousSituation){ + tempDENM->denm.situation->eventType.subCauseCode = 1; // Emergency brake engaged } else{ - tempDENM.denm.situation->eventType.subCauseCode = 0; + tempDENM->denm.situation->eventType.subCauseCode = 0; } - - //tempDENM.denm.location->eventSpeed->speedValue = 0; //CHECK THIS - //tempDENM.denm.location->eventSpeed->speedConfidence = 0; //unavaliabe + // TODO: make to work + //double lonSpeed_cm_s = (double)MONRData->LongitudinalSpeedI16; + //double latSpeed_cm_s = (double)MONRData->LateralSpeedI16; + //tempDENM->denm.location->eventSpeed->speedValue = (long)(sqrt(pow(lonSpeed_cm_s,2) + pow(latSpeed_cm_s,2))); + //tempDENM->denm.location->eventSpeed->speedConfidence = SpeedConfidence_unavailable; if(MONRData != NULL ){ - *denm = tempDENM; + *denm = *tempDENM; } return 0; } @@ -784,32 +1031,68 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ * \return 1 if message sent succesfully */ I32 sendCAM(CAM_t* cam){ - printf("SENDING CAM\n"); + if (cam == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Attempted to send null CAM"); + return -1; + } + + void* buffer = NULL; + struct asn_per_constraints_s* constraints = NULL; + const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_CAM, constraints, cam, &buffer); - FILE *fp = fopen("tmp", "wb"); - //asn_enc_rval_t ec = der_encode(&asn_DEF_CAM, cam, write_out, fp); - fclose(fp); + if (ec != -1) + { + + FILE *fp = fopen("asn1test_cam.hx", "w"); + for (ssize_t i = 0; i < ec; ++i) { + fprintf(fp,"%02X ",(((unsigned char*)buffer)[i])); + } + fclose(fp); - publish_mqtt((char*)cam, sizeof (CAM_t), "CLIENT/CAM/CS01/1/AZ12B"); - return 1; + LogMessage(LOG_LEVEL_INFO,"Sending CAM"); + publish_mqtt((char*)buffer, ec, "CLIENT/CAM/CS01/1/AZ12B"); + return 1; + } + else { + LogMessage(LOG_LEVEL_ERROR,"Encoding of CAM message failed"); + return -1; + } } /*! * \brief sendDENM publishes a cam message on MQTT with hardcoded topic. * \param denm cam message struct - * \return 1 if message sent succesfully + * \return 0 if message sent succesfully */ I32 sendDENM(DENM_t* denm){ - LogMessage(LOG_LEVEL_INFO,"Sending DENM"); - //FILE *fp = fopen("tmp", "wb"); - //asn_enc_rval_t ec = der_encode(&asn_DEF_DENM, denm, write_out, fp); - //fclose(fp); - //void* buffer; - //struct asn_per_constraints_s* constraints = NULL; - //const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_DENM, constraints, denm, &buffer); - - publish_mqtt((char*)denm, sizeof (DENM_t), "CLIENT/DENM/CS01/1/AZ12B"); - return 1; + if (denm == NULL) + { + LogMessage(LOG_LEVEL_ERROR, "Attempted to send null DENM"); + return -1; + } + + void* buffer = NULL; + struct asn_per_constraints_s* constraints = NULL; + const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_DENM, constraints, denm, &buffer); + + if (ec != -1) + { + FILE *fp = fopen("asn1test_denm.hx", "w"); + for (ssize_t i = 0; i < ec; ++i) { + fprintf(fp,"%02X ",(((unsigned char*)buffer)[i])); + } + fclose(fp); + + LogMessage(LOG_LEVEL_INFO,"Sending DENM"); + publish_mqtt((char*)buffer, ec, "CLIENT/DENM/CS01/1/AZ12B"); + } + else + { + LogMessage(LOG_LEVEL_ERROR,"Encoding of DENM message failed"); + return -1; + } + return 0; } /*! From 5f7db5ae15e57ed03336eded634b1ebf21869e89 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 23 Aug 2019 17:31:18 +0200 Subject: [PATCH 484/730] Fixed some conversion errors --- server/src/citscontrol.c | 114 ++++++++++++++++++++++++++++++++------- 1 file changed, 96 insertions(+), 18 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 573c068ff..e31dce97d 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -100,6 +100,7 @@ void initializeCAMStruct(CAM_t* cam); I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode); +int updateDENMMessage(MONRType *MONRData, DENM_t* denm); I32 sendCAM(CAM_t* lastCam); I32 sendDENM(DENM_t* lastDENM); @@ -280,6 +281,9 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) case COMM_MONI: LogMessage(LOG_LEVEL_DEBUG, "Ignored old style MONR data"); break; + case COMM_OBJECTS_CONNECTED: + TimeSetToCurrentSystemTime(&nextCAMCycle); + break; case COMM_MONR: UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof(busReceiveBuffer),&mqMONRdata,0); MONRMessage = mqMONRdata.MONR; @@ -334,7 +338,10 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) generateDENMMessage(&MONRMessage, activeDENMs[DENMindex]->message, CauseCodeType_dangerousSituation); struct timeval validityDuration; - TimeSetToGPStime(&activeDENMs[DENMindex]->nextRetransmissionTime, TimeGetAsGPSweek(&systemTime), actionData.executionTime_qmsoW); + if (actionData.executionTime_qmsoW == 0) // Immediate execution requested + activeDENMs[DENMindex]->nextRetransmissionTime = systemTime; + else + TimeSetToGPStime(&activeDENMs[DENMindex]->nextRetransmissionTime, TimeGetAsGPSweek(&systemTime), actionData.executionTime_qmsoW); validityDuration.tv_sec = *activeDENMs[DENMindex]->message->denm.management.validityDuration; validityDuration.tv_usec = 0; @@ -361,8 +368,6 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) break; case COMM_CONNECT: break; - case COMM_OBJECTS_CONNECTED: - break; case COMM_LOG: break; case COMM_INV: @@ -376,6 +381,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } + // Go through all stored DENMs, and see if any of them is up for retransmission TimeSetToCurrentSystemTime(&systemTime); for (int i = 0; i < MAX_SIMULTANEOUS_DENM; ++i) { @@ -385,6 +391,7 @@ void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) if (timerisset(&aDENM->nextRetransmissionTime) && timercmp(&systemTime, &aDENM->nextRetransmissionTime, >)) { + updateDENMMessage(&MONRMessage,aDENM->message); sendDENM(aDENM->message); timeradd(&aDENM->nextRetransmissionTime,&aDENM->retransmissionInterval,&aDENM->nextRetransmissionTime); @@ -413,6 +420,7 @@ ssize_t insertNewDENMIntoList(DENMRetransmission_t** list, size_t listSize) { if (list[i] == NULL) { + list[i] = calloc(1,sizeof(DENMRetransmission_t)); list[i]->message = allocateDENMStruct(); if (list[i]->message != NULL) { @@ -444,7 +452,7 @@ void initializeDENMStruct(DENM_t* denm) denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = 0; denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - *denm->denm.management.validityDuration = 600; + *denm->denm.management.validityDuration = DENM_VALIDITY_DURATION_S; *denm->denm.management.relevanceDistance = RelevanceDistance_over10km; *denm->denm.management.relevanceTrafficDirection = RelevanceTrafficDirection_allTrafficDirections; @@ -589,6 +597,7 @@ DENM_t* allocateDENMStruct(void) return NULL; } + LogPrint("Allocated"); return denm; } @@ -837,8 +846,6 @@ static int write_out(const void *buffer, size_t size, void *app_key){ return (wrote == size) ? 0 : -1; } - - /*! * \brief GenerateCamMessage generates a cam message to send on MQTT * \param MONRData MONR data struct @@ -859,9 +866,9 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ tempCAM->cam.generationDeltaTime = TimeGetAsETSIms(&tv) % 65536; // Wrap to 65536 according to standard //LOG LAT from XY - double x = MONRData->XPositionI32; - double y = MONRData->YPositionI32; - double z = MONRData->ZPositionI32; + double x = MONRData->XPositionI32/1000.0; + double y = MONRData->YPositionI32/1000.0; + double z = MONRData->ZPositionI32/1000.0; double latitude, longitude, height; double distance=0; @@ -882,8 +889,8 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ if(UtilVincentyDirect(origin.latitude, origin.longitude, azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) { // Convert to microdegrees - tempCAM->cam.camParameters.basicContainer.referencePosition.latitude = (long)latitude*1000000; - tempCAM->cam.camParameters.basicContainer.referencePosition.longitude = (long)longitude*1000000; + tempCAM->cam.camParameters.basicContainer.referencePosition.latitude = (long)(latitude*1000000.0); + tempCAM->cam.camParameters.basicContainer.referencePosition.longitude = (long)(longitude*1000000.0); tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; @@ -904,10 +911,24 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = MONRData->HeadingU16 / 10; tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = HeadingConfidence_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = (MONRData->LongitudinalAccI16 == 32001) ? LongitudinalAccelerationValue_unavailable : MONRData->LongitudinalAccI16 / 200; + if (MONRData->LongitudinalAccI16 == 32001) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable; + else if (MONRData->LongitudinalAccI16 > 16000) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = 160; + else if (MONRData->LongitudinalAccI16 < -16000) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = -160; + else + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16 / 100; tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = (MONRData->LateralAccI16 == 32001) ? LateralAccelerationValue_unavailable : MONRData->LateralAccI16 / 200; + if (MONRData->LateralAccI16 == 32001) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = LateralAccelerationValue_unavailable; + else if (MONRData->LateralAccI16 > 16000) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = 160; + else if (MONRData->LateralAccI16 < -16000) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = -160; + else + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16 / 100; tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = YawRateValue_unavailable; @@ -956,9 +977,9 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ //asn_long2INTEGER(&tempDENM->denm.management.detectionTime,detectionTime); //LOG LAT from XY - double x = MONRData->XPositionI32; - double y = MONRData->YPositionI32; - double z = MONRData->ZPositionI32; + double x = MONRData->XPositionI32/1000.0; + double y = MONRData->YPositionI32/1000.0; + double z = MONRData->ZPositionI32/1000.0; double latitude, longitude, height; double distance = 0; @@ -986,8 +1007,8 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ if(UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) { // Convert to microdegrees - tempDENM->denm.management.eventPosition.latitude = (long)latitude*1000000; - tempDENM->denm.management.eventPosition.longitude = (long)longitude*1000000; + tempDENM->denm.management.eventPosition.latitude = (long)(latitude*1000000.0); + tempDENM->denm.management.eventPosition.longitude = (long)(longitude*1000000.0); tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; @@ -1025,6 +1046,63 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ } return 0; } + +int updateDENMMessage(MONRType *MONRData, DENM_t* denm) +{ + struct timeval tv; + double x, y, z, latitude, longitude, distance, azimuth1, azimuth2; + + if (MONRData == NULL || denm == NULL) return -1; + + // TODO: make to work + //asn_long2INTEGER(&tempDENM->denm.management.referenceTime,TimeGetAsETSIms(&tv)); + + //LOG LAT from XY + x = MONRData->XPositionI32/1000.0; + y = MONRData->YPositionI32/1000.0; + z = MONRData->ZPositionI32/1000.0; + + distance = 0; + azimuth1 = 0; + azimuth2 = 0; + + if (origin.longitude > 180 || origin.longitude < -180 || origin.latitude > 90 || origin.latitude < -90) + { + LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to DENM"); + + denm->denm.management.eventPosition.latitude = 0; + denm->denm.management.eventPosition.longitude = 0; + + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; + + denm->denm.management.eventPosition.altitude.altitudeValue = 0; + denm->denm.management.eventPosition.altitude.altitudeConfidence = 0; + return -1; + } + else + { + azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); + distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); + + if(UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) + { + // Convert to microdegrees + denm->denm.management.eventPosition.latitude = (long)(latitude*1000000.0); + denm->denm.management.eventPosition.longitude = (long)(longitude*1000000.0); + + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; + + denm->denm.management.eventPosition.altitude.altitudeValue = AltitudeValue_unavailable; + denm->denm.management.eventPosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; + } + else LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for DENM"); + } + return 0; +} + /*! * \brief SendCam publishes a cam message on MQTT with hardcoded topic. * \param lastCam cam message struct From 3f7a7c2bbe9cba0570b978800dd2d3094357be1f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 23 Aug 2019 17:33:47 +0200 Subject: [PATCH 485/730] Removed some debug printouts --- server/src/citscontrol.c | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index e31dce97d..6ee938004 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -514,7 +514,7 @@ DENM_t* allocateDENMStruct(void) { // Allocate entire struct DENM_t* denm = calloc(1, sizeof(DENM_t)); - LogPrint("denm: %p ", denm); + if (denm == NULL) return NULL; @@ -597,7 +597,6 @@ DENM_t* allocateDENMStruct(void) return NULL; } - LogPrint("Allocated"); return denm; } From da6b37265dfefc22e0c10e5cf529ac4a93f0a81a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 23 Aug 2019 17:36:53 +0200 Subject: [PATCH 486/730] Removed printing to file --- server/src/citscontrol.c | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 6ee938004..888d0ebe2 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -1120,13 +1120,6 @@ I32 sendCAM(CAM_t* cam){ if (ec != -1) { - - FILE *fp = fopen("asn1test_cam.hx", "w"); - for (ssize_t i = 0; i < ec; ++i) { - fprintf(fp,"%02X ",(((unsigned char*)buffer)[i])); - } - fclose(fp); - LogMessage(LOG_LEVEL_INFO,"Sending CAM"); publish_mqtt((char*)buffer, ec, "CLIENT/CAM/CS01/1/AZ12B"); return 1; @@ -1155,12 +1148,6 @@ I32 sendDENM(DENM_t* denm){ if (ec != -1) { - FILE *fp = fopen("asn1test_denm.hx", "w"); - for (ssize_t i = 0; i < ec; ++i) { - fprintf(fp,"%02X ",(((unsigned char*)buffer)[i])); - } - fclose(fp); - LogMessage(LOG_LEVEL_INFO,"Sending DENM"); publish_mqtt((char*)buffer, ec, "CLIENT/DENM/CS01/1/AZ12B"); } From 8a8a5d291409088129c7822130748126f7a80b5d Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 26 Aug 2019 10:13:05 +0200 Subject: [PATCH 487/730] Updated buildscript to also build ScenarioControl --- buildMaestro.sh | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/buildMaestro.sh b/buildMaestro.sh index b446ba313..9781491b4 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -13,3 +13,7 @@ mkdir traj && mkdir log cp ../traj/0.traj ./traj/127.0.0.1 make cd $MAESTRODIR + +cd $MAESTRODIR/modules/ScenarioControl/build +make + From c25f4d32271947fdb4d2d4bbb92a01f766ddfa51 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 26 Aug 2019 14:31:29 +0200 Subject: [PATCH 488/730] Update buildMaestro.sh --- buildMaestro.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/buildMaestro.sh b/buildMaestro.sh index 9781491b4..2b05a4f6d 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -15,5 +15,6 @@ make cd $MAESTRODIR cd $MAESTRODIR/modules/ScenarioControl/build +cmake .. make From ec65d3b6931811b7978b8ca2d6ec9aeaa21d23e9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 27 Aug 2019 09:37:04 +0200 Subject: [PATCH 489/730] Started using asn1 integers --- server/src/citscontrol.c | 22 ++++++++++------------ 1 file changed, 10 insertions(+), 12 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 888d0ebe2..0efbd99b4 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -960,20 +960,13 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ struct timeval tv; long detectionTime; + LogPrint("Generating DENM"); initializeDENMStruct(tempDENM); // Set reference time to current time, leave detection time as in previous message TimeSetToCurrentSystemTime(&tv); - // TODO: make to work - //asn_long2INTEGER(&tempDENM->denm.management.referenceTime,TimeGetAsETSIms(&tv)); - //asn_INTEGER2long(&lastDENM->denm.management.detectionTime,&detectionTime); - //asn_INTEGER2long(&lastDENM->denm.management.referenceTime,&detectionTime); - - //LogPrint("rt: %ld, dt: %ld",TimeGetAsETSIms(&tv),detectionTime); - - //exit(EXIT_FAILURE); - - //asn_long2INTEGER(&tempDENM->denm.management.detectionTime,detectionTime); + asn_long2INTEGER(&tempDENM->denm.management.referenceTime,TimeGetAsETSIms(&tv)); + asn_long2INTEGER(&tempDENM->denm.management.detectionTime,TimeGetAsETSIms(&tv)); //LOG LAT from XY double x = MONRData->XPositionI32/1000.0; @@ -1053,8 +1046,13 @@ int updateDENMMessage(MONRType *MONRData, DENM_t* denm) if (MONRData == NULL || denm == NULL) return -1; - // TODO: make to work - //asn_long2INTEGER(&tempDENM->denm.management.referenceTime,TimeGetAsETSIms(&tv)); + // Update reference time + TimeSetToCurrentSystemTime(&tv); + asn_long2INTEGER(&denm->denm.management.referenceTime,TimeGetAsETSIms(&tv)); + + LogPrint("Updating DENM: %d", TimeGetAsETSIms(&tv)); + LogPrint("Updating DENM: %d", TimeGetAsGPSms(&tv)); + LogPrint("Updating DENM: %d", TimeGetAsUTCms(&tv)); //LOG LAT from XY x = MONRData->XPositionI32/1000.0; From 176a5d20d31fba3113b351d7d58463106879333b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 27 Aug 2019 09:39:28 +0200 Subject: [PATCH 490/730] updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 4054faa62..62b3e606a 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 4054faa62871daa56d2316a16dda5ce328723ed2 +Subproject commit 62b3e606a91c97e26335f113c05f4148cd92014f From aa3563761e36c6271d40007794301e4354db8d28 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 27 Aug 2019 10:06:58 +0200 Subject: [PATCH 491/730] Fixed the non-problem --- server/src/citscontrol.c | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 0efbd99b4..957cb04ea 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -959,8 +959,6 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ */ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ struct timeval tv; - long detectionTime; - LogPrint("Generating DENM"); initializeDENMStruct(tempDENM); // Set reference time to current time, leave detection time as in previous message @@ -1050,10 +1048,6 @@ int updateDENMMessage(MONRType *MONRData, DENM_t* denm) TimeSetToCurrentSystemTime(&tv); asn_long2INTEGER(&denm->denm.management.referenceTime,TimeGetAsETSIms(&tv)); - LogPrint("Updating DENM: %d", TimeGetAsETSIms(&tv)); - LogPrint("Updating DENM: %d", TimeGetAsGPSms(&tv)); - LogPrint("Updating DENM: %d", TimeGetAsUTCms(&tv)); - //LOG LAT from XY x = MONRData->XPositionI32/1000.0; y = MONRData->YPositionI32/1000.0; @@ -1094,6 +1088,11 @@ int updateDENMMessage(MONRType *MONRData, DENM_t* denm) denm->denm.management.eventPosition.altitude.altitudeValue = AltitudeValue_unavailable; denm->denm.management.eventPosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; + + // TODO: Make to work + // denm->denm.location->eventSpeed->speedValue = (long)(sqrt(pow((double)(MONRData->LongitudinalSpeedI16), 2) + pow((double)(MONRData->LateralSpeedI16), 2))); + // denm->denm.location->eventSpeed->speedConfidence = SpeedConfidence_unavailable; + } else LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for DENM"); } From 01671cbebc907b6f51ad1e22bbf5345b83b12daa Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 28 Aug 2019 09:40:21 +0200 Subject: [PATCH 492/730] Fixed 0.1 microdegree error --- server/src/citscontrol.c | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 957cb04ea..96cd0944f 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -887,9 +887,9 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ if(UtilVincentyDirect(origin.latitude, origin.longitude, azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) { - // Convert to microdegrees - tempCAM->cam.camParameters.basicContainer.referencePosition.latitude = (long)(latitude*1000000.0); - tempCAM->cam.camParameters.basicContainer.referencePosition.longitude = (long)(longitude*1000000.0); + // Convert to 0.1 microdegrees + tempCAM->cam.camParameters.basicContainer.referencePosition.latitude = (long)(latitude*10000000.0); + tempCAM->cam.camParameters.basicContainer.referencePosition.longitude = (long)(longitude*10000000.0); tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; @@ -997,8 +997,8 @@ I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ if(UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) { // Convert to microdegrees - tempDENM->denm.management.eventPosition.latitude = (long)(latitude*1000000.0); - tempDENM->denm.management.eventPosition.longitude = (long)(longitude*1000000.0); + tempDENM->denm.management.eventPosition.latitude = (long)(latitude*10000000.0); + tempDENM->denm.management.eventPosition.longitude = (long)(longitude*10000000.0); tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; @@ -1079,8 +1079,8 @@ int updateDENMMessage(MONRType *MONRData, DENM_t* denm) if(UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) { // Convert to microdegrees - denm->denm.management.eventPosition.latitude = (long)(latitude*1000000.0); - denm->denm.management.eventPosition.longitude = (long)(longitude*1000000.0); + denm->denm.management.eventPosition.latitude = (long)(latitude*10000000.0); + denm->denm.management.eventPosition.longitude = (long)(longitude*10000000.0); denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; From df5696d9adb55c97f89092321cd0ec4d1688fcf6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 28 Aug 2019 09:41:46 +0200 Subject: [PATCH 493/730] Fixed ETSI time conversion --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 62b3e606a..7d1da8dd2 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 62b3e606a91c97e26335f113c05f4148cd92014f +Subproject commit 7d1da8dd2ab935a97063091a08064035ae3e8941 From 4a5cb7115cb387c56fab9dd8bb8deea4be9b891a Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Wed, 28 Aug 2019 10:05:54 +0200 Subject: [PATCH 494/730] Update isotrigger.cpp Removed superfluous TODO --- modules/ScenarioControl/src/isotrigger.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/modules/ScenarioControl/src/isotrigger.cpp b/modules/ScenarioControl/src/isotrigger.cpp index 952a9fc41..cc8622384 100644 --- a/modules/ScenarioControl/src/isotrigger.cpp +++ b/modules/ScenarioControl/src/isotrigger.cpp @@ -4,7 +4,6 @@ Trigger::TriggerReturnCode_t ISOTrigger::update(TREOData data) { if (data.triggerID == getID() && data.ip == triggerObjectIP) { - // TODO: Check IP as well? wasTriggeredByLastUpdate = TRIGGER_OCCURRED; return checkIfTriggered(); } From 31fef6b39c4512e2d1f84607a81bd0774f0f2cbf Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 2 Sep 2019 15:51:38 +0200 Subject: [PATCH 495/730] Added state transition when receiving reset/disconnect --- modules/ScenarioControl/src/main.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index 54a57c6e1..e4fa26988 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -115,6 +115,7 @@ int main() nanosleep(&sleepTimePeriod,&remTime); break; case COMM_ABORT: + LogMessage(LOG_LEVEL_INFO, "Received abort command"); if (state == RUNNING) state = CONNECTED; break; case COMM_STRT: @@ -132,6 +133,10 @@ int main() case COMM_MONI: // Ignore break; + case COMM_DISCONNECT: + LogMessage(LOG_LEVEL_INFO,"Received disconnect command"); + state = UNINITIALIZED; + break; default: LogMessage(LOG_LEVEL_INFO,"Received command %u",command); } From 471f668ea1cffda8e69004b0bc9cc31734ce1f91 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Tue, 17 Sep 2019 12:23:29 +0200 Subject: [PATCH 496/730] Begun Procedure description. --- doc/release_procedure/README.md | 4 ++++ doc/release_procedure/timeline_procedure.png | Bin 0 -> 36293 bytes 2 files changed, 4 insertions(+) create mode 100644 doc/release_procedure/README.md create mode 100644 doc/release_procedure/timeline_procedure.png diff --git a/doc/release_procedure/README.md b/doc/release_procedure/README.md new file mode 100644 index 000000000..2c2d7027f --- /dev/null +++ b/doc/release_procedure/README.md @@ -0,0 +1,4 @@ +# Release Procedure + +![Image 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z>R7*T-O+eHdqno@oa2LeN!Z1;$Ag~8cyJXbJ!haWw&rJ&=SPH@Z_~K|$^(foSN{ew zhX{r35t()GrkjH_5}QBBOa#;pwOas~v@*I!zcBG$UEW2sH=YL^niyS%J|aaE8QW5-zc+UAHNz(@U;vw~NA zr};0Re{>3=eo@}|%w3z6tXe?6KuCz58!O=U0j6$v>w+AT(q^&b(1JV~Xa1$1WxA+u zv3uMi%Sb@PEYqL4{rMJXU{V+tQ+F-Z!E@tzG8O7DpD9q&?;W(!)6fchs9_IX>xUob zs!o-C58B)95<6MPk=N+ok3Yox_uI+Y`(MPmfcPqr?3Lw3-6n} F{6Ak_#^(S4 literal 0 HcmV?d00001 From c2f8141787215d058cacea856676f4eeac8137d3 Mon Sep 17 00:00:00 2001 From: viktorjo <31403385+viktorjo@users.noreply.github.com> Date: Tue, 17 Sep 2019 12:28:23 +0200 Subject: [PATCH 497/730] Fixed image linking --- doc/release_procedure/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/release_procedure/README.md b/doc/release_procedure/README.md index 2c2d7027f..9242cc44d 100644 --- a/doc/release_procedure/README.md +++ b/doc/release_procedure/README.md @@ -1,4 +1,4 @@ # Release Procedure -![Image description](timeline_procedure.jpg) +![A timeline for the release of a software update](timeline_procedure.png) From 12a82aea34c9102d33ca2974925cea7c93b781ab Mon Sep 17 00:00:00 2001 From: viktorjo <31403385+viktorjo@users.noreply.github.com> Date: Tue, 17 Sep 2019 15:18:21 +0200 Subject: [PATCH 498/730] Added some descriptive text for the top section. --- doc/release_procedure/README.md | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/doc/release_procedure/README.md b/doc/release_procedure/README.md index 9242cc44d..1c3bd9d7c 100644 --- a/doc/release_procedure/README.md +++ b/doc/release_procedure/README.md @@ -1,4 +1,20 @@ # Release Procedure +A new release procedure is started once a milestone has been accomplished and a new one has been set. Within the release procedure there are two phases; a development phase and a release phase. The development phase is focused on creating new features which are needed to achive the milestone while the release phase focues on refining and testing Maestro such that it can be released as a stable version. The release phase is 4 weeks long and during this period and before this period starts, the amount of features are locked. + +The picture below illustrates the release procedure. + ![A timeline for the release of a software update](timeline_procedure.png) +## Development Phase + +Any feature that is added during a development phase must follow + +## Release Phase + +The following documentation should be updated during a release phase: +* Maestro Documentation +* User Guide +* Test documentation + +### Documentation From f2d5f3c428365ada1fa3903fb74f71e2cbce98a2 Mon Sep 17 00:00:00 2001 From: viktorjo <31403385+viktorjo@users.noreply.github.com> Date: Tue, 17 Sep 2019 15:55:33 +0200 Subject: [PATCH 499/730] Added definition and more detail information about the different phases. --- doc/release_procedure/README.md | 41 ++++++++++++++++++++++++++------- 1 file changed, 33 insertions(+), 8 deletions(-) diff --git a/doc/release_procedure/README.md b/doc/release_procedure/README.md index 1c3bd9d7c..760493cab 100644 --- a/doc/release_procedure/README.md +++ b/doc/release_procedure/README.md @@ -1,20 +1,45 @@ # Release Procedure -A new release procedure is started once a milestone has been accomplished and a new one has been set. Within the release procedure there are two phases; a development phase and a release phase. The development phase is focused on creating new features which are needed to achive the milestone while the release phase focues on refining and testing Maestro such that it can be released as a stable version. The release phase is 4 weeks long and during this period and before this period starts, the amount of features are locked. - -The picture below illustrates the release procedure. +A new release procedure is started once a milestone has been accomplished and a new one has been set. Within the release procedure there are two phases; a development phase and a release phase. The development phase is focused on creating new features which are needed to achive the milestone while the release phase focues on refining and testing Maestro such that it can be released as a stable version. The release phase is 4 weeks long and during this period and before this period starts, the amount of features are locked. This is illustrated in the picture below: ![A timeline for the release of a software update](timeline_procedure.png) -## Development Phase +## Definition of a Release + +A release is the process of moving code from the `dev` branch to the `master` branch and creating a release on the [Maestro Github repository](https://github.com/RI-SE/Maestro/releases). A release should contain the software needed to successfully run Maestro on a computer. + +# Development Phase + +``` +feature -> dev +``` +Testing should be documented through a lightweight protocol +* Complete a normal test with one virtual car +* Complete a normal test with two virtual cars +* Complete a aborting test with two virtual cars -Any feature that is added during a development phase must follow -## Release Phase +# Release Phase +``` +dev -> master +(dev -> chronos) testing requirement on this merge might not be as extensive +``` +A set number of test cases should be performed and documented. These tests are conducted with the use of real objects (for example using the RC-car). The following documentation should be updated during a release phase: * Maestro Documentation * User Guide -* Test documentation +* Test documentation which contains + - Test description + - Test result + - Test person + +The release documentation on github should be created containing: +* Version number # +* Change log (what has changed since last release?) +* Compatibility + - GUC version number # + - Virtual Object version number # + - util version number # +* Known bugs -### Documentation From 1fc46a965316301c9d680992a1ce5c691cff6e8a Mon Sep 17 00:00:00 2001 From: Erik Frick <43404955+frickerik@users.noreply.github.com> Date: Tue, 17 Sep 2019 16:11:36 +0200 Subject: [PATCH 500/730] update readme.md Changed from "car " to "test object" --- doc/release_procedure/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/release_procedure/README.md b/doc/release_procedure/README.md index 760493cab..6ccb5a056 100644 --- a/doc/release_procedure/README.md +++ b/doc/release_procedure/README.md @@ -14,7 +14,7 @@ A release is the process of moving code from the `dev` branch to the `master` br feature -> dev ``` Testing should be documented through a lightweight protocol -* Complete a normal test with one virtual car +* Complete a normal test with one virtual test object * Complete a normal test with two virtual cars * Complete a aborting test with two virtual cars From 7c8d8c8a236283867a269b5fe3a41b927a130708 Mon Sep 17 00:00:00 2001 From: Erik Frick <43404955+frickerik@users.noreply.github.com> Date: Tue, 17 Sep 2019 16:31:07 +0200 Subject: [PATCH 501/730] Update README.md --- doc/release_procedure/README.md | 20 +++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/doc/release_procedure/README.md b/doc/release_procedure/README.md index 6ccb5a056..dae2caa19 100644 --- a/doc/release_procedure/README.md +++ b/doc/release_procedure/README.md @@ -1,6 +1,6 @@ # Release Procedure -A new release procedure is started once a milestone has been accomplished and a new one has been set. Within the release procedure there are two phases; a development phase and a release phase. The development phase is focused on creating new features which are needed to achive the milestone while the release phase focues on refining and testing Maestro such that it can be released as a stable version. The release phase is 4 weeks long and during this period and before this period starts, the amount of features are locked. This is illustrated in the picture below: +A new release procedure is started once a milestone has been accomplished and a new one has been set. Within the release procedure there are two phases; a development phase and a release phase. The development phase is focused on devloping and implementing new features which are needed to achive the milestone, while the release phase focues on refining and testing Maestro such that it can be released as a stable version. The release phase is 4 weeks long and during this period and before this period starts, the amount of features are locked. After this feature freeze, no new features are allowed to be included in the planned release. This is illustrated in the picture below: ![A timeline for the release of a software update](timeline_procedure.png) @@ -13,10 +13,10 @@ A release is the process of moving code from the `dev` branch to the `master` br ``` feature -> dev ``` -Testing should be documented through a lightweight protocol +Testing should be performed and documented through a lightweight protocol: * Complete a normal test with one virtual test object -* Complete a normal test with two virtual cars -* Complete a aborting test with two virtual cars +* Complete a normal test with two virtual test objects +* Complete a aborting test with two virtual test objects # Release Phase @@ -24,15 +24,15 @@ Testing should be documented through a lightweight protocol dev -> master (dev -> chronos) testing requirement on this merge might not be as extensive ``` -A set number of test cases should be performed and documented. These tests are conducted with the use of real objects (for example using the RC-car). +A set number of test cases should be performed and documented. These tests are conducted with the use of real objects (for example using the RC-car or any other ISO-22133-1-compatible test object). -The following documentation should be updated during a release phase: -* Maestro Documentation +The following documentation should be updated during the release phase: +* Maestro Documentation (Including system description, function description, etc.) * User Guide * Test documentation which contains - Test description - Test result - - Test person + - Test result responsible person (Normally the test executor) The release documentation on github should be created containing: * Version number # @@ -41,5 +41,7 @@ The release documentation on github should be created containing: - GUC version number # - Virtual Object version number # - util version number # -* Known bugs +* Known bugs with classification and error description. + - Severity: minor/major. + - Possible workaround. From 8cc813ecb2672045b76c873849c51e8b71d116cb Mon Sep 17 00:00:00 2001 From: "alfred.aronsson@conmore.se" Date: Mon, 23 Sep 2019 15:51:18 +0200 Subject: [PATCH 502/730] Uploads now working. Check added. --- server/src/systemcontrol.c | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index b7a666a16..dcc89e29a 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -730,7 +730,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlUploadFile(SystemControlArgument[0], SystemControlArgument[1], SystemControlArgument[2], ControlResponseBuffer, 0); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK , "UploadFile:", ControlResponseBuffer, 1, &ClientSocket, 0); - + printf("UploadFile filelength: %s", SystemControlArgument[1]); if(ControlResponseBuffer[0] == SERVER_PREPARED_BIG_PACKET_SIZE) //Server is ready to receive data { LogMessage(LOG_LEVEL_INFO,"Receiving file: %s", SystemControlArgument[0]); @@ -2063,7 +2063,7 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi U16 PacketSizeU16 = atoi(PacketSize); I32 ClientStatus = 0, Time1 = 0, Time2 = 0, TimeDiff = 0, i = 0, j = 0; C8 RxBuffer[SYSTEM_CONTROL_RX_PACKET_SIZE]; - U32 TotalRxCount = 0, TransmissionCount = 0, RestCount = 0; + U32 TotalRxCount = 0, TransmissionCount = (U32)(FileSizeU32/PacketSizeU16), RestCount = FileSizeU32%PacketSizeU16; struct timeval CurTime; @@ -2090,9 +2090,16 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi gettimeofday(&CurTime, NULL); Time2 = CurTime.tv_sec*1000 + CurTime.tv_usec/1000; + + if(i == TransmissionCount) + { + PacketSizeU16 = RestCount; + } + bzero(RxBuffer,PacketSizeU16); ClientStatus = recv(*sockfd, RxBuffer, PacketSizeU16, MSG_WAITALL); + if (ClientStatus > 0) { i ++; @@ -2100,7 +2107,7 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi fflush(fd); if(Debug) { - printf("%d, %d, %d, %d :", i, ClientStatus, TotalRxCount, TimeDiff); + printf("%d, %d, %d, %d, %d, %d :", i, ClientStatus, TotalRxCount, TimeDiff, PacketSizeU16, FileSizeU32); for(j = 0; j < 10; j ++ ) printf("%x-", RxBuffer[j]); printf("...\n"); } @@ -2122,13 +2129,17 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi else if(TotalRxCount > FileSizeU32) { *ReturnValue = FILE_TO_MUCH_DATA; + remove(CompletePath); + printf("CORRUPT FILE, REMOVING...\n"); } else { *ReturnValue = TIME_OUT; + remove(CompletePath); + printf("CORRUPT FILE, REMOVING...\n"); } - LogMessage(LOG_LEVEL_DEBUG,"Rec count = %d, Req count = %d", TotalRxCount, FileSizeU32); + LogMessage(LOG_LEVEL_INFO,"Rec count = %d, Req count = %d", TotalRxCount, FileSizeU32); } From 6f69484e73b015f840f78f646dc14f9a0966247c Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Mon, 23 Sep 2019 16:02:35 +0200 Subject: [PATCH 503/730] Changed some printfs to LogMessage --- server/src/systemcontrol.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index dcc89e29a..fa7806466 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -730,7 +730,7 @@ void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlUploadFile(SystemControlArgument[0], SystemControlArgument[1], SystemControlArgument[2], ControlResponseBuffer, 0); SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK , "UploadFile:", ControlResponseBuffer, 1, &ClientSocket, 0); - printf("UploadFile filelength: %s", SystemControlArgument[1]); + LogMessage(LOG_LEVEL_DEBUG,"UploadFile filelength: %s", SystemControlArgument[1]); if(ControlResponseBuffer[0] == SERVER_PREPARED_BIG_PACKET_SIZE) //Server is ready to receive data { LogMessage(LOG_LEVEL_INFO,"Receiving file: %s", SystemControlArgument[0]); @@ -2130,16 +2130,16 @@ I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSi { *ReturnValue = FILE_TO_MUCH_DATA; remove(CompletePath); - printf("CORRUPT FILE, REMOVING...\n"); + LogMessage(LOG_LEVEL_INFO, "CORRUPT FILE, REMOVING..."); } else { *ReturnValue = TIME_OUT; remove(CompletePath); - printf("CORRUPT FILE, REMOVING...\n"); + LogMessage(LOG_LEVEL_INFO,"CORRUPT FILE, REMOVING..."); } - LogMessage(LOG_LEVEL_INFO,"Rec count = %d, Req count = %d", TotalRxCount, FileSizeU32); + LogMessage(LOG_LEVEL_DEBUG,"Rec count = %d, Req count = %d", TotalRxCount, FileSizeU32); } From 0ffe85ed3931926a26593a40a2807e3258d93fa1 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 25 Sep 2019 13:43:51 +0200 Subject: [PATCH 504/730] Basic release notes file --- doc/releaseNotes/v0.3.0_TriggerAndAction.md | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 doc/releaseNotes/v0.3.0_TriggerAndAction.md diff --git a/doc/releaseNotes/v0.3.0_TriggerAndAction.md b/doc/releaseNotes/v0.3.0_TriggerAndAction.md new file mode 100644 index 000000000..71c5ae630 --- /dev/null +++ b/doc/releaseNotes/v0.3.0_TriggerAndAction.md @@ -0,0 +1,21 @@ +Maestro v 0.3.0 Trigger and Action +============================== + +New Features +------- + +1. Server is now able to send and handle basic Trigger and Action messages. More specifically EXAC and ACCM. + +2. The location for all files necessary to run the server has can now be defined. Defaults to ~/.maestro + + +Fixed bugs +------- +Uploading .traj files from the GUC no longer results in a corrupted file with POST messages at the end. + + + +License +------- + +[Creative Commons - CC BY 3.0](http://creativecommons.org/licenses/by/3.0/) From d3dbe189b99de37bcda7cb9808d4d9d1559023ba Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 25 Sep 2019 13:51:04 +0200 Subject: [PATCH 505/730] Update v0.3.0_TriggerAndAction.md --- doc/releaseNotes/v0.3.0_TriggerAndAction.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/doc/releaseNotes/v0.3.0_TriggerAndAction.md b/doc/releaseNotes/v0.3.0_TriggerAndAction.md index 71c5ae630..8ff747a5a 100644 --- a/doc/releaseNotes/v0.3.0_TriggerAndAction.md +++ b/doc/releaseNotes/v0.3.0_TriggerAndAction.md @@ -6,7 +6,10 @@ New Features 1. Server is now able to send and handle basic Trigger and Action messages. More specifically EXAC and ACCM. -2. The location for all files necessary to run the server has can now be defined. Defaults to ~/.maestro + +Enhancements +------- +The location for all files necessary to run the server has can now be defined. Defaults to ~/.maestro Fixed bugs From 7bd149a2ac46dc13257193b98471bd968fd53896 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 25 Sep 2019 13:51:21 +0200 Subject: [PATCH 506/730] Update v0.3.0_TriggerAndAction.md --- doc/releaseNotes/v0.3.0_TriggerAndAction.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/releaseNotes/v0.3.0_TriggerAndAction.md b/doc/releaseNotes/v0.3.0_TriggerAndAction.md index 8ff747a5a..ac4ded77e 100644 --- a/doc/releaseNotes/v0.3.0_TriggerAndAction.md +++ b/doc/releaseNotes/v0.3.0_TriggerAndAction.md @@ -1,4 +1,4 @@ -Maestro v 0.3.0 Trigger and Action +Maestro v0.3.0 Trigger and Action ============================== New Features From 2bc003b4d2f301d3132997e2d7b5b7bbe920bbb5 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 25 Sep 2019 14:26:12 +0200 Subject: [PATCH 507/730] Create Changelog.md --- doc/Changelog.md | 52 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 doc/Changelog.md diff --git a/doc/Changelog.md b/doc/Changelog.md new file mode 100644 index 000000000..011cd7b65 --- /dev/null +++ b/doc/Changelog.md @@ -0,0 +1,52 @@ +Maestro v0.3.0 Trigger and Action +============================== + +This version is compatible with Maestro-Tools v0.X.X and Util v0.X.X + +New Features +------- + +1. Server is now able to send and handle basic Trigger and Action messages. More specifically EXAC and ACCM. + + +Enhancements +------- +The location for all files necessary to run the server has can now be defined. Defaults to ~/.maestro + + +Fixed bugs +------- +Uploading .traj files from the GUC no longer results in a corrupted file with POST messages at the end. + +July release v0.2.0 - ServerSnapshot +============================== + +This version is compatible with the July release of Maestro-Tools and the July release of util + +New Features +------- + +1. Geofencing has been enabled. Server checks if an object is located inside or outside a given geofence and prints this to terminal. +2. MQbus defined in the util repo is not beeing used instead of the old message +3. + +Enhancements +------- +iCommreceive now has UTC timestamp + + +Drottning Kristina v0.1.0 +============================== + +This version is compatible with the Drottning Kristina release of Maestro-Tools + +New Features +------- + +1. Server now has a new and improved logger +2. Server has an UDP connection to the GUC which is used to send MONR + +Enhancements +------- +iCommreceive now has UTC timestamp + From e3e8cd3f675d52e8665579f0927c3f466d85de57 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 25 Sep 2019 14:26:26 +0200 Subject: [PATCH 508/730] Delete v0.3.0_TriggerAndAction.md --- doc/releaseNotes/v0.3.0_TriggerAndAction.md | 24 --------------------- 1 file changed, 24 deletions(-) delete mode 100644 doc/releaseNotes/v0.3.0_TriggerAndAction.md diff --git a/doc/releaseNotes/v0.3.0_TriggerAndAction.md b/doc/releaseNotes/v0.3.0_TriggerAndAction.md deleted file mode 100644 index ac4ded77e..000000000 --- a/doc/releaseNotes/v0.3.0_TriggerAndAction.md +++ /dev/null @@ -1,24 +0,0 @@ -Maestro v0.3.0 Trigger and Action -============================== - -New Features -------- - -1. Server is now able to send and handle basic Trigger and Action messages. More specifically EXAC and ACCM. - - -Enhancements -------- -The location for all files necessary to run the server has can now be defined. Defaults to ~/.maestro - - -Fixed bugs -------- -Uploading .traj files from the GUC no longer results in a corrupted file with POST messages at the end. - - - -License -------- - -[Creative Commons - CC BY 3.0](http://creativecommons.org/licenses/by/3.0/) From 66ef3a02d42114028b78b017f89d8dc2432a08f9 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 25 Sep 2019 15:16:32 +0200 Subject: [PATCH 509/730] Update Changelog.md --- doc/Changelog.md | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/doc/Changelog.md b/doc/Changelog.md index 011cd7b65..4710d9b2d 100644 --- a/doc/Changelog.md +++ b/doc/Changelog.md @@ -1,3 +1,16 @@ + +Contents +============================== + +[v.0.3.0 Trigger and Action](#maestro-v030-trigger-and-action) + +[v.0.2.0 July Server-snapshot](#july-release-v020---serversnapshot) + +[v.0.1.0 Drottning Kristina](drottning-kristina-v010) + + + + Maestro v0.3.0 Trigger and Action ============================== @@ -35,6 +48,11 @@ Enhancements iCommreceive now has UTC timestamp + +Fixed bugs +------- +Server no longer creates Junk files in root directory + Drottning Kristina v0.1.0 ============================== From d8fc1d6f76716c32783329fe49c7c548c4f58e57 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 25 Sep 2019 15:46:17 +0200 Subject: [PATCH 510/730] Update Changelog.md --- doc/Changelog.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/doc/Changelog.md b/doc/Changelog.md index 4710d9b2d..08a7be68a 100644 --- a/doc/Changelog.md +++ b/doc/Changelog.md @@ -45,8 +45,7 @@ New Features Enhancements ------- -iCommreceive now has UTC timestamp - +Latidude spelling error has been changed to Latitude Fixed bugs @@ -66,5 +65,5 @@ New Features Enhancements ------- -iCommreceive now has UTC timestamp +iCommReceive now has UTC timestamp From 3f935d5c7bde8588176f1ea77b203c960b491747 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 3 Oct 2019 16:23:24 +0200 Subject: [PATCH 511/730] First jenkinsfile --- Jenkinsfile | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 Jenkinsfile diff --git a/Jenkinsfile b/Jenkinsfile new file mode 100644 index 000000000..482c87b05 --- /dev/null +++ b/Jenkinsfile @@ -0,0 +1,15 @@ + +Jenkinsfile (Declarative Pipeline) + +pipeline { + agent { docker { image 'python:3.5.1' } } + stages { + stage('build') { + steps { + sh 'python --version' + } + } + } +} + + From 787e1b51ea0203a0a669bf0dcc7ffba760263a3b Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Fri, 4 Oct 2019 09:57:15 +0200 Subject: [PATCH 512/730] Update buildMaestro.sh --- buildMaestro.sh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/buildMaestro.sh b/buildMaestro.sh index 2b05a4f6d..2083ccf8a 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -14,7 +14,8 @@ cp ../traj/0.traj ./traj/127.0.0.1 make cd $MAESTRODIR +# Build separate modules +mkdir $MAESTRODIR/modules/ScenarioControl/build cd $MAESTRODIR/modules/ScenarioControl/build cmake .. make - From f33801092feb9f62e0b17177e169d3fac2cf514b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 10:18:05 +0200 Subject: [PATCH 513/730] Added buildMaestro script to jenkinsfile --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 482c87b05..6e96810b4 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -6,7 +6,7 @@ pipeline { stages { stage('build') { steps { - sh 'python --version' + sh 'buildMaestro.sh' } } } From 8f28c4b9e282cf0940f8c3f6433e20395efd97d2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 10:24:57 +0200 Subject: [PATCH 514/730] Added printout and removed row --- Jenkinsfile | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 6e96810b4..699ccba48 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,11 +1,10 @@ -Jenkinsfile (Declarative Pipeline) - pipeline { agent { docker { image 'python:3.5.1' } } stages { stage('build') { steps { + sh 'echo "Executing build script..."' sh 'buildMaestro.sh' } } From 90d8b4be737f3ac9bb60576fc9d29daeb828b1b1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 10:59:54 +0200 Subject: [PATCH 515/730] path added --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 699ccba48..5762bb58e 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -5,7 +5,7 @@ pipeline { stage('build') { steps { sh 'echo "Executing build script..."' - sh 'buildMaestro.sh' + sh './buildMaestro.sh' } } } From 5492673af47900ed46a11ebee074a71172152ee0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 11:21:36 +0200 Subject: [PATCH 516/730] build script now operates with new file locations --- buildMaestro.sh | 41 +++++++++++++++++++++++++++++------------ 1 file changed, 29 insertions(+), 12 deletions(-) diff --git a/buildMaestro.sh b/buildMaestro.sh index 2083ccf8a..a97125d6b 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -1,21 +1,38 @@ #!/bin/sh MAESTRODIR=$(pwd) -git submodule update --init --recursive +git submodule update --init --recursive || exit 1 + +# Build util cd util/C -cmake -G "Unix Makefiles" . -make +echo "Building util" +cmake -G "Unix Makefiles" . && make || exit 1 + +# Build core modules cd $MAESTRODIR/server mkdir build cd build -cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug .. -cp -R ../conf/ . -mkdir traj && mkdir log -cp ../traj/0.traj ./traj/127.0.0.1 -make -cd $MAESTRODIR +echo "Building core modules" +cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug .. && make || exit 1 -# Build separate modules +# Build ScenarioControl module mkdir $MAESTRODIR/modules/ScenarioControl/build cd $MAESTRODIR/modules/ScenarioControl/build -cmake .. -make +echo "Building ScenarioControl" +cmake .. && make || exit 1 + + +# Set up running directory in home +cd +echo "Setting up running directory" +if [ ! -d ".maestro" ]; then + mkdir .maestro + cd .maestro + mkdir journal + mkdir traj + mkdir conf + mkdir geofence + cp -R $MAESTRODIR/server/conf/ . +else + echo "Running directory already exists, nothing to do" +fi + From 4c2c31ba8c3d1994098610786f040fc240413373 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 16:33:25 +0200 Subject: [PATCH 517/730] test --- buildMaestro.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/buildMaestro.sh b/buildMaestro.sh index a97125d6b..84eaf1637 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -5,6 +5,7 @@ git submodule update --init --recursive || exit 1 # Build util cd util/C echo "Building util" +ls cmake -G "Unix Makefiles" . && make || exit 1 # Build core modules From bddeddb4faffb956ada46e7069528f751ac93c92 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 16:35:36 +0200 Subject: [PATCH 518/730] test --- buildMaestro.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/buildMaestro.sh b/buildMaestro.sh index 84eaf1637..ea679219d 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -6,6 +6,7 @@ git submodule update --init --recursive || exit 1 cd util/C echo "Building util" ls +lls cmake -G "Unix Makefiles" . && make || exit 1 # Build core modules From c8cfb8ba343432d4c10bbf91043a5df73a115032 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 16:45:52 +0200 Subject: [PATCH 519/730] test --- buildMaestro.sh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/buildMaestro.sh b/buildMaestro.sh index ea679219d..be97107d2 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -6,7 +6,8 @@ git submodule update --init --recursive || exit 1 cd util/C echo "Building util" ls -lls +echo $PATH +printenv cmake -G "Unix Makefiles" . && make || exit 1 # Build core modules From 25dfa1c7476bc54828545cbe0f479b00edea1798 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 16:59:36 +0200 Subject: [PATCH 520/730] test --- buildMaestro.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/buildMaestro.sh b/buildMaestro.sh index be97107d2..ba8477507 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -8,7 +8,7 @@ echo "Building util" ls echo $PATH printenv -cmake -G "Unix Makefiles" . && make || exit 1 +/usr/bin/cmake -G "Unix Makefiles" . && make || exit 1 # Build core modules cd $MAESTRODIR/server From 71e72125d683c1493032d3a315d7e6871096e66c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 17:01:02 +0200 Subject: [PATCH 521/730] removed debug printout --- buildMaestro.sh | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/buildMaestro.sh b/buildMaestro.sh index ba8477507..84eaf1637 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -6,9 +6,7 @@ git submodule update --init --recursive || exit 1 cd util/C echo "Building util" ls -echo $PATH -printenv -/usr/bin/cmake -G "Unix Makefiles" . && make || exit 1 +cmake -G "Unix Makefiles" . && make || exit 1 # Build core modules cd $MAESTRODIR/server From f097a2a21b85ebf9bea73c7beb82830934db9563 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 17:15:34 +0200 Subject: [PATCH 522/730] path shenanigans --- buildMaestro.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/buildMaestro.sh b/buildMaestro.sh index 84eaf1637..fb4bef8b0 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -1,4 +1,5 @@ #!/bin/sh +export PATH=$PATH:/usr/bin MAESTRODIR=$(pwd) git submodule update --init --recursive || exit 1 From bc4a9471b146a0a8337a38bf447abaa3ceb7c07d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 4 Oct 2019 17:46:05 +0200 Subject: [PATCH 523/730] asdasd --- Jenkinsfile | 3 +++ buildMaestro.sh | 1 - 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 5762bb58e..adcd64db3 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,6 +1,9 @@ pipeline { agent { docker { image 'python:3.5.1' } } + environment { + PATH = "/usr/bin" + } stages { stage('build') { steps { diff --git a/buildMaestro.sh b/buildMaestro.sh index fb4bef8b0..9c88b3f8d 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -6,7 +6,6 @@ git submodule update --init --recursive || exit 1 # Build util cd util/C echo "Building util" -ls cmake -G "Unix Makefiles" . && make || exit 1 # Build core modules From 0eccb6dc46c02552d1c8da43cca64f1693344382 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 7 Oct 2019 12:14:32 +0200 Subject: [PATCH 524/730] asd --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index adcd64db3..de12ceb86 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,6 +1,6 @@ pipeline { - agent { docker { image 'python:3.5.1' } } + agent any environment { PATH = "/usr/bin" } From 0c8cdf829c57275da990a6b35c2e6d5523942c22 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 7 Oct 2019 12:21:34 +0200 Subject: [PATCH 525/730] Removed environment --- Jenkinsfile | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index de12ceb86..9f0958f79 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,9 +1,7 @@ pipeline { agent any - environment { - PATH = "/usr/bin" - } + stages { stage('build') { steps { From 8f55799d91eb79a3d6f3469751ce912408ab168a Mon Sep 17 00:00:00 2001 From: "alfred.aronsson@conmore.se" Date: Mon, 7 Oct 2019 15:26:04 +0200 Subject: [PATCH 526/730] Log now only get uninitialized on reset or disconnect. --- server/src/logger.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/logger.c b/server/src/logger.c index 0afaed00f..b6a850f18 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -127,7 +127,6 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) switch(command) { case COMM_ABORT: - isFirstInit = 1; break; case COMM_INIT: From a8c6d497632baca0077bf260a118d883118df5f5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 7 Oct 2019 15:37:01 +0200 Subject: [PATCH 527/730] Added CITS bool to build script --- buildMaestro.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/buildMaestro.sh b/buildMaestro.sh index a97125d6b..ead7f61c9 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -12,7 +12,7 @@ cd $MAESTRODIR/server mkdir build cd build echo "Building core modules" -cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug .. && make || exit 1 +cmake -G "Unix Makefiles" -DUSE_CITS:BOOL=FALSE -DCMAKE_BUILD_TYPE=Debug .. && make || exit 1 # Build ScenarioControl module mkdir $MAESTRODIR/modules/ScenarioControl/build From 92397373cb0967e2ce968171956f25b5da86b77c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 7 Oct 2019 15:37:27 +0200 Subject: [PATCH 528/730] Added first crash test --- .../StartupAndKillMainExecutable.sh | 35 +++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100755 server/integration-tests/StartupAndKillMainExecutable.sh diff --git a/server/integration-tests/StartupAndKillMainExecutable.sh b/server/integration-tests/StartupAndKillMainExecutable.sh new file mode 100755 index 000000000..840d964f6 --- /dev/null +++ b/server/integration-tests/StartupAndKillMainExecutable.sh @@ -0,0 +1,35 @@ +#!/bin/bash +EXECDIR=../build +EXECNAME=TEServer +SLEEP_TIME_START=3 +SLEEP_TIME_KILL=1 +RESULT=0 +MIN_EXPECTED_PIDS=6 + +# Start the main executable +rm -rf /dev/mqueue/* +$EXECDIR/$EXECNAME & +sleep $SLEEP_TIME_START +RUNNING_PIDS="$(pgrep ${EXECNAME} | wc -l)" +if [ $RUNNING_PIDS -lt $MIN_EXPECTED_PIDS ]; then + echo "All processes not running after ${SLEEP_TIME_START} s" + RESULT=1 +fi + +killall -s SIGINT $EXECNAME +sleep $SLEEP_TIME_KILL +RUNNING_PIDS="$(pgrep ${EXECNAME} | wc -l)" +if [ $RUNNING_PIDS -ne 0 ]; then + echo "Failed to kill all processes via SIGINT. Still running:" + pgrep $EXECNAME + killall $EXECNAME + RESULT=1 +fi + +if [ $RESULT -eq 0 ]; then + echo "Success!" +else + echo "Failure!" +fi + +exit $RESULT From 21acc4b9c5c5e592710322c28515172bb1aa432f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 7 Oct 2019 15:52:22 +0200 Subject: [PATCH 529/730] Added order of test execution --- ...ainExecutable.sh => 000-StartupAndKillMainExecutable.sh} | 6 ------ 1 file changed, 6 deletions(-) rename server/integration-tests/{StartupAndKillMainExecutable.sh => 000-StartupAndKillMainExecutable.sh} (90%) diff --git a/server/integration-tests/StartupAndKillMainExecutable.sh b/server/integration-tests/000-StartupAndKillMainExecutable.sh similarity index 90% rename from server/integration-tests/StartupAndKillMainExecutable.sh rename to server/integration-tests/000-StartupAndKillMainExecutable.sh index 840d964f6..dbf04c2aa 100755 --- a/server/integration-tests/StartupAndKillMainExecutable.sh +++ b/server/integration-tests/000-StartupAndKillMainExecutable.sh @@ -26,10 +26,4 @@ if [ $RUNNING_PIDS -ne 0 ]; then RESULT=1 fi -if [ $RESULT -eq 0 ]; then - echo "Success!" -else - echo "Failure!" -fi - exit $RESULT From 3b13b2f463254ba50ff8c5246fd1f51163b6ebd2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 7 Oct 2019 16:51:42 +0200 Subject: [PATCH 530/730] Added script to run all integration tests --- allMaestroIntegrationTests.sh | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100755 allMaestroIntegrationTests.sh diff --git a/allMaestroIntegrationTests.sh b/allMaestroIntegrationTests.sh new file mode 100755 index 000000000..61e676bb9 --- /dev/null +++ b/allMaestroIntegrationTests.sh @@ -0,0 +1,19 @@ +#!/bin/bash +MAESTRODIR=$(pwd) +cd ${MAESTRODIR}/server/integration-tests +FAILURES=0 +NUM_TESTS=0 + +echo "Running integration tests" +for f in *.sh; do + if [ $(sh "$f" -H > /dev/null 2>&1) ]; then + echo "Failed test ${f}" + FAILURES=$((FAILURES+1)) + fi + NUM_TESTS=$((NUM_TESTS+1)) +done + +SUCCESSES=$((NUM_TESTS-$FAILURES)) +echo "Tests passed: ${SUCCESSES} / ${NUM_TESTS}" + +exit $FAILURES From 955655b9ea88a1dde3e81a58360189a4937132c3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 7 Oct 2019 17:00:22 +0200 Subject: [PATCH 531/730] Updated jenkinsfile to include testing --- Jenkinsfile | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 9f0958f79..deddbfcec 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -3,12 +3,18 @@ pipeline { agent any stages { - stage('build') { + stage('Build') { steps { sh 'echo "Executing build script..."' sh './buildMaestro.sh' } } + stage('Integration testing') { + steps { + sh 'echo "Running Maestro integration tests..."' + sh 'allMaestroIntegrationTests.sh' + } + } } } From 607d0f04185721f213472b2c084422cb981bed6f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 7 Oct 2019 17:06:02 +0200 Subject: [PATCH 532/730] fixed jenkinsfile --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index deddbfcec..0498cdf2b 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -12,7 +12,7 @@ pipeline { stage('Integration testing') { steps { sh 'echo "Running Maestro integration tests..."' - sh 'allMaestroIntegrationTests.sh' + sh './allMaestroIntegrationTests.sh' } } } From 91a177cf04bd726e1b3a6f64e45519425a7b6807 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 10:29:54 +0200 Subject: [PATCH 533/730] Added variables for specifying GCC compiler flags --- server/CMakeLists.txt | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 82bf14ab8..fbbc71e53 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -1,6 +1,14 @@ cmake_minimum_required (VERSION 2.6) project (Maestro) +# Standard compiler flags +SET(GCC_COMPILE_FLAGS_WARNINGS "-Wall") # Use -Wall to make all warnings appear, and -Werror to make all of them into errors. To select individual warnings use e.g. -Werror=pointer-sign +SET(GCC_COMPILE_FLAGS_COVERAGE "-fprofile-arcs -ftest-coverage") +SET(GCC_COMPILE_FLAGS_OPTIMISATION "-O0") # Use -O2 for final build + +# Set which compiler flags are used for the build +SET(GCC_COMPILE_FLAGS_ALL "${GCC_COMPILE_FLAGS_WARNINGS)}") + # copy needed file #configure_file(traj/0.traj traj/192.168.0.1 COPYONLY) #configure_file(traj/1.traj traj/192.168.0.2 COPYONLY) @@ -94,6 +102,9 @@ add_executable(TEServer inc/datadictionary.h ) +# add compiler flags for all targets +set_target_properties(TEServer PROPERTIES COMPILE_FLAGS ${GCC_COMPILE_FLAGS_ALL}) + # add the install targets install (TARGETS TEServer DESTINATION bin) From 2c40a6165e6516f71a3b130b39913f4ed5e478fc Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 13:56:56 +0200 Subject: [PATCH 534/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 7d1da8dd2..33879e874 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 7d1da8dd2ab935a97063091a08064035ae3e8941 +Subproject commit 33879e874498416df360c1d4f51ea032f259a399 From ea10ff78042f3186ad53e5f92b76a387c9839bd8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 15:03:34 +0200 Subject: [PATCH 535/730] Added a script to run code formatting on all source files --- formatSourceFiles.sh | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100755 formatSourceFiles.sh diff --git a/formatSourceFiles.sh b/formatSourceFiles.sh new file mode 100755 index 000000000..ba77d2113 --- /dev/null +++ b/formatSourceFiles.sh @@ -0,0 +1,9 @@ +#!/bin/bash +# Settings for GNU indent +CODE_STYLE_OPTIONS="--k-and-r-style" + +# Disable generating backup files +export VERSION_CONTROL="none" + +# Find all source files and pass them to GNU indent +find . -iname "*.c" -a -not -ipath "*ASN1*" -a -not -ipath "*CMakeFiles*" -a -not -ipath "*util/*" | xargs indent ${CODE_STYLE_OPTIONS} From 85675448c576b16c7f9ea9eee42915a0a4518444 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 15:28:20 +0200 Subject: [PATCH 536/730] first test check on git --- checkCodeFormat.sh | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100755 checkCodeFormat.sh diff --git a/checkCodeFormat.sh b/checkCodeFormat.sh new file mode 100755 index 000000000..0cd3bdd96 --- /dev/null +++ b/checkCodeFormat.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +if ! git diff-index --quiet HEAD --; then + echo "Then!" +else + echo "Else" +fi From add92388a2566de6ed6155e39c4a2bcaf79f280d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 15:55:03 +0200 Subject: [PATCH 537/730] Make code formatting script work --- checkCodeFormat.sh | 19 +++++++++++++++++-- 1 file changed, 17 insertions(+), 2 deletions(-) diff --git a/checkCodeFormat.sh b/checkCodeFormat.sh index 0cd3bdd96..02e7e2298 100755 --- a/checkCodeFormat.sh +++ b/checkCodeFormat.sh @@ -1,7 +1,22 @@ #!/bin/bash if ! git diff-index --quiet HEAD --; then - echo "Then!" + echo "Uncommitted changes detected: please commit changes before checking code format" + exit 1 +fi + +./formatSourceFiles.sh +git diff > formatDiff.patch +# Todo: remove formatting diffs + +if [ ! -s formatDiff.patch ]; then + # It was empty + rm formatDiff.patch + echo "No code formatting errors detected" + exit 0 else - echo "Else" + echo "Formatting errors detected:" + cat formatDiff.patch + rm formatDiff.patch + exit 1 fi From 88b2b7c84a587bd715cd32dd1ecd4a658f4b3400 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 15:57:42 +0200 Subject: [PATCH 538/730] Remove changes made after checking code format --- checkCodeFormat.sh | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/checkCodeFormat.sh b/checkCodeFormat.sh index 02e7e2298..a1e3d757f 100755 --- a/checkCodeFormat.sh +++ b/checkCodeFormat.sh @@ -7,7 +7,9 @@ fi ./formatSourceFiles.sh git diff > formatDiff.patch -# Todo: remove formatting diffs + +# Reset changes made +find . -iname "*.c" -a -not -ipath "*ASN1*" -a -not -ipath "*CMakeFiles*" -a -not -ipath "*util/*" | xargs git checkout -- if [ ! -s formatDiff.patch ]; then # It was empty From a77fd0f1f9e6888afcd1cc76a9a273b8e20b25e6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 16:00:45 +0200 Subject: [PATCH 539/730] Removed annoying printout --- checkCodeFormat.sh | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/checkCodeFormat.sh b/checkCodeFormat.sh index a1e3d757f..bf89bc039 100755 --- a/checkCodeFormat.sh +++ b/checkCodeFormat.sh @@ -17,8 +17,9 @@ if [ ! -s formatDiff.patch ]; then echo "No code formatting errors detected" exit 0 else - echo "Formatting errors detected:" - cat formatDiff.patch + echo "Formatting errors detected" + # Very wordy printout: + # cat formatDiff.patch rm formatDiff.patch exit 1 fi From 9eac19b379ce9d24d893ca6d011220f018d0321f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 16:03:11 +0200 Subject: [PATCH 540/730] Updated Jenkinsfile to run format checks --- Jenkinsfile | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index 0498cdf2b..6b5bb5405 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -15,6 +15,12 @@ pipeline { sh './allMaestroIntegrationTests.sh' } } + stage('Format check') { + steps { + sh 'echo "Running code formatting check..."' + sh './checkCodeFormat.sh' + } + } } } From cccdf5636bfe8d606a02bfc9fcc9b83396459402 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 17:00:44 +0200 Subject: [PATCH 541/730] Meaningless commit to force jenkins rebuild --- checkCodeFormat.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/checkCodeFormat.sh b/checkCodeFormat.sh index bf89bc039..99ef9901a 100755 --- a/checkCodeFormat.sh +++ b/checkCodeFormat.sh @@ -18,7 +18,7 @@ if [ ! -s formatDiff.patch ]; then exit 0 else echo "Formatting errors detected" - # Very wordy printout: + # Very wordy printout... # cat formatDiff.patch rm formatDiff.patch exit 1 From 781bfaa6bc7d6ec1d0fa0af9ac9ad4b9e25a5081 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 8 Oct 2019 17:43:27 +0200 Subject: [PATCH 542/730] another unnecessary commit --- checkCodeFormat.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/checkCodeFormat.sh b/checkCodeFormat.sh index 99ef9901a..bf89bc039 100755 --- a/checkCodeFormat.sh +++ b/checkCodeFormat.sh @@ -18,7 +18,7 @@ if [ ! -s formatDiff.patch ]; then exit 0 else echo "Formatting errors detected" - # Very wordy printout... + # Very wordy printout: # cat formatDiff.patch rm formatDiff.patch exit 1 From 81df505c43d0e79b692effa5a44db458c6f89a65 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Mon, 14 Oct 2019 10:27:41 +0200 Subject: [PATCH 543/730] Fixed parenthesis. --- server/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index fbbc71e53..1fff0ff74 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -7,7 +7,7 @@ SET(GCC_COMPILE_FLAGS_COVERAGE "-fprofile-arcs -ftest-coverage") SET(GCC_COMPILE_FLAGS_OPTIMISATION "-O0") # Use -O2 for final build # Set which compiler flags are used for the build -SET(GCC_COMPILE_FLAGS_ALL "${GCC_COMPILE_FLAGS_WARNINGS)}") +SET(GCC_COMPILE_FLAGS_ALL "${GCC_COMPILE_FLAGS_WARNINGS}") # copy needed file #configure_file(traj/0.traj traj/192.168.0.1 COPYONLY) From 1c212a143b6bd14fc5fa7972b7d62870df590c30 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 15 Oct 2019 13:52:02 +0200 Subject: [PATCH 544/730] fixed version numbers in changelog --- doc/Changelog.md | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/doc/Changelog.md b/doc/Changelog.md index 08a7be68a..9b5326a04 100644 --- a/doc/Changelog.md +++ b/doc/Changelog.md @@ -14,7 +14,7 @@ Contents Maestro v0.3.0 Trigger and Action ============================== -This version is compatible with Maestro-Tools v0.X.X and Util v0.X.X +This version is compatible with Maestro-Tools v0.3.0 and Util v0.3.0 New Features ------- @@ -31,6 +31,7 @@ Fixed bugs ------- Uploading .traj files from the GUC no longer results in a corrupted file with POST messages at the end. + July release v0.2.0 - ServerSnapshot ============================== @@ -40,10 +41,10 @@ New Features ------- 1. Geofencing has been enabled. Server checks if an object is located inside or outside a given geofence and prints this to terminal. -2. MQbus defined in the util repo is not beeing used instead of the old message -3. +2. MQbus defined in the util repo is now beeing used instead of the old message -Enhancements + +"Enhancements" ------- Latidude spelling error has been changed to Latitude From 162d9dc887e253d10fecc85c7edab8abd0f225da Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 15 Oct 2019 13:57:52 +0200 Subject: [PATCH 545/730] Added last edited date. --- doc/Changelog.md | 1 + 1 file changed, 1 insertion(+) diff --git a/doc/Changelog.md b/doc/Changelog.md index 9b5326a04..758b4fb7d 100644 --- a/doc/Changelog.md +++ b/doc/Changelog.md @@ -1,3 +1,4 @@ +Last edited 15/10- 2019 Contents ============================== From f72f5ddb54c87035d48abe3abe920a2fe0d15ad2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 09:53:27 +0200 Subject: [PATCH 546/730] Defined C dialect to c++11 standard --- server/CMakeLists.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 1fff0ff74..4d4f91c27 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required (VERSION 2.6) project (Maestro) +SET(CMAKE_CXX_STANDARD 11) +SET(CMAKE_CXX_STANDARD_REQUIRED ON) + # Standard compiler flags SET(GCC_COMPILE_FLAGS_WARNINGS "-Wall") # Use -Wall to make all warnings appear, and -Werror to make all of them into errors. To select individual warnings use e.g. -Werror=pointer-sign SET(GCC_COMPILE_FLAGS_COVERAGE "-fprofile-arcs -ftest-coverage") From bcdb8315c0d6144da0799dadbd47c45aca7be5aa Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 11:58:02 +0200 Subject: [PATCH 547/730] Set C standard to 11 and added comment --- server/CMakeLists.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 4d4f91c27..37e8d40b5 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required (VERSION 2.6) project (Maestro) +# Set C and C++ dialects +SET(CMAKE_C_STANDARD 11) +SET(CMAKE_C_STANDARD_REQUIRED ON) SET(CMAKE_CXX_STANDARD 11) SET(CMAKE_CXX_STANDARD_REQUIRED ON) From bbd2b7a2942fcb4fb094ca68860133103b3c3bfb Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 12:04:34 +0200 Subject: [PATCH 548/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 33879e874..1ac17f529 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 33879e874498416df360c1d4f51ea032f259a399 +Subproject commit 1ac17f529d0778c3be9f47d57c6fc6037b1b431c From 06c672c2a8dfae932d04c474772aac9f3b8b089a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 12:50:20 +0200 Subject: [PATCH 549/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 1ac17f529..d1d6d0e9c 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 1ac17f529d0778c3be9f47d57c6fc6037b1b431c +Subproject commit d1d6d0e9c2ae02e081501f712298ca50631c3b2c From bbcabbe093acdaced7f7b938fd9c5b1713100b04 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 12:50:56 +0200 Subject: [PATCH 550/730] Updated requred cmake version to match previous commit changes --- server/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 37e8d40b5..4dddaaeb9 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required (VERSION 2.6) +cmake_minimum_required (VERSION 3.1) project (Maestro) # Set C and C++ dialects From 3da19e20b098714f613c0a2d798aef2f40b8637a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 13:15:18 +0200 Subject: [PATCH 551/730] Did the same for ScenarioControl... --- modules/ScenarioControl/CMakeLists.txt | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/modules/ScenarioControl/CMakeLists.txt b/modules/ScenarioControl/CMakeLists.txt index 8ac288d26..ab7e2aec0 100644 --- a/modules/ScenarioControl/CMakeLists.txt +++ b/modules/ScenarioControl/CMakeLists.txt @@ -1,5 +1,8 @@ -cmake_minimum_required(VERSION 2.8) -set (CMAKE_CXX_STANDARD 11) +cmake_minimum_required(VERSION 3.1) +SET(CMAKE_CXX_STANDARD 11) +SET(CMAKE_CXX_STANDARD_REQUIRED ON) +SET(CMAKE_C_STANDARD 11) +SET(CMAKE_C_STANDARD_REQUIRED ON) project(ScenarioControl) # This module is an example of how to set up a new module external to the Maestro executable From 2d63a8b863bb4342f9f404df9e1085a8fffab690 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 13:18:02 +0200 Subject: [PATCH 552/730] Fixed missing include --- modules/ScenarioControl/inc/trigger.h | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/ScenarioControl/inc/trigger.h b/modules/ScenarioControl/inc/trigger.h index d5fc800c2..ba33a9e39 100644 --- a/modules/ScenarioControl/inc/trigger.h +++ b/modules/ScenarioControl/inc/trigger.h @@ -2,6 +2,7 @@ #define TRIGGER_H #include +#include #include #include #include From 4115b9e3bc47ba03a67b1f5bf5344412ced83f32 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 13:20:33 +0200 Subject: [PATCH 553/730] Fixed another missing include --- modules/ScenarioControl/src/action.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/ScenarioControl/src/action.cpp b/modules/ScenarioControl/src/action.cpp index c09e0ae6d..fabba618c 100644 --- a/modules/ScenarioControl/src/action.cpp +++ b/modules/ScenarioControl/src/action.cpp @@ -1,6 +1,7 @@ #include #include +#include #include "action.h" #include "logging.h" From b6a7d95ac2f944e2c5e984b6996400f742f3ba54 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 13:23:05 +0200 Subject: [PATCH 554/730] And a third... --- modules/ScenarioControl/src/externalaction.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/modules/ScenarioControl/src/externalaction.cpp b/modules/ScenarioControl/src/externalaction.cpp index 5af17ce20..ddd9c960f 100644 --- a/modules/ScenarioControl/src/externalaction.cpp +++ b/modules/ScenarioControl/src/externalaction.cpp @@ -1,4 +1,7 @@ #include "externalaction.h" + +#include + #include "logging.h" #include "util.h" #include "maestroTime.h" From 420029a05e60fa2aa01d65695cae7e293935658f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 13:42:06 +0200 Subject: [PATCH 555/730] Modified build script so jenkins uses it in a cleaner way --- buildMaestro.sh | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/buildMaestro.sh b/buildMaestro.sh index 5d1484cba..3efa35533 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -1,5 +1,13 @@ #!/bin/sh export PATH=$PATH:/usr/bin + +if [ $USER = "jenkins" ]; then + # Show jenkins environment + echo "Running as ${USER} with environment" + printenv + rm -rf ~/.maestro +fi + MAESTRODIR=$(pwd) git submodule update --init --recursive || exit 1 From 4b19fdaf3d71a34ae1fb9c8abdb77ace48d489ea Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 15:38:35 +0200 Subject: [PATCH 556/730] updated formatting options --- formatSourceFiles.sh | 23 +++++++++++++++++++++-- 1 file changed, 21 insertions(+), 2 deletions(-) diff --git a/formatSourceFiles.sh b/formatSourceFiles.sh index ba77d2113..837bdf72b 100755 --- a/formatSourceFiles.sh +++ b/formatSourceFiles.sh @@ -1,6 +1,25 @@ #!/bin/bash -# Settings for GNU indent -CODE_STYLE_OPTIONS="--k-and-r-style" +#### Settings for GNU indent +TAB_SIZE=4 +# Blank lines +CODE_STYLE_OPTIONS="--blank-lines-after-declarations --blank-lines-after-procedures" + +# If-else statements +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-if-line --dont-cuddle-else" +# Do-while statements +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --dont-cuddle-do-while" +# Switch-case statements +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --case-indentation0 --case-brace-indentation0" +# Typecasts +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --no-space-after-cast" +# Sizeof +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --blank-before-sizeof" +# Structs +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-struct-decl-line" +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-func-def-line --dont-break-procedure-type" +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --continue-at-parentesis" +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --indent-level${TAB_SIZE} --tab-size${TAB_SIZE}" +echo "${CODE_STYLE_OPTIONS}" # Disable generating backup files export VERSION_CONTROL="none" From 49919611f20e921afd9a37c3847ebba185f0956a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 15:39:08 +0200 Subject: [PATCH 557/730] spelling error --- formatSourceFiles.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/formatSourceFiles.sh b/formatSourceFiles.sh index 837bdf72b..eee1c1b1c 100755 --- a/formatSourceFiles.sh +++ b/formatSourceFiles.sh @@ -17,7 +17,7 @@ CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --blank-before-sizeof" # Structs CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-struct-decl-line" CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-func-def-line --dont-break-procedure-type" -CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --continue-at-parentesis" +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --continue-at-parenthesis" CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --indent-level${TAB_SIZE} --tab-size${TAB_SIZE}" echo "${CODE_STYLE_OPTIONS}" From 799852d4a3343ab4a77397183c5fff13b772706d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 15:42:17 +0200 Subject: [PATCH 558/730] Fixed --- formatSourceFiles.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/formatSourceFiles.sh b/formatSourceFiles.sh index eee1c1b1c..6411ec8e5 100755 --- a/formatSourceFiles.sh +++ b/formatSourceFiles.sh @@ -17,7 +17,7 @@ CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --blank-before-sizeof" # Structs CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-struct-decl-line" CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-func-def-line --dont-break-procedure-type" -CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --continue-at-parenthesis" +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --continue-at-parentheses" CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --indent-level${TAB_SIZE} --tab-size${TAB_SIZE}" echo "${CODE_STYLE_OPTIONS}" From 9cc36e02dbab0d984f4cc5e89f8ce46e8e3a6a04 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 16:01:44 +0200 Subject: [PATCH 559/730] aisufh --- formatSourceFiles.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/formatSourceFiles.sh b/formatSourceFiles.sh index 6411ec8e5..74d8bd946 100755 --- a/formatSourceFiles.sh +++ b/formatSourceFiles.sh @@ -1,6 +1,7 @@ #!/bin/bash #### Settings for GNU indent TAB_SIZE=4 +LINE_LENGTH=110 # Blank lines CODE_STYLE_OPTIONS="--blank-lines-after-declarations --blank-lines-after-procedures" @@ -19,6 +20,7 @@ CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-struct-decl-line" CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-func-def-line --dont-break-procedure-type" CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --continue-at-parentheses" CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --indent-level${TAB_SIZE} --tab-size${TAB_SIZE}" +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --line-length${LINE_LENGTH}" echo "${CODE_STYLE_OPTIONS}" # Disable generating backup files From e4ca9cc172c6dc48d4f2728ac79577f354bbc7d1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 16:39:00 +0200 Subject: [PATCH 560/730] Fixed space --- formatSourceFiles.sh | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/formatSourceFiles.sh b/formatSourceFiles.sh index 74d8bd946..bb65d0fc2 100755 --- a/formatSourceFiles.sh +++ b/formatSourceFiles.sh @@ -4,7 +4,6 @@ TAB_SIZE=4 LINE_LENGTH=110 # Blank lines CODE_STYLE_OPTIONS="--blank-lines-after-declarations --blank-lines-after-procedures" - # If-else statements CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-if-line --dont-cuddle-else" # Do-while statements @@ -17,11 +16,16 @@ CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --no-space-after-cast" CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --blank-before-sizeof" # Structs CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-struct-decl-line" -CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --braces-on-func-def-line --dont-break-procedure-type" +# Functions/procedures +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --dont-break-procedure-type --braces-on-func-def-line" +# Parentheses indentation on newline CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --continue-at-parentheses" +# Indentation CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --indent-level${TAB_SIZE} --tab-size${TAB_SIZE}" +# Column cap CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --line-length${LINE_LENGTH}" -echo "${CODE_STYLE_OPTIONS}" +# Function call appearance +CODE_STYLE_OPTIONS="${CODE_STYLE_OPTIONS} --no-space-after-function-call-names" # Disable generating backup files export VERSION_CONTROL="none" From f0ec66c32d0c0c109a81f1846727f064b08cd3e1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 16:40:28 +0200 Subject: [PATCH 561/730] Formatted all code --- modules/Visualization/src/main.c | 199 +- server/src/citscontrol.c | 2080 +++++------ server/src/datadictionary.c | 1905 +++++----- server/src/logger.c | 1248 ++++--- server/src/main.c | 629 ++-- server/src/objectcontrol.c | 5357 ++++++++++++++-------------- server/src/remotecontrol.c | 651 ++-- server/src/simulatorcontrol.c | 1383 ++++---- server/src/supervision.c | 850 +++-- server/src/supervisorcontrol.c | 589 ++-- server/src/systemcontrol.c | 3963 +++++++++++---------- server/src/timecontrol.c | 877 ++--- server/src/usercontrol.c | 823 ++--- server/src/util.c | 5682 +++++++++++++++--------------- server/src/visualization.c | 308 +- 15 files changed, 13299 insertions(+), 13245 deletions(-) diff --git a/modules/Visualization/src/main.c b/modules/Visualization/src/main.c index 9d7a9609e..e7301475e 100644 --- a/modules/Visualization/src/main.c +++ b/modules/Visualization/src/main.c @@ -27,127 +27,116 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr); -static void vDisconnectVisualizationChannel(int* sockfd); - - -int main() -{ - enum COMMAND command = COMM_INV; - char mqRecvData[MQ_MSG_SIZE]; - const struct timespec sleepTimePeriod = {0,10000000}; - const struct timespec abortWaitTime = {1,0}; - struct timespec remTime; - - LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); - LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); - - int visual_server; - struct sockaddr_in visual_server_addr; - vConnectVisualizationChannel(&visual_server,&visual_server_addr); - - I32 iExit = 0; - char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus - - - // Initialize message bus connection - while(iCommInit()) - { - nanosleep(&sleepTimePeriod,&remTime); - } - - while(true) - { - if (iCommRecv(&command,mqRecvData,MQ_MSG_SIZE, NULL) < 0) - { - util_error("Message bus receive error"); - } - - - if (command == COMM_ABORT){ - } - - if(command == COMM_EXIT){ - iExit = 1; - LogMessage(LOG_LEVEL_INFO, "Visualization exiting"); - vDisconnectVisualizationChannel(&visual_server); - (void)iCommClose(); - } - - - switch (command) { - case COMM_INIT: - break; - case COMM_MONI: - // Ignore old style MONR data - break; - case COMM_MONR: - LogMessage(LOG_LEVEL_INFO, "got MONR.\n"); - UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof(busReceiveBuffer), 0); - break; - case COMM_LOG: - break; - case COMM_INV: - break; - case COMM_OBC_STATE: - break; - case COMM_STRT: - break; - default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", (unsigned char)command); - } - } - - return 0; +static void vConnectVisualizationChannel(int *sockfd, struct sockaddr_in *addr); +static void vDisconnectVisualizationChannel(int *sockfd); + + +int main() { + enum COMMAND command = COMM_INV; + char mqRecvData[MQ_MSG_SIZE]; + const struct timespec sleepTimePeriod = { 0, 10000000 }; + const struct timespec abortWaitTime = { 1, 0 }; + struct timespec remTime; + + LogInit(MODULE_NAME, LOG_LEVEL_DEBUG); + LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u", getpid()); + + int visual_server; + struct sockaddr_in visual_server_addr; + + vConnectVisualizationChannel(&visual_server, &visual_server_addr); + + I32 iExit = 0; + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + + + // Initialize message bus connection + while (iCommInit()) { + nanosleep(&sleepTimePeriod, &remTime); + } + + while (true) { + if (iCommRecv(&command, mqRecvData, MQ_MSG_SIZE, NULL) < 0) { + util_error("Message bus receive error"); + } + + + if (command == COMM_ABORT) { + } + + if (command == COMM_EXIT) { + iExit = 1; + LogMessage(LOG_LEVEL_INFO, "Visualization exiting"); + vDisconnectVisualizationChannel(&visual_server); + (void)iCommClose(); + } + + + switch (command) { + case COMM_INIT: + break; + case COMM_MONI: + // Ignore old style MONR data + break; + case COMM_MONR: + LogMessage(LOG_LEVEL_INFO, "got MONR.\n"); + UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, + sizeof (busReceiveBuffer), 0); + break; + case COMM_LOG: + break; + case COMM_INV: + break; + case COMM_OBC_STATE: + break; + case COMM_STRT: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", (unsigned char)command); + } + } + + return 0; } /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) -{ - struct hostent *server; - char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; +static void vConnectVisualizationChannel(int *sockfd, struct sockaddr_in *addr) { + struct hostent *server; + char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; - /* Setup connection to visualization */ - //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); + /* Setup connection to visualization */ + //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); - *sockfd = socket ( AF_INET, - SOCK_DGRAM, - IPPROTO_UDP ); + *sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); - if (*sockfd < 0) - { - util_error("ERR: Failed to create visualization socket"); - } + if (*sockfd < 0) { + util_error("ERR: Failed to create visualization socket"); + } - bzero((char *)addr, sizeof(*addr)); + bzero((char *)addr, sizeof (*addr)); - bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); - if(!iUtilGetParaConfFile("VisualizationServerName",pcTempBuffer)) - { - strcat(pcTempBuffer,VISUAL_SERVER_NAME); - } + bzero(pcTempBuffer, MAX_UTIL_VARIBLE_SIZE); + if (!iUtilGetParaConfFile("VisualizationServerName", pcTempBuffer)) { + strcat(pcTempBuffer, VISUAL_SERVER_NAME); + } - //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); + //DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); - server = gethostbyname(pcTempBuffer); + server = gethostbyname(pcTempBuffer); - if (server == NULL) - { - util_error("ERR: Unkonown host\n"); - } - bcopy((char *) server->h_addr, - (char *)&addr->sin_addr.s_addr, server->h_length); + if (server == NULL) { + util_error("ERR: Unkonown host\n"); + } + bcopy((char *)server->h_addr, (char *)&addr->sin_addr.s_addr, server->h_length); - addr->sin_family = AF_INET; - addr->sin_port = htons(VISUAL_SERVER_PORT); + addr->sin_family = AF_INET; + addr->sin_port = htons(VISUAL_SERVER_PORT); } -static void vDisconnectVisualizationChannel(int* sockfd) -{ - close(*sockfd); +static void vDisconnectVisualizationChannel(int *sockfd) { + close(*sockfd); } - diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 96cd0944f..86e7910b6 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -42,16 +42,16 @@ #include "maestroTime.h" #include "datadictionary.h" -#define H_THRESHOLD 1 //HEADING THRESHOLD -#define S_THRESHOLD 0 //SPEED THRESHOLD -#define D_THRESHOLD 1 //DISTANCE THRESHOLD +#define H_THRESHOLD 1 //HEADING THRESHOLD +#define S_THRESHOLD 0 //SPEED THRESHOLD +#define D_THRESHOLD 1 //DISTANCE THRESHOLD #define DENM_RETRANSMIT_CYCLE_S 1 #define DENM_RETRANSMIT_CYCLE_US 0 #define DENM_VALIDITY_DURATION_S 10 #define MAX_SIMULTANEOUS_DENM 10 #define CAM_TIME_CYCLE_S 1 #define CAM_TIME_CYCLE_US 0 -#define SIG SIGRTMIN // Signal type to use for timers +#define SIG SIGRTMIN // Signal type to use for timers #define CITS_CONTROL_CONF_FILE_PATH "conf/test.conf" #define CITS_CONTROL_BUFFER_SIZE_20 20 @@ -79,63 +79,62 @@ /*------------------------------------------------------------ -- Typedefs ------------------------------------------------------------*/ -typedef struct -{ - struct timeval retransmissionEndTime; - struct timeval nextRetransmissionTime; - struct timeval retransmissionInterval; - DENM_t* message; +typedef struct { + struct timeval retransmissionEndTime; + struct timeval nextRetransmissionTime; + struct timeval retransmissionInterval; + DENM_t *message; } DENMRetransmission_t; /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -DENM_t* allocateDENMStruct(void); -void deallocateDENMStruct(DENM_t* denm); -void initializeDENMStruct(DENM_t* denm); +DENM_t *allocateDENMStruct(void); +void deallocateDENMStruct(DENM_t * denm); +void initializeDENMStruct(DENM_t * denm); -CAM_t* allocateCAMStruct(void); -void deallocateCAMStruct(CAM_t* cam); -void initializeCAMStruct(CAM_t* cam); +CAM_t *allocateCAMStruct(void); +void deallocateCAMStruct(CAM_t * cam); +void initializeCAMStruct(CAM_t * cam); -I32 generateCAMMessage(MONRType *MONRData, CAM_t* lastCam); -I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode); -int updateDENMMessage(MONRType *MONRData, DENM_t* denm); +I32 generateCAMMessage(MONRType * MONRData, CAM_t * lastCam); +I32 generateDENMMessage(MONRType * MONRData, DENM_t * denm, int causeCode); +int updateDENMMessage(MONRType * MONRData, DENM_t * denm); -I32 sendCAM(CAM_t* lastCam); -I32 sendDENM(DENM_t* lastDENM); +I32 sendCAM(CAM_t * lastCam); +I32 sendDENM(DENM_t * lastDENM); -void init_mqtt(char* ip_addr, char * clientid); +void init_mqtt(char *ip_addr, char *clientid); int connect_mqtt(); int publish_mqtt(char *payload, int payload_len, char *topic); void delivered_mqtt(void *context, MQTTClient_deliveryToken dt); -int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message *message); +int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message * message); void connlost_mqtt(void *context, char *cause); -bool validate_constraints(asn_TYPE_descriptor_t *type_descriptor, const void *struct_ptr) ; +bool validate_constraints(asn_TYPE_descriptor_t * type_descriptor, const void *struct_ptr); -void *encode_and_decode_object(asn_TYPE_descriptor_t *type_descriptor, void *struct_ptr) ; -int parseActionConfiguration(ACCMData config, uint16_t** actionIDs, int* nConfiguredActions); -int getActionIndex(EXACData exac, uint16_t* actionIDs, int nConfiguredActions); +void *encode_and_decode_object(asn_TYPE_descriptor_t * type_descriptor, void *struct_ptr); +int parseActionConfiguration(ACCMData config, uint16_t ** actionIDs, int *nConfiguredActions); +int getActionIndex(EXACData exac, uint16_t * actionIDs, int nConfiguredActions); int storeDENM(DENM_t denm); -static void signalHandler(int sig, siginfo_t *siginfo, void* uc); +static void signalHandler(int sig, siginfo_t * siginfo, void *uc); void sendLastDENM(void); -ssize_t insertNewDENMIntoList(DENMRetransmission_t** list, size_t listSize); +ssize_t insertNewDENMIntoList(DENMRetransmission_t ** list, size_t listSize); /*------------------------------------------------------------ -- Private variables ------------------------------------------------------------*/ enum CITS_STATE { - INIT, - DISCONNECTED, - CONNECTED, - SENDING + INIT, + DISCONNECTED, + CONNECTED, + SENDING }; struct Origo { - double longitude; - double latitude; + double longitude; + double latitude; }; @@ -148,701 +147,732 @@ static MQTTClient_message pubmsg = MQTTClient_message_initializer; static volatile MQTTClient_deliveryToken deliveredtoken = 0; static MQTTClient_deliveryToken sendtoken = 0; static DENM_t *tempDENM; -static CAM_t* lastCAM, *tempCAM; +static CAM_t *lastCAM, *tempCAM; static struct Origo origin; -static DENMRetransmission_t* activeDENMs[MAX_SIMULTANEOUS_DENM]; +static DENMRetransmission_t *activeDENMs[MAX_SIMULTANEOUS_DENM]; /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -void citscontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -{ - origin.longitude = -200; //Initialize longitude to something outside -180 to 180 - origin.latitude = -100; //Initialize latitude to something outside -90 to 90 - - const struct timeval timeCycleCAM = {CAM_TIME_CYCLE_S,CAM_TIME_CYCLE_US}; - struct timeval nextCAMCycle; - char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus - enum COMMAND command; - int mqtt_response_code = 0; - MonitorDataType mqMONRdata; - MONRType MONRMessage; - MONRType LastMONRMessage; - ACCMData actionConfig; - EXACData actionData; - uint16_t* storedActionIDs = NULL; - int numberOfStoredActionIDs = 0; - int actionIndex = -1; - asn_enc_rval_t ec; - - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO, "C-ITS control running with PID: %i", getpid()); - - - lastCAM = allocateCAMStruct(); - tempCAM = allocateCAMStruct(); - if (lastCAM == NULL || tempCAM == NULL){ - exit(EXIT_FAILURE); - } - initializeCAMStruct(lastCAM); - - bzero(activeDENMs,sizeof (activeDENMs)); - - tempDENM = allocateDENMStruct(); - if (tempDENM == NULL) { - exit(EXIT_FAILURE); - } - - TimeType time; - - I16 lastSpeed = 0; - - //! Timer for sending DENM at later time - struct timeval systemTime, exacTime = {0,0}; - TimeSetToCurrentSystemTime(&nextCAMCycle); - - - UtilGetMillisecond(&time); - - (void)init_mqtt(ERICSSON_MQTT_ADDRESS,DEFAULT_MQTT_CLIENTID); - - MQTTClient_setCallbacks(client, NULL, connlost_mqtt, msgarrvd_mqtt, delivered_mqtt); - - lastCAM->cam.generationDeltaTime = time.MillisecondU16; - - lastCAM->cam.camParameters.basicContainer.referencePosition.latitude = 0; - lastCAM->cam.camParameters.basicContainer.referencePosition.longitude = 0; - - // TODO: Initialize signal handler - - if (iCommInit()) - util_error("Unable to connect to message bus"); - - int monrCounter = 0; - LogMessage(LOG_LEVEL_INFO,"Starting C-ITS control"); - while(!iExit) - { - TimeSetToCurrentSystemTime(&systemTime); - - // Handle states specific things - state = pending_state; - - switch (state) { - case INIT: - if (!connect_mqtt()){ - LogMessage(LOG_LEVEL_INFO, "Connected to MQTT broker"); - MQTTClient_subscribe(client,DEFAULT_MQTT_TOPIC,DEFAULT_MQTT_QOS); - pending_state = CONNECTED; - LogMessage(LOG_LEVEL_DEBUG, "CITS state change from %d to %d",state,pending_state); - } - break; - case CONNECTED: - /* if ((mqtt_response_code = publish_mqtt(DEFAULT_MQTT_PAYLOAD,strlen(DEFAULT_MQTT_PAYLOAD),DEFAULT_MQTT_TOPIC))) { - LogMessage(LOG_LEVEL_ERROR,"Could not publish message, error code %d", mqtt_response_code); - } - else { - pending_state = SENDING; - } - - break; - */ - case SENDING: - if (sendtoken == deliveredtoken) { - pending_state = CONNECTED; - LogMessage(LOG_LEVEL_DEBUG,"CITS state change from %d to %d",state,pending_state); - } - break; - } - - // Handle MQ messages - - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - - if (command == COMM_ABORT) - { - // TODO: Implement - } - - if(command == COMM_EXIT) - { - iExit = 1; - LogMessage(LOG_LEVEL_INFO, "C-ITS control exiting"); - - (void)iCommClose(); - } - - - switch (command) - { - case COMM_INIT: - free(storedActionIDs); - break; - case COMM_MONI: - LogMessage(LOG_LEVEL_DEBUG, "Ignored old style MONR data"); - break; - case COMM_OBJECTS_CONNECTED: - TimeSetToCurrentSystemTime(&nextCAMCycle); - break; - case COMM_MONR: - UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof(busReceiveBuffer),&mqMONRdata,0); - MONRMessage = mqMONRdata.MONR; - - TimeSetToCurrentSystemTime(&systemTime); - if(timercmp(&systemTime,&nextCAMCycle,>)) - { - timeradd(&nextCAMCycle,&timeCycleCAM,&nextCAMCycle); - - I16 distanceDelta = 0;// UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); - I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); - I16 speedDelta = abs((sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16))) - (lastSpeed)); - - if(speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD){ - generateCAMMessage(&MONRMessage, lastCAM); - sendCAM(lastCAM); - - // Temporary - //generateDENMMessage(&MONRMessage, lastDENM, CauseCodeType_reserved); - //sendDENM(lastDENM); - } - lastSpeed = sqrt((MONRMessage.LateralSpeedI16*MONRMessage.LateralSpeedI16) + (MONRMessage.LongitudinalSpeedI16*MONRMessage.LongitudinalSpeedI16)); - LastMONRMessage = MONRMessage; - } - - break; - case COMM_ACCM: - LogMessage(LOG_LEVEL_INFO,"Received action configuration"); - UtilPopulateACCMDataStructFromMQ(busReceiveBuffer, sizeof(busReceiveBuffer), &actionConfig); - parseActionConfiguration(actionConfig, &storedActionIDs, &numberOfStoredActionIDs); - break; - case COMM_EXAC: - UtilPopulateEXACDataStructFromMQ(busReceiveBuffer, sizeof(busReceiveBuffer), &actionData); - actionIndex = getActionIndex(actionData, storedActionIDs, numberOfStoredActionIDs); - if (actionIndex != -1 && state != DISCONNECTED && state != INIT) - { - LogMessage(LOG_LEVEL_INFO, "Received action execution request with ID %u", storedActionIDs[actionIndex]); - - if (timerisset(&exacTime)) - { - LogMessage(LOG_LEVEL_WARNING, "Another DENM send already queued"); - break; - } - - // Based on last MONR message, generate a DENM message to send - ssize_t DENMindex = insertNewDENMIntoList(activeDENMs,MAX_SIMULTANEOUS_DENM); - if (DENMindex == -1) - { - LogMessage(LOG_LEVEL_ERROR,"Could not insert new DENM into list"); - break; - } - generateDENMMessage(&MONRMessage, activeDENMs[DENMindex]->message, CauseCodeType_dangerousSituation); - - struct timeval validityDuration; - if (actionData.executionTime_qmsoW == 0) // Immediate execution requested - activeDENMs[DENMindex]->nextRetransmissionTime = systemTime; - else - TimeSetToGPStime(&activeDENMs[DENMindex]->nextRetransmissionTime, TimeGetAsGPSweek(&systemTime), actionData.executionTime_qmsoW); - - validityDuration.tv_sec = *activeDENMs[DENMindex]->message->denm.management.validityDuration; - validityDuration.tv_usec = 0; - - timeradd(&activeDENMs[DENMindex]->nextRetransmissionTime, &validityDuration, &activeDENMs[DENMindex]->retransmissionEndTime); - - activeDENMs[DENMindex]->retransmissionInterval.tv_sec = DENM_RETRANSMIT_CYCLE_S; - activeDENMs[DENMindex]->retransmissionInterval.tv_usec = DENM_RETRANSMIT_CYCLE_US; - } - else if (actionIndex == -1) - LogMessage(LOG_LEVEL_DEBUG, "Received non-configured action execution request"); - else if (state == INIT || state == DISCONNECTED) - LogMessage(LOG_LEVEL_WARNING, "Received action execution request while in non-connected state %u",(char)(state)); - break; - case COMM_TRCM: - // Future implementation - break; - case COMM_TREO: - break; - case COMM_OBC_STATE: - break; - case COMM_OSEM: - // Save these values? - break; - case COMM_CONNECT: - break; - case COMM_LOG: - break; - case COMM_INV: - break; - case COMM_DATA_DICT: - DataDictionaryGetOriginLatitudeDbl(GSD, &origin.latitude); - DataDictionaryGetOriginLongitudeDbl(GSD, &origin.longitude); - break; - - default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); - } - - // Go through all stored DENMs, and see if any of them is up for retransmission - TimeSetToCurrentSystemTime(&systemTime); - for (int i = 0; i < MAX_SIMULTANEOUS_DENM; ++i) - { - if(activeDENMs[i] == NULL) continue; - - DENMRetransmission_t* aDENM = activeDENMs[i]; - - if (timerisset(&aDENM->nextRetransmissionTime) && timercmp(&systemTime, &aDENM->nextRetransmissionTime, >)) - { - updateDENMMessage(&MONRMessage,aDENM->message); - sendDENM(aDENM->message); - - timeradd(&aDENM->nextRetransmissionTime,&aDENM->retransmissionInterval,&aDENM->nextRetransmissionTime); - if (timercmp(&aDENM->nextRetransmissionTime,&aDENM->retransmissionEndTime,>)) - { - deallocateDENMStruct(aDENM->message); - free(aDENM); - activeDENMs[i] = NULL; - } - } - } - } - - for (int i = 0; i < MAX_SIMULTANEOUS_DENM; ++i) - { - deallocateDENMStruct(activeDENMs[i]->message); - free(activeDENMs[i]); - } - free(storedActionIDs); +void citscontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { + origin.longitude = -200; //Initialize longitude to something outside -180 to 180 + origin.latitude = -100; //Initialize latitude to something outside -90 to 90 + + const struct timeval timeCycleCAM = { CAM_TIME_CYCLE_S, CAM_TIME_CYCLE_US }; + struct timeval nextCAMCycle; + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + enum COMMAND command; + int mqtt_response_code = 0; + MonitorDataType mqMONRdata; + MONRType MONRMessage; + MONRType LastMONRMessage; + ACCMData actionConfig; + EXACData actionData; + uint16_t *storedActionIDs = NULL; + int numberOfStoredActionIDs = 0; + int actionIndex = -1; + asn_enc_rval_t ec; + + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "C-ITS control running with PID: %i", getpid()); + + + lastCAM = allocateCAMStruct(); + tempCAM = allocateCAMStruct(); + if (lastCAM == NULL || tempCAM == NULL) { + exit(EXIT_FAILURE); + } + initializeCAMStruct(lastCAM); + + bzero(activeDENMs, sizeof (activeDENMs)); + + tempDENM = allocateDENMStruct(); + if (tempDENM == NULL) { + exit(EXIT_FAILURE); + } + + TimeType time; + + I16 lastSpeed = 0; + + //! Timer for sending DENM at later time + struct timeval systemTime, exacTime = { 0, 0 }; + TimeSetToCurrentSystemTime(&nextCAMCycle); + + + UtilGetMillisecond(&time); + + (void)init_mqtt(ERICSSON_MQTT_ADDRESS, DEFAULT_MQTT_CLIENTID); + + MQTTClient_setCallbacks(client, NULL, connlost_mqtt, msgarrvd_mqtt, delivered_mqtt); + + lastCAM->cam.generationDeltaTime = time.MillisecondU16; + + lastCAM->cam.camParameters.basicContainer.referencePosition.latitude = 0; + lastCAM->cam.camParameters.basicContainer.referencePosition.longitude = 0; + + // TODO: Initialize signal handler + + if (iCommInit()) + util_error("Unable to connect to message bus"); + + int monrCounter = 0; + + LogMessage(LOG_LEVEL_INFO, "Starting C-ITS control"); + while (!iExit) { + TimeSetToCurrentSystemTime(&systemTime); + + // Handle states specific things + state = pending_state; + + switch (state) { + case INIT: + if (!connect_mqtt()) { + LogMessage(LOG_LEVEL_INFO, "Connected to MQTT broker"); + MQTTClient_subscribe(client, DEFAULT_MQTT_TOPIC, DEFAULT_MQTT_QOS); + pending_state = CONNECTED; + LogMessage(LOG_LEVEL_DEBUG, "CITS state change from %d to %d", state, pending_state); + } + break; + case CONNECTED: + /* if ((mqtt_response_code = publish_mqtt(DEFAULT_MQTT_PAYLOAD,strlen(DEFAULT_MQTT_PAYLOAD),DEFAULT_MQTT_TOPIC))) { + LogMessage(LOG_LEVEL_ERROR,"Could not publish message, error code %d", mqtt_response_code); + } + else { + pending_state = SENDING; + } + + break; + */ + case SENDING: + if (sendtoken == deliveredtoken) { + pending_state = CONNECTED; + LogMessage(LOG_LEVEL_DEBUG, "CITS state change from %d to %d", state, pending_state); + } + break; + } + + // Handle MQ messages + + bzero(busReceiveBuffer, sizeof (busReceiveBuffer)); + (void)iCommRecv(&command, busReceiveBuffer, sizeof (busReceiveBuffer), NULL); + + if (command == COMM_ABORT) { + // TODO: Implement + } + + if (command == COMM_EXIT) { + iExit = 1; + LogMessage(LOG_LEVEL_INFO, "C-ITS control exiting"); + + (void)iCommClose(); + } + + + switch (command) { + case COMM_INIT: + free(storedActionIDs); + break; + case COMM_MONI: + LogMessage(LOG_LEVEL_DEBUG, "Ignored old style MONR data"); + break; + case COMM_OBJECTS_CONNECTED: + TimeSetToCurrentSystemTime(&nextCAMCycle); + break; + case COMM_MONR: + UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof (busReceiveBuffer), &mqMONRdata, 0); + MONRMessage = mqMONRdata.MONR; + + TimeSetToCurrentSystemTime(&systemTime); + if (timercmp(&systemTime, &nextCAMCycle, >)) { + timeradd(&nextCAMCycle, &timeCycleCAM, &nextCAMCycle); + + I16 distanceDelta = 0; // UtilCoordinateDistance(LastMONRMessage.XPositionI32, LastMONRMessage.YPositionI32, MONRMessage.XPositionI32, MONRMessage.YPositionI32); + I16 headingDelta = abs(LastMONRMessage.HeadingU16 - MONRMessage.HeadingU16); + I16 speedDelta = + abs((sqrt + ((MONRMessage.LateralSpeedI16 * MONRMessage.LateralSpeedI16) + + (MONRMessage.LongitudinalSpeedI16 * MONRMessage.LongitudinalSpeedI16))) - + (lastSpeed)); + + if (speedDelta >= S_THRESHOLD || distanceDelta >= D_THRESHOLD || headingDelta >= H_THRESHOLD) { + generateCAMMessage(&MONRMessage, lastCAM); + sendCAM(lastCAM); + + // Temporary + //generateDENMMessage(&MONRMessage, lastDENM, CauseCodeType_reserved); + //sendDENM(lastDENM); + } + lastSpeed = + sqrt((MONRMessage.LateralSpeedI16 * MONRMessage.LateralSpeedI16) + + (MONRMessage.LongitudinalSpeedI16 * MONRMessage.LongitudinalSpeedI16)); + LastMONRMessage = MONRMessage; + } + + break; + case COMM_ACCM: + LogMessage(LOG_LEVEL_INFO, "Received action configuration"); + UtilPopulateACCMDataStructFromMQ(busReceiveBuffer, sizeof (busReceiveBuffer), &actionConfig); + parseActionConfiguration(actionConfig, &storedActionIDs, &numberOfStoredActionIDs); + break; + case COMM_EXAC: + UtilPopulateEXACDataStructFromMQ(busReceiveBuffer, sizeof (busReceiveBuffer), &actionData); + actionIndex = getActionIndex(actionData, storedActionIDs, numberOfStoredActionIDs); + if (actionIndex != -1 && state != DISCONNECTED && state != INIT) { + LogMessage(LOG_LEVEL_INFO, "Received action execution request with ID %u", + storedActionIDs[actionIndex]); + + if (timerisset(&exacTime)) { + LogMessage(LOG_LEVEL_WARNING, "Another DENM send already queued"); + break; + } + + // Based on last MONR message, generate a DENM message to send + ssize_t DENMindex = insertNewDENMIntoList(activeDENMs, MAX_SIMULTANEOUS_DENM); + + if (DENMindex == -1) { + LogMessage(LOG_LEVEL_ERROR, "Could not insert new DENM into list"); + break; + } + generateDENMMessage(&MONRMessage, activeDENMs[DENMindex]->message, + CauseCodeType_dangerousSituation); + + struct timeval validityDuration; + + if (actionData.executionTime_qmsoW == 0) // Immediate execution requested + activeDENMs[DENMindex]->nextRetransmissionTime = systemTime; + else + TimeSetToGPStime(&activeDENMs[DENMindex]->nextRetransmissionTime, + TimeGetAsGPSweek(&systemTime), actionData.executionTime_qmsoW); + + validityDuration.tv_sec = *activeDENMs[DENMindex]->message->denm.management.validityDuration; + validityDuration.tv_usec = 0; + + timeradd(&activeDENMs[DENMindex]->nextRetransmissionTime, &validityDuration, + &activeDENMs[DENMindex]->retransmissionEndTime); + + activeDENMs[DENMindex]->retransmissionInterval.tv_sec = DENM_RETRANSMIT_CYCLE_S; + activeDENMs[DENMindex]->retransmissionInterval.tv_usec = DENM_RETRANSMIT_CYCLE_US; + } + else if (actionIndex == -1) + LogMessage(LOG_LEVEL_DEBUG, "Received non-configured action execution request"); + else if (state == INIT || state == DISCONNECTED) + LogMessage(LOG_LEVEL_WARNING, + "Received action execution request while in non-connected state %u", + (char)(state)); + break; + case COMM_TRCM: + // Future implementation + break; + case COMM_TREO: + break; + case COMM_OBC_STATE: + break; + case COMM_OSEM: + // Save these values? + break; + case COMM_CONNECT: + break; + case COMM_LOG: + break; + case COMM_INV: + break; + case COMM_DATA_DICT: + DataDictionaryGetOriginLatitudeDbl(GSD, &origin.latitude); + DataDictionaryGetOriginLongitudeDbl(GSD, &origin.longitude); + break; + + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } + + // Go through all stored DENMs, and see if any of them is up for retransmission + TimeSetToCurrentSystemTime(&systemTime); + for (int i = 0; i < MAX_SIMULTANEOUS_DENM; ++i) { + if (activeDENMs[i] == NULL) + continue; + + DENMRetransmission_t *aDENM = activeDENMs[i]; + + if (timerisset(&aDENM->nextRetransmissionTime) + && timercmp(&systemTime, &aDENM->nextRetransmissionTime, >)) { + updateDENMMessage(&MONRMessage, aDENM->message); + sendDENM(aDENM->message); + + timeradd(&aDENM->nextRetransmissionTime, &aDENM->retransmissionInterval, + &aDENM->nextRetransmissionTime); + if (timercmp(&aDENM->nextRetransmissionTime, &aDENM->retransmissionEndTime, >)) { + deallocateDENMStruct(aDENM->message); + free(aDENM); + activeDENMs[i] = NULL; + } + } + } + } + + for (int i = 0; i < MAX_SIMULTANEOUS_DENM; ++i) { + deallocateDENMStruct(activeDENMs[i]->message); + free(activeDENMs[i]); + } + free(storedActionIDs); } -ssize_t insertNewDENMIntoList(DENMRetransmission_t** list, size_t listSize) -{ - for (unsigned int i = 0; i < listSize; ++i) - { - if (list[i] == NULL) - { - list[i] = calloc(1,sizeof(DENMRetransmission_t)); - list[i]->message = allocateDENMStruct(); - if (list[i]->message != NULL) - { - initializeDENMStruct(list[i]->message); - return i; - } - else return -1; - } - } - return -1; +ssize_t insertNewDENMIntoList(DENMRetransmission_t ** list, size_t listSize) { + for (unsigned int i = 0; i < listSize; ++i) { + if (list[i] == NULL) { + list[i] = calloc(1, sizeof (DENMRetransmission_t)); + list[i]->message = allocateDENMStruct(); + if (list[i]->message != NULL) { + initializeDENMStruct(list[i]->message); + return i; + } + else + return -1; + } + } + return -1; } -void initializeDENMStruct(DENM_t* denm) -{ - denm->header.messageID = DENM_V_1_2_1_MESSAGE_ID; - denm->header.protocolVersion = DENM_V_1_2_1_PROTOCOL_VERSION; - denm->header.stationID = ITS_STATION_ID; - - /****** MANAGEMENT ******/ - denm->denm.management.actionID.originatingStationID = ITS_STATION_ID; - denm->denm.management.actionID.sequenceNumber = 0; - denm->denm.management.stationType = StationType_roadSideUnit; - asn_long2INTEGER(&denm->denm.management.detectionTime,0); // TODO: double check - asn_long2INTEGER(&denm->denm.management.referenceTime,0); // TODO: double check - denm->denm.management.eventPosition.altitude.altitudeValue = 0; - denm->denm.management.eventPosition.altitude.altitudeConfidence = 0; - denm->denm.management.eventPosition.latitude = 0; - denm->denm.management.eventPosition.longitude = 0; - denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; - denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = 0; - denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - *denm->denm.management.validityDuration = DENM_VALIDITY_DURATION_S; - *denm->denm.management.relevanceDistance = RelevanceDistance_over10km; - *denm->denm.management.relevanceTrafficDirection = RelevanceTrafficDirection_allTrafficDirections; - - // Unused management optional fields (null their pointers to show unused) - // TODO: Modify here to once relevant information can be used - free(denm->denm.management.termination); - denm->denm.management.termination = NULL; - - /****** SITUATION ******/ - denm->denm.situation->informationQuality = InformationQuality_highest; - denm->denm.situation->eventType.causeCode = CauseCodeType_reserved; - denm->denm.situation->eventType.subCauseCode = CauseCodeType_reserved; - - // Unused situation optional fields (null their pointers to show unused) - // TODO: Modify here to once relevant information can be used - free(denm->denm.situation->linkedCause); - free(denm->denm.situation->eventHistory); - denm->denm.situation->linkedCause = NULL; - denm->denm.situation->eventHistory = NULL; - - /****** LOCATION ******/ - free(denm->denm.location); - denm->denm.location = NULL; - - if (denm->denm.location != NULL) - { - denm->denm.location->eventSpeed->speedValue = 0; - denm->denm.location->eventSpeed->speedValue = SpeedConfidence_unavailable; - - // Unused location optional fields (null their pointers to show unused) - // TODO: Modify here to once relevant information can be used - free(denm->denm.location->roadType); - free(denm->denm.location->eventPositionHeading); - denm->denm.location->roadType = NULL; - denm->denm.location->eventPositionHeading = NULL; - } - - /****** ALACARTE ******/ - - // Unused alacarte optional fields (null their pointers to show unused) - // TODO: Modify here to once relevant information can be used - free(denm->denm.alacarte->lanePosition); - free(denm->denm.alacarte->impactReduction); - free(denm->denm.alacarte->externalTemperature); - free(denm->denm.alacarte->roadWorks); - free(denm->denm.alacarte->positioningSolution); - free(denm->denm.alacarte->stationaryVehicle); - denm->denm.alacarte->lanePosition = NULL; - denm->denm.alacarte->impactReduction = NULL; - denm->denm.alacarte->externalTemperature = NULL; - denm->denm.alacarte->roadWorks = NULL; - denm->denm.alacarte->positioningSolution = NULL; - denm->denm.alacarte->stationaryVehicle = NULL; - - // TODO +void initializeDENMStruct(DENM_t * denm) { + denm->header.messageID = DENM_V_1_2_1_MESSAGE_ID; + denm->header.protocolVersion = DENM_V_1_2_1_PROTOCOL_VERSION; + denm->header.stationID = ITS_STATION_ID; + + /****** MANAGEMENT ******/ + denm->denm.management.actionID.originatingStationID = ITS_STATION_ID; + denm->denm.management.actionID.sequenceNumber = 0; + denm->denm.management.stationType = StationType_roadSideUnit; + asn_long2INTEGER(&denm->denm.management.detectionTime, 0); // TODO: double check + asn_long2INTEGER(&denm->denm.management.referenceTime, 0); // TODO: double check + denm->denm.management.eventPosition.altitude.altitudeValue = 0; + denm->denm.management.eventPosition.altitude.altitudeConfidence = 0; + denm->denm.management.eventPosition.latitude = 0; + denm->denm.management.eventPosition.longitude = 0; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = 0; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; + *denm->denm.management.validityDuration = DENM_VALIDITY_DURATION_S; + *denm->denm.management.relevanceDistance = RelevanceDistance_over10km; + *denm->denm.management.relevanceTrafficDirection = RelevanceTrafficDirection_allTrafficDirections; + + // Unused management optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(denm->denm.management.termination); + denm->denm.management.termination = NULL; + + /****** SITUATION ******/ + denm->denm.situation->informationQuality = InformationQuality_highest; + denm->denm.situation->eventType.causeCode = CauseCodeType_reserved; + denm->denm.situation->eventType.subCauseCode = CauseCodeType_reserved; + + // Unused situation optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(denm->denm.situation->linkedCause); + free(denm->denm.situation->eventHistory); + denm->denm.situation->linkedCause = NULL; + denm->denm.situation->eventHistory = NULL; + + /****** LOCATION ******/ + free(denm->denm.location); + denm->denm.location = NULL; + + if (denm->denm.location != NULL) { + denm->denm.location->eventSpeed->speedValue = 0; + denm->denm.location->eventSpeed->speedValue = SpeedConfidence_unavailable; + + // Unused location optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(denm->denm.location->roadType); + free(denm->denm.location->eventPositionHeading); + denm->denm.location->roadType = NULL; + denm->denm.location->eventPositionHeading = NULL; + } + + /****** ALACARTE ******/ + + // Unused alacarte optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(denm->denm.alacarte->lanePosition); + free(denm->denm.alacarte->impactReduction); + free(denm->denm.alacarte->externalTemperature); + free(denm->denm.alacarte->roadWorks); + free(denm->denm.alacarte->positioningSolution); + free(denm->denm.alacarte->stationaryVehicle); + denm->denm.alacarte->lanePosition = NULL; + denm->denm.alacarte->impactReduction = NULL; + denm->denm.alacarte->externalTemperature = NULL; + denm->denm.alacarte->roadWorks = NULL; + denm->denm.alacarte->positioningSolution = NULL; + denm->denm.alacarte->stationaryVehicle = NULL; + + // TODO } -DENM_t* allocateDENMStruct(void) -{ - // Allocate entire struct - DENM_t* denm = calloc(1, sizeof(DENM_t)); - - if (denm == NULL) - return NULL; - - // Allocate management subcontainers - denm->denm.management.termination = calloc(1, sizeof (Termination_t)); - denm->denm.management.relevanceDistance = calloc(1, sizeof (RelevanceDistance_t)); - denm->denm.management.relevanceTrafficDirection = calloc(1, sizeof (RelevanceTrafficDirection_t)); - denm->denm.management.validityDuration = calloc(1, sizeof (ValidityDuration_t)); - denm->denm.management.transmissionInterval = calloc(1, sizeof (TransmissionInterval_t)); - - if (denm->denm.management.termination == NULL || denm->denm.management.relevanceDistance == NULL - || denm->denm.management.relevanceTrafficDirection == NULL || denm->denm.management.validityDuration == NULL - || denm->denm.management.transmissionInterval == NULL) - { - deallocateDENMStruct(denm); - return NULL; - } - - // Allocate subcontainers - denm->denm.situation = calloc(1, sizeof(SituationContainer_t)); - denm->denm.location = calloc(1, sizeof(LocationContainer_t)); - denm->denm.alacarte = calloc(1, sizeof(AlacarteContainer_t)); - if (denm->denm.situation == NULL || denm->denm.location == NULL || denm->denm.alacarte == NULL) - { - deallocateDENMStruct(denm); - return NULL; - } - else { - // Initialize all pointers to null so that they can be passed to the deallocation - // function if something goes wrong during initialization - - denm->denm.situation->linkedCause = NULL; - denm->denm.situation->eventHistory = NULL; - - denm->denm.location->eventSpeed = NULL; - denm->denm.location->eventPositionHeading = NULL; - denm->denm.location->roadType = NULL; - - denm->denm.alacarte->lanePosition = NULL; - denm->denm.alacarte->impactReduction = NULL; - denm->denm.alacarte->externalTemperature = NULL; - denm->denm.alacarte->roadWorks = NULL; - denm->denm.alacarte->positioningSolution = NULL; - denm->denm.alacarte->stationaryVehicle = NULL; - } - - - // Allocate situation subcontainers - denm->denm.situation->linkedCause = calloc(1,sizeof (CauseCode_t)); - denm->denm.situation->eventHistory = NULL; // TODO: allocate memory for this - if (denm->denm.situation->linkedCause == NULL /*|| denm->denm.situation->eventHistory == NULL*/) - { - deallocateDENMStruct(denm); - return NULL; - } - - // Allocate location subcontainers - denm->denm.location->eventSpeed = calloc(1, sizeof (Speed_t)); - denm->denm.location->eventPositionHeading = calloc(1, sizeof (Heading_t)); - denm->denm.location->roadType = calloc(1, sizeof (RoadType_t)); - if (denm->denm.location->eventSpeed == NULL || denm->denm.location->eventPositionHeading == NULL - || denm->denm.location->roadType == NULL) - { - deallocateDENMStruct(denm); - return NULL; - } - - // Allocate alacarte subcontainers - denm->denm.alacarte->lanePosition = calloc(1, sizeof(LanePosition_t)); - denm->denm.alacarte->impactReduction = NULL; // TODO: allocate memory for this - denm->denm.alacarte->externalTemperature = calloc(1, sizeof(Temperature_t)); - denm->denm.alacarte->roadWorks = NULL; // TODO: allocate memory for this - denm->denm.alacarte->positioningSolution = calloc(1, sizeof (PositioningSolutionType_t)); - denm->denm.alacarte->stationaryVehicle = NULL; // TODO: allocate memory for this - if (denm->denm.alacarte->lanePosition == NULL || denm->denm.alacarte->externalTemperature == NULL - || denm->denm.alacarte->positioningSolution == NULL /*|| denm->denm.alacarte->impactReduction == NULL - || denm->denm.alacarte->roadWorks == NULL || denm->denm.alacarte->stationaryVehicle == NULL*/) - { - deallocateDENMStruct(denm); - return NULL; - } - - return denm; +DENM_t *allocateDENMStruct(void) { + // Allocate entire struct + DENM_t *denm = calloc(1, sizeof (DENM_t)); + + if (denm == NULL) + return NULL; + + // Allocate management subcontainers + denm->denm.management.termination = calloc(1, sizeof (Termination_t)); + denm->denm.management.relevanceDistance = calloc(1, sizeof (RelevanceDistance_t)); + denm->denm.management.relevanceTrafficDirection = calloc(1, sizeof (RelevanceTrafficDirection_t)); + denm->denm.management.validityDuration = calloc(1, sizeof (ValidityDuration_t)); + denm->denm.management.transmissionInterval = calloc(1, sizeof (TransmissionInterval_t)); + + if (denm->denm.management.termination == NULL || denm->denm.management.relevanceDistance == NULL + || denm->denm.management.relevanceTrafficDirection == NULL + || denm->denm.management.validityDuration == NULL + || denm->denm.management.transmissionInterval == NULL) { + deallocateDENMStruct(denm); + return NULL; + } + + // Allocate subcontainers + denm->denm.situation = calloc(1, sizeof (SituationContainer_t)); + denm->denm.location = calloc(1, sizeof (LocationContainer_t)); + denm->denm.alacarte = calloc(1, sizeof (AlacarteContainer_t)); + if (denm->denm.situation == NULL || denm->denm.location == NULL || denm->denm.alacarte == NULL) { + deallocateDENMStruct(denm); + return NULL; + } + else { + // Initialize all pointers to null so that they can be passed to the deallocation + // function if something goes wrong during initialization + + denm->denm.situation->linkedCause = NULL; + denm->denm.situation->eventHistory = NULL; + + denm->denm.location->eventSpeed = NULL; + denm->denm.location->eventPositionHeading = NULL; + denm->denm.location->roadType = NULL; + + denm->denm.alacarte->lanePosition = NULL; + denm->denm.alacarte->impactReduction = NULL; + denm->denm.alacarte->externalTemperature = NULL; + denm->denm.alacarte->roadWorks = NULL; + denm->denm.alacarte->positioningSolution = NULL; + denm->denm.alacarte->stationaryVehicle = NULL; + } + + + // Allocate situation subcontainers + denm->denm.situation->linkedCause = calloc(1, sizeof (CauseCode_t)); + denm->denm.situation->eventHistory = NULL; // TODO: allocate memory for this + if (denm->denm.situation->linkedCause == NULL /*|| denm->denm.situation->eventHistory == NULL */ ) { + deallocateDENMStruct(denm); + return NULL; + } + + // Allocate location subcontainers + denm->denm.location->eventSpeed = calloc(1, sizeof (Speed_t)); + denm->denm.location->eventPositionHeading = calloc(1, sizeof (Heading_t)); + denm->denm.location->roadType = calloc(1, sizeof (RoadType_t)); + if (denm->denm.location->eventSpeed == NULL || denm->denm.location->eventPositionHeading == NULL + || denm->denm.location->roadType == NULL) { + deallocateDENMStruct(denm); + return NULL; + } + + // Allocate alacarte subcontainers + denm->denm.alacarte->lanePosition = calloc(1, sizeof (LanePosition_t)); + denm->denm.alacarte->impactReduction = NULL; // TODO: allocate memory for this + denm->denm.alacarte->externalTemperature = calloc(1, sizeof (Temperature_t)); + denm->denm.alacarte->roadWorks = NULL; // TODO: allocate memory for this + denm->denm.alacarte->positioningSolution = calloc(1, sizeof (PositioningSolutionType_t)); + denm->denm.alacarte->stationaryVehicle = NULL; // TODO: allocate memory for this + if (denm->denm.alacarte->lanePosition == NULL || denm->denm.alacarte->externalTemperature == NULL || denm->denm.alacarte->positioningSolution == NULL /*|| denm->denm.alacarte->impactReduction == NULL + || denm->denm.alacarte->roadWorks == NULL || denm->denm.alacarte->stationaryVehicle == NULL */ ) { + deallocateDENMStruct(denm); + return NULL; + } + + return denm; } -void deallocateDENMStruct(DENM_t* denm) -{ - if (denm == NULL) return; +void deallocateDENMStruct(DENM_t * denm) { + if (denm == NULL) + return; - if (denm->denm.situation != NULL) - { - free(denm->denm.situation->linkedCause); - free(denm->denm.situation->eventHistory); // TODO: deallocate possible submembers + if (denm->denm.situation != NULL) { + free(denm->denm.situation->linkedCause); + free(denm->denm.situation->eventHistory); // TODO: deallocate possible submembers - free(denm->denm.situation); - } + free(denm->denm.situation); + } - if (denm->denm.location != NULL) - { - free(denm->denm.location->eventSpeed); - free(denm->denm.location->eventPositionHeading); - free(denm->denm.location->roadType); + if (denm->denm.location != NULL) { + free(denm->denm.location->eventSpeed); + free(denm->denm.location->eventPositionHeading); + free(denm->denm.location->roadType); - free(denm->denm.location); - } + free(denm->denm.location); + } - if (denm->denm.alacarte != NULL) - { - free(denm->denm.alacarte->lanePosition); - free(denm->denm.alacarte->impactReduction); // TODO: deallocate possible submembers - free(denm->denm.alacarte->externalTemperature); - free(denm->denm.alacarte->roadWorks); // TODO: deallocate possible submembers - free(denm->denm.alacarte->positioningSolution); - free(denm->denm.alacarte->stationaryVehicle); // TODO: deallocate possible submembers + if (denm->denm.alacarte != NULL) { + free(denm->denm.alacarte->lanePosition); + free(denm->denm.alacarte->impactReduction); // TODO: deallocate possible submembers + free(denm->denm.alacarte->externalTemperature); + free(denm->denm.alacarte->roadWorks); // TODO: deallocate possible submembers + free(denm->denm.alacarte->positioningSolution); + free(denm->denm.alacarte->stationaryVehicle); // TODO: deallocate possible submembers - free(denm->denm.alacarte); - } + free(denm->denm.alacarte); + } - free(denm); + free(denm); } -CAM_t* allocateCAMStruct(void) -{ - CAM_t* cam = calloc(1,sizeof (CAM_t)); - const HighFrequencyContainer_PR chosenHFContainerType = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency; - - if (cam == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to allocate CAM struct"); - return NULL; - } - - cam->cam.camParameters.highFrequencyContainer.present = chosenHFContainerType; - switch (cam->cam.camParameters.highFrequencyContainer.present) - { - case HighFrequencyContainer_PR_NOTHING: - util_error("Empty container unimplemented"); - break; - case HighFrequencyContainer_PR_basicVehicleContainerHighFrequency: - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.accelerationControl = NULL; // TODO: Allocate memory for this - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition = calloc(1,sizeof(LanePosition_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.steeringWheelAngle = calloc(1,sizeof(SteeringWheelAngle_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration = calloc(1,sizeof(LateralAcceleration_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.verticalAcceleration = calloc(1,sizeof(VerticalAcceleration_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.performanceClass = calloc(1,sizeof(PerformanceClass_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone = calloc(1,sizeof(CenDsrcTollingZone_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone->cenDsrcTollingZoneID = NULL; // TODO: Allocate memory for this - - BasicVehicleContainerHighFrequency_t* bvc = &cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency; - if (bvc->lanePosition == NULL || bvc->steeringWheelAngle == NULL - || bvc->lateralAcceleration == NULL || bvc->verticalAcceleration == NULL - || bvc->performanceClass == NULL || bvc->cenDsrcTollingZone == NULL /*|| bvc->cenDsrcTollingZone->cenDsrcTollingZoneID == NULL || bvc->accelerationControl == NULL*/) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to allocate CAM struct basic vehicle container"); - deallocateCAMStruct(cam); - return NULL; - } - break; - case HighFrequencyContainer_PR_rsuContainerHighFrequency: - util_error("RSU container unimplemented"); - break; - } - return cam; +CAM_t *allocateCAMStruct(void) { + CAM_t *cam = calloc(1, sizeof (CAM_t)); + const HighFrequencyContainer_PR chosenHFContainerType = + HighFrequencyContainer_PR_basicVehicleContainerHighFrequency; + + if (cam == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate CAM struct"); + return NULL; + } + + cam->cam.camParameters.highFrequencyContainer.present = chosenHFContainerType; + switch (cam->cam.camParameters.highFrequencyContainer.present) { + case HighFrequencyContainer_PR_NOTHING: + util_error("Empty container unimplemented"); + break; + case HighFrequencyContainer_PR_basicVehicleContainerHighFrequency: + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.accelerationControl = NULL; // TODO: Allocate memory for this + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition = + calloc(1, sizeof (LanePosition_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + steeringWheelAngle = calloc(1, sizeof (SteeringWheelAngle_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lateralAcceleration = calloc(1, sizeof (LateralAcceleration_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + verticalAcceleration = calloc(1, sizeof (VerticalAcceleration_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + performanceClass = calloc(1, sizeof (PerformanceClass_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + cenDsrcTollingZone = calloc(1, sizeof (CenDsrcTollingZone_t)); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone->cenDsrcTollingZoneID = NULL; // TODO: Allocate memory for this + + BasicVehicleContainerHighFrequency_t *bvc = + &cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency; + if (bvc->lanePosition == NULL || bvc->steeringWheelAngle == NULL || bvc->lateralAcceleration == NULL + || bvc->verticalAcceleration == NULL || bvc->performanceClass == NULL + || bvc->cenDsrcTollingZone == + NULL + /*|| bvc->cenDsrcTollingZone->cenDsrcTollingZoneID == NULL || bvc->accelerationControl == NULL */ + ) { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate CAM struct basic vehicle container"); + deallocateCAMStruct(cam); + return NULL; + } + break; + case HighFrequencyContainer_PR_rsuContainerHighFrequency: + util_error("RSU container unimplemented"); + break; + } + return cam; } -void initializeCAMStruct(CAM_t* cam) -{ - cam->header.stationID = ITS_STATION_ID; - cam->header.messageID = CAM_V_1_3_1_MESSAGE_ID; - cam->header.protocolVersion = CAM_V_1_3_1_PROTOCOL_VERSION; - - cam->cam.generationDeltaTime = 0; - cam->cam.camParameters.basicContainer.stationType = StationType_roadSideUnit; - cam->cam.camParameters.basicContainer.referencePosition.latitude = 0; - cam->cam.camParameters.basicContainer.referencePosition.longitude = 0; - cam->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = 0; - cam->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; - cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; - cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; - cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = 0; - - cam->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency; - - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = HeadingValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = HeadingConfidence_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = SpeedValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedConfidence = SpeedConfidence_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = DriveDirection_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = VehicleLengthValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = VehicleWidth_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = CurvatureValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureConfidence = CurvatureConfidence_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = CurvatureCalculationMode_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = YawRateValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateConfidence = YawRateConfidence_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = LateralAccelerationValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; - - // Unused highFrequencyContainer optional fields (null their pointers to show unused) - // TODO: Modify here to once relevant information can be used - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.accelerationControl); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.steeringWheelAngle); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.verticalAcceleration); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.performanceClass); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.accelerationControl = NULL; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition = NULL; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.steeringWheelAngle = NULL; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.verticalAcceleration = NULL; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.performanceClass = NULL; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone = NULL; - - // Low frequency container and special vehicle containers unused for now (TODO) - free(cam->cam.camParameters.lowFrequencyContainer); - free(cam->cam.camParameters.specialVehicleContainer); - cam->cam.camParameters.lowFrequencyContainer = NULL; - cam->cam.camParameters.specialVehicleContainer = NULL; - - return; +void initializeCAMStruct(CAM_t * cam) { + cam->header.stationID = ITS_STATION_ID; + cam->header.messageID = CAM_V_1_3_1_MESSAGE_ID; + cam->header.protocolVersion = CAM_V_1_3_1_PROTOCOL_VERSION; + + cam->cam.generationDeltaTime = 0; + cam->cam.camParameters.basicContainer.stationType = StationType_roadSideUnit; + cam->cam.camParameters.basicContainer.referencePosition.latitude = 0; + cam->cam.camParameters.basicContainer.referencePosition.longitude = 0; + cam->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = 0; + cam->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = + AltitudeConfidence_unavailable; + cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = + SemiAxisLength_unavailable; + cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = + SemiAxisLength_unavailable; + cam->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = + 0; + + cam->cam.camParameters.highFrequencyContainer.present = + HighFrequencyContainer_PR_basicVehicleContainerHighFrequency; + + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading. + headingValue = HeadingValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading. + headingConfidence = HeadingConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = + SpeedValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed. + speedConfidence = SpeedConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = + DriveDirection_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength. + vehicleLengthValue = VehicleLengthValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength. + vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = + VehicleWidth_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature. + curvatureValue = CurvatureValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature. + curvatureConfidence = CurvatureConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + curvatureCalculationMode = CurvatureCalculationMode_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate. + yawRateValue = YawRateValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate. + yawRateConfidence = YawRateConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lateralAcceleration->lateralAccelerationValue = LateralAccelerationValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; + + // Unused highFrequencyContainer optional fields (null their pointers to show unused) + // TODO: Modify here to once relevant information can be used + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + accelerationControl); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lanePosition); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + steeringWheelAngle); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + verticalAcceleration); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + performanceClass); + free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + cenDsrcTollingZone); + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + accelerationControl = NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition = + NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + steeringWheelAngle = NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + verticalAcceleration = NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.performanceClass = + NULL; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + cenDsrcTollingZone = NULL; + + // Low frequency container and special vehicle containers unused for now (TODO) + free(cam->cam.camParameters.lowFrequencyContainer); + free(cam->cam.camParameters.specialVehicleContainer); + cam->cam.camParameters.lowFrequencyContainer = NULL; + cam->cam.camParameters.specialVehicleContainer = NULL; + + return; } -void deallocateCAMStruct(CAM_t* cam) -{ - free(cam); - // TODO: more +void deallocateCAMStruct(CAM_t * cam) { + free(cam); + // TODO: more } -void signalHandler(int sig, siginfo_t* siginfo, void* uc) -{ - // TODO: check signal +void signalHandler(int sig, siginfo_t * siginfo, void *uc) { + // TODO: check signal - LogPrint("Caught %d", sig); + LogPrint("Caught %d", sig); - //if (lastDENM != NULL) - // sendDENM(lastDENM); + //if (lastDENM != NULL) + // sendDENM(lastDENM); - signal(sig, SIG_IGN); + signal(sig, SIG_IGN); } -void init_mqtt(char* ip_addr, char * clientid){ +void init_mqtt(char *ip_addr, char *clientid) { - MQTTClient_create(&client, ip_addr, clientid, - MQTTCLIENT_PERSISTENCE_NONE, NULL); - conn_opts.keepAliveInterval = 20; - conn_opts.cleansession = 1; + MQTTClient_create(&client, ip_addr, clientid, MQTTCLIENT_PERSISTENCE_NONE, NULL); + conn_opts.keepAliveInterval = 20; + conn_opts.cleansession = 1; } -int connect_mqtt(){ - int return_code; - if ((return_code = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS) - { - LogMessage(LOG_LEVEL_ERROR,"Failed to connect, return code %d", return_code); - return 1; - } - return 0; +int connect_mqtt() { + int return_code; + + if ((return_code = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS) { + LogMessage(LOG_LEVEL_ERROR, "Failed to connect, return code %d", return_code); + return 1; + } + return 0; } -int publish_mqtt(char *payload, int payload_len, char *topic){ +int publish_mqtt(char *payload, int payload_len, char *topic) { + + pubmsg.payload = payload; + pubmsg.payloadlen = payload_len; + pubmsg.qos = DEFAULT_MQTT_QOS; + pubmsg.retained = 0; + deliveredtoken = 0; - pubmsg.payload = payload; - pubmsg.payloadlen = payload_len; - pubmsg.qos = DEFAULT_MQTT_QOS; - pubmsg.retained = 0; - deliveredtoken = 0; + int retval = MQTTClient_publishMessage(client, topic, &pubmsg, &sendtoken); - int retval = MQTTClient_publishMessage(client, topic, &pubmsg, &sendtoken); - if (!retval) { - LogMessage(LOG_LEVEL_INFO,"Waiting for publication of %s\n on topic %s for client with ClitentID %s",payload, topic, DEFAULT_MQTT_CLIENTID ); - } - return retval; + if (!retval) { + LogMessage(LOG_LEVEL_INFO, "Waiting for publication of %s\n on topic %s for client with ClitentID %s", + payload, topic, DEFAULT_MQTT_CLIENTID); + } + return retval; } -int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message *message){ - (void)context; - (void)topicLen; - int i; - char* payloadptr; - LogMessage(LOG_LEVEL_DEBUG,"Message arrived! Length=%d",message->payloadlen); - //if (message->payloadlen == 0) return 1; - //else if (topicLen == 0) return 2; - //if(message->payloadlen > 0) { - // LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); - //} - /* - - if(message->payloadlen > 0) LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); - printf("Message arrived\n"); - printf("topic: %s\n", topicName); - printf("message: "); - payloadptr = message->payload; - - for(i=0; ipayloadlen; i++) - { - putchar(*payloadptr++); - } - putchar('\n'); - - - */ - - - MQTTClient_freeMessage(&message); - MQTTClient_free(topicName); - return 0; +int msgarrvd_mqtt(void *context, char *topicName, int topicLen, MQTTClient_message * message) { + (void)context; + (void)topicLen; + int i; + char *payloadptr; + + LogMessage(LOG_LEVEL_DEBUG, "Message arrived! Length=%d", message->payloadlen); + //if (message->payloadlen == 0) return 1; + //else if (topicLen == 0) return 2; + //if(message->payloadlen > 0) { + // LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); + //} + /* + + if(message->payloadlen > 0) LogMessage(LOG_LEVEL_DEBUG,"\n\tTopic: %s\n\tmessage: %s",topicName,message->payload); + printf("Message arrived\n"); + printf("topic: %s\n", topicName); + printf("message: "); + payloadptr = message->payload; + + for(i=0; ipayloadlen; i++) + { + putchar(*payloadptr++); + } + putchar('\n'); + + + */ + + + MQTTClient_freeMessage(&message); + MQTTClient_free(topicName); + return 0; } -void delivered_mqtt(void *context, MQTTClient_deliveryToken dt) -{ - LogMessage(LOG_LEVEL_DEBUG,"Message delivered with token: %d .", dt); - deliveredtoken = dt; +void delivered_mqtt(void *context, MQTTClient_deliveryToken dt) { + LogMessage(LOG_LEVEL_DEBUG, "Message delivered with token: %d .", dt); + deliveredtoken = dt; } -void connlost_mqtt(void *context, char *cause){ - LogMessage(LOG_LEVEL_DEBUG,"Connection Lost.\n Cause: %s",cause); - printf("Connection lost \n"); +void connlost_mqtt(void *context, char *cause) { + LogMessage(LOG_LEVEL_DEBUG, "Connection Lost.\n Cause: %s", cause); + printf("Connection lost \n"); } -static int write_out(const void *buffer, size_t size, void *app_key){ - FILE *out_fp = app_key; - size_t wrote = fwrite(buffer, 1, size, out_fp); - return (wrote == size) ? 0 : -1; +static int write_out(const void *buffer, size_t size, void *app_key) { + FILE *out_fp = app_key; + size_t wrote = fwrite(buffer, 1, size, out_fp); + + return (wrote == size) ? 0 : -1; } /*! @@ -851,104 +881,141 @@ static int write_out(const void *buffer, size_t size, void *app_key){ * \param lastCam struct to fill with cam data if cam should be sent, used as reference to calculate new cam. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ - struct timeval tv, systemTime; - - initializeCAMStruct(tempCAM); - - tempCAM->header.protocolVersion = CAM_V_1_3_1_PROTOCOL_VERSION; - tempCAM->header.messageID = CAM_V_1_3_1_MESSAGE_ID; - tempCAM->header.stationID = ITS_STATION_ID; - - TimeSetToCurrentSystemTime(&systemTime); - TimeSetToGPStime(&tv, TimeGetAsGPSweek(&systemTime), MONRData->GPSQmsOfWeekU32); - tempCAM->cam.generationDeltaTime = TimeGetAsETSIms(&tv) % 65536; // Wrap to 65536 according to standard - - //LOG LAT from XY - double x = MONRData->XPositionI32/1000.0; - double y = MONRData->YPositionI32/1000.0; - double z = MONRData->ZPositionI32/1000.0; - double latitude, longitude, height; - - double distance=0; - double azimuth1 = 0; - double azimuth2 =0; - int fail; - - if(origin.latitude < -90 || origin.latitude > 90 || origin.longitude < -180 || origin.longitude > 180) - { - LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to CAM", origin.longitude, origin.latitude); - return -1; - } - else - { - azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); - distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - - if(UtilVincentyDirect(origin.latitude, origin.longitude, azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) - { - // Convert to 0.1 microdegrees - tempCAM->cam.camParameters.basicContainer.referencePosition.latitude = (long)(latitude*10000000.0); - tempCAM->cam.camParameters.basicContainer.referencePosition.longitude = (long)(longitude*10000000.0); - - tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; - tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; - tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = 0; - - tempCAM->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = AltitudeValue_unavailable; - tempCAM->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; - } - else LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for CAM"); - } - tempCAM->cam.camParameters.basicContainer.stationType = StationType_roadSideUnit; - if (tempCAM->cam.camParameters.highFrequencyContainer.present == HighFrequencyContainer_PR_basicVehicleContainerHighFrequency) - { - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = (long)(sqrt(pow((double)(MONRData->LongitudinalSpeedI16), 2) + pow((double)(MONRData->LateralSpeedI16), 2))); - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedConfidence = SpeedConfidence_unavailable; - - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = MONRData->DriveDirectionU8; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = MONRData->HeadingU16 / 10; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = HeadingConfidence_unavailable; - - if (MONRData->LongitudinalAccI16 == 32001) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable; - else if (MONRData->LongitudinalAccI16 > 16000) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = 160; - else if (MONRData->LongitudinalAccI16 < -16000) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = -160; - else - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16 / 100; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; - - if (MONRData->LateralAccI16 == 32001) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = LateralAccelerationValue_unavailable; - else if (MONRData->LateralAccI16 > 16000) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = 160; - else if (MONRData->LateralAccI16 < -16000) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = -160; - else - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16 / 100; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; - - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = YawRateValue_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateConfidence = YawRateConfidence_unavailable; - - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = CurvatureValue_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureConfidence = CurvatureConfidence_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvatureCalculationMode = CurvatureCalculationMode_unavailable; - - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = VehicleWidth_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = VehicleLengthValue_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; - - - } else LogMessage(LOG_LEVEL_ERROR, "Unimplemented CAM container %d", tempCAM->cam.camParameters.highFrequencyContainer.present); - - - if(MONRData != NULL ){ - *cam = *tempCAM; - } - return 0; +I32 generateCAMMessage(MONRType * MONRData, CAM_t * cam) { + struct timeval tv, systemTime; + + initializeCAMStruct(tempCAM); + + tempCAM->header.protocolVersion = CAM_V_1_3_1_PROTOCOL_VERSION; + tempCAM->header.messageID = CAM_V_1_3_1_MESSAGE_ID; + tempCAM->header.stationID = ITS_STATION_ID; + + TimeSetToCurrentSystemTime(&systemTime); + TimeSetToGPStime(&tv, TimeGetAsGPSweek(&systemTime), MONRData->GPSQmsOfWeekU32); + tempCAM->cam.generationDeltaTime = TimeGetAsETSIms(&tv) % 65536; // Wrap to 65536 according to standard + + //LOG LAT from XY + double x = MONRData->XPositionI32 / 1000.0; + double y = MONRData->YPositionI32 / 1000.0; + double z = MONRData->ZPositionI32 / 1000.0; + double latitude, longitude, height; + + double distance = 0; + double azimuth1 = 0; + double azimuth2 = 0; + int fail; + + if (origin.latitude < -90 || origin.latitude > 90 || origin.longitude < -180 || origin.longitude > 180) { + LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to CAM", + origin.longitude, origin.latitude); + return -1; + } + else { + azimuth1 = UtilDegToRad(90) - atan2(y / 1.00, x / 1.00); + distance = sqrt(pow(x / 1.00, 2) + pow(y / 1.00, 2)); + + if (UtilVincentyDirect + (origin.latitude, origin.longitude, azimuth1, distance, &latitude, &longitude, &azimuth2) != -1) { + // Convert to 0.1 microdegrees + tempCAM->cam.camParameters.basicContainer.referencePosition.latitude = + (long)(latitude * 10000000.0); + tempCAM->cam.camParameters.basicContainer.referencePosition.longitude = + (long)(longitude * 10000000.0); + + tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse. + semiMajorConfidence = SemiAxisLength_unavailable; + tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse. + semiMinorConfidence = SemiAxisLength_unavailable; + tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse. + semiMajorOrientation = 0; + + tempCAM->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = + AltitudeValue_unavailable; + tempCAM->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = + AltitudeConfidence_unavailable; + } + else + LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for CAM"); + } + tempCAM->cam.camParameters.basicContainer.stationType = StationType_roadSideUnit; + if (tempCAM->cam.camParameters.highFrequencyContainer.present == + HighFrequencyContainer_PR_basicVehicleContainerHighFrequency) { + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed. + speedValue = + (long)(sqrt + (pow((double)(MONRData->LongitudinalSpeedI16), 2) + + pow((double)(MONRData->LateralSpeedI16), 2))); + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed. + speedConfidence = SpeedConfidence_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + driveDirection = MONRData->DriveDirectionU8; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading. + headingValue = MONRData->HeadingU16 / 10; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading. + headingConfidence = HeadingConfidence_unavailable; + + if (MONRData->LongitudinalAccI16 == 32001) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + longitudinalAcceleration.longitudinalAccelerationValue = + LongitudinalAccelerationValue_unavailable; + else if (MONRData->LongitudinalAccI16 > 16000) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + longitudinalAcceleration.longitudinalAccelerationValue = 160; + else if (MONRData->LongitudinalAccI16 < -16000) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + longitudinalAcceleration.longitudinalAccelerationValue = -160; + else + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16 / 100; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; + + if (MONRData->LateralAccI16 == 32001) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lateralAcceleration->lateralAccelerationValue = LateralAccelerationValue_unavailable; + else if (MONRData->LateralAccI16 > 16000) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lateralAcceleration->lateralAccelerationValue = 160; + else if (MONRData->LateralAccI16 < -16000) + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lateralAcceleration->lateralAccelerationValue = -160; + else + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16 / 100; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate. + yawRateValue = YawRateValue_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate. + yawRateConfidence = YawRateConfidence_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature. + curvatureValue = CurvatureValue_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature. + curvatureConfidence = CurvatureConfidence_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + curvatureCalculationMode = CurvatureCalculationMode_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + vehicleWidth = VehicleWidth_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + vehicleLength.vehicleLengthValue = VehicleLengthValue_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; + + + } + else + LogMessage(LOG_LEVEL_ERROR, "Unimplemented CAM container %d", + tempCAM->cam.camParameters.highFrequencyContainer.present); + + + if (MONRData != NULL) { + *cam = *tempCAM; + } + return 0; } /*! @@ -957,146 +1024,150 @@ I32 generateCAMMessage(MONRType *MONRData, CAM_t* cam){ * \param lastDENM struct to fill with DENM data if DENM should be sent, used as reference to calculate new DENM. * \param lastSpeed variable keeping track of last speed recorded. */ -I32 generateDENMMessage(MONRType *MONRData, DENM_t* denm, int causeCode){ - struct timeval tv; - initializeDENMStruct(tempDENM); - - // Set reference time to current time, leave detection time as in previous message - TimeSetToCurrentSystemTime(&tv); - asn_long2INTEGER(&tempDENM->denm.management.referenceTime,TimeGetAsETSIms(&tv)); - asn_long2INTEGER(&tempDENM->denm.management.detectionTime,TimeGetAsETSIms(&tv)); - - //LOG LAT from XY - double x = MONRData->XPositionI32/1000.0; - double y = MONRData->YPositionI32/1000.0; - double z = MONRData->ZPositionI32/1000.0; - double latitude, longitude, height; - - double distance = 0; - double azimuth1 = 0; - double azimuth2 = 0; - - if (origin.longitude > 180 || origin.longitude < -180 || origin.latitude > 90 || origin.latitude < -90) - { - LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to DENM"); - - tempDENM->denm.management.eventPosition.latitude = 0; - tempDENM->denm.management.eventPosition.longitude = 0; - - tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; - tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - - tempDENM->denm.management.eventPosition.altitude.altitudeValue = 0; - tempDENM->denm.management.eventPosition.altitude.altitudeConfidence = 0; - } - else - { - azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); - distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - - if(UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) - { - // Convert to microdegrees - tempDENM->denm.management.eventPosition.latitude = (long)(latitude*10000000.0); - tempDENM->denm.management.eventPosition.longitude = (long)(longitude*10000000.0); - - tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; - tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; - tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - - tempDENM->denm.management.eventPosition.altitude.altitudeValue = AltitudeValue_unavailable; - tempDENM->denm.management.eventPosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; - } - else LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for DENM"); - } - - *tempDENM->denm.management.relevanceDistance = RelevanceDistance_lessThan500m; - *tempDENM->denm.management.relevanceTrafficDirection = RelevanceTrafficDirection_upstreamTraffic; - - *tempDENM->denm.management.transmissionInterval = CAM_TIME_CYCLE_S*1000 + CAM_TIME_CYCLE_US/1000; - - tempDENM->denm.situation->eventType.causeCode = causeCode; - - if(causeCode == CauseCodeType_dangerousSituation){ - tempDENM->denm.situation->eventType.subCauseCode = 1; // Emergency brake engaged - } - else{ - tempDENM->denm.situation->eventType.subCauseCode = 0; - } - - // TODO: make to work - //double lonSpeed_cm_s = (double)MONRData->LongitudinalSpeedI16; - //double latSpeed_cm_s = (double)MONRData->LateralSpeedI16; - //tempDENM->denm.location->eventSpeed->speedValue = (long)(sqrt(pow(lonSpeed_cm_s,2) + pow(latSpeed_cm_s,2))); - //tempDENM->denm.location->eventSpeed->speedConfidence = SpeedConfidence_unavailable; - - - if(MONRData != NULL ){ - *denm = *tempDENM; - } - return 0; +I32 generateDENMMessage(MONRType * MONRData, DENM_t * denm, int causeCode) { + struct timeval tv; + + initializeDENMStruct(tempDENM); + + // Set reference time to current time, leave detection time as in previous message + TimeSetToCurrentSystemTime(&tv); + asn_long2INTEGER(&tempDENM->denm.management.referenceTime, TimeGetAsETSIms(&tv)); + asn_long2INTEGER(&tempDENM->denm.management.detectionTime, TimeGetAsETSIms(&tv)); + + //LOG LAT from XY + double x = MONRData->XPositionI32 / 1000.0; + double y = MONRData->YPositionI32 / 1000.0; + double z = MONRData->ZPositionI32 / 1000.0; + double latitude, longitude, height; + + double distance = 0; + double azimuth1 = 0; + double azimuth2 = 0; + + if (origin.longitude > 180 || origin.longitude < -180 || origin.latitude > 90 || origin.latitude < -90) { + LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to DENM"); + + tempDENM->denm.management.eventPosition.latitude = 0; + tempDENM->denm.management.eventPosition.longitude = 0; + + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; + + tempDENM->denm.management.eventPosition.altitude.altitudeValue = 0; + tempDENM->denm.management.eventPosition.altitude.altitudeConfidence = 0; + } + else { + azimuth1 = UtilDegToRad(90) - atan2(y / 1.00, x / 1.00); + distance = sqrt(pow(x / 1.00, 2) + pow(y / 1.00, 2)); + + if (UtilVincentyDirect + (origin.latitude, origin.longitude, azimuth1, distance, &latitude, &longitude, &azimuth2) != -1) { + // Convert to microdegrees + tempDENM->denm.management.eventPosition.latitude = (long)(latitude * 10000000.0); + tempDENM->denm.management.eventPosition.longitude = (long)(longitude * 10000000.0); + + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = + SemiAxisLength_unavailable; + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = + SemiAxisLength_unavailable; + tempDENM->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; + + tempDENM->denm.management.eventPosition.altitude.altitudeValue = AltitudeValue_unavailable; + tempDENM->denm.management.eventPosition.altitude.altitudeConfidence = + AltitudeConfidence_unavailable; + } + else + LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for DENM"); + } + + *tempDENM->denm.management.relevanceDistance = RelevanceDistance_lessThan500m; + *tempDENM->denm.management.relevanceTrafficDirection = RelevanceTrafficDirection_upstreamTraffic; + + *tempDENM->denm.management.transmissionInterval = CAM_TIME_CYCLE_S * 1000 + CAM_TIME_CYCLE_US / 1000; + + tempDENM->denm.situation->eventType.causeCode = causeCode; + + if (causeCode == CauseCodeType_dangerousSituation) { + tempDENM->denm.situation->eventType.subCauseCode = 1; // Emergency brake engaged + } + else { + tempDENM->denm.situation->eventType.subCauseCode = 0; + } + + // TODO: make to work + //double lonSpeed_cm_s = (double)MONRData->LongitudinalSpeedI16; + //double latSpeed_cm_s = (double)MONRData->LateralSpeedI16; + //tempDENM->denm.location->eventSpeed->speedValue = (long)(sqrt(pow(lonSpeed_cm_s,2) + pow(latSpeed_cm_s,2))); + //tempDENM->denm.location->eventSpeed->speedConfidence = SpeedConfidence_unavailable; + + + if (MONRData != NULL) { + *denm = *tempDENM; + } + return 0; } -int updateDENMMessage(MONRType *MONRData, DENM_t* denm) -{ - struct timeval tv; - double x, y, z, latitude, longitude, distance, azimuth1, azimuth2; - - if (MONRData == NULL || denm == NULL) return -1; - - // Update reference time - TimeSetToCurrentSystemTime(&tv); - asn_long2INTEGER(&denm->denm.management.referenceTime,TimeGetAsETSIms(&tv)); - - //LOG LAT from XY - x = MONRData->XPositionI32/1000.0; - y = MONRData->YPositionI32/1000.0; - z = MONRData->ZPositionI32/1000.0; - - distance = 0; - azimuth1 = 0; - azimuth2 = 0; - - if (origin.longitude > 180 || origin.longitude < -180 || origin.latitude > 90 || origin.latitude < -90) - { - LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to DENM"); - - denm->denm.management.eventPosition.latitude = 0; - denm->denm.management.eventPosition.longitude = 0; - - denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; - denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - - denm->denm.management.eventPosition.altitude.altitudeValue = 0; - denm->denm.management.eventPosition.altitude.altitudeConfidence = 0; - return -1; - } - else - { - azimuth1 = UtilDegToRad(90)-atan2(y/1.00,x/1.00); - distance = sqrt(pow(x/1.00,2)+pow(y/1.00,2)); - - if(UtilVincentyDirect(origin.latitude, origin.longitude,azimuth1,distance ,&latitude,&longitude,&azimuth2) != -1) - { - // Convert to microdegrees - denm->denm.management.eventPosition.latitude = (long)(latitude*10000000.0); - denm->denm.management.eventPosition.longitude = (long)(longitude*10000000.0); - - denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; - denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; - denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; - - denm->denm.management.eventPosition.altitude.altitudeValue = AltitudeValue_unavailable; - denm->denm.management.eventPosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; - - // TODO: Make to work - // denm->denm.location->eventSpeed->speedValue = (long)(sqrt(pow((double)(MONRData->LongitudinalSpeedI16), 2) + pow((double)(MONRData->LateralSpeedI16), 2))); - // denm->denm.location->eventSpeed->speedConfidence = SpeedConfidence_unavailable; - - } - else LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for DENM"); - } - return 0; +int updateDENMMessage(MONRType * MONRData, DENM_t * denm) { + struct timeval tv; + double x, y, z, latitude, longitude, distance, azimuth1, azimuth2; + + if (MONRData == NULL || denm == NULL) + return -1; + + // Update reference time + TimeSetToCurrentSystemTime(&tv); + asn_long2INTEGER(&denm->denm.management.referenceTime, TimeGetAsETSIms(&tv)); + + //LOG LAT from XY + x = MONRData->XPositionI32 / 1000.0; + y = MONRData->YPositionI32 / 1000.0; + z = MONRData->ZPositionI32 / 1000.0; + + distance = 0; + azimuth1 = 0; + azimuth2 = 0; + + if (origin.longitude > 180 || origin.longitude < -180 || origin.latitude > 90 || origin.latitude < -90) { + LogMessage(LOG_LEVEL_WARNING, "Uninitialized origin: unable to write relevant data to DENM"); + + denm->denm.management.eventPosition.latitude = 0; + denm->denm.management.eventPosition.longitude = 0; + + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = 0; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; + + denm->denm.management.eventPosition.altitude.altitudeValue = 0; + denm->denm.management.eventPosition.altitude.altitudeConfidence = 0; + return -1; + } + else { + azimuth1 = UtilDegToRad(90) - atan2(y / 1.00, x / 1.00); + distance = sqrt(pow(x / 1.00, 2) + pow(y / 1.00, 2)); + + if (UtilVincentyDirect + (origin.latitude, origin.longitude, azimuth1, distance, &latitude, &longitude, &azimuth2) != -1) { + // Convert to microdegrees + denm->denm.management.eventPosition.latitude = (long)(latitude * 10000000.0); + denm->denm.management.eventPosition.longitude = (long)(longitude * 10000000.0); + + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorConfidence = + SemiAxisLength_unavailable; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMinorConfidence = + SemiAxisLength_unavailable; + denm->denm.management.eventPosition.positionConfidenceEllipse.semiMajorOrientation = 0; + + denm->denm.management.eventPosition.altitude.altitudeValue = AltitudeValue_unavailable; + denm->denm.management.eventPosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable; + + // TODO: Make to work + // denm->denm.location->eventSpeed->speedValue = (long)(sqrt(pow((double)(MONRData->LongitudinalSpeedI16), 2) + pow((double)(MONRData->LateralSpeedI16), 2))); + // denm->denm.location->eventSpeed->speedConfidence = SpeedConfidence_unavailable; + + } + else + LogMessage(LOG_LEVEL_ERROR, "Vincenty algorithm failed for DENM"); + } + return 0; } /*! @@ -1104,27 +1175,25 @@ int updateDENMMessage(MONRType *MONRData, DENM_t* denm) * \param lastCam cam message struct * \return 1 if message sent succesfully */ -I32 sendCAM(CAM_t* cam){ - if (cam == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Attempted to send null CAM"); - return -1; - } - - void* buffer = NULL; - struct asn_per_constraints_s* constraints = NULL; - const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_CAM, constraints, cam, &buffer); - - if (ec != -1) - { - LogMessage(LOG_LEVEL_INFO,"Sending CAM"); - publish_mqtt((char*)buffer, ec, "CLIENT/CAM/CS01/1/AZ12B"); - return 1; - } - else { - LogMessage(LOG_LEVEL_ERROR,"Encoding of CAM message failed"); - return -1; - } +I32 sendCAM(CAM_t * cam) { + if (cam == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Attempted to send null CAM"); + return -1; + } + + void *buffer = NULL; + struct asn_per_constraints_s *constraints = NULL; + const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_CAM, constraints, cam, &buffer); + + if (ec != -1) { + LogMessage(LOG_LEVEL_INFO, "Sending CAM"); + publish_mqtt((char *)buffer, ec, "CLIENT/CAM/CS01/1/AZ12B"); + return 1; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Encoding of CAM message failed"); + return -1; + } } /*! @@ -1132,28 +1201,25 @@ I32 sendCAM(CAM_t* cam){ * \param denm cam message struct * \return 0 if message sent succesfully */ -I32 sendDENM(DENM_t* denm){ - if (denm == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Attempted to send null DENM"); - return -1; - } - - void* buffer = NULL; - struct asn_per_constraints_s* constraints = NULL; - const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_DENM, constraints, denm, &buffer); - - if (ec != -1) - { - LogMessage(LOG_LEVEL_INFO,"Sending DENM"); - publish_mqtt((char*)buffer, ec, "CLIENT/DENM/CS01/1/AZ12B"); - } - else - { - LogMessage(LOG_LEVEL_ERROR,"Encoding of DENM message failed"); - return -1; - } - return 0; +I32 sendDENM(DENM_t * denm) { + if (denm == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Attempted to send null DENM"); + return -1; + } + + void *buffer = NULL; + struct asn_per_constraints_s *constraints = NULL; + const ssize_t ec = uper_encode_to_new_buffer(&asn_DEF_DENM, constraints, denm, &buffer); + + if (ec != -1) { + LogMessage(LOG_LEVEL_INFO, "Sending DENM"); + publish_mqtt((char *)buffer, ec, "CLIENT/DENM/CS01/1/AZ12B"); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Encoding of DENM message failed"); + return -1; + } + return 0; } /*! @@ -1163,47 +1229,44 @@ I32 sendDENM(DENM_t* denm){ * \param nConfiguredActions Length of the actionID array * \return 0 if ACCM was decoded into an action, 1 if ACCM contained irrelevant action, -1 otherwise */ -int parseActionConfiguration(ACCMData config, uint16_t** actionIDs, int* nConfiguredActions) -{ - int retval = -1; - if (*nConfiguredActions < 0) - return -1; - - if (config.actionType == ACTION_INFRASTRUCTURE) - { - switch (config.actionTypeParameter1) - { - case ACTION_PARAMETER_VS_BRAKE_WARNING: - *actionIDs = (uint16_t*)realloc(*actionIDs, (unsigned int)(*nConfiguredActions+1)*sizeof(uint16_t)); - (*actionIDs)[*nConfiguredActions] = config.actionID; - (*nConfiguredActions)++; - retval = 0; - break; - case ACTION_PARAMETER_UNAVAILABLE: - LogMessage(LOG_LEVEL_WARNING, "First parameter of ACCM message is empty"); - retval = 1; - break; - default: - LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 1",config.actionTypeParameter1); - retval = 1; - break; - } - - if (config.actionTypeParameter2 != ACTION_PARAMETER_UNAVAILABLE) - { - LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 2"); - retval = 1; - } - if (config.actionTypeParameter3 != ACTION_PARAMETER_UNAVAILABLE) - { - LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 3"); - retval = 1; - } - } - else - retval = 1; - - return retval; +int parseActionConfiguration(ACCMData config, uint16_t ** actionIDs, int *nConfiguredActions) { + int retval = -1; + + if (*nConfiguredActions < 0) + return -1; + + if (config.actionType == ACTION_INFRASTRUCTURE) { + switch (config.actionTypeParameter1) { + case ACTION_PARAMETER_VS_BRAKE_WARNING: + *actionIDs = + (uint16_t *) realloc(*actionIDs, (unsigned int)(*nConfiguredActions + 1) * sizeof (uint16_t)); + (*actionIDs)[*nConfiguredActions] = config.actionID; + (*nConfiguredActions)++; + retval = 0; + break; + case ACTION_PARAMETER_UNAVAILABLE: + LogMessage(LOG_LEVEL_WARNING, "First parameter of ACCM message is empty"); + retval = 1; + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 1", config.actionTypeParameter1); + retval = 1; + break; + } + + if (config.actionTypeParameter2 != ACTION_PARAMETER_UNAVAILABLE) { + LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 2"); + retval = 1; + } + if (config.actionTypeParameter3 != ACTION_PARAMETER_UNAVAILABLE) { + LogMessage(LOG_LEVEL_WARNING, "Ignored ACCM parameter 3"); + retval = 1; + } + } + else + retval = 1; + + return retval; } /*! @@ -1213,16 +1276,13 @@ int parseActionConfiguration(ACCMData config, uint16_t** actionIDs, int* nConfig * \param nConfiguredActions Length of actionIDs list * \return Index of specified action, -1 if not found */ -int getActionIndex(EXACData exac, uint16_t* actionIDs, int nConfiguredActions) -{ - if (actionIDs == NULL) - return -1; - - for (int i = 0; i < nConfiguredActions; ++i) - { - if (exac.actionID == actionIDs[i]) - return i; - } - return -1; +int getActionIndex(EXACData exac, uint16_t * actionIDs, int nConfiguredActions) { + if (actionIDs == NULL) + return -1; + + for (int i = 0; i < nConfiguredActions; ++i) { + if (exac.actionID == actionIDs[i]) + return i; + } + return -1; } - diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c index 7f9d7528c..2b93a108d 100755 --- a/server/src/datadictionary.c +++ b/server/src/datadictionary.c @@ -11,7 +11,7 @@ /*------------------------------------------------------------ -- Include files. ------------------------------------------------------------*/ -#include +#include #include #include "datadictionary.h" @@ -49,7 +49,7 @@ static pthread_mutex_t OBCStateMutex = PTHREAD_MUTEX_INITIALIZER; /*------------------------------------------------------------ -- Static function definitions ------------------------------------------------------------*/ -static U64 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer); +static U64 DataDictionarySearchParameter(C8 * ParameterName, C8 * ResultBuffer); /*------------------------------------------------------------ -- Functions @@ -62,37 +62,36 @@ Initialization data that is configurable is stored in test.conf. * \param GSD Pointer to allocated shared memory * \return Error code defined by ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryConstructor(GSDType *GSD) -{ - ReadWriteAccess_t Res = READ_OK; - - Res = Res == READ_OK ? DataDictionaryInitOriginLatitudeDbl(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitOriginLongitudeDbl(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitOriginAltitudeDbl(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitVisualizationServerU32(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitForceToLocalhostU8(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitASPMaxTimeDiffDbl(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitASPMaxTrajDiffDbl(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitASPStepBackCountU32(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitASPFilterLevelDbl(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitASPMaxDeltaTimeDbl(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitTimeServerIPU32(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitTimeServerPortU16(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitSimulatorIPU32(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitSimulatorTCPPortU16(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitSimulatorUDPPortU16(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitSimulatorModeU8(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitVOILReceiversC8(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitDTMReceiversC8(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitExternalSupervisorIPU32(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitRVSSConfigU32(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitRVSSRateU8(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitSupervisorTCPPortU16(GSD) : Res; - Res = Res == READ_OK ? DataDictionaryInitMiscDataC8(GSD) : Res; - - DataDictionarySetOBCStateU8(GSD, OBC_STATE_UNDEFINED); - - return Res; +ReadWriteAccess_t DataDictionaryConstructor(GSDType * GSD) { + ReadWriteAccess_t Res = READ_OK; + + Res = Res == READ_OK ? DataDictionaryInitOriginLatitudeDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitOriginLongitudeDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitOriginAltitudeDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitVisualizationServerU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitForceToLocalhostU8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPMaxTimeDiffDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPMaxTrajDiffDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPStepBackCountU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPFilterLevelDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitASPMaxDeltaTimeDbl(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitTimeServerIPU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitTimeServerPortU16(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSimulatorIPU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSimulatorTCPPortU16(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSimulatorUDPPortU16(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSimulatorModeU8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitVOILReceiversC8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitDTMReceiversC8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitExternalSupervisorIPU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitRVSSConfigU32(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitRVSSRateU8(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitSupervisorTCPPortU16(GSD) : Res; + Res = Res == READ_OK ? DataDictionaryInitMiscDataC8(GSD) : Res; + + DataDictionarySetOBCStateU8(GSD, OBC_STATE_UNDEFINED); + + return Res; } @@ -101,26 +100,24 @@ ReadWriteAccess_t DataDictionaryConstructor(GSDType *GSD) * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("OrigoLatitude=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&OriginLatitudeMutex); - GSD->OriginLatitudeDbl = atof(ResultBufferC8); - bzero(GSD->OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->OriginLatitudeC8, ResultBufferC8); - pthread_mutex_unlock(&OriginLatitudeMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"OriginLatitude not found!"); - } +ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - return Res; + if (DataDictionarySearchParameter("OrigoLatitude=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&OriginLatitudeMutex); + GSD->OriginLatitudeDbl = atof(ResultBufferC8); + bzero(GSD->OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginLatitudeC8, ResultBufferC8); + pthread_mutex_unlock(&OriginLatitudeMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "OriginLatitude not found!"); + } + + return Res; } /*! @@ -129,19 +126,20 @@ ReadWriteAccess_t DataDictionaryInitOriginLatitudeDbl(GSDType *GSD) * \param Latitude * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("OrigoLatitude", Latitude, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&OriginLatitudeMutex); - GSD->OriginLatitudeDbl = atof(Latitude); - bzero(GSD->OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->OriginLatitudeC8, Latitude); - pthread_mutex_unlock(&OriginLatitudeMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType * GSD, C8 * Latitude) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("OrigoLatitude", Latitude, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&OriginLatitudeMutex); + GSD->OriginLatitudeDbl = atof(Latitude); + bzero(GSD->OriginLatitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginLatitudeC8, Latitude); + pthread_mutex_unlock(&OriginLatitudeMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -150,13 +148,12 @@ ReadWriteAccess_t DataDictionarySetOriginLatitudeDbl(GSDType *GSD, C8 *Latitude) * \param Latitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude) -{ - pthread_mutex_lock(&OriginLatitudeMutex); - *Latitude = GSD->OriginLatitudeDbl; - pthread_mutex_unlock(&OriginLatitudeMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType * GSD, dbl * Latitude) { + pthread_mutex_lock(&OriginLatitudeMutex); + *Latitude = GSD->OriginLatitudeDbl; + pthread_mutex_unlock(&OriginLatitudeMutex); + return READ_OK; +} /*! * \brief DataDictionaryGetOriginLatitudeC8 Reads variable from shared memory @@ -164,14 +161,13 @@ ReadWriteAccess_t DataDictionaryGetOriginLatitudeDbl(GSDType *GSD, dbl *Latitude * \param Latitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude, U32 BuffLen) -{ - pthread_mutex_lock(&OriginLatitudeMutex); - bzero(Latitude, BuffLen); - strcat(Latitude, GSD->OriginLatitudeC8); - pthread_mutex_unlock(&OriginLatitudeMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType * GSD, C8 * Latitude, U32 BuffLen) { + pthread_mutex_lock(&OriginLatitudeMutex); + bzero(Latitude, BuffLen); + strcat(Latitude, GSD->OriginLatitudeC8); + pthread_mutex_unlock(&OriginLatitudeMutex); + return READ_OK; +} /*END of Origin Latitude*/ @@ -181,26 +177,24 @@ ReadWriteAccess_t DataDictionaryGetOriginLatitudeC8(GSDType *GSD, C8 *Latitude, * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("OrigoLongitude=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&OriginLongitudeMutex); - GSD->OriginLongitudeDbl = atof(ResultBufferC8); - bzero(GSD->OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->OriginLongitudeC8, ResultBufferC8); - pthread_mutex_unlock(&OriginLongitudeMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"OriginLongitude not found!"); - } +ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - return Res; + if (DataDictionarySearchParameter("OrigoLongitude=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&OriginLongitudeMutex); + GSD->OriginLongitudeDbl = atof(ResultBufferC8); + bzero(GSD->OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginLongitudeC8, ResultBufferC8); + pthread_mutex_unlock(&OriginLongitudeMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "OriginLongitude not found!"); + } + + return Res; } /*! @@ -209,19 +203,20 @@ ReadWriteAccess_t DataDictionaryInitOriginLongitudeDbl(GSDType *GSD) * \param Longitude * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitude) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("OrigoLongitude", Longitude, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&OriginLongitudeMutex); - GSD->OriginLongitudeDbl = atof(Longitude); - bzero(GSD->OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->OriginLongitudeC8, Longitude); - pthread_mutex_unlock(&OriginLongitudeMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType * GSD, C8 * Longitude) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("OrigoLongitude", Longitude, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&OriginLongitudeMutex); + GSD->OriginLongitudeDbl = atof(Longitude); + bzero(GSD->OriginLongitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginLongitudeC8, Longitude); + pthread_mutex_unlock(&OriginLongitudeMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -230,13 +225,12 @@ ReadWriteAccess_t DataDictionarySetOriginLongitudeDbl(GSDType *GSD, C8 *Longitud * \param Longitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitude) -{ - pthread_mutex_lock(&OriginLongitudeMutex); - *Longitude = GSD->OriginLongitudeDbl; - pthread_mutex_unlock(&OriginLongitudeMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType * GSD, dbl * Longitude) { + pthread_mutex_lock(&OriginLongitudeMutex); + *Longitude = GSD->OriginLongitudeDbl; + pthread_mutex_unlock(&OriginLongitudeMutex); + return READ_OK; +} /*! * \brief DataDictionaryGetOriginLongitudeC8 Reads variable from shared memory @@ -244,14 +238,14 @@ ReadWriteAccess_t DataDictionaryGetOriginLongitudeDbl(GSDType *GSD, dbl *Longitu * \param Longitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude, U32 BuffLen) -{ - pthread_mutex_lock(&OriginLongitudeMutex); - bzero(Longitude, BuffLen); - strcat(Longitude, GSD->OriginLongitudeC8); - pthread_mutex_unlock(&OriginLongitudeMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType * GSD, C8 * Longitude, U32 BuffLen) { + pthread_mutex_lock(&OriginLongitudeMutex); + bzero(Longitude, BuffLen); + strcat(Longitude, GSD->OriginLongitudeC8); + pthread_mutex_unlock(&OriginLongitudeMutex); + return READ_OK; +} + /*END of Origin Longitude*/ /*Origin Altitude*/ @@ -260,26 +254,24 @@ ReadWriteAccess_t DataDictionaryGetOriginLongitudeC8(GSDType *GSD, C8 *Longitude * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("OrigoAltitude=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&OriginAltitudeMutex); - GSD->OriginAltitudeDbl = atof(ResultBufferC8); - bzero(GSD->OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->OriginAltitudeC8, ResultBufferC8); - pthread_mutex_unlock(&OriginAltitudeMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"OriginAltitude not found!"); - } +ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("OrigoAltitude=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&OriginAltitudeMutex); + GSD->OriginAltitudeDbl = atof(ResultBufferC8); + bzero(GSD->OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginAltitudeC8, ResultBufferC8); + pthread_mutex_unlock(&OriginAltitudeMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "OriginAltitude not found!"); + } - return Res; + return Res; } /*! @@ -288,19 +280,20 @@ ReadWriteAccess_t DataDictionaryInitOriginAltitudeDbl(GSDType *GSD) * \param Altitude * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("OrigoAltitude", Altitude, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&OriginAltitudeMutex); - GSD->OriginAltitudeDbl = atof(Altitude); - bzero(GSD->OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->OriginAltitudeC8, Altitude); - pthread_mutex_unlock(&OriginAltitudeMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType * GSD, C8 * Altitude) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("OrigoAltitude", Altitude, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&OriginAltitudeMutex); + GSD->OriginAltitudeDbl = atof(Altitude); + bzero(GSD->OriginAltitudeC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->OriginAltitudeC8, Altitude); + pthread_mutex_unlock(&OriginAltitudeMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -309,13 +302,12 @@ ReadWriteAccess_t DataDictionarySetOriginAltitudeDbl(GSDType *GSD, C8 *Altitude) * \param Altitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude) -{ - pthread_mutex_lock(&OriginAltitudeMutex); - *Altitude = GSD->OriginAltitudeDbl; - pthread_mutex_unlock(&OriginAltitudeMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType * GSD, dbl * Altitude) { + pthread_mutex_lock(&OriginAltitudeMutex); + *Altitude = GSD->OriginAltitudeDbl; + pthread_mutex_unlock(&OriginAltitudeMutex); + return READ_OK; +} /*! * \brief DataDictionaryGetOriginAltitudeC8 Reads variable from shared memory @@ -323,14 +315,13 @@ ReadWriteAccess_t DataDictionaryGetOriginAltitudeDbl(GSDType *GSD, dbl *Altitude * \param Altitude Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude, U32 BuffLen) -{ - pthread_mutex_lock(&OriginAltitudeMutex); - bzero(Altitude, BuffLen); - strcat(Altitude, GSD->OriginAltitudeC8); - pthread_mutex_unlock(&OriginAltitudeMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType * GSD, C8 * Altitude, U32 BuffLen) { + pthread_mutex_lock(&OriginAltitudeMutex); + bzero(Altitude, BuffLen); + strcat(Altitude, GSD->OriginAltitudeC8); + pthread_mutex_unlock(&OriginAltitudeMutex); + return READ_OK; +} /*END of Origin Altitude*/ @@ -340,26 +331,24 @@ ReadWriteAccess_t DataDictionaryGetOriginAltitudeC8(GSDType *GSD, C8 *Altitude, * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("VisualizationServerName=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&VisualizationServerMutex); - GSD->VisualizationServerU32 = UtilIPStringToInt(ResultBufferC8); - bzero(GSD->VisualizationServerC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->VisualizationServerC8, ResultBufferC8); - pthread_mutex_unlock(&VisualizationServerMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"VisualizationServerName not found!"); - } +ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("VisualizationServerName=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&VisualizationServerMutex); + GSD->VisualizationServerU32 = UtilIPStringToInt(ResultBufferC8); + bzero(GSD->VisualizationServerC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->VisualizationServerC8, ResultBufferC8); + pthread_mutex_unlock(&VisualizationServerMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "VisualizationServerName not found!"); + } - return Res; + return Res; } /*! @@ -368,19 +357,20 @@ ReadWriteAccess_t DataDictionaryInitVisualizationServerU32(GSDType *GSD) * \param IP * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("VisualizationServerName", IP, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&VisualizationServerMutex); - GSD->VisualizationServerU32 = UtilIPStringToInt(IP); - bzero(GSD->VisualizationServerC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->VisualizationServerC8, IP); - pthread_mutex_unlock(&VisualizationServerMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType * GSD, C8 * IP) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("VisualizationServerName", IP, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&VisualizationServerMutex); + GSD->VisualizationServerU32 = UtilIPStringToInt(IP); + bzero(GSD->VisualizationServerC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->VisualizationServerC8, IP); + pthread_mutex_unlock(&VisualizationServerMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -389,13 +379,12 @@ ReadWriteAccess_t DataDictionarySetVisualizationServerU32(GSDType *GSD, C8 *IP) * \param IP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) -{ - pthread_mutex_lock(&VisualizationServerMutex); - *IP = GSD->VisualizationServerU32; - pthread_mutex_unlock(&VisualizationServerMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType * GSD, U32 * IP) { + pthread_mutex_lock(&VisualizationServerMutex); + *IP = GSD->VisualizationServerU32; + pthread_mutex_unlock(&VisualizationServerMutex); + return READ_OK; +} /*! @@ -404,13 +393,12 @@ ReadWriteAccess_t DataDictionaryGetVisualizationServerU32(GSDType *GSD, U32 *IP) * \param IP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP, U32 BuffLen) -{ - pthread_mutex_lock(&VisualizationServerMutex); - bzero(IP, BuffLen); - strcat(IP, GSD->VisualizationServerC8); - pthread_mutex_unlock(&VisualizationServerMutex); - return READ_OK; +ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType * GSD, C8 * IP, U32 BuffLen) { + pthread_mutex_lock(&VisualizationServerMutex); + bzero(IP, BuffLen); + strcat(IP, GSD->VisualizationServerC8); + pthread_mutex_unlock(&VisualizationServerMutex); + return READ_OK; } /*END of VisualizationServer*/ @@ -422,24 +410,22 @@ ReadWriteAccess_t DataDictionaryGetVisualizationServerC8(GSDType *GSD, C8 *IP, U * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("ForceObjectToLocalhost=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&ForceObjectToLocalhostMutex); - GSD->ForceObjectToLocalhostU8 = atoi(ResultBufferC8); - pthread_mutex_unlock(&ForceObjectToLocalhostMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"ForceObjectToLocalhost not found!"); - } +ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - return Res; + if (DataDictionarySearchParameter("ForceObjectToLocalhost=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&ForceObjectToLocalhostMutex); + GSD->ForceObjectToLocalhostU8 = atoi(ResultBufferC8); + pthread_mutex_unlock(&ForceObjectToLocalhostMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "ForceObjectToLocalhost not found!"); + } + + return Res; } /*! @@ -448,17 +434,18 @@ ReadWriteAccess_t DataDictionaryInitForceToLocalhostU8(GSDType *GSD) * \param ForceLocalhost * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLocalhost) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("ForceObjectToLocalhost", ForceLocalhost, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&ForceObjectToLocalhostMutex); - GSD->ForceObjectToLocalhostU8 = atoi(ForceLocalhost); - pthread_mutex_unlock(&ForceObjectToLocalhostMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType * GSD, C8 * ForceLocalhost) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("ForceObjectToLocalhost", ForceLocalhost, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&ForceObjectToLocalhostMutex); + GSD->ForceObjectToLocalhostU8 = atoi(ForceLocalhost); + pthread_mutex_unlock(&ForceObjectToLocalhostMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -467,13 +454,13 @@ ReadWriteAccess_t DataDictionarySetForceToLocalhostU8(GSDType *GSD, C8 *ForceLoc * \param ForceLocalhost Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLocalhost) -{ - pthread_mutex_lock(&ForceObjectToLocalhostMutex); - *ForceLocalhost = GSD->ForceObjectToLocalhostU8; - pthread_mutex_unlock(&ForceObjectToLocalhostMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetForceToLocalhostU8(GSDType * GSD, U8 * ForceLocalhost) { + pthread_mutex_lock(&ForceObjectToLocalhostMutex); + *ForceLocalhost = GSD->ForceObjectToLocalhostU8; + pthread_mutex_unlock(&ForceObjectToLocalhostMutex); + return READ_OK; +} + /*END of ForceToLocalhost*/ /*ASPMaxTimeDiff*/ @@ -482,24 +469,22 @@ ReadWriteAccess_t DataDictionaryGetForceToLocalhostU8(GSDType *GSD, U8 *ForceLoc * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("ASPMaxTimeDiff=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&ASPMaxTimeDiffMutex); - GSD->ASPMaxTimeDiffDbl = atof(ResultBufferC8); - pthread_mutex_unlock(&ASPMaxTimeDiffMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"ASPMaxTimeDiff not found!"); - } +ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("ASPMaxTimeDiff=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&ASPMaxTimeDiffMutex); + GSD->ASPMaxTimeDiffDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&ASPMaxTimeDiffMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "ASPMaxTimeDiff not found!"); + } - return Res; + return Res; } /*! @@ -508,17 +493,18 @@ ReadWriteAccess_t DataDictionaryInitASPMaxTimeDiffDbl(GSDType *GSD) * \param ASPMaxTimeDiff * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTimeDiff) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("ASPMaxTimeDiff", ASPMaxTimeDiff, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&ASPMaxTimeDiffMutex); - GSD->ASPMaxTimeDiffDbl = atof(ASPMaxTimeDiff); - pthread_mutex_unlock(&ASPMaxTimeDiffMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetASPMaxTimeDiffDbl(GSDType * GSD, C8 * ASPMaxTimeDiff) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("ASPMaxTimeDiff", ASPMaxTimeDiff, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&ASPMaxTimeDiffMutex); + GSD->ASPMaxTimeDiffDbl = atof(ASPMaxTimeDiff); + pthread_mutex_unlock(&ASPMaxTimeDiffMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -527,13 +513,13 @@ ReadWriteAccess_t DataDictionarySetASPMaxTimeDiffDbl(GSDType *GSD, C8 *ASPMaxTim * \param ASPMaxTimeDiff Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTimeDiff) -{ - pthread_mutex_lock(&ASPMaxTimeDiffMutex); - *ASPMaxTimeDiff = GSD->ASPMaxTimeDiffDbl; - pthread_mutex_unlock(&ASPMaxTimeDiffMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetASPMaxTimeDiffDbl(GSDType * GSD, dbl * ASPMaxTimeDiff) { + pthread_mutex_lock(&ASPMaxTimeDiffMutex); + *ASPMaxTimeDiff = GSD->ASPMaxTimeDiffDbl; + pthread_mutex_unlock(&ASPMaxTimeDiffMutex); + return READ_OK; +} + /*END of ASPMaxTimeDiff*/ /*ASPMaxTrajDiff*/ @@ -542,24 +528,22 @@ ReadWriteAccess_t DataDictionaryGetASPMaxTimeDiffDbl(GSDType *GSD, dbl *ASPMaxTi * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("ASPMaxTrajDiff=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&ASPMaxTrajDiffMutex); - GSD->ASPMaxTrajDiffDbl = atof(ResultBufferC8); - pthread_mutex_unlock(&ASPMaxTrajDiffMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"ASPMaxTrajDiff not found!"); - } +ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("ASPMaxTrajDiff=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&ASPMaxTrajDiffMutex); + GSD->ASPMaxTrajDiffDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&ASPMaxTrajDiffMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "ASPMaxTrajDiff not found!"); + } - return Res; + return Res; } /*! @@ -568,17 +552,18 @@ ReadWriteAccess_t DataDictionaryInitASPMaxTrajDiffDbl(GSDType *GSD) * \param ASPMaxTrajDiff * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTrajDiff) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("ASPMaxTrajDiff", ASPMaxTrajDiff, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&ASPMaxTrajDiffMutex); - GSD->ASPMaxTrajDiffDbl = atof(ASPMaxTrajDiff); - pthread_mutex_unlock(&ASPMaxTrajDiffMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetASPMaxTrajDiffDbl(GSDType * GSD, C8 * ASPMaxTrajDiff) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("ASPMaxTrajDiff", ASPMaxTrajDiff, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&ASPMaxTrajDiffMutex); + GSD->ASPMaxTrajDiffDbl = atof(ASPMaxTrajDiff); + pthread_mutex_unlock(&ASPMaxTrajDiffMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -587,13 +572,13 @@ ReadWriteAccess_t DataDictionarySetASPMaxTrajDiffDbl(GSDType *GSD, C8 *ASPMaxTra * \param ASPMaxTrajDiff Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTrajDiff) -{ - pthread_mutex_lock(&ASPMaxTrajDiffMutex); - *ASPMaxTrajDiff = GSD->ASPMaxTrajDiffDbl; - pthread_mutex_unlock(&ASPMaxTrajDiffMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetASPMaxTrajDiffDbl(GSDType * GSD, dbl * ASPMaxTrajDiff) { + pthread_mutex_lock(&ASPMaxTrajDiffMutex); + *ASPMaxTrajDiff = GSD->ASPMaxTrajDiffDbl; + pthread_mutex_unlock(&ASPMaxTrajDiffMutex); + return READ_OK; +} + /*END of ASPMaxTrajDiff*/ @@ -603,24 +588,22 @@ ReadWriteAccess_t DataDictionaryGetASPMaxTrajDiffDbl(GSDType *GSD, dbl *ASPMaxTr * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("ASPStepBackCount=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&ASPStepBackCountMutex); - GSD->ASPStepBackCountU32 = atoi(ResultBufferC8); - pthread_mutex_unlock(&ASPStepBackCountMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"ASPStepBackCount not found!"); - } +ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - return Res; + if (DataDictionarySearchParameter("ASPStepBackCount=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&ASPStepBackCountMutex); + GSD->ASPStepBackCountU32 = atoi(ResultBufferC8); + pthread_mutex_unlock(&ASPStepBackCountMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "ASPStepBackCount not found!"); + } + + return Res; } /*! @@ -629,17 +612,18 @@ ReadWriteAccess_t DataDictionaryInitASPStepBackCountU32(GSDType *GSD) * \param ASPStepBackCount * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStepBackCount) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("ASPStepBackCount", ASPStepBackCount, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&ASPStepBackCountMutex); - GSD->ASPStepBackCountU32 = atoi(ASPStepBackCount); - pthread_mutex_unlock(&ASPStepBackCountMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetASPStepBackCountU32(GSDType * GSD, C8 * ASPStepBackCount) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("ASPStepBackCount", ASPStepBackCount, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&ASPStepBackCountMutex); + GSD->ASPStepBackCountU32 = atoi(ASPStepBackCount); + pthread_mutex_unlock(&ASPStepBackCountMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -648,13 +632,13 @@ ReadWriteAccess_t DataDictionarySetASPStepBackCountU32(GSDType *GSD, C8 *ASPStep * \param ASPStepBackCount Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPStepBackCount) -{ - pthread_mutex_lock(&ASPStepBackCountMutex); - *ASPStepBackCount = GSD->ASPStepBackCountU32; - pthread_mutex_unlock(&ASPStepBackCountMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetASPStepBackCountU32(GSDType * GSD, U32 * ASPStepBackCount) { + pthread_mutex_lock(&ASPStepBackCountMutex); + *ASPStepBackCount = GSD->ASPStepBackCountU32; + pthread_mutex_unlock(&ASPStepBackCountMutex); + return READ_OK; +} + /*END of ASPStepBackCount*/ /*ASPFilterLevel*/ @@ -663,24 +647,22 @@ ReadWriteAccess_t DataDictionaryGetASPStepBackCountU32(GSDType *GSD, U32 *ASPSte * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("ASPFilterLevel=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&ASPFilterLevelMutex); - GSD->ASPFilterLevelDbl = atof(ResultBufferC8); - pthread_mutex_unlock(&ASPFilterLevelMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"ASPFilterLevel not found!"); - } +ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("ASPFilterLevel=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&ASPFilterLevelMutex); + GSD->ASPFilterLevelDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&ASPFilterLevelMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "ASPFilterLevel not found!"); + } - return Res; + return Res; } /*! @@ -689,17 +671,18 @@ ReadWriteAccess_t DataDictionaryInitASPFilterLevelDbl(GSDType *GSD) * \param ASPFilterLevel * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilterLevel) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&ASPFilterLevelMutex); - GSD->ASPFilterLevelDbl = atof(ASPFilterLevel); - pthread_mutex_unlock(&ASPFilterLevelMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetASPFilterLevelDbl(GSDType * GSD, C8 * ASPFilterLevel) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("ASPFilterLevel", ASPFilterLevel, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&ASPFilterLevelMutex); + GSD->ASPFilterLevelDbl = atof(ASPFilterLevel); + pthread_mutex_unlock(&ASPFilterLevelMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -708,13 +691,13 @@ ReadWriteAccess_t DataDictionarySetASPFilterLevelDbl(GSDType *GSD, C8 *ASPFilter * \param ASPFilterLevel Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilterLevel) -{ - pthread_mutex_lock(&ASPFilterLevelMutex); - *ASPFilterLevel = GSD->ASPFilterLevelDbl; - pthread_mutex_unlock(&ASPFilterLevelMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetASPFilterLevelDbl(GSDType * GSD, dbl * ASPFilterLevel) { + pthread_mutex_lock(&ASPFilterLevelMutex); + *ASPFilterLevel = GSD->ASPFilterLevelDbl; + pthread_mutex_unlock(&ASPFilterLevelMutex); + return READ_OK; +} + /*END of ASPFilterLevel*/ /*ASPMaxDeltaTime*/ @@ -723,24 +706,22 @@ ReadWriteAccess_t DataDictionaryGetASPFilterLevelDbl(GSDType *GSD, dbl *ASPFilte * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("ASPMaxDeltaTime=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&ASPMaxDeltaTimeMutex); - GSD->ASPMaxDeltaTimeDbl = atof(ResultBufferC8); - pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"ASPMaxDeltaTime not found!"); - } +ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("ASPMaxDeltaTime=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&ASPMaxDeltaTimeMutex); + GSD->ASPMaxDeltaTimeDbl = atof(ResultBufferC8); + pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "ASPMaxDeltaTime not found!"); + } - return Res; + return Res; } /*! @@ -749,17 +730,18 @@ ReadWriteAccess_t DataDictionaryInitASPMaxDeltaTimeDbl(GSDType *GSD) * \param ASPMaxDeltaTime * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDeltaTime) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("ASPMaxDeltaTime", ASPMaxDeltaTime, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&ASPMaxDeltaTimeMutex); - GSD->ASPMaxDeltaTimeDbl = atof(ASPMaxDeltaTime); - pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetASPMaxDeltaTimeDbl(GSDType * GSD, C8 * ASPMaxDeltaTime) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("ASPMaxDeltaTime", ASPMaxDeltaTime, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&ASPMaxDeltaTimeMutex); + GSD->ASPMaxDeltaTimeDbl = atof(ASPMaxDeltaTime); + pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -768,13 +750,13 @@ ReadWriteAccess_t DataDictionarySetASPMaxDeltaTimeDbl(GSDType *GSD, C8 *ASPMaxDe * \param ASPMaxDeltaTime Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxDeltaTime) -{ - pthread_mutex_lock(&ASPMaxDeltaTimeMutex); - *ASPMaxDeltaTime = GSD->ASPMaxDeltaTimeDbl; - pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetASPMaxDeltaTimeDbl(GSDType * GSD, dbl * ASPMaxDeltaTime) { + pthread_mutex_lock(&ASPMaxDeltaTimeMutex); + *ASPMaxDeltaTime = GSD->ASPMaxDeltaTimeDbl; + pthread_mutex_unlock(&ASPMaxDeltaTimeMutex); + return READ_OK; +} + /*END of ASPFilterLevel*/ @@ -784,26 +766,24 @@ ReadWriteAccess_t DataDictionaryGetASPMaxDeltaTimeDbl(GSDType *GSD, dbl *ASPMaxD * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("TimeServerIP=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&TimeServerIPMutex); - GSD->TimeServerIPU32 = UtilIPStringToInt(ResultBufferC8); - bzero(GSD->TimeServerIPC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->TimeServerIPC8, ResultBufferC8); - pthread_mutex_unlock(&TimeServerIPMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"TimeServerIP not found!"); - } +ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - return Res; + if (DataDictionarySearchParameter("TimeServerIP=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&TimeServerIPMutex); + GSD->TimeServerIPU32 = UtilIPStringToInt(ResultBufferC8); + bzero(GSD->TimeServerIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->TimeServerIPC8, ResultBufferC8); + pthread_mutex_unlock(&TimeServerIPMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "TimeServerIP not found!"); + } + + return Res; } /*! @@ -812,19 +792,20 @@ ReadWriteAccess_t DataDictionaryInitTimeServerIPU32(GSDType *GSD) * \param TimeServerIP * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerIP) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("TimeServerIP", TimeServerIP, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&TimeServerIPMutex); - GSD->TimeServerIPU32 = UtilIPStringToInt(TimeServerIP); - bzero(GSD->TimeServerIPC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->TimeServerIPC8, TimeServerIP); - pthread_mutex_unlock(&TimeServerIPMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType * GSD, C8 * TimeServerIP) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("TimeServerIP", TimeServerIP, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&TimeServerIPMutex); + GSD->TimeServerIPU32 = UtilIPStringToInt(TimeServerIP); + bzero(GSD->TimeServerIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->TimeServerIPC8, TimeServerIP); + pthread_mutex_unlock(&TimeServerIPMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -833,13 +814,12 @@ ReadWriteAccess_t DataDictionarySetTimeServerIPU32(GSDType *GSD, C8 *TimeServerI * \param TimeServerIP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServerIP) -{ - pthread_mutex_lock(&TimeServerIPMutex); - *TimeServerIP = GSD->TimeServerIPU32; - pthread_mutex_unlock(&TimeServerIPMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType * GSD, U32 * TimeServerIP) { + pthread_mutex_lock(&TimeServerIPMutex); + *TimeServerIP = GSD->TimeServerIPU32; + pthread_mutex_unlock(&TimeServerIPMutex); + return READ_OK; +} /*! * \brief DataDictionaryGetTimeServerIPC8 Reads variable from shared memory @@ -847,14 +827,13 @@ ReadWriteAccess_t DataDictionaryGetTimeServerIPU32(GSDType *GSD, U32 *TimeServer * \param TimeServerIP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP, U32 BuffLen) -{ - pthread_mutex_lock(&TimeServerIPMutex); - bzero(TimeServerIP, BuffLen); - strcat(TimeServerIP, GSD->TimeServerIPC8); - pthread_mutex_unlock(&TimeServerIPMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType * GSD, C8 * TimeServerIP, U32 BuffLen) { + pthread_mutex_lock(&TimeServerIPMutex); + bzero(TimeServerIP, BuffLen); + strcat(TimeServerIP, GSD->TimeServerIPC8); + pthread_mutex_unlock(&TimeServerIPMutex); + return READ_OK; +} /*END of TimeServerIP*/ @@ -865,24 +844,22 @@ ReadWriteAccess_t DataDictionaryGetTimeServerIPC8(GSDType *GSD, C8 *TimeServerIP * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("TimeServerPort=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&TimeServerPortMutex); - GSD->TimeServerPortU16 = atoi(ResultBufferC8); - pthread_mutex_unlock(&TimeServerPortMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"TimeServerPort not found!"); - } +ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - return Res; + if (DataDictionarySearchParameter("TimeServerPort=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&TimeServerPortMutex); + GSD->TimeServerPortU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&TimeServerPortMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "TimeServerPort not found!"); + } + + return Res; } /*! @@ -891,17 +868,18 @@ ReadWriteAccess_t DataDictionaryInitTimeServerPortU16(GSDType *GSD) * \param TimeServerPort * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServerPort) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("TimeServerPort", TimeServerPort, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&TimeServerPortMutex); - GSD->TimeServerPortU16 = atoi(TimeServerPort); - pthread_mutex_unlock(&TimeServerPortMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType * GSD, C8 * TimeServerPort) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("TimeServerPort", TimeServerPort, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&TimeServerPortMutex); + GSD->TimeServerPortU16 = atoi(TimeServerPort); + pthread_mutex_unlock(&TimeServerPortMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -910,13 +888,13 @@ ReadWriteAccess_t DataDictionarySetTimeServerPortU16(GSDType *GSD, C8 *TimeServe * \param TimeServerPort Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServerPort) -{ - pthread_mutex_lock(&TimeServerPortMutex); - *TimeServerPort = GSD->TimeServerPortU16; - pthread_mutex_unlock(&TimeServerPortMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetTimeServerPortU16(GSDType * GSD, U16 * TimeServerPort) { + pthread_mutex_lock(&TimeServerPortMutex); + *TimeServerPort = GSD->TimeServerPortU16; + pthread_mutex_unlock(&TimeServerPortMutex); + return READ_OK; +} + /*END of TimeServerPort*/ @@ -926,26 +904,24 @@ ReadWriteAccess_t DataDictionaryGetTimeServerPortU16(GSDType *GSD, U16 *TimeServ * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("SimulatorIP=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&SimulatorIPMutex); - GSD->SimulatorIPU32 = UtilIPStringToInt(ResultBufferC8); - bzero(GSD->SimulatorIPC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->SimulatorIPC8, ResultBufferC8); - pthread_mutex_unlock(&SimulatorIPMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"SimulatorIP not found!"); - } +ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("SimulatorIP=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&SimulatorIPMutex); + GSD->SimulatorIPU32 = UtilIPStringToInt(ResultBufferC8); + bzero(GSD->SimulatorIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->SimulatorIPC8, ResultBufferC8); + pthread_mutex_unlock(&SimulatorIPMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "SimulatorIP not found!"); + } - return Res; + return Res; } /*! @@ -954,19 +930,20 @@ ReadWriteAccess_t DataDictionaryInitSimulatorIPU32(GSDType *GSD) * \param SimulatorIP * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("SimulatorIP", SimulatorIP, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&SimulatorIPMutex); - GSD->SimulatorIPU32 = UtilIPStringToInt(SimulatorIP); - bzero(GSD->SimulatorIPC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->SimulatorIPC8, SimulatorIP); - pthread_mutex_unlock(&SimulatorIPMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType * GSD, C8 * SimulatorIP) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("SimulatorIP", SimulatorIP, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&SimulatorIPMutex); + GSD->SimulatorIPU32 = UtilIPStringToInt(SimulatorIP); + bzero(GSD->SimulatorIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->SimulatorIPC8, SimulatorIP); + pthread_mutex_unlock(&SimulatorIPMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -975,13 +952,12 @@ ReadWriteAccess_t DataDictionarySetSimulatorIPU32(GSDType *GSD, C8 *SimulatorIP) * \param SimulatorIP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP) -{ - pthread_mutex_lock(&SimulatorIPMutex); - *SimulatorIP = GSD->SimulatorIPU32; - pthread_mutex_unlock(&SimulatorIPMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType * GSD, U32 * SimulatorIP) { + pthread_mutex_lock(&SimulatorIPMutex); + *SimulatorIP = GSD->SimulatorIPU32; + pthread_mutex_unlock(&SimulatorIPMutex); + return READ_OK; +} /*! * \brief DataDictionaryGetSimulatorIPC8 Reads variable from shared memory @@ -989,14 +965,14 @@ ReadWriteAccess_t DataDictionaryGetSimulatorIPU32(GSDType *GSD, U32 *SimulatorIP * \param SimulatorIP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP, U32 BuffLen) -{ - pthread_mutex_lock(&SimulatorIPMutex); - bzero(SimulatorIP, BuffLen); - strcat(SimulatorIP, GSD->SimulatorIPC8); - pthread_mutex_unlock(&SimulatorIPMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType * GSD, C8 * SimulatorIP, U32 BuffLen) { + pthread_mutex_lock(&SimulatorIPMutex); + bzero(SimulatorIP, BuffLen); + strcat(SimulatorIP, GSD->SimulatorIPC8); + pthread_mutex_unlock(&SimulatorIPMutex); + return READ_OK; +} + /*END of SimulatorIP*/ /*SimulatorTCPPort*/ @@ -1005,24 +981,22 @@ ReadWriteAccess_t DataDictionaryGetSimulatorIPC8(GSDType *GSD, C8 *SimulatorIP, * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("SimulatorTCPPort=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&SimulatorTCPPortMutex); - GSD->SimulatorTCPPortU16 = atoi(ResultBufferC8); - pthread_mutex_unlock(&SimulatorTCPPortMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"SimulatorTCPPort not found!"); - } +ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - return Res; + if (DataDictionarySearchParameter("SimulatorTCPPort=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&SimulatorTCPPortMutex); + GSD->SimulatorTCPPortU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&SimulatorTCPPortMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "SimulatorTCPPort not found!"); + } + + return Res; } /*! @@ -1031,17 +1005,18 @@ ReadWriteAccess_t DataDictionaryInitSimulatorTCPPortU16(GSDType *GSD) * \param SimulatorTCPPort * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *SimulatorTCPPort) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("SimulatorTCPPort", SimulatorTCPPort, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&SimulatorTCPPortMutex); - GSD->SimulatorTCPPortU16 = atoi(SimulatorTCPPort); - pthread_mutex_unlock(&SimulatorTCPPortMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType * GSD, C8 * SimulatorTCPPort) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("SimulatorTCPPort", SimulatorTCPPort, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&SimulatorTCPPortMutex); + GSD->SimulatorTCPPortU16 = atoi(SimulatorTCPPort); + pthread_mutex_unlock(&SimulatorTCPPortMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1050,13 +1025,13 @@ ReadWriteAccess_t DataDictionarySetSimulatorTCPPortU16(GSDType *GSD, C8 *Simulat * \param SimulatorTCPPort Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *SimulatorTCPPort) -{ - pthread_mutex_lock(&SimulatorTCPPortMutex); - *SimulatorTCPPort = GSD->SimulatorTCPPortU16; - pthread_mutex_unlock(&SimulatorTCPPortMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetSimulatorTCPPortU16(GSDType * GSD, U16 * SimulatorTCPPort) { + pthread_mutex_lock(&SimulatorTCPPortMutex); + *SimulatorTCPPort = GSD->SimulatorTCPPortU16; + pthread_mutex_unlock(&SimulatorTCPPortMutex); + return READ_OK; +} + /*END of SimulatorTCPPort*/ /*SimulatorUDPPort*/ @@ -1065,24 +1040,22 @@ ReadWriteAccess_t DataDictionaryGetSimulatorTCPPortU16(GSDType *GSD, U16 *Simula * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("SimulatorUDPPort=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&SimulatorUDPPortMutex); - GSD->SimulatorUDPPortU16 = atoi(ResultBufferC8); - pthread_mutex_unlock(&SimulatorUDPPortMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"SimulatorUDPPort not found!"); - } +ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("SimulatorUDPPort=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&SimulatorUDPPortMutex); + GSD->SimulatorUDPPortU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&SimulatorUDPPortMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "SimulatorUDPPort not found!"); + } - return Res; + return Res; } /*! @@ -1091,17 +1064,18 @@ ReadWriteAccess_t DataDictionaryInitSimulatorUDPPortU16(GSDType *GSD) * \param SimulatorUDPPort * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *SimulatorUDPPort) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("SimulatorUDPPort", SimulatorUDPPort, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&SimulatorUDPPortMutex); - GSD->SimulatorUDPPortU16 = atoi(SimulatorUDPPort); - pthread_mutex_unlock(&SimulatorUDPPortMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetSimulatorUDPPortU16(GSDType * GSD, C8 * SimulatorUDPPort) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("SimulatorUDPPort", SimulatorUDPPort, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&SimulatorUDPPortMutex); + GSD->SimulatorUDPPortU16 = atoi(SimulatorUDPPort); + pthread_mutex_unlock(&SimulatorUDPPortMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1110,13 +1084,13 @@ ReadWriteAccess_t DataDictionarySetSimulatorUDPPortU16(GSDType *GSD, C8 *Simulat * \param SimulatorUDPPort Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *SimulatorUDPPort) -{ - pthread_mutex_lock(&SimulatorUDPPortMutex); - *SimulatorUDPPort = GSD->SimulatorUDPPortU16; - pthread_mutex_unlock(&SimulatorUDPPortMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetSimulatorUDPPortU16(GSDType * GSD, U16 * SimulatorUDPPort) { + pthread_mutex_lock(&SimulatorUDPPortMutex); + *SimulatorUDPPort = GSD->SimulatorUDPPortU16; + pthread_mutex_unlock(&SimulatorUDPPortMutex); + return READ_OK; +} + /*END of SimulatorUDPPort*/ /*SimulatorMode*/ @@ -1125,24 +1099,22 @@ ReadWriteAccess_t DataDictionaryGetSimulatorUDPPortU16(GSDType *GSD, U16 *Simula * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("SimulatorMode=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&SimulatorModeMutex); - GSD->SimulatorModeU8 = atoi(ResultBufferC8); - pthread_mutex_unlock(&SimulatorModeMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"SimulatorMode not found!"); - } +ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("SimulatorMode=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&SimulatorModeMutex); + GSD->SimulatorModeU8 = atoi(ResultBufferC8); + pthread_mutex_unlock(&SimulatorModeMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "SimulatorMode not found!"); + } - return Res; + return Res; } /*! @@ -1151,17 +1123,18 @@ ReadWriteAccess_t DataDictionaryInitSimulatorModeU8(GSDType *GSD) * \param SimulatorMode * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMode) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("SimulatorMode", SimulatorMode, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&SimulatorModeMutex); - GSD->SimulatorModeU8 = atoi(SimulatorMode); - pthread_mutex_unlock(&SimulatorModeMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetSimulatorModeU8(GSDType * GSD, C8 * SimulatorMode) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("SimulatorMode", SimulatorMode, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&SimulatorModeMutex); + GSD->SimulatorModeU8 = atoi(SimulatorMode); + pthread_mutex_unlock(&SimulatorModeMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1170,13 +1143,13 @@ ReadWriteAccess_t DataDictionarySetSimulatorModeU8(GSDType *GSD, C8 *SimulatorMo * \param SimulatorMode Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMode) -{ - pthread_mutex_lock(&SimulatorModeMutex); - *SimulatorMode = GSD->SimulatorModeU8; - pthread_mutex_unlock(&SimulatorModeMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetSimulatorModeU8(GSDType * GSD, U8 * SimulatorMode) { + pthread_mutex_lock(&SimulatorModeMutex); + *SimulatorMode = GSD->SimulatorModeU8; + pthread_mutex_unlock(&SimulatorModeMutex); + return READ_OK; +} + /*END of SimulatorMode*/ /*VOILReceivers*/ @@ -1185,24 +1158,22 @@ ReadWriteAccess_t DataDictionaryGetSimulatorModeU8(GSDType *GSD, U8 *SimulatorMo * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; - if(DataDictionarySearchParameter("VOILReceivers=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&VOILReceiversMutex); - strcpy(GSD->VOILReceiversC8, ResultBufferC8); - pthread_mutex_unlock(&VOILReceiversMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"VOILReceivers not found!"); - } +ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; - return Res; + if (DataDictionarySearchParameter("VOILReceivers=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&VOILReceiversMutex); + strcpy(GSD->VOILReceiversC8, ResultBufferC8); + pthread_mutex_unlock(&VOILReceiversMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "VOILReceivers not found!"); + } + + return Res; } /*! @@ -1211,17 +1182,18 @@ ReadWriteAccess_t DataDictionaryInitVOILReceiversC8(GSDType *GSD) * \param VOILReceivers * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceivers) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("VOILReceivers", VOILReceivers, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&VOILReceiversMutex); - strcpy(GSD->VOILReceiversC8, VOILReceivers); - pthread_mutex_unlock(&VOILReceiversMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType * GSD, C8 * VOILReceivers) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("VOILReceivers", VOILReceivers, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&VOILReceiversMutex); + strcpy(GSD->VOILReceiversC8, VOILReceivers); + pthread_mutex_unlock(&VOILReceiversMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1230,14 +1202,14 @@ ReadWriteAccess_t DataDictionarySetVOILReceiversC8(GSDType *GSD, C8 *VOILReceive * \param VOILReceivers Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceivers, U32 BuffLen) -{ - pthread_mutex_lock(&VOILReceiversMutex); - bzero(VOILReceivers, BuffLen); - strcpy(VOILReceivers, GSD->VOILReceiversC8); - pthread_mutex_unlock(&VOILReceiversMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType * GSD, U8 * VOILReceivers, U32 BuffLen) { + pthread_mutex_lock(&VOILReceiversMutex); + bzero(VOILReceivers, BuffLen); + strcpy(VOILReceivers, GSD->VOILReceiversC8); + pthread_mutex_unlock(&VOILReceiversMutex); + return READ_OK; +} + /*END of VOILReceivers*/ /*DTMReceivers*/ @@ -1246,24 +1218,22 @@ ReadWriteAccess_t DataDictionaryGetVOILReceiversC8(GSDType *GSD, U8 *VOILReceive * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitDTMReceiversC8(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; - if(DataDictionarySearchParameter("DTMReceivers=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&DTMReceiversMutex); - strcpy(GSD->DTMReceiversC8, ResultBufferC8); - pthread_mutex_unlock(&DTMReceiversMutex); - } -else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"DTMReceivers not found!"); - } +ReadWriteAccess_t DataDictionaryInitDTMReceiversC8(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_1024]; + + if (DataDictionarySearchParameter("DTMReceivers=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&DTMReceiversMutex); + strcpy(GSD->DTMReceiversC8, ResultBufferC8); + pthread_mutex_unlock(&DTMReceiversMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "DTMReceivers not found!"); + } - return Res; + return Res; } /*! @@ -1272,17 +1242,18 @@ else * \param DTMReceivers * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("DTMReceivers", DTMReceivers, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&DTMReceiversMutex); - strcpy(GSD->DTMReceiversC8, DTMReceivers); - pthread_mutex_unlock(&DTMReceiversMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType * GSD, C8 * DTMReceivers) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("DTMReceivers", DTMReceivers, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&DTMReceiversMutex); + strcpy(GSD->DTMReceiversC8, DTMReceivers); + pthread_mutex_unlock(&DTMReceiversMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1291,14 +1262,14 @@ ReadWriteAccess_t DataDictionarySetDTMReceiversC8(GSDType *GSD, C8 *DTMReceivers * \param DTMReceivers Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers, U32 BuffLen) -{ - pthread_mutex_lock(&DTMReceiversMutex); - bzero(DTMReceivers, BuffLen); - strcpy(DTMReceivers, GSD->DTMReceiversC8); - pthread_mutex_unlock(&DTMReceiversMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType * GSD, U8 * DTMReceivers, U32 BuffLen) { + pthread_mutex_lock(&DTMReceiversMutex); + bzero(DTMReceivers, BuffLen); + strcpy(DTMReceivers, GSD->DTMReceiversC8); + pthread_mutex_unlock(&DTMReceiversMutex); + return READ_OK; +} + /*END of DTMReceivers*/ /*External Supervisor IP*/ @@ -1307,27 +1278,25 @@ ReadWriteAccess_t DataDictionaryGetDTMReceiversC8(GSDType *GSD, U8 *DTMReceivers * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&ExternalSupervisorIPMutex); - GSD->ExternalSupervisorIPU32 = UtilIPStringToInt(ResultBufferC8); - bzero(GSD->ExternalSupervisorIPC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->ExternalSupervisorIPC8, ResultBufferC8); - pthread_mutex_unlock(&ExternalSupervisorIPMutex); - //LogMessage(LOG_LEVEL_ERROR,"Supervisor IP: %s", ResultBufferC8); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"Supervisor IP not found!"); - } +ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("SupervisorIP=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&ExternalSupervisorIPMutex); + GSD->ExternalSupervisorIPU32 = UtilIPStringToInt(ResultBufferC8); + bzero(GSD->ExternalSupervisorIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->ExternalSupervisorIPC8, ResultBufferC8); + pthread_mutex_unlock(&ExternalSupervisorIPMutex); + //LogMessage(LOG_LEVEL_ERROR,"Supervisor IP: %s", ResultBufferC8); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "Supervisor IP not found!"); + } - return Res; + return Res; } /*! @@ -1336,19 +1305,20 @@ ReadWriteAccess_t DataDictionaryInitExternalSupervisorIPU32(GSDType *GSD) * \param IP * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("SupervisorIP", IP, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&ExternalSupervisorIPMutex); - GSD->ExternalSupervisorIPU32 = UtilIPStringToInt(IP); - bzero(GSD->ExternalSupervisorIPC8, DD_CONTROL_BUFFER_SIZE_20); - strcat(GSD->ExternalSupervisorIPC8, IP); - pthread_mutex_unlock(&ExternalSupervisorIPMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType * GSD, C8 * IP) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("SupervisorIP", IP, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&ExternalSupervisorIPMutex); + GSD->ExternalSupervisorIPU32 = UtilIPStringToInt(IP); + bzero(GSD->ExternalSupervisorIPC8, DD_CONTROL_BUFFER_SIZE_20); + strcat(GSD->ExternalSupervisorIPC8, IP); + pthread_mutex_unlock(&ExternalSupervisorIPMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1357,13 +1327,12 @@ ReadWriteAccess_t DataDictionarySetExternalSupervisorIPU32(GSDType *GSD, C8 *IP) * \param IP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP) -{ - pthread_mutex_lock(&ExternalSupervisorIPMutex); - *IP = GSD->ExternalSupervisorIPU32; - pthread_mutex_unlock(&ExternalSupervisorIPMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType * GSD, U32 * IP) { + pthread_mutex_lock(&ExternalSupervisorIPMutex); + *IP = GSD->ExternalSupervisorIPU32; + pthread_mutex_unlock(&ExternalSupervisorIPMutex); + return READ_OK; +} /*! * \brief DataDictionaryGetExternalSupervisorIPC8 Reads variable from shared memory @@ -1371,14 +1340,14 @@ ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPU32(GSDType *GSD, U32 *IP * \param IP Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP, U32 BuffLen) -{ - pthread_mutex_lock(&ExternalSupervisorIPMutex); - bzero(IP, BuffLen); - strcat(IP, GSD->ExternalSupervisorIPC8); - pthread_mutex_unlock(&ExternalSupervisorIPMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType * GSD, C8 * IP, U32 BuffLen) { + pthread_mutex_lock(&ExternalSupervisorIPMutex); + bzero(IP, BuffLen); + strcat(IP, GSD->ExternalSupervisorIPC8); + pthread_mutex_unlock(&ExternalSupervisorIPMutex); + return READ_OK; +} + /*END of External Supervisor IP*/ /*External SupervisorTCPPort*/ @@ -1387,24 +1356,22 @@ ReadWriteAccess_t DataDictionaryGetExternalSupervisorIPC8(GSDType *GSD, C8 *IP, * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("SupervisorTCPPort=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&SupervisorTCPPortMutex); - GSD->SupervisorTCPPortU16 = atoi(ResultBufferC8); - pthread_mutex_unlock(&SupervisorTCPPortMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"SupervisorTCPPort not found!"); - } +ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("SupervisorTCPPort=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&SupervisorTCPPortMutex); + GSD->SupervisorTCPPortU16 = atoi(ResultBufferC8); + pthread_mutex_unlock(&SupervisorTCPPortMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "SupervisorTCPPort not found!"); + } - return Res; + return Res; } /*! @@ -1413,17 +1380,18 @@ ReadWriteAccess_t DataDictionaryInitSupervisorTCPPortU16(GSDType *GSD) * \param SupervisorTCPPort * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *SupervisorTCPPort) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("SupervisorTCPPort", SupervisorTCPPort, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&SupervisorTCPPortMutex); - GSD->SupervisorTCPPortU16 = atoi(SupervisorTCPPort); - pthread_mutex_unlock(&SupervisorTCPPortMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType * GSD, C8 * SupervisorTCPPort) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("SupervisorTCPPort", SupervisorTCPPort, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&SupervisorTCPPortMutex); + GSD->SupervisorTCPPortU16 = atoi(SupervisorTCPPort); + pthread_mutex_unlock(&SupervisorTCPPortMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1432,13 +1400,13 @@ ReadWriteAccess_t DataDictionarySetSupervisorTCPPortU16(GSDType *GSD, C8 *Superv * \param SupervisorTCPPort Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *SupervisorTCPPort) -{ - pthread_mutex_lock(&SupervisorTCPPortMutex); - *SupervisorTCPPort = GSD->SupervisorTCPPortU16; - pthread_mutex_unlock(&SupervisorTCPPortMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetSupervisorTCPPortU16(GSDType * GSD, U16 * SupervisorTCPPort) { + pthread_mutex_lock(&SupervisorTCPPortMutex); + *SupervisorTCPPort = GSD->SupervisorTCPPortU16; + pthread_mutex_unlock(&SupervisorTCPPortMutex); + return READ_OK; +} + /*END of External SupervisorTCPPort*/ /*Runtime Variable Subscription Service (RVSS) Configuration*/ @@ -1447,25 +1415,23 @@ ReadWriteAccess_t DataDictionaryGetSupervisorTCPPortU16(GSDType *GSD, U16 *Super * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitRVSSConfigU32(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("RVSSConfig=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); - GSD->DataDictionaryRVSSConfigU32 = atoi(ResultBufferC8); - pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); - //LogMessage(LOG_LEVEL_ERROR,"RVSSConfig: %s", ResultBufferC8); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"RVSSConfig not found!"); - } +ReadWriteAccess_t DataDictionaryInitRVSSConfigU32(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("RVSSConfig=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); + GSD->DataDictionaryRVSSConfigU32 = atoi(ResultBufferC8); + pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); + //LogMessage(LOG_LEVEL_ERROR,"RVSSConfig: %s", ResultBufferC8); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "RVSSConfig not found!"); + } - return Res; + return Res; } /*! @@ -1474,21 +1440,22 @@ ReadWriteAccess_t DataDictionaryInitRVSSConfigU32(GSDType *GSD) * \param RVSSConfig * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) -{ - ReadWriteAccess_t Res; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); - sprintf(ResultBufferC8, "%" PRIu32, RVSSConfig); +ReadWriteAccess_t DataDictionarySetRVSSConfigU32(GSDType * GSD, U32 RVSSConfig) { + ReadWriteAccess_t Res; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(UtilWriteConfigurationParameter("RVSSConfig", ResultBufferC8, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); - GSD->DataDictionaryRVSSConfigU32 = RVSSConfig; - pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; + bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); + sprintf(ResultBufferC8, "%" PRIu32, RVSSConfig); + + if (UtilWriteConfigurationParameter("RVSSConfig", ResultBufferC8, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); + GSD->DataDictionaryRVSSConfigU32 = RVSSConfig; + pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1497,13 +1464,13 @@ ReadWriteAccess_t DataDictionarySetRVSSConfigU32(GSDType *GSD, U32 RVSSConfig) * \param RVSSConfig Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig) -{ - pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); - *RVSSConfig = GSD->DataDictionaryRVSSConfigU32; - pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetRVSSConfigU32(GSDType * GSD, U32 * RVSSConfig) { + pthread_mutex_lock(&DataDictionaryRVSSConfigMutex); + *RVSSConfig = GSD->DataDictionaryRVSSConfigU32; + pthread_mutex_unlock(&DataDictionaryRVSSConfigMutex); + return READ_OK; +} + /*END of Runtime Variable Subscription Service (RVSS) Configuration**/ @@ -1513,25 +1480,23 @@ ReadWriteAccess_t DataDictionaryGetRVSSConfigU32(GSDType *GSD, U32 *RVSSConfig) * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitRVSSRateU8(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("RVSSRate=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&DataDictionaryRVSSRateMutex); - GSD->DataDictionaryRVSSRateU8 = (U8)atoi(ResultBufferC8); - pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); - //LogMessage(LOG_LEVEL_ERROR,"RVSSRate: %s", ResultBufferC8); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"RVSSRate not found!"); - } +ReadWriteAccess_t DataDictionaryInitRVSSRateU8(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - return Res; + if (DataDictionarySearchParameter("RVSSRate=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&DataDictionaryRVSSRateMutex); + GSD->DataDictionaryRVSSRateU8 = (U8) atoi(ResultBufferC8); + pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); + //LogMessage(LOG_LEVEL_ERROR,"RVSSRate: %s", ResultBufferC8); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "RVSSRate not found!"); + } + + return Res; } /*! @@ -1540,21 +1505,22 @@ ReadWriteAccess_t DataDictionaryInitRVSSRateU8(GSDType *GSD) * \param RVSSRate * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) -{ - ReadWriteAccess_t Res; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); - sprintf(ResultBufferC8, "%" PRIu8, RVSSRate); +ReadWriteAccess_t DataDictionarySetRVSSRateU8(GSDType * GSD, U8 RVSSRate) { + ReadWriteAccess_t Res; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + bzero(ResultBufferC8, DD_CONTROL_BUFFER_SIZE_20); + sprintf(ResultBufferC8, "%" PRIu8, RVSSRate); - if(UtilWriteConfigurationParameter("RVSSRate", ResultBufferC8, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&DataDictionaryRVSSRateMutex); - GSD->DataDictionaryRVSSRateU8 = RVSSRate; - pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; + if (UtilWriteConfigurationParameter("RVSSRate", ResultBufferC8, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&DataDictionaryRVSSRateMutex); + GSD->DataDictionaryRVSSRateU8 = RVSSRate; + pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1563,13 +1529,13 @@ ReadWriteAccess_t DataDictionarySetRVSSRateU8(GSDType *GSD, U8 RVSSRate) * \param RVSSRate Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) -{ - pthread_mutex_lock(&DataDictionaryRVSSRateMutex); - *RVSSRate = GSD->DataDictionaryRVSSRateU8; - pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetRVSSRateU8(GSDType * GSD, U8 * RVSSRate) { + pthread_mutex_lock(&DataDictionaryRVSSRateMutex); + *RVSSRate = GSD->DataDictionaryRVSSRateU8; + pthread_mutex_unlock(&DataDictionaryRVSSRateMutex); + return READ_OK; +} + /*END of Runtime Variable Subscription Service (RVSS) Rate**/ @@ -1580,12 +1546,11 @@ ReadWriteAccess_t DataDictionaryGetRVSSRateU8(GSDType *GSD, U8 *RVSSRate) * \param ASPD * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPD) -{ - pthread_mutex_lock(&ASPDataMutex); - GSD->ASPData = *ASPD; - pthread_mutex_unlock(&ASPDataMutex); - return WRITE_OK; +ReadWriteAccess_t DataDictionarySetRVSSAsp(GSDType * GSD, ASPType * ASPD) { + pthread_mutex_lock(&ASPDataMutex); + GSD->ASPData = *ASPD; + pthread_mutex_unlock(&ASPDataMutex); + return WRITE_OK; } /*! @@ -1594,13 +1559,13 @@ ReadWriteAccess_t DataDictionarySetRVSSAsp(GSDType *GSD, ASPType *ASPD) * \param ASPD Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPD) -{ - pthread_mutex_lock(&ASPDataMutex); - *ASPD = GSD->ASPData; - pthread_mutex_unlock(&ASPDataMutex); - return READ_OK; +ReadWriteAccess_t DataDictionaryGetRVSSAsp(GSDType * GSD, ASPType * ASPD) { + pthread_mutex_lock(&ASPDataMutex); + *ASPD = GSD->ASPData; + pthread_mutex_unlock(&ASPDataMutex); + return READ_OK; } + /*END ASPDebug*/ /*MiscData*/ @@ -1609,24 +1574,22 @@ ReadWriteAccess_t DataDictionaryGetRVSSAsp(GSDType *GSD, ASPType *ASPD) * \param GSD Pointer to shared allocated memory * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD) -{ - ReadWriteAccess_t Res = UNDEFINED; - C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; - if(DataDictionarySearchParameter("MiscData=", ResultBufferC8)) - { - Res = READ_OK; - pthread_mutex_lock(&MiscDataMutex); - strcpy(GSD->MiscDataC8, ResultBufferC8); - pthread_mutex_unlock(&MiscDataMutex); - } - else - { - Res = PARAMETER_NOTFOUND; - LogMessage(LOG_LEVEL_ERROR,"MiscData not found!"); - } +ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType * GSD) { + ReadWriteAccess_t Res = UNDEFINED; + C8 ResultBufferC8[DD_CONTROL_BUFFER_SIZE_20]; + + if (DataDictionarySearchParameter("MiscData=", ResultBufferC8)) { + Res = READ_OK; + pthread_mutex_lock(&MiscDataMutex); + strcpy(GSD->MiscDataC8, ResultBufferC8); + pthread_mutex_unlock(&MiscDataMutex); + } + else { + Res = PARAMETER_NOTFOUND; + LogMessage(LOG_LEVEL_ERROR, "MiscData not found!"); + } - return Res; + return Res; } /*! @@ -1635,18 +1598,19 @@ ReadWriteAccess_t DataDictionaryInitMiscDataC8(GSDType *GSD) * \param MiscData * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) -{ - ReadWriteAccess_t Res; - if(UtilWriteConfigurationParameter("MiscData", MiscData, 0)) - { - Res = WRITE_OK; - pthread_mutex_lock(&MiscDataMutex); - bzero(GSD->MiscDataC8, DD_CONTROL_BUFFER_SIZE_1024); - strcpy(GSD->MiscDataC8, MiscData); - pthread_mutex_unlock(&MiscDataMutex); - } else Res = PARAMETER_NOTFOUND; - return Res; +ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType * GSD, C8 * MiscData) { + ReadWriteAccess_t Res; + + if (UtilWriteConfigurationParameter("MiscData", MiscData, 0)) { + Res = WRITE_OK; + pthread_mutex_lock(&MiscDataMutex); + bzero(GSD->MiscDataC8, DD_CONTROL_BUFFER_SIZE_1024); + strcpy(GSD->MiscDataC8, MiscData); + pthread_mutex_unlock(&MiscDataMutex); + } + else + Res = PARAMETER_NOTFOUND; + return Res; } /*! @@ -1655,14 +1619,14 @@ ReadWriteAccess_t DataDictionarySetMiscDataC8(GSDType *GSD, C8 *MiscData) * \param MiscData Return variable pointer * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData, U32 BuffLen) -{ - pthread_mutex_lock(&MiscDataMutex); - bzero(MiscData, BuffLen); - strcpy(MiscData, GSD->MiscDataC8); - pthread_mutex_unlock(&MiscDataMutex); - return READ_OK; - } +ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType * GSD, U8 * MiscData, U32 BuffLen) { + pthread_mutex_lock(&MiscDataMutex); + bzero(MiscData, BuffLen); + strcpy(MiscData, GSD->MiscDataC8); + pthread_mutex_unlock(&MiscDataMutex); + return READ_OK; +} + /*END of MiscData*/ @@ -1673,14 +1637,14 @@ ReadWriteAccess_t DataDictionaryGetMiscDataC8(GSDType *GSD, U8 *MiscData, U32 Bu * \param OBCState * \return Result according to ::ReadWriteAccess_t */ -ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, OBCState_t OBCState) -{ - ReadWriteAccess_t Res; - Res = WRITE_OK; - pthread_mutex_lock(&OBCStateMutex); - GSD->OBCStateU8 = OBCState; - pthread_mutex_unlock(&OBCStateMutex); - return Res; +ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType * GSD, OBCState_t OBCState) { + ReadWriteAccess_t Res; + + Res = WRITE_OK; + pthread_mutex_lock(&OBCStateMutex); + GSD->OBCStateU8 = OBCState; + pthread_mutex_unlock(&OBCStateMutex); + return Res; } /*! @@ -1688,15 +1652,16 @@ ReadWriteAccess_t DataDictionarySetOBCStateU8(GSDType *GSD, OBCState_t OBCState) * \param GSD Pointer to shared allocated memory * \return Current object control state according to ::OBCState_t */ -OBCState_t DataDictionaryGetOBCStateU8(GSDType *GSD) -{ - OBCState_t Ret; - pthread_mutex_lock(&OBCStateMutex); - Ret = GSD->OBCStateU8; - pthread_mutex_unlock(&OBCStateMutex); +OBCState_t DataDictionaryGetOBCStateU8(GSDType * GSD) { + OBCState_t Ret; + + pthread_mutex_lock(&OBCStateMutex); + Ret = GSD->OBCStateU8; + pthread_mutex_unlock(&OBCStateMutex); + + return Ret; +} - return Ret; - } /*END OBCState*/ @@ -1707,12 +1672,12 @@ the parameter value. * \param ResultBuffer Buffer where read result should be stored * \return Length of read parameter string */ -U64 DataDictionarySearchParameter(C8 *ParameterName, C8 *ResultBuffer) -{ - char confPathDir[MAX_FILE_PATH]; - UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); - strcat(confPathDir, CONF_FILE_NAME); - bzero(ResultBuffer, DD_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(confPathDir, ParameterName, "", ResultBuffer); - return strlen(ResultBuffer); +U64 DataDictionarySearchParameter(C8 * ParameterName, C8 * ResultBuffer) { + char confPathDir[MAX_FILE_PATH]; + + UtilGetConfDirectoryPath(confPathDir, sizeof (confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); + bzero(ResultBuffer, DD_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(confPathDir, ParameterName, "", ResultBuffer); + return strlen(ResultBuffer); } diff --git a/server/src/logger.c b/server/src/logger.c index b6a850f18..b3475cf29 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -17,7 +17,7 @@ #include #include #include - #include +#include #include #include @@ -40,8 +40,8 @@ #define HEARTBEAT_TIME_MS 10 #define TIMESTAMP_BUFFER_LENGTH 20 #define SPECIFIC_CHAR_THRESHOLD_COUNT 10 -#define MAX_UTC_TIMESTAMP_STRLEN 21 // Maximum string length of an uint64 UTC timestamp is strlen("%u",1.8447e19)+1 i.e. 21 -#define MAX_DATE_STRLEN 25 // Maximum string length of a time stamp on the format "2035;12;31;24;59;59;1000" is 25 +#define MAX_UTC_TIMESTAMP_STRLEN 21 // Maximum string length of an uint64 UTC timestamp is strlen("%u",1.8447e19)+1 i.e. 21 +#define MAX_DATE_STRLEN 25 // Maximum string length of a time stamp on the format "2035;12;31;24;59;59;1000" is 25 #define MAX_LOG_ROW_LENGTH (MAX_DATE_STRLEN + strlen(";") + 2*(MAX_UTC_TIMESTAMP_STRLEN + strlen(";")) + strlen("255") + strlen(";") + MBUS_MAX_DATALEN + strlen("\n") + 1) @@ -55,12 +55,16 @@ -- Function declarations. ------------------------------------------------------------*/ static void vCreateLogFolder(char logFolder[MAX_FILE_PATH]); -static void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength); -static int ReadLogLine(FILE *fd, char *Buffer); -static int CountFileRows(FILE *fd); -void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); -void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); -void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); +static void vInitializeLog(char *logFilePath, unsigned int filePathLength, char *csvLogFilePath, + unsigned int csvFilePathLength); +static int ReadLogLine(FILE * fd, char *Buffer); +static int CountFileRows(FILE * fd); +void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, + char *pcLogFileComp); +void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, + char *pcLogFileComp); +void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, ssize_t commandDatalen, + struct timeval recvTime, char *pcLogFile, char *pcLogFileComp); static void signalHandler(int signo); /*------------------------------------------------------------ @@ -68,278 +72,276 @@ static void signalHandler(int signo); ------------------------------------------------------------*/ #define MODULE_NAME "Logger" static volatile int iExit = 0; + /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ -void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) - +void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { - char pcLogFile[MAX_FILE_PATH]; //!< Log file path and name buffer - char pcLogFileComp[MAX_FILE_PATH]; //!< CSV log file path and name buffer - char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus - char busSendBuffer[MBUS_MAX_DATALEN]; //!< Buffer for sending to message bus - char pcReadBuffer[MAX_LOG_ROW_LENGTH]; //!< Buffer for reading files - char subStrings[MBUS_MAX_DATALEN]; - char journalPathDir[MAX_FILE_PATH]; - UtilGetJournalDirectoryPath(journalPathDir, sizeof(journalPathDir)); - struct timeval recvTime; - - // Listen for commands - enum COMMAND command = COMM_INV; - ssize_t receivedBytes = 0; - - int GPSweek; - FILE *replayfd; - struct timespec sleep_time, ref_time; - U8 isFirstInit = 1; - - // Execution mode - int LoggerExecutionMode = LOG_CONTROL_MODE; - int RowCount = 0; - - // Initialize log - LogInit(MODULE_NAME, logLevel); - LogMessage(LOG_LEVEL_INFO, "Logger task running with PID: %d", getpid()); - - // Set up signal handlers - if (signal(SIGINT, signalHandler) == SIG_ERR) - util_error("Unable to initialize signal handler"); - - // Initialize message bus connection - if(iCommInit()) - util_error("Unable to initialize connection to message bus"); - - // Create log directory if it does not exist - vCreateLogFolder(journalPathDir); - - // our time - char *src; - uint64_t NewTimestamp, OldTimestamp; - - while(!iExit) - { - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - - receivedBytes = iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), &recvTime); - - switch(command) - { - case COMM_ABORT: - break; - - case COMM_INIT: - if(isFirstInit) - { - LogMessage(LOG_LEVEL_INFO,"Initializing test log..."); - vInitializeLog(pcLogFile, sizeof(pcLogFile), pcLogFileComp, sizeof(pcLogFileComp)); - isFirstInit = 0; - } - else - { - LogMessage(LOG_LEVEL_WARNING,"Received unexpected INIT command"); - } - - break; - - case COMM_TRCM: - case COMM_ACCM: - case COMM_TREO: - case COMM_EXAC: - if (!isFirstInit) - vLogScenarioControlData(command, busReceiveBuffer, receivedBytes, recvTime, pcLogFile, pcLogFileComp); - else - LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); - break; - case COMM_STRT: - case COMM_ARMD: - case COMM_STOP: - case COMM_CONNECT: - case COMM_VIOP: - case COMM_TRAJ: - case COMM_TRAJ_TOSUP: - case COMM_TRAJ_FROMSUP: - case COMM_ASP: - case COMM_LOG: - if (!isFirstInit) - vLogCommand(command, busReceiveBuffer, recvTime, pcLogFile, pcLogFileComp); - else - LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); - break; - - case COMM_DISCONNECT: - isFirstInit = 1; - break; - - case COMM_MONR: - if(!isFirstInit) - vLogMonitorData(busReceiveBuffer,receivedBytes,recvTime,pcLogFile,pcLogFileComp); - else - LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); - break; - - case COMM_MONI: - LogMessage(LOG_LEVEL_DEBUG, "Disregarding old MONR data"); - /* TODO: Delete this (superseded by COMM_MONR) - filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); - - strcpy(subStrings,busReceiveBuffer); - - char* GPSSecondOfWeek = strtok(subStrings, ";"); - - int counter = 0; - while (GPSSecondOfWeek != NULL && counter < 2) // Get GPS second of week - { - //printf("%s\n", token); - GPSSecondOfWeek = strtok(NULL, ";"); - counter++; - } - - TimeSetToGPStime(&time, (uint16_t)GPSweek, (uint32_t)(atoi(GPSSecondOfWeek)*4)); - - bzero(DateBuffer, sizeof(DateBuffer)); - TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); - - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf (pcBuffer, "%s;%ld;%ld;%d;%s\n", DateBuffer, TimeGetAsUTCms(&time), TimeGetAsGPSms(&time), command, busReceiveBuffer); - - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - fclose(filefd); - */ - break; - - case COMM_OSEM: - strcpy(subStrings, busReceiveBuffer); - - // Returns first datapoint of OSEM (GPSWeek) - char* token = strtok(busReceiveBuffer, ";"); - GPSweek = atoi(token); - - LogMessage(LOG_LEVEL_INFO, "GPS week of OSEM: %d", GPSweek); - - // Rest of OSEM if needed - /* - while (token != NULL) { - printf("%s\n", token); - token = strtok(NULL, ";"); - } - */ - - break; - - case COMM_OBC_STATE: - LogMessage(LOG_LEVEL_DEBUG,"Disregarding object control state reporting"); - break; - - case COMM_REPLAY: - LoggerExecutionMode = LOG_REPLAY_MODE; - LogMessage(LOG_LEVEL_INFO, "Logger in REPLAY mode <%s>", busReceiveBuffer); - - replayfd = fopen (busReceiveBuffer, ACCESS_MODE_READ); - RowCount = UtilCountFileRows(replayfd); - fclose(replayfd); - - replayfd = fopen (busReceiveBuffer, ACCESS_MODE_READ); - LogMessage(LOG_LEVEL_INFO, "Rows: %d", RowCount);; - if(replayfd) - { - UtilReadLineCntSpecChars(replayfd, pcReadBuffer); //Just read first line - int SpecChars = 0, j=0; - char TimestampBuffer[TIMESTAMP_BUFFER_LENGTH]; - int FirstIteration = 1; - //char *src; - //uint64_t NewTimestamp, OldTimestamp; - do - { - bzero(pcReadBuffer, sizeof(pcReadBuffer)); - SpecChars = UtilReadLineCntSpecChars(replayfd, pcReadBuffer); - - j++; - if(SpecChars == SPECIFIC_CHAR_THRESHOLD_COUNT) - { - /* Read to second ';' in row = 418571059920: 3 1;0;418571059920;577776566;127813082;0;0;3600;0; */ - src = strchr(pcReadBuffer, ';'); - src = strchr(src+1, ';'); - - /* Get the current timestamp */ - bzero(TimestampBuffer, TIMESTAMP_BUFFER_LENGTH); - strncpy(TimestampBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)strchr(src, ';') - 1); - NewTimestamp = atol(TimestampBuffer); - - if(!FirstIteration) - { /* Wait a little bit */ - sleep_time.tv_sec = 0; - sleep_time.tv_nsec = (NewTimestamp - OldTimestamp)*1000000; - (void)nanosleep(&sleep_time,&ref_time); - } else OldTimestamp = NewTimestamp; - - //printf("Wait time : %ld ms\n", NewTimestamp - OldTimestamp); - //printf("Timestamp: %s\n", TimestampBuffer); - /* Build the message */ - /* Read to second ' ' in row = 418571059920: 3 1;0;418571059920;577776566;127813082;0;0;3600;0; */ - src = strchr(pcReadBuffer, ' '); - src = strchr(src+1, ' '); - bzero(busSendBuffer, sizeof(busSendBuffer)); - //strcpy(busSendBuffer, "MONR;"); - strcat(busSendBuffer, src+1); - if(iCommSend(COMM_MONI, busSendBuffer, strlen(busSendBuffer)+1) < 0) - util_error("Communication error - exiting"); - - FirstIteration = 0; - OldTimestamp = NewTimestamp; - }; - LogMessage(LOG_LEVEL_INFO,"%d:%d:%d<%s>",RowCount,j,SpecChars,busSendBuffer); - - /* - bzero(TimeStampUTCBufferRecv,MQ_ETSI_LENGTH); - (void)iCommRecv(&iCommand,busReceiveBuffer,MQ_MAX_MESSAGE_LENGTH,TimeStampUTCBufferRecv); - - if(iCommand == COMM_STOP) - { - printf("Replay stopped by user.\n"); - (void)iCommSend(COMM_CONTROL, NULL); - }*/ - - } while(--RowCount >= 0); - - } - else - { - LogMessage(LOG_LEVEL_WARNING, "Failed to open file: %s", busReceiveBuffer); - } - - LogMessage(LOG_LEVEL_INFO,"Replay done"); - - if(iCommSend(COMM_CONTROL, NULL, 0) < 0) - util_error("Communication error - exiting"); - - break; - - case COMM_CONTROL: - LoggerExecutionMode = LOG_CONTROL_MODE; - LogMessage(LOG_LEVEL_INFO,"Logger in CONTROL mode"); - break; - - case COMM_EXIT: - iExit = 1; - break; - - case COMM_DATA_DICT: - LogMessage(LOG_LEVEL_INFO,"Data dictionary has been modified"); - break; - - case COMM_INV: - break; - default: - LogMessage(LOG_LEVEL_WARNING,"Unhandled message bus command: %u", command); - } - } - - (void)iCommClose(); - - LogMessage(LOG_LEVEL_INFO,"Logger exiting"); + char pcLogFile[MAX_FILE_PATH]; //!< Log file path and name buffer + char pcLogFileComp[MAX_FILE_PATH]; //!< CSV log file path and name buffer + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + char busSendBuffer[MBUS_MAX_DATALEN]; //!< Buffer for sending to message bus + char pcReadBuffer[MAX_LOG_ROW_LENGTH]; //!< Buffer for reading files + char subStrings[MBUS_MAX_DATALEN]; + char journalPathDir[MAX_FILE_PATH]; + + UtilGetJournalDirectoryPath(journalPathDir, sizeof (journalPathDir)); + struct timeval recvTime; + + // Listen for commands + enum COMMAND command = COMM_INV; + ssize_t receivedBytes = 0; + + int GPSweek; + FILE *replayfd; + struct timespec sleep_time, ref_time; + U8 isFirstInit = 1; + + // Execution mode + int LoggerExecutionMode = LOG_CONTROL_MODE; + int RowCount = 0; + + // Initialize log + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "Logger task running with PID: %d", getpid()); + + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + // Initialize message bus connection + if (iCommInit()) + util_error("Unable to initialize connection to message bus"); + + // Create log directory if it does not exist + vCreateLogFolder(journalPathDir); + + // our time + char *src; + uint64_t NewTimestamp, OldTimestamp; + + while (!iExit) { + bzero(busReceiveBuffer, sizeof (busReceiveBuffer)); + + receivedBytes = iCommRecv(&command, busReceiveBuffer, sizeof (busReceiveBuffer), &recvTime); + + switch (command) { + case COMM_ABORT: + break; + + case COMM_INIT: + if (isFirstInit) { + LogMessage(LOG_LEVEL_INFO, "Initializing test log..."); + vInitializeLog(pcLogFile, sizeof (pcLogFile), pcLogFileComp, sizeof (pcLogFileComp)); + isFirstInit = 0; + } + else { + LogMessage(LOG_LEVEL_WARNING, "Received unexpected INIT command"); + } + + break; + + case COMM_TRCM: + case COMM_ACCM: + case COMM_TREO: + case COMM_EXAC: + if (!isFirstInit) + vLogScenarioControlData(command, busReceiveBuffer, receivedBytes, recvTime, pcLogFile, + pcLogFileComp); + else + LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); + break; + case COMM_STRT: + case COMM_ARMD: + case COMM_STOP: + case COMM_CONNECT: + case COMM_VIOP: + case COMM_TRAJ: + case COMM_TRAJ_TOSUP: + case COMM_TRAJ_FROMSUP: + case COMM_ASP: + case COMM_LOG: + if (!isFirstInit) + vLogCommand(command, busReceiveBuffer, recvTime, pcLogFile, pcLogFileComp); + else + LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); + break; + + case COMM_DISCONNECT: + isFirstInit = 1; + break; + + case COMM_MONR: + if (!isFirstInit) + vLogMonitorData(busReceiveBuffer, receivedBytes, recvTime, pcLogFile, pcLogFileComp); + else + LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); + break; + + case COMM_MONI: + LogMessage(LOG_LEVEL_DEBUG, "Disregarding old MONR data"); + /* TODO: Delete this (superseded by COMM_MONR) + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); + + strcpy(subStrings,busReceiveBuffer); + + char* GPSSecondOfWeek = strtok(subStrings, ";"); + + int counter = 0; + while (GPSSecondOfWeek != NULL && counter < 2) // Get GPS second of week + { + //printf("%s\n", token); + GPSSecondOfWeek = strtok(NULL, ";"); + counter++; + } + + TimeSetToGPStime(&time, (uint16_t)GPSweek, (uint32_t)(atoi(GPSSecondOfWeek)*4)); + + bzero(DateBuffer, sizeof(DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); + + bzero(pcBuffer, sizeof(pcBuffer)); + sprintf (pcBuffer, "%s;%ld;%ld;%d;%s\n", DateBuffer, TimeGetAsUTCms(&time), TimeGetAsGPSms(&time), command, busReceiveBuffer); + + (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); + + fclose(filefd); + */ + break; + + case COMM_OSEM: + strcpy(subStrings, busReceiveBuffer); + + // Returns first datapoint of OSEM (GPSWeek) + char *token = strtok(busReceiveBuffer, ";"); + + GPSweek = atoi(token); + + LogMessage(LOG_LEVEL_INFO, "GPS week of OSEM: %d", GPSweek); + + // Rest of OSEM if needed + /* + while (token != NULL) { + printf("%s\n", token); + token = strtok(NULL, ";"); + } + */ + + break; + + case COMM_OBC_STATE: + LogMessage(LOG_LEVEL_DEBUG, "Disregarding object control state reporting"); + break; + + case COMM_REPLAY: + LoggerExecutionMode = LOG_REPLAY_MODE; + LogMessage(LOG_LEVEL_INFO, "Logger in REPLAY mode <%s>", busReceiveBuffer); + + replayfd = fopen(busReceiveBuffer, ACCESS_MODE_READ); + RowCount = UtilCountFileRows(replayfd); + fclose(replayfd); + + replayfd = fopen(busReceiveBuffer, ACCESS_MODE_READ); + LogMessage(LOG_LEVEL_INFO, "Rows: %d", RowCount);; + if (replayfd) { + UtilReadLineCntSpecChars(replayfd, pcReadBuffer); //Just read first line + int SpecChars = 0, j = 0; + char TimestampBuffer[TIMESTAMP_BUFFER_LENGTH]; + int FirstIteration = 1; + + //char *src; + //uint64_t NewTimestamp, OldTimestamp; + do { + bzero(pcReadBuffer, sizeof (pcReadBuffer)); + SpecChars = UtilReadLineCntSpecChars(replayfd, pcReadBuffer); + + j++; + if (SpecChars == SPECIFIC_CHAR_THRESHOLD_COUNT) { + /* Read to second ';' in row = 418571059920: 3 1;0;418571059920;577776566;127813082;0;0;3600;0; */ + src = strchr(pcReadBuffer, ';'); + src = strchr(src + 1, ';'); + + /* Get the current timestamp */ + bzero(TimestampBuffer, TIMESTAMP_BUFFER_LENGTH); + strncpy(TimestampBuffer, src + 1, + (uint64_t) strchr(src + 1, ';') - (uint64_t) strchr(src, ';') - 1); + NewTimestamp = atol(TimestampBuffer); + + if (!FirstIteration) { /* Wait a little bit */ + sleep_time.tv_sec = 0; + sleep_time.tv_nsec = (NewTimestamp - OldTimestamp) * 1000000; + (void)nanosleep(&sleep_time, &ref_time); + } + else + OldTimestamp = NewTimestamp; + + //printf("Wait time : %ld ms\n", NewTimestamp - OldTimestamp); + //printf("Timestamp: %s\n", TimestampBuffer); + /* Build the message */ + /* Read to second ' ' in row = 418571059920: 3 1;0;418571059920;577776566;127813082;0;0;3600;0; */ + src = strchr(pcReadBuffer, ' '); + src = strchr(src + 1, ' '); + bzero(busSendBuffer, sizeof (busSendBuffer)); + //strcpy(busSendBuffer, "MONR;"); + strcat(busSendBuffer, src + 1); + if (iCommSend(COMM_MONI, busSendBuffer, strlen(busSendBuffer) + 1) < 0) + util_error("Communication error - exiting"); + + FirstIteration = 0; + OldTimestamp = NewTimestamp; + }; + LogMessage(LOG_LEVEL_INFO, "%d:%d:%d<%s>", RowCount, j, SpecChars, busSendBuffer); + + /* + bzero(TimeStampUTCBufferRecv,MQ_ETSI_LENGTH); + (void)iCommRecv(&iCommand,busReceiveBuffer,MQ_MAX_MESSAGE_LENGTH,TimeStampUTCBufferRecv); + + if(iCommand == COMM_STOP) + { + printf("Replay stopped by user.\n"); + (void)iCommSend(COMM_CONTROL, NULL); + } */ + + } while (--RowCount >= 0); + + } + else { + LogMessage(LOG_LEVEL_WARNING, "Failed to open file: %s", busReceiveBuffer); + } + + LogMessage(LOG_LEVEL_INFO, "Replay done"); + + if (iCommSend(COMM_CONTROL, NULL, 0) < 0) + util_error("Communication error - exiting"); + + break; + + case COMM_CONTROL: + LoggerExecutionMode = LOG_CONTROL_MODE; + LogMessage(LOG_LEVEL_INFO, "Logger in CONTROL mode"); + break; + + case COMM_EXIT: + iExit = 1; + break; + + case COMM_DATA_DICT: + LogMessage(LOG_LEVEL_INFO, "Data dictionary has been modified"); + break; + + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } + } + + (void)iCommClose(); + + LogMessage(LOG_LEVEL_INFO, "Logger exiting"); } @@ -347,216 +349,213 @@ void logger_task(TimeType* GPSTime, GSDType *GSD, LOG_LEVEL logLevel) /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -void signalHandler(int signo) - { - if (signo == SIGINT) - { - LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); - iExit = 1; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); - } +void signalHandler(int signo) { + if (signo == SIGINT) { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } } -void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) -{ - int iResult; - struct stat st = {0}; - - // Create log directory if it does not exist - if (stat(logFolder, &st) == -1) { - if (errno == ENOENT) { - LogMessage(LOG_LEVEL_INFO, "Creating log directory <%s>", logFolder); - iResult = mkdir(logFolder, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH); - if (iResult < 0) { - util_error("Unable to create log directory"); - } - } - else { - util_error("Unable to stat log directory"); - } - } +void vCreateLogFolder(char logFolder[MAX_FILE_PATH]) { + int iResult; + struct stat st = { 0 }; + + // Create log directory if it does not exist + if (stat(logFolder, &st) == -1) { + if (errno == ENOENT) { + LogMessage(LOG_LEVEL_INFO, "Creating log directory <%s>", logFolder); + iResult = mkdir(logFolder, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH); + if (iResult < 0) { + util_error("Unable to create log directory"); + } + } + else { + util_error("Unable to stat log directory"); + } + } } -void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvLogFilePath, unsigned int csvFilePathLength) -{ - struct timeval tvTime; - char logFileDirectoryPath[MAX_FILE_PATH]; - char trajPathDir[MAX_FILE_PATH]; - char confPathDir[MAX_FILE_PATH]; - char journalPathDir[MAX_FILE_PATH]; - char DateBuffer[FILENAME_MAX]; - FILE *filefd, *fileread; - char msString[10]; - char sysCommand[100]; - char pcBuffer[MAX_LOG_ROW_LENGTH]; - DIR *dir; - struct dirent *ent; - int read; - - UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); - strcat(confPathDir, CONF_FILE_NAME); - UtilGetTrajDirectoryPath(trajPathDir, sizeof(trajPathDir)); - UtilGetJournalDirectoryPath(journalPathDir, sizeof(journalPathDir)); - - // Clear the two path strings - bzero(logFilePath, filePathLength); - bzero(csvLogFilePath, csvFilePathLength); - - // Calculate the date and time when the logfile is created - TimeSetToCurrentSystemTime(&tvTime); - TimeGetAsDateTime(&tvTime, "%Y-%m-%d_%H.%M.%S", DateBuffer, sizeof(DateBuffer)); - - // Append milliseconds - sprintf(msString, ".%i", (int)tvTime.tv_usec/1000); - strcat(DateBuffer, msString); - - // Create log folder named with initialization date and time - (void)strcpy(logFileDirectoryPath, journalPathDir); - (void)strcat(logFileDirectoryPath, DateBuffer); - - vCreateLogFolder(logFileDirectoryPath); - - (void)strcat(logFileDirectoryPath,FORWARD_SLASH); - - // Copy configuration file to log directory - LogMessage(LOG_LEVEL_INFO, "Copying configuration file to log directory"); - (void)strcpy(sysCommand, "cp "); - (void)strcat(sysCommand, confPathDir); - (void)strcat(sysCommand, " "); - (void)strcat(sysCommand, logFileDirectoryPath); - (void)system(sysCommand); - - // Check if ./traj directory exists - if ((dir = opendir(trajPathDir)) == NULL) - { - sprintf(sysCommand,"Unable to open traj directory <%s>",trajPathDir); - util_error(sysCommand); - } - else - closedir(dir); - - // Copy trajectory files to subdirectory - LogMessage(LOG_LEVEL_INFO, "Copying trajectory files to log directory"); - (void)strcpy(sysCommand, "cp -R "); - (void)strcat(sysCommand, trajPathDir); - (void)strcat(sysCommand, " "); - (void)strcat(sysCommand, logFileDirectoryPath); - (void)system(sysCommand); - - // TODO: Copy geofence files - - // Create filenames using date and time - (void)strcpy(logFilePath, logFileDirectoryPath); - (void)strcat(logFilePath, DateBuffer); - (void)strcat(logFilePath, LOG_FILE_ENDING); - (void)strcpy(csvLogFilePath, logFilePath); - (void)strcat(csvLogFilePath, CSV_FILE_ENDING); - - LogMessage(LOG_LEVEL_INFO, "Opening log file to use: <%s>", logFilePath); - LogMessage(LOG_LEVEL_INFO, "Opening csv file to use: <%s>", csvLogFilePath); - - // Print trajectory files to log - LogMessage(LOG_LEVEL_DEBUG, "Printing trajectories to log"); - filefd = fopen(logFilePath, ACCESS_MODE_WRITE_AND_READ); - - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf(pcBuffer,"------------------------------------------\nWhole Trajectory files:\n------------------------------------------\n"); - (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); - - // Open directory traj - if ((dir = opendir(trajPathDir)) != NULL) - { - while ((ent = readdir(dir)) != NULL) - { - // Copy all files in trajectory and add them to the log file - bzero(pcBuffer, sizeof(pcBuffer)); - strcpy(pcBuffer, trajPathDir); - strcat(pcBuffer, ent->d_name); - if (access(pcBuffer, 0) == 0) - { - fileread = fopen(pcBuffer, ACCESS_MODE_READ); - read = fgetc(fileread); - while (read != EOF) - { - fputc(read,filefd); - read = fgetc(fileread); - } - fclose(fileread); - } - else { - LogMessage(LOG_LEVEL_ERROR,"Failed to open <%s>", pcBuffer); - } - } - closedir(dir); - } - else - { - sprintf(sysCommand,"Unable to open traj directory <%s>",trajPathDir); - util_error(sysCommand); - } - fclose(filefd); - - // Print configuration to log - LogMessage(LOG_LEVEL_DEBUG, "Printing configuration to log"); - filefd = fopen(logFilePath, ACCESS_MODE_APPEND_AND_READ); - - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf(pcBuffer, "\n------------------------------------------\nWhole Config file:\n------------------------------------------\n"); - (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); - - - /* If file conf file exists and we have read permission do*/ - if (access(confPathDir, 0) == 0) - { - /*read the .conf file and print it in to the .log file */ - fileread = fopen(confPathDir, ACCESS_MODE_READ); - read = fgetc(fileread); - while(read!= EOF) - { - fputc(read,filefd); - read = fgetc(fileread); - } - fclose(fileread); - } - else - { - sprintf(sysCommand,"Unable to open <%s>",confPathDir); - util_error(sysCommand); - } - - // Add some information about the standard log file format and what is what in the MONR message - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf(pcBuffer, "\n------------------------------------------\nInformation about log structure\n------------------------------------------\nLog started; Date:%s\nGenerall structure:\n",DateBuffer); - (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf(pcBuffer,";;;;;;;;;\n"); - (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); - - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf(pcBuffer,"Monor message structure(command message nr = 3):\n;;;;;;;;;;;;<0>;"); - (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); - - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf(pcBuffer,";;;;;;;;;;;;\n"); // add more her if we want more data - (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf(pcBuffer, "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n",COMM_STRT,COMM_STOP,COMM_MONI,COMM_EXIT,COMM_ARMD,COMM_REPLAY,COMM_CONTROL,COMM_ABORT,COMM_INIT,COMM_CONNECT,COMM_OBC_STATE,COMM_DISCONNECT,COMM_LOG,COMM_VIOP,COMM_INV); - (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); - - - fclose(filefd); +void vInitializeLog(char *logFilePath, unsigned int filePathLength, char *csvLogFilePath, + unsigned int csvFilePathLength) { + struct timeval tvTime; + char logFileDirectoryPath[MAX_FILE_PATH]; + char trajPathDir[MAX_FILE_PATH]; + char confPathDir[MAX_FILE_PATH]; + char journalPathDir[MAX_FILE_PATH]; + char DateBuffer[FILENAME_MAX]; + FILE *filefd, *fileread; + char msString[10]; + char sysCommand[100]; + char pcBuffer[MAX_LOG_ROW_LENGTH]; + DIR *dir; + struct dirent *ent; + int read; + + UtilGetConfDirectoryPath(confPathDir, sizeof (confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); + UtilGetTrajDirectoryPath(trajPathDir, sizeof (trajPathDir)); + UtilGetJournalDirectoryPath(journalPathDir, sizeof (journalPathDir)); + + // Clear the two path strings + bzero(logFilePath, filePathLength); + bzero(csvLogFilePath, csvFilePathLength); + + // Calculate the date and time when the logfile is created + TimeSetToCurrentSystemTime(&tvTime); + TimeGetAsDateTime(&tvTime, "%Y-%m-%d_%H.%M.%S", DateBuffer, sizeof (DateBuffer)); + + // Append milliseconds + sprintf(msString, ".%i", (int)tvTime.tv_usec / 1000); + strcat(DateBuffer, msString); + + // Create log folder named with initialization date and time + (void)strcpy(logFileDirectoryPath, journalPathDir); + (void)strcat(logFileDirectoryPath, DateBuffer); + + vCreateLogFolder(logFileDirectoryPath); + + (void)strcat(logFileDirectoryPath, FORWARD_SLASH); + + // Copy configuration file to log directory + LogMessage(LOG_LEVEL_INFO, "Copying configuration file to log directory"); + (void)strcpy(sysCommand, "cp "); + (void)strcat(sysCommand, confPathDir); + (void)strcat(sysCommand, " "); + (void)strcat(sysCommand, logFileDirectoryPath); + (void)system(sysCommand); + + // Check if ./traj directory exists + if ((dir = opendir(trajPathDir)) == NULL) { + sprintf(sysCommand, "Unable to open traj directory <%s>", trajPathDir); + util_error(sysCommand); + } + else + closedir(dir); + + // Copy trajectory files to subdirectory + LogMessage(LOG_LEVEL_INFO, "Copying trajectory files to log directory"); + (void)strcpy(sysCommand, "cp -R "); + (void)strcat(sysCommand, trajPathDir); + (void)strcat(sysCommand, " "); + (void)strcat(sysCommand, logFileDirectoryPath); + (void)system(sysCommand); + + // TODO: Copy geofence files + + // Create filenames using date and time + (void)strcpy(logFilePath, logFileDirectoryPath); + (void)strcat(logFilePath, DateBuffer); + (void)strcat(logFilePath, LOG_FILE_ENDING); + (void)strcpy(csvLogFilePath, logFilePath); + (void)strcat(csvLogFilePath, CSV_FILE_ENDING); + + LogMessage(LOG_LEVEL_INFO, "Opening log file to use: <%s>", logFilePath); + LogMessage(LOG_LEVEL_INFO, "Opening csv file to use: <%s>", csvLogFilePath); + + // Print trajectory files to log + LogMessage(LOG_LEVEL_DEBUG, "Printing trajectories to log"); + filefd = fopen(logFilePath, ACCESS_MODE_WRITE_AND_READ); + + bzero(pcBuffer, sizeof (pcBuffer)); + sprintf(pcBuffer, + "------------------------------------------\nWhole Trajectory files:\n------------------------------------------\n"); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + // Open directory traj + if ((dir = opendir(trajPathDir)) != NULL) { + while ((ent = readdir(dir)) != NULL) { + // Copy all files in trajectory and add them to the log file + bzero(pcBuffer, sizeof (pcBuffer)); + strcpy(pcBuffer, trajPathDir); + strcat(pcBuffer, ent->d_name); + if (access(pcBuffer, 0) == 0) { + fileread = fopen(pcBuffer, ACCESS_MODE_READ); + read = fgetc(fileread); + while (read != EOF) { + fputc(read, filefd); + read = fgetc(fileread); + } + fclose(fileread); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Failed to open <%s>", pcBuffer); + } + } + closedir(dir); + } + else { + sprintf(sysCommand, "Unable to open traj directory <%s>", trajPathDir); + util_error(sysCommand); + } + fclose(filefd); + + // Print configuration to log + LogMessage(LOG_LEVEL_DEBUG, "Printing configuration to log"); + filefd = fopen(logFilePath, ACCESS_MODE_APPEND_AND_READ); + + bzero(pcBuffer, sizeof (pcBuffer)); + sprintf(pcBuffer, + "\n------------------------------------------\nWhole Config file:\n------------------------------------------\n"); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + + /* If file conf file exists and we have read permission do */ + if (access(confPathDir, 0) == 0) { + /*read the .conf file and print it in to the .log file */ + fileread = fopen(confPathDir, ACCESS_MODE_READ); + read = fgetc(fileread); + while (read != EOF) { + fputc(read, filefd); + read = fgetc(fileread); + } + fclose(fileread); + } + else { + sprintf(sysCommand, "Unable to open <%s>", confPathDir); + util_error(sysCommand); + } + + // Add some information about the standard log file format and what is what in the MONR message + bzero(pcBuffer, sizeof (pcBuffer)); + sprintf(pcBuffer, + "\n------------------------------------------\nInformation about log structure\n------------------------------------------\nLog started; Date:%s\nGenerall structure:\n", + DateBuffer); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + bzero(pcBuffer, sizeof (pcBuffer)); + sprintf(pcBuffer, + ";;;;;;;;;\n"); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + bzero(pcBuffer, sizeof (pcBuffer)); + sprintf(pcBuffer, + "Monor message structure(command message nr = 3):\n;;;;;;;;;;;;<0>;"); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + bzero(pcBuffer, sizeof (pcBuffer)); + sprintf(pcBuffer, + ";;;;;;;;;;;;\n"); // add more her if we want more data + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + bzero(pcBuffer, sizeof (pcBuffer)); + sprintf(pcBuffer, + "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n", + COMM_STRT, COMM_STOP, COMM_MONI, COMM_EXIT, COMM_ARMD, COMM_REPLAY, COMM_CONTROL, COMM_ABORT, + COMM_INIT, COMM_CONNECT, COMM_OBC_STATE, COMM_DISCONNECT, COMM_LOG, COMM_VIOP, COMM_INV); + (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); + + + fclose(filefd); } /*! @@ -567,44 +566,40 @@ void vInitializeLog(char * logFilePath, unsigned int filePathLength, char * csvL * \param pcLogFile Path to log file * \param pcLogFileComp Path to .csv log file */ -void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp) -{ - FILE *filefd; - char DateBuffer[MAX_DATE_STRLEN]; - - bzero(DateBuffer, sizeof(DateBuffer)); - TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); - - // Remove newlines in HTTP requests for nicer printouts. - for (unsigned long i = 0; i < strlen(commandData); i++){ - if(commandData[i] == '\n'){ - commandData[i] = ' '; - } - } - - // Write to log file - filefd = fopen(pcLogFile, ACCESS_MODE_APPEND); - if (filefd != NULL) - { - fprintf(filefd,"%s;%ld;%u;%s\n", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command, commandData); - fclose(filefd); - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcLogFile); - } - - // Write to .csv file - filefd = fopen(pcLogFileComp, ACCESS_MODE_APPEND); - if (filefd != NULL) - { - fprintf(filefd,"%s;%ld;%u;%s\n", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command, commandData); - fclose(filefd); - } - else - { - LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFileComp); - } +void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTime, char *pcLogFile, + char *pcLogFileComp) { + FILE *filefd; + char DateBuffer[MAX_DATE_STRLEN]; + + bzero(DateBuffer, sizeof (DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof (DateBuffer)); + + // Remove newlines in HTTP requests for nicer printouts. + for (unsigned long i = 0; i < strlen(commandData); i++) { + if (commandData[i] == '\n') { + commandData[i] = ' '; + } + } + + // Write to log file + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND); + if (filefd != NULL) { + fprintf(filefd, "%s;%ld;%u;%s\n", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command, commandData); + fclose(filefd); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcLogFile); + } + + // Write to .csv file + filefd = fopen(pcLogFileComp, ACCESS_MODE_APPEND); + if (filefd != NULL) { + fprintf(filefd, "%s;%ld;%u;%s\n", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command, commandData); + fclose(filefd); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcLogFileComp); + } } /*! @@ -614,114 +609,117 @@ void vLogCommand(enum COMMAND command, char *commandData, struct timeval recvTim * \param pcLogFile Log file to write to * \param pcLogFileComp Secondary log file to write to (currently not used) */ -void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp) -{ - FILE *filefd; - char DateBuffer[MAX_DATE_STRLEN]; - char ipStringBuffer[INET_ADDRSTRLEN]; - MonitorDataType monitorData; - struct timeval monrTime, systemTime; - const int debug = 0; - - if (commandDatalen < 0) - return; - - TimeSetToCurrentSystemTime(&systemTime); - - UtilPopulateMonitorDataStruct(commandData, (size_t)(commandDatalen), &monitorData, debug); - TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(&systemTime), monitorData.MONR.GPSQmsOfWeekU32); - - bzero(DateBuffer, sizeof(DateBuffer)); - TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); - - filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); - if (filefd == NULL) - { - LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFile); - return; - } - - fprintf(filefd, "%s;%ld;%ld;%d;", DateBuffer, TimeGetAsUTCms(&monrTime), TimeGetAsGPSms(&monrTime), (unsigned char)COMM_MONR); - fprintf(filefd, "%s;", inet_ntop(AF_INET, &monitorData.ClientIP, ipStringBuffer, sizeof(ipStringBuffer))); - fprintf(filefd, "%u;%u;", monitorData.MONR.Header.TransmitterIdU8, monitorData.MONR.GPSQmsOfWeekU32); - fprintf(filefd, "%d;%d;%d;%u;",monitorData.MONR.XPositionI32, monitorData.MONR.YPositionI32, monitorData.MONR.ZPositionI32, monitorData.MONR.HeadingU16); - fprintf(filefd, "%d;%d;", monitorData.MONR.LongitudinalSpeedI16, monitorData.MONR.LateralSpeedI16); - fprintf(filefd, "%d;%d;", monitorData.MONR.LongitudinalAccI16, monitorData.MONR.LateralAccI16); - fprintf(filefd, "%u;%u;%u;%u;\n", monitorData.MONR.DriveDirectionU8, monitorData.MONR.StateU8, monitorData.MONR.ReadyToArmU8, monitorData.MONR.ErrorStatusU8); - - fclose(filefd); +void vLogMonitorData(char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, + char *pcLogFileComp) { + FILE *filefd; + char DateBuffer[MAX_DATE_STRLEN]; + char ipStringBuffer[INET_ADDRSTRLEN]; + MonitorDataType monitorData; + struct timeval monrTime, systemTime; + const int debug = 0; + + if (commandDatalen < 0) + return; + + TimeSetToCurrentSystemTime(&systemTime); + + UtilPopulateMonitorDataStruct(commandData, (size_t) (commandDatalen), &monitorData, debug); + TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(&systemTime), monitorData.MONR.GPSQmsOfWeekU32); + + bzero(DateBuffer, sizeof (DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof (DateBuffer)); + + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); + if (filefd == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcLogFile); + return; + } + + fprintf(filefd, "%s;%ld;%ld;%d;", DateBuffer, TimeGetAsUTCms(&monrTime), TimeGetAsGPSms(&monrTime), + (unsigned char)COMM_MONR); + fprintf(filefd, "%s;", + inet_ntop(AF_INET, &monitorData.ClientIP, ipStringBuffer, sizeof (ipStringBuffer))); + fprintf(filefd, "%u;%u;", monitorData.MONR.Header.TransmitterIdU8, monitorData.MONR.GPSQmsOfWeekU32); + fprintf(filefd, "%d;%d;%d;%u;", monitorData.MONR.XPositionI32, monitorData.MONR.YPositionI32, + monitorData.MONR.ZPositionI32, monitorData.MONR.HeadingU16); + fprintf(filefd, "%d;%d;", monitorData.MONR.LongitudinalSpeedI16, monitorData.MONR.LateralSpeedI16); + fprintf(filefd, "%d;%d;", monitorData.MONR.LongitudinalAccI16, monitorData.MONR.LateralAccI16); + fprintf(filefd, "%u;%u;%u;%u;\n", monitorData.MONR.DriveDirectionU8, monitorData.MONR.StateU8, + monitorData.MONR.ReadyToArmU8, monitorData.MONR.ErrorStatusU8); + + fclose(filefd); } -void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, ssize_t commandDatalen, struct timeval recvTime, char *pcLogFile, char *pcLogFileComp) -{ - FILE *filefd; - char DateBuffer[MAX_DATE_STRLEN]; - char ipStringBuffer[INET_ADDRSTRLEN]; - EXACData exac; - ACCMData accm; - TREOData treo; - TRCMData trcm; - - struct timeval messageTimeField, systemTime; - const int debug = 0; - - if (commandDatalen < 0) - { - LogMessage(LOG_LEVEL_WARNING, "Cannot log scenario control data with negative length"); - return; - } - - TimeSetToCurrentSystemTime(&systemTime); - - //UtilPopulateMonitorDataStruct(commandData, (size_t)(commandDatalen), &monitorData, debug); - //TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(&systemTime), monitorData.MONR.GPSQmsOfWeekU32); - - bzero(DateBuffer, sizeof(DateBuffer)); - TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); - - filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); - if (filefd == NULL) - { - LogMessage(LOG_LEVEL_ERROR,"Unable to open file <%s>",pcLogFile); - return; - } - - fprintf(filefd, "%s;%ld;%u;", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command); - - switch (command) - { - case COMM_TREO: - UtilPopulateTREODataStructFromMQ(commandData, (size_t)commandDatalen, &treo); - LogMessage(LOG_LEVEL_INFO,"Trigger event occurred, ID %u",treo.triggerID); - TimeSetToGPStime(&messageTimeField, TimeGetAsGPSweek(&systemTime), treo.timestamp_qmsow); - fprintf(filefd, "%u;%ld;", treo.triggerID, TimeGetAsGPSms(&messageTimeField)); - fprintf(filefd, "%s", inet_ntop(AF_INET,&treo.ip,ipStringBuffer,sizeof(ipStringBuffer))); - break; - case COMM_EXAC: - UtilPopulateEXACDataStructFromMQ(commandData, (size_t)commandDatalen, &exac); - LogMessage(LOG_LEVEL_INFO,"Action execute request detected, ID %u",exac.actionID); - TimeSetToGPStime(&messageTimeField,TimeGetAsGPSweek(&systemTime),exac.executionTime_qmsoW); - fprintf(filefd, "%u;%ld;", exac.actionID, TimeGetAsGPSms(&messageTimeField)); - fprintf(filefd, "%s", inet_ntop(AF_INET,&exac.ip,ipStringBuffer,sizeof(ipStringBuffer))); - break; - case COMM_TRCM: - UtilPopulateTRCMDataStructFromMQ(commandData, (size_t)commandDatalen, &trcm); - LogMessage(LOG_LEVEL_INFO,"Trigger configuration for ID %u received, of type %u",trcm.triggerID, trcm.triggerType); - fprintf(filefd, "%u;%u;%u;%u;%u", trcm.triggerID, trcm.triggerType, - trcm.triggerTypeParameter1, trcm.triggerTypeParameter2, trcm.triggerTypeParameter3); - fprintf(filefd, "%s", inet_ntop(AF_INET,&trcm.ip,ipStringBuffer,sizeof(ipStringBuffer))); - break; - case COMM_ACCM: - UtilPopulateACCMDataStructFromMQ(commandData, (size_t)commandDatalen, &accm); - LogMessage(LOG_LEVEL_INFO,"Action configuration for ID %u received, of type %u",accm.actionID, accm.actionType); - fprintf(filefd, "%u;%u;%u;%u;%u", accm.actionID, accm.actionType, - accm.actionTypeParameter1, accm.actionTypeParameter2, accm.actionTypeParameter3); - fprintf(filefd, "%s", inet_ntop(AF_INET,&accm.ip,ipStringBuffer,sizeof(ipStringBuffer))); - break; - default: - LogMessage(LOG_LEVEL_ERROR,"Unhandled command in scenario control logging: %u", (unsigned char)command); - } - - fclose(filefd); +void vLogScenarioControlData(enum COMMAND command, unsigned char *commandData, ssize_t commandDatalen, + struct timeval recvTime, char *pcLogFile, char *pcLogFileComp) { + FILE *filefd; + char DateBuffer[MAX_DATE_STRLEN]; + char ipStringBuffer[INET_ADDRSTRLEN]; + EXACData exac; + ACCMData accm; + TREOData treo; + TRCMData trcm; + + struct timeval messageTimeField, systemTime; + const int debug = 0; + + if (commandDatalen < 0) { + LogMessage(LOG_LEVEL_WARNING, "Cannot log scenario control data with negative length"); + return; + } + + TimeSetToCurrentSystemTime(&systemTime); + + //UtilPopulateMonitorDataStruct(commandData, (size_t)(commandDatalen), &monitorData, debug); + //TimeSetToGPStime(&monrTime, TimeGetAsGPSweek(&systemTime), monitorData.MONR.GPSQmsOfWeekU32); + + bzero(DateBuffer, sizeof (DateBuffer)); + TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof (DateBuffer)); + + filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); + if (filefd == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcLogFile); + return; + } + + fprintf(filefd, "%s;%ld;%u;", DateBuffer, TimeGetAsUTCms(&recvTime), (char)command); + + switch (command) { + case COMM_TREO: + UtilPopulateTREODataStructFromMQ(commandData, (size_t) commandDatalen, &treo); + LogMessage(LOG_LEVEL_INFO, "Trigger event occurred, ID %u", treo.triggerID); + TimeSetToGPStime(&messageTimeField, TimeGetAsGPSweek(&systemTime), treo.timestamp_qmsow); + fprintf(filefd, "%u;%ld;", treo.triggerID, TimeGetAsGPSms(&messageTimeField)); + fprintf(filefd, "%s", inet_ntop(AF_INET, &treo.ip, ipStringBuffer, sizeof (ipStringBuffer))); + break; + case COMM_EXAC: + UtilPopulateEXACDataStructFromMQ(commandData, (size_t) commandDatalen, &exac); + LogMessage(LOG_LEVEL_INFO, "Action execute request detected, ID %u", exac.actionID); + TimeSetToGPStime(&messageTimeField, TimeGetAsGPSweek(&systemTime), exac.executionTime_qmsoW); + fprintf(filefd, "%u;%ld;", exac.actionID, TimeGetAsGPSms(&messageTimeField)); + fprintf(filefd, "%s", inet_ntop(AF_INET, &exac.ip, ipStringBuffer, sizeof (ipStringBuffer))); + break; + case COMM_TRCM: + UtilPopulateTRCMDataStructFromMQ(commandData, (size_t) commandDatalen, &trcm); + LogMessage(LOG_LEVEL_INFO, "Trigger configuration for ID %u received, of type %u", trcm.triggerID, + trcm.triggerType); + fprintf(filefd, "%u;%u;%u;%u;%u", trcm.triggerID, trcm.triggerType, trcm.triggerTypeParameter1, + trcm.triggerTypeParameter2, trcm.triggerTypeParameter3); + fprintf(filefd, "%s", inet_ntop(AF_INET, &trcm.ip, ipStringBuffer, sizeof (ipStringBuffer))); + break; + case COMM_ACCM: + UtilPopulateACCMDataStructFromMQ(commandData, (size_t) commandDatalen, &accm); + LogMessage(LOG_LEVEL_INFO, "Action configuration for ID %u received, of type %u", accm.actionID, + accm.actionType); + fprintf(filefd, "%u;%u;%u;%u;%u", accm.actionID, accm.actionType, accm.actionTypeParameter1, + accm.actionTypeParameter2, accm.actionTypeParameter3); + fprintf(filefd, "%s", inet_ntop(AF_INET, &accm.ip, ipStringBuffer, sizeof (ipStringBuffer))); + break; + default: + LogMessage(LOG_LEVEL_ERROR, "Unhandled command in scenario control logging: %u", + (unsigned char)command); + } + + fclose(filefd); } diff --git a/server/src/main.c b/server/src/main.c index c02eb315a..db75860c4 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -42,51 +42,52 @@ /*------------------------------------------------------------ -- Types ------------------------------------------------------------*/ -typedef void (*ModuleTask)(TimeType*, GSDType*, LOG_LEVEL); //!< Function pointer type for module "main" functions -typedef struct -{ - LOG_LEVEL commonLogLevel; //!< Logging level of the server. - int extraMessageQueues; //!< Number of extra message queues to create on startup. +typedef void (*ModuleTask) (TimeType *, GSDType *, LOG_LEVEL); //!< Function pointer type for module "main" functions +typedef struct { + LOG_LEVEL commonLogLevel; //!< Logging level of the server. + int extraMessageQueues; //!< Number of extra message queues to create on startup. } Options; /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ -#define PROCESS_WAIT_TIMEOUT_MS 3000 //!< Time to wait for all modules to exit before closing message bus -#define CHILD_POLL_PERIOD_S 2 //!< Time period (seconds) between process status polls when no shutdown signal has been received -#define CHILD_POLL_PERIOD_NS 0 //!< Time period (nanoseconds) between process status polls when no shutdown signal has been received -#define CHILD_POLL_PERIOD_SHUTDOWN_S 0 //!< Time period (seconds) between process status polls when a shutdown signal has been received -#define CHILD_POLL_PERIOD_SHUTDOWN_NS 1000*1000 //!< Time period (nanoseconds) between process status polls when a shutdown signal has been received +#define PROCESS_WAIT_TIMEOUT_MS 3000 //!< Time to wait for all modules to exit before closing message bus +#define CHILD_POLL_PERIOD_S 2 //!< Time period (seconds) between process status polls when no shutdown signal has been received +#define CHILD_POLL_PERIOD_NS 0 //!< Time period (nanoseconds) between process status polls when no shutdown signal has been received +#define CHILD_POLL_PERIOD_SHUTDOWN_S 0 //!< Time period (seconds) between process status polls when a shutdown signal has been received +#define CHILD_POLL_PERIOD_SHUTDOWN_NS 1000*1000 //!< Time period (nanoseconds) between process status polls when a shutdown signal has been received static TimeType *GPSTime; static GSDType *GSD; -static struct timespec childPollPeriodTime = {CHILD_POLL_PERIOD_S, CHILD_POLL_PERIOD_NS}; //!< Time period between process polls -static char doShutdown = 0; //!< Exit boolean -static struct timeval waitStartTime, waitedTime; //!< Poll timeout timers +static struct timespec childPollPeriodTime = { CHILD_POLL_PERIOD_S, CHILD_POLL_PERIOD_NS }; //!< Time period between process polls + +static char doShutdown = 0; //!< Exit boolean +static struct timeval waitStartTime, waitedTime; //!< Poll timeout timers /*------------------------------------------------------------ -- Server modules ------------------------------------------------------------*/ //! allModules contains the tasks to be run in the server. To enable or disable a task, add or remove the main module function in this array static const ModuleTask allModules[] = { - - logger_task, - timecontrol_task, - supervision_task, - systemcontrol_task, - objectcontrol_task - #ifdef CITS_ENABLED - ,citscontrol_task - #endif + + logger_task, + timecontrol_task, + supervision_task, + systemcontrol_task, + objectcontrol_task +#ifdef CITS_ENABLED + , citscontrol_task +#endif }; -static const int numberOfModules = sizeof(allModules) / sizeof(ModuleTask); + +static const int numberOfModules = sizeof (allModules) / sizeof (ModuleTask); /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -int readArgumentList(int argc, char *argv[], Options *opts); -void printHelp(char* progName); -int initializeMessageQueueBus(Options *opts); +int readArgumentList(int argc, char *argv[], Options * opts); +void printHelp(char *progName); +int initializeMessageQueueBus(Options * opts); int shutdownMessageQueueBus(void); int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]); void signal_handler(int signo); @@ -95,76 +96,72 @@ void signal_handler(int signo); -- The main function. ------------------------------------------------------------*/ #define MODULE_NAME "Central" -int main(int argc, char *argv[]) -{ - unsigned int moduleNumber = 0; - Options options; - pid_t pID[numberOfModules]; - char moduleExitStatus[numberOfModules]; - ReadWriteAccess_t dataDictInitResult = UNDEFINED; - - if (readArgumentList(argc, argv, &options)) - exit(EXIT_FAILURE); - - // Share time between child processes - GPSTime = mmap(NULL, sizeof *GPSTime, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS, -1, 0); - GSD = mmap(NULL, sizeof *GSD, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS, -1, 0); - - GSD->ExitU8 = 0; - GSD->ScenarioStartTimeU32 = 0; - GPSTime->isTimeInitializedU8 = 0; - - // Initialise log - LogInit(MODULE_NAME, options.commonLogLevel); - LogPrint("Version %s", MaestroVersion); - LogMessage(LOG_LEVEL_INFO, "Central started"); - LogMessage(LOG_LEVEL_DEBUG, "Verbose mode enabled"); - - // Check file path validity - if (UtilVerifyTestDirectory() == -1) - util_error("Test directory could not be verified"); - - // Initialise data dictionary - LogMessage(LOG_LEVEL_INFO,"Initializing data dictionary"); - dataDictInitResult = DataDictionaryConstructor(GSD); - if (dataDictInitResult != READ_OK && dataDictInitResult != READ_WRITE_OK) - util_error("Unable to initialize shared memory space"); - - LogMessage(LOG_LEVEL_INFO,"About to enter mq init"); - - // Initialise message queue bus - if(initializeMessageQueueBus(&options)) - exit(EXIT_FAILURE); - - // For all modules in allModules, start corresponding process in a fork - for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) - { - pID[moduleNumber] = fork(); - if (pID[moduleNumber] < 0) - { - util_error("Failed to fork"); - } - else if (pID[moduleNumber] == 0) - { - // Call module task - (*allModules[moduleNumber])(GPSTime, GSD, options.commonLogLevel); - exit(EXIT_SUCCESS); - } - } - - if (signal(SIGINT, signal_handler) == SIG_ERR) - util_error("Unable to create signal handler"); - - // Enter hold function while server is running - (void)waitForModuleExit(pID,numberOfModules,moduleExitStatus); - - // Perform final cleanup - LogMessage(LOG_LEVEL_DEBUG, "Cleaning up message bus resources"); - if(shutdownMessageQueueBus()) - util_error("Unable to successfully clean up message bus resources"); - else - - exit(EXIT_SUCCESS); +int main(int argc, char *argv[]) { + unsigned int moduleNumber = 0; + Options options; + pid_t pID[numberOfModules]; + char moduleExitStatus[numberOfModules]; + ReadWriteAccess_t dataDictInitResult = UNDEFINED; + + if (readArgumentList(argc, argv, &options)) + exit(EXIT_FAILURE); + + // Share time between child processes + GPSTime = mmap(NULL, sizeof *GPSTime, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS, -1, 0); + GSD = mmap(NULL, sizeof *GSD, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS, -1, 0); + + GSD->ExitU8 = 0; + GSD->ScenarioStartTimeU32 = 0; + GPSTime->isTimeInitializedU8 = 0; + + // Initialise log + LogInit(MODULE_NAME, options.commonLogLevel); + LogPrint("Version %s", MaestroVersion); + LogMessage(LOG_LEVEL_INFO, "Central started"); + LogMessage(LOG_LEVEL_DEBUG, "Verbose mode enabled"); + + // Check file path validity + if (UtilVerifyTestDirectory() == -1) + util_error("Test directory could not be verified"); + + // Initialise data dictionary + LogMessage(LOG_LEVEL_INFO, "Initializing data dictionary"); + dataDictInitResult = DataDictionaryConstructor(GSD); + if (dataDictInitResult != READ_OK && dataDictInitResult != READ_WRITE_OK) + util_error("Unable to initialize shared memory space"); + + LogMessage(LOG_LEVEL_INFO, "About to enter mq init"); + + // Initialise message queue bus + if (initializeMessageQueueBus(&options)) + exit(EXIT_FAILURE); + + // For all modules in allModules, start corresponding process in a fork + for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { + pID[moduleNumber] = fork(); + if (pID[moduleNumber] < 0) { + util_error("Failed to fork"); + } + else if (pID[moduleNumber] == 0) { + // Call module task + (*allModules[moduleNumber]) (GPSTime, GSD, options.commonLogLevel); + exit(EXIT_SUCCESS); + } + } + + if (signal(SIGINT, signal_handler) == SIG_ERR) + util_error("Unable to create signal handler"); + + // Enter hold function while server is running + (void)waitForModuleExit(pID, numberOfModules, moduleExitStatus); + + // Perform final cleanup + LogMessage(LOG_LEVEL_DEBUG, "Cleaning up message bus resources"); + if (shutdownMessageQueueBus()) + util_error("Unable to successfully clean up message bus resources"); + else + + exit(EXIT_SUCCESS); } /*! @@ -172,78 +169,75 @@ int main(int argc, char *argv[]) * \param opts A pointer to the current options the program has. This function will only look for ::extraMessageQueues * \return 0 upon success, -1 upon failure */ -int initializeMessageQueueBus(Options *opts) -{ - - // If the user supplied an additional number of modules in the input, this will create the appropriate amout of message queues. - int nbrOfQueues = numberOfModules + opts->extraMessageQueues; - enum MQBUS_ERROR result = MQBusInit(nbrOfQueues); - - // Printouts according to result - switch (result) - { - case MQBUS_OK: - LogMessage(LOG_LEVEL_DEBUG, "Initialized message queue bus"); - return 0; - case MQBUS_INVALID_INPUT_ARGUMENT: - LogMessage(LOG_LEVEL_ERROR, "Invalid number of message queues specified upon initialization: %d", nbrOfQueues); - break; - case MQBUS_QUEUE_NOT_EXIST: - LogMessage(LOG_LEVEL_ERROR, "Unable to initialize resource message queue: already exists"); - break; - case MQBUS_RESOURCE_NOT_EXIST: - LogMessage(LOG_LEVEL_ERROR, "Resource message queue does not exist"); - break; - case MQBUS_EMPTY: - LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); - break; - case MQBUS_MAX_QUEUES_LIMIT_REACHED: - LogMessage(LOG_LEVEL_ERROR, "Maximum number of message queues reached"); - break; - case MQBUS_OPEN_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); - break; - case MQBUS_CLOSE_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); - break; - case MQBUS_DESCRIPTOR_NOT_FOUND: - LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); - break; - case MQBUS_NO_READABLE_MQ: - LogMessage(LOG_LEVEL_ERROR, "Connection to message queue bus does not exist"); - break; - case MQBUS_MQ_COULD_NOT_BE_DESTROYED: - LogMessage(LOG_LEVEL_ERROR, "Could not delete message queue"); - break; - case MQBUS_MQ_FULL: - LogMessage(LOG_LEVEL_ERROR, "Message bus slot full"); - break; - case MQBUS_WRITE_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Message bus write failed"); - break; - } - return -1; +int initializeMessageQueueBus(Options * opts) { + + // If the user supplied an additional number of modules in the input, this will create the appropriate amout of message queues. + int nbrOfQueues = numberOfModules + opts->extraMessageQueues; + enum MQBUS_ERROR result = MQBusInit(nbrOfQueues); + + // Printouts according to result + switch (result) { + case MQBUS_OK: + LogMessage(LOG_LEVEL_DEBUG, "Initialized message queue bus"); + return 0; + case MQBUS_INVALID_INPUT_ARGUMENT: + LogMessage(LOG_LEVEL_ERROR, "Invalid number of message queues specified upon initialization: %d", + nbrOfQueues); + break; + case MQBUS_QUEUE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Unable to initialize resource message queue: already exists"); + break; + case MQBUS_RESOURCE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Resource message queue does not exist"); + break; + case MQBUS_EMPTY: + LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); + break; + case MQBUS_MAX_QUEUES_LIMIT_REACHED: + LogMessage(LOG_LEVEL_ERROR, "Maximum number of message queues reached"); + break; + case MQBUS_OPEN_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); + break; + case MQBUS_CLOSE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); + break; + case MQBUS_DESCRIPTOR_NOT_FOUND: + LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); + break; + case MQBUS_NO_READABLE_MQ: + LogMessage(LOG_LEVEL_ERROR, "Connection to message queue bus does not exist"); + break; + case MQBUS_MQ_COULD_NOT_BE_DESTROYED: + LogMessage(LOG_LEVEL_ERROR, "Could not delete message queue"); + break; + case MQBUS_MQ_FULL: + LogMessage(LOG_LEVEL_ERROR, "Message bus slot full"); + break; + case MQBUS_WRITE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Message bus write failed"); + break; + } + return -1; } /*! * \brief shutdownMessageQueueBus Deletes all message queues * \return 0 on success, -1 on error */ -int shutdownMessageQueueBus(void) -{ - enum MQBUS_ERROR result = MQBusDelete(); - - // Printouts according to result - switch (result) - { - case MQBUS_OK: - LogMessage(LOG_LEVEL_DEBUG, "Deleted message queue bus"); - return 0; - default: - LogMessage(LOG_LEVEL_ERROR, "Error while deleting message bus"); - break; - } - return -1; +int shutdownMessageQueueBus(void) { + enum MQBUS_ERROR result = MQBusDelete(); + + // Printouts according to result + switch (result) { + case MQBUS_OK: + LogMessage(LOG_LEVEL_DEBUG, "Deleted message queue bus"); + return 0; + default: + LogMessage(LOG_LEVEL_ERROR, "Error while deleting message bus"); + break; + } + return -1; } /*! @@ -254,78 +248,70 @@ int shutdownMessageQueueBus(void) * \param moduleExitStatus Exit status array to hold exit status of each child * \return 0 if all child processes exited cleanly, -1 otherwise */ -int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]){ - unsigned int moduleNumber,nExitedModules = 0; - int status; - - bzero(moduleExitStatus,numberOfModules); - LogMessage(LOG_LEVEL_INFO, "Awaiting shutdown signal..."); - do - { - // Loop over all modules which have not yet exited - for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) - { - if (moduleExitStatus[moduleNumber]) - continue; - - switch(waitpid(pIDs[moduleNumber], &status, WNOHANG)) - { - case -1: - util_error("wait() error"); - case 0: - // Module still running - break; - default: - // Module exited, record exit manner and increase - if (WIFEXITED(status)) - { - moduleExitStatus[moduleNumber] = 1; - nExitedModules++; - } - else - { - moduleExitStatus[moduleNumber] = -1; - nExitedModules++; - } - break; - } - } - - // If shutdown is desired, wait specified amount of time before forcing return - TimeSetToCurrentSystemTime(&waitedTime); - timersub(&waitedTime, &waitStartTime, &waitedTime); - - if (doShutdown && TimeGetAsUTCms(&waitedTime) > PROCESS_WAIT_TIMEOUT_MS) - { - LogMessage(LOG_LEVEL_ERROR, "Timed out while waiting for modules to exit"); - break; - } - - nanosleep(&childPollPeriodTime,NULL); - } while (nExitedModules < numberOfModules); - - // Loop over all exited modules to report exit manner - if (nExitedModules < numberOfModules) - { - LogMessage(LOG_LEVEL_WARNING,"Modules exited erroneously:"); - for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) - { - switch (moduleExitStatus[moduleNumber]) { - case 0: - LogMessage(LOG_LEVEL_WARNING,"PID %d did not exit during wait period of %.3f seconds",pIDs[moduleNumber], PROCESS_WAIT_TIMEOUT_MS/1000.0); - break; - case -1: - LogMessage(LOG_LEVEL_WARNING,"PID %d exited with an error code",pIDs[moduleNumber]); - break; - } - } - return -1; - } - else - { - LogMessage(LOG_LEVEL_INFO,"All modules exited successfully"); - return 0; - } +int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExitStatus[]) { + unsigned int moduleNumber, nExitedModules = 0; + int status; + + bzero(moduleExitStatus, numberOfModules); + LogMessage(LOG_LEVEL_INFO, "Awaiting shutdown signal..."); + do { + // Loop over all modules which have not yet exited + for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { + if (moduleExitStatus[moduleNumber]) + continue; + + switch (waitpid(pIDs[moduleNumber], &status, WNOHANG)) { + case -1: + util_error("wait() error"); + case 0: + // Module still running + break; + default: + // Module exited, record exit manner and increase + if (WIFEXITED(status)) { + moduleExitStatus[moduleNumber] = 1; + nExitedModules++; + } + else { + moduleExitStatus[moduleNumber] = -1; + nExitedModules++; + } + break; + } + } + + // If shutdown is desired, wait specified amount of time before forcing return + TimeSetToCurrentSystemTime(&waitedTime); + timersub(&waitedTime, &waitStartTime, &waitedTime); + + if (doShutdown && TimeGetAsUTCms(&waitedTime) > PROCESS_WAIT_TIMEOUT_MS) { + LogMessage(LOG_LEVEL_ERROR, "Timed out while waiting for modules to exit"); + break; + } + + nanosleep(&childPollPeriodTime, NULL); + } while (nExitedModules < numberOfModules); + + // Loop over all exited modules to report exit manner + if (nExitedModules < numberOfModules) { + LogMessage(LOG_LEVEL_WARNING, "Modules exited erroneously:"); + for (moduleNumber = 0; moduleNumber < numberOfModules; ++moduleNumber) { + switch (moduleExitStatus[moduleNumber]) { + case 0: + LogMessage(LOG_LEVEL_WARNING, "PID %d did not exit during wait period of %.3f seconds", + pIDs[moduleNumber], PROCESS_WAIT_TIMEOUT_MS / 1000.0); + break; + case -1: + LogMessage(LOG_LEVEL_WARNING, "PID %d exited with an error code", pIDs[moduleNumber]); + break; + } + } + return -1; + } + else { + LogMessage(LOG_LEVEL_INFO, "All modules exited successfully"); + return 0; + } } /*! @@ -335,107 +321,100 @@ int waitForModuleExit(pid_t pIDs[], unsigned int numberOfModules, char moduleExi * \param opts Options struct * \return 0 upon success, -1 upon failure, 1 when clarification is needed */ -int readArgumentList(int argc, char *argv[], Options *opts) -{ - enum ArgState { - NO_STATE, - NR_MODULES_INPUT - }; //commonLogLevel = LOG_LEVEL_INFO; - opts->extraMessageQueues = 0; - - - int argState = NO_STATE; - - // Loop over all input arguments - for(int i = 1; i < argc; ++i) - { - switch (argState) { - case NR_MODULES_INPUT: - opts->extraMessageQueues = atoi(argv[i]); - argState = NO_STATE; - continue; - case NO_STATE: - default: - break; - } - - if (!strcmp(argv[i], "-h") || !strcmp(argv[i], "--help")) - { - printHelp(progName); - return 1; - } - else if (!strcmp(argv[i], "-v") || !strcmp(argv[i],"--verbose")) - { - opts->commonLogLevel = LOG_LEVEL_DEBUG; - } - else if (!strcmp(argv[i], "-m") || !strcmp(argv[i],"--additional-modules")) - { - argState = NR_MODULES_INPUT; - } - else - { - // If option didn't match any known option - printf("%s: invalid option -- '%s'\n", progName, argv[i]); - printf("Try '%s --help' for more information.\n", argv[0]); - return 1; - } - } - - if (argState != NO_STATE) { - printf("%s: insufficient number of arguments.\n",progName); - printf("Try '%s --help' for more information.\n", argv[0]); - return 1; - } - - return 0; +int readArgumentList(int argc, char *argv[], Options * opts) { + enum ArgState { + NO_STATE, + NR_MODULES_INPUT + }; //commonLogLevel = LOG_LEVEL_INFO; + opts->extraMessageQueues = 0; + + + int argState = NO_STATE; + + // Loop over all input arguments + for (int i = 1; i < argc; ++i) { + switch (argState) { + case NR_MODULES_INPUT: + opts->extraMessageQueues = atoi(argv[i]); + argState = NO_STATE; + continue; + case NO_STATE: + default: + break; + } + + if (!strcmp(argv[i], "-h") || !strcmp(argv[i], "--help")) { + printHelp(progName); + return 1; + } + else if (!strcmp(argv[i], "-v") || !strcmp(argv[i], "--verbose")) { + opts->commonLogLevel = LOG_LEVEL_DEBUG; + } + else if (!strcmp(argv[i], "-m") || !strcmp(argv[i], "--additional-modules")) { + argState = NR_MODULES_INPUT; + } + else { + // If option didn't match any known option + printf("%s: invalid option -- '%s'\n", progName, argv[i]); + printf("Try '%s --help' for more information.\n", argv[0]); + return 1; + } + } + + if (argState != NO_STATE) { + printf("%s: insufficient number of arguments.\n", progName); + printf("Try '%s --help' for more information.\n", argv[0]); + return 1; + } + + return 0; } /*! * \brief printHelp Prints help text with list of all possible execution options * \param progName Name of the program as called */ -void printHelp(char* progName) -{ - printf("Usage: %s [OPTION]\n", progName); - printf("Runs all modules of test server.\n\n"); - printf(" -v, --verbose \t\t\tcreate detailed logs\n"); - printf(" -h, --help \t\t\t\tdisplay this help and exit\n"); - printf(" -m, --additional-modules [number] \tenables the connection of a [number] of extra modules to connect.\n"); +void printHelp(char *progName) { + printf("Usage: %s [OPTION]\n", progName); + printf("Runs all modules of test server.\n\n"); + printf(" -v, --verbose \t\t\tcreate detailed logs\n"); + printf(" -h, --help \t\t\t\tdisplay this help and exit\n"); + printf + (" -m, --additional-modules [number] \tenables the connection of a [number] of extra modules to connect.\n"); } /*! * \brief signal_handler Handles signals (e.g. SIGINT) - forces exit if it catches an unimplemented signal * \param signo Signal number */ -void signal_handler(int signo) -{ - switch (signo) { - case SIGINT: - LogMessage(LOG_LEVEL_INFO,"Waiting for shutdown of all modules..."); - LogMessage(LOG_LEVEL_DEBUG,"Waiting %.3f seconds before forcing shutdown", PROCESS_WAIT_TIMEOUT_MS/1000.0); - TimeSetToCurrentSystemTime(&waitStartTime); - childPollPeriodTime.tv_sec = CHILD_POLL_PERIOD_SHUTDOWN_S; - childPollPeriodTime.tv_nsec = CHILD_POLL_PERIOD_SHUTDOWN_NS; - doShutdown = 1; - break; - default: - util_error("Caught unhandled signal"); - } +void signal_handler(int signo) { + switch (signo) { + case SIGINT: + LogMessage(LOG_LEVEL_INFO, "Waiting for shutdown of all modules..."); + LogMessage(LOG_LEVEL_DEBUG, "Waiting %.3f seconds before forcing shutdown", + PROCESS_WAIT_TIMEOUT_MS / 1000.0); + TimeSetToCurrentSystemTime(&waitStartTime); + childPollPeriodTime.tv_sec = CHILD_POLL_PERIOD_SHUTDOWN_S; + childPollPeriodTime.tv_nsec = CHILD_POLL_PERIOD_SHUTDOWN_NS; + doShutdown = 1; + break; + default: + util_error("Caught unhandled signal"); + } } diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index f86fbea9c..94accad2e 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -118,16 +118,16 @@ #define COMMAND_MTSP_MESSAGE_LENGTH sizeof(MTSPType) // Old T&A (TODO: remove) -#define COMMAND_ACM_CODE 11 //Action Configuration Message: Server->Object, TCP +#define COMMAND_ACM_CODE 11 //Action Configuration Message: Server->Object, TCP #define COMMAND_ACM_MESSAGE_LENGTH 6 -#define COMMAND_EAM_CODE 12 //Execution Action Message: Server->Object, UDP +#define COMMAND_EAM_CODE 12 //Execution Action Message: Server->Object, UDP #define COMMAND_EAM_MESSAGE_LENGTH 6 -#define COMMAND_TCM_CODE 13 //Trigger Configuration Message: Server->Object, TCP +#define COMMAND_TCM_CODE 13 //Trigger Configuration Message: Server->Object, TCP #define COMMAND_TCM_MESSAGE_LENGTH 5 -#define COMMAND_TOM_CODE 14 //Trigger Occurred Message: Object->Server, UDP +#define COMMAND_TOM_CODE 14 //Trigger Occurred Message: Object->Server, UDP #define COMMAND_TOM_MESSAGE_LENGTH 8 #define ASP_MESSAGE_LENGTH sizeof(ASPType) @@ -146,17 +146,18 @@ typedef enum { - COMMAND_HEARTBEAT_GO, - COMMAND_HEARTBEAT_ABORT + COMMAND_HEARTBEAT_GO, + COMMAND_HEARTBEAT_ABORT } hearbeatCommand_t; typedef enum { - TRANSITION_RESULT_UNDEFINED, - TRANSITION_OK, - TRANSITION_INVALID, - TRANSITION_MEMORY_ERROR + TRANSITION_RESULT_UNDEFINED, + TRANSITION_OK, + TRANSITION_INVALID, + TRANSITION_MEMORY_ERROR } StateTransitionResult; + /* Small note: syntax for declaring a function pointer is (example for a function taking an int and a float, returning nothing) where the function foo(int a, float b) is declared elsewhere: void (*fooptr)(int,float) = foo; @@ -165,66 +166,80 @@ typedef enum { Consequently, the below typedef defines a StateTransition type as a function pointer to a function taking (OBCState_t, OBCState_t) as input, and returning a StateTransitionResult */ -typedef StateTransitionResult (*StateTransition)(OBCState_t *currentState, OBCState_t requestedState); +typedef StateTransitionResult(*StateTransition) (OBCState_t * currentState, OBCState_t requestedState); -C8 TrajBuffer[COMMAND_DOTM_ROWS_IN_TRANSMISSION*COMMAND_DOTM_ROW_MESSAGE_LENGTH + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH]; +C8 TrajBuffer[COMMAND_DOTM_ROWS_IN_TRANSMISSION * COMMAND_DOTM_ROW_MESSAGE_LENGTH + + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH]; /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -static I32 vConnectObject(int* sockfd,const char* name,const uint32_t port, U8 *Disconnect); -static void vDisconnectObject(int* sockfd); -static I32 vCheckRemoteDisconnected(int* sockfd); - -static void vCreateSafetyChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); -static void vCloseSafetyChannel(int* sockfd); -I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, U8 debug); -static size_t uiRecvMonitor(int* sockfd, char* buffer, size_t length); +static I32 vConnectObject(int *sockfd, const char *name, const uint32_t port, U8 * Disconnect); +static void vDisconnectObject(int *sockfd); +static I32 vCheckRemoteDisconnected(int *sockfd); + +static void vCreateSafetyChannel(const char *name, const uint32_t port, int *sockfd, + struct sockaddr_in *addr); +static void vCloseSafetyChannel(int *sockfd); +I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeType * GPSTime, C8 * Latitude, + C8 * Longitude, C8 * Altitude, U8 debug); +static size_t uiRecvMonitor(int *sockfd, char *buffer, size_t length); static int iGetObjectIndexFromObjectIP(in_addr_t ipAddr, in_addr_t objectIPs[], unsigned int numberOfObjects); static void signalHandler(int signo); -I32 ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug); -I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug); -I32 ObjectControlBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeType *GPSTime, U8 CCStatus, U8 debug); -int ObjectControlBuildLLCMMessage(char* MessageBuffer, unsigned short Speed, unsigned short Curvature, unsigned char Mode, char debug); -I32 ObjectControlBuildSYPMMessage(C8* MessageBuffer, SYPMType *SYPMData, U32 SyncPoint, U32 StopTime, U8 debug); -I32 ObjectControlBuildMTSPMessage(C8* MessageBuffer, MTSPType *MTSPData, U32 SyncTimestamp, U8 debug); -I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, U8 debug); +I32 ObjectControlBuildSTRTMessage(C8 * MessageBuffer, STRTType * STRTData, TimeType * GPSTime, + U32 ScenarioStartTime, U32 DelayStart, U32 * OutgoingStartTime, U8 debug); +I32 ObjectControlBuildOSTMMessage(C8 * MessageBuffer, OSTMType * OSTMData, C8 CommandOption, U8 debug); +I32 ObjectControlBuildHEABMessage(C8 * MessageBuffer, HEABType * HEABData, TimeType * GPSTime, U8 CCStatus, + U8 debug); +int ObjectControlBuildLLCMMessage(char *MessageBuffer, unsigned short Speed, unsigned short Curvature, + unsigned char Mode, char debug); +I32 ObjectControlBuildSYPMMessage(C8 * MessageBuffer, SYPMType * SYPMData, U32 SyncPoint, U32 StopTime, + U8 debug); +I32 ObjectControlBuildMTSPMessage(C8 * MessageBuffer, MTSPType * MTSPData, U32 SyncTimestamp, U8 debug); +I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 RowCount, HeaderType * HeaderData, + TRAJInfoType * TRAJInfoData, U8 debug); //I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, U8 debug); -I32 ObjectControlBuildDOTMMessage(C8* MessageBuffer, FILE *fd, I32 RowCount, DOTMType *DOTMData, U8 debug); -I32 ObjectControlSendDOTMMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); -int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendData, int Length, char debug); -I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I32 Idn, C8 *Id, C8 *Timestamp, C8 *XPosition, C8 *YPosition, C8 *ZPosition, C8 *LongitudinalSpeed, C8 *LateralSpeed, C8 *LongitudinalAcc, C8 *LateralAcc, C8 *Heading, C8 *DriveDirection, C8 *StatusFlag, C8 *StateFlag, C8 debug); -I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug); -int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId ,char *TriggAction, char *TriggDelay, char debug); -I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* SimData, U8 debug); -I32 ObjectControlSendDTMMessage(C8 *DTMData, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); -I32 ObjectControlBuildDTMMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug); -I32 ObjectControlBuildASPMessage(C8* MessageBuffer, ASPType *ASPData, U8 debug); -I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug); -I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug); -I32 ObjectControlBuildTRCMMessage(TRCMData *mqTRCMData, TRCMType *TRCM, U8 debug); -I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug); -I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug); -I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug); +I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, DOTMType * DOTMData, U8 debug); +I32 ObjectControlSendDOTMMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, + DOTMType * DOTMData, U8 debug); +int ObjectControlSendUDPData(int *sockfd, struct sockaddr_in *addr, char *SendData, int Length, char debug); +I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, I32 Idn, C8 * Id, + C8 * Timestamp, C8 * XPosition, C8 * YPosition, C8 * ZPosition, + C8 * LongitudinalSpeed, C8 * LateralSpeed, C8 * LongitudinalAcc, C8 * LateralAcc, + C8 * Heading, C8 * DriveDirection, C8 * StatusFlag, C8 * StateFlag, C8 debug); +I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug); +int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId, char *TriggAction, char *TriggDelay, + char debug); +I32 ObjectControlBuildVOILMessage(C8 * MessageBuffer, VOILType * VOILData, C8 * SimData, U8 debug); +I32 ObjectControlSendDTMMessage(C8 * DTMData, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, + DOTMType * DOTMData, U8 debug); +I32 ObjectControlBuildDTMMessage(C8 * MessageBuffer, C8 * DTMData, I32 RowCount, DOTMType * DOTMData, + U8 debug); +I32 ObjectControlBuildASPMessage(C8 * MessageBuffer, ASPType * ASPData, U8 debug); +I32 ObjectControlBuildACCMMessage(ACCMData * mqACCMData, ACCMType * ACCM, U8 debug); +I32 ObjectControlBuildEXACMessage(EXACData * mqEXACData, EXACType * EXAC, U8 debug); +I32 ObjectControlBuildTRCMMessage(TRCMData * mqTRCMData, TRCMType * TRCM, U8 debug); +I32 ObjectControlSendACCMMessage(ACCMData * ACCM, I32 * socket, U8 debug); +I32 ObjectControlSendTRCMMessage(TRCMData * TRCM, I32 * socket, U8 debug); +I32 ObjectControlSendEXACMessage(EXACData * EXAC, I32 * socket, U8 debug); static void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], - C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], - in_addr_t objectIPs[MAX_OBJECTS], - I32 *nbr_objects); + C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], + in_addr_t objectIPs[MAX_OBJECTS], I32 * nbr_objects); -OBCState_t vInitializeState(OBCState_t firstState, GSDType *GSD); -inline OBCState_t vGetState(GSDType *GSD); -StateTransitionResult vSetState(OBCState_t requestedState, GSDType *GSD); +OBCState_t vInitializeState(OBCState_t firstState, GSDType * GSD); +inline OBCState_t vGetState(GSDType * GSD); +StateTransitionResult vSetState(OBCState_t requestedState, GSDType * GSD); StateTransition tGetTransition(OBCState_t fromState); -StateTransitionResult tFromIdle(OBCState_t *currentState, OBCState_t requestedState); -StateTransitionResult tFromInitialized(OBCState_t *currentState, OBCState_t requestedState); -StateTransitionResult tFromConnected(OBCState_t *currentState, OBCState_t requestedState); -StateTransitionResult tFromArmed(OBCState_t *currentState, OBCState_t requestedState); -StateTransitionResult tFromRunning(OBCState_t *currentState, OBCState_t requestedState); -StateTransitionResult tFromError(OBCState_t *currentState, OBCState_t requestedState); -StateTransitionResult tFromUndefined(OBCState_t *currentState, OBCState_t requestedState); +StateTransitionResult tFromIdle(OBCState_t * currentState, OBCState_t requestedState); +StateTransitionResult tFromInitialized(OBCState_t * currentState, OBCState_t requestedState); +StateTransitionResult tFromConnected(OBCState_t * currentState, OBCState_t requestedState); +StateTransitionResult tFromArmed(OBCState_t * currentState, OBCState_t requestedState); +StateTransitionResult tFromRunning(OBCState_t * currentState, OBCState_t requestedState); +StateTransitionResult tFromError(OBCState_t * currentState, OBCState_t requestedState); +StateTransitionResult tFromUndefined(OBCState_t * currentState, OBCState_t requestedState); /*------------------------------------------------------------ -- Private variables @@ -237,799 +252,843 @@ static volatile int iExit = 0; -- Public functions ------------------------------------------------------------*/ -void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -{ - I32 safety_socket_fd[MAX_OBJECTS]; - struct sockaddr_in safety_object_addr[MAX_OBJECTS]; - I32 socket_fds[MAX_OBJECTS]; - I32 socket_fd = 0; - C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH]; - C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH]; - in_addr_t objectIPs[MAX_OBJECTS]; - U32 object_udp_port[MAX_OBJECTS]; - U32 object_tcp_port[MAX_OBJECTS]; - I32 nbr_objects=0; - enum COMMAND iCommand; - U8 pcRecvBuffer[RECV_MESSAGE_BUFFER]; - C8 pcTempBuffer[512]; - C8 MessageBuffer[BUFFER_SIZE_3100]; - I32 iIndex = 0, i=0; - struct timespec sleep_time, ref_time; - - /*! Timers for reporting state over message bus */ - const struct timespec mqEmptyPollPeriod = {OC_SLEEP_TIME_EMPTY_MQ_S, OC_SLEEP_TIME_EMPTY_MQ_NS}; - const struct timespec mqNonEmptyPollPeriod = {OC_SLEEP_TIME_NONEMPTY_MQ_S, OC_SLEEP_TIME_NONEMPTY_MQ_NS}; - const struct timeval stateReportPeriod = {OC_STATE_REPORT_PERIOD_S, OC_STATE_REPORT_PERIOD_US}; - struct timeval currentTime, nextStateReportTime; - U8 iForceObjectToLocalhostU8 = 0; - - FILE *fd; - C8 Id[SMALL_BUFFER_SIZE_0]; - C8 GPSWeek[SMALL_BUFFER_SIZE_0], Timestamp[SMALL_BUFFER_SIZE_0], XPosition[SMALL_BUFFER_SIZE_0], YPosition[SMALL_BUFFER_SIZE_0], ZPosition[SMALL_BUFFER_SIZE_0]; - C8 Speed[SMALL_BUFFER_SIZE_0], LongitudinalSpeed[SMALL_BUFFER_SIZE_0], LateralSpeed[SMALL_BUFFER_SIZE_0], LongitudinalAcc[SMALL_BUFFER_SIZE_0], LateralAcc[SMALL_BUFFER_SIZE_0]; - C8 Heading[SMALL_BUFFER_SIZE_0], DriveDirection[SMALL_BUFFER_SIZE_1], StatusFlag[SMALL_BUFFER_SIZE_1], StateFlag[SMALL_BUFFER_SIZE_1], MTSP[SMALL_BUFFER_SIZE_0]; - I32 MessageLength; - C8 *MiscPtr; - C8 MiscText[SMALL_BUFFER_SIZE_0]; - U32 StartTimeU32 = 0; - U32 OutgoingStartTimeU32 = 0; - U32 DelayedStartU32 = 0; - U32 CurrentTimeU32 = 0; - U32 OldTimeU32 = 0; - U64 TimeCap1, TimeCap2; - struct timeval CurrentTimeStruct; - I32 HeartbeatMessageCounter = 0; - - ObjectPosition OP[MAX_OBJECTS]; - flt SpaceArr[MAX_OBJECTS][TRAJECTORY_FILE_MAX_ROWS]; - flt TimeArr[MAX_OBJECTS][TRAJECTORY_FILE_MAX_ROWS]; - SpaceTime SpaceTimeArr[MAX_OBJECTS][TRAJECTORY_FILE_MAX_ROWS]; - C8 OriginLatitude[SMALL_BUFFER_SIZE_0], OriginLongitude[SMALL_BUFFER_SIZE_0], OriginAltitude[SMALL_BUFFER_SIZE_0], OriginHeading[SMALL_BUFFER_SIZE_0]; - C8 TextBuffer[SMALL_BUFFER_SIZE_0]; - dbl OriginLatitudeDbl; - dbl OriginLongitudeDbl; - dbl OriginAltitudeDbl; - dbl OriginHeadingDbl; - C8 pcSendBuffer[MBUS_MAX_DATALEN]; - C8 ObjectPort[SMALL_BUFFER_SIZE_0]; - HeaderType HeaderData; - OSEMType OSEMData; - STRTType STRTData; - OSTMType OSTMData; - HEABType HEABData; - MONRType MONRData; - DOTMType DOTMData; - TRAJInfoType TRAJInfoData; - VOILType VOILData; - SYPMType SYPMData; - MTSPType MTSPData; - ACCMData mqACCMData; - EXACData mqEXACData; - GeoPosition OriginPosition; - ASPType ASPData; - ASPData.MTSPU32 = 0; - ASPData.TimeToSyncPointDbl = 0; - ASPData.PrevTimeToSyncPointDbl = 0; - ASPData.CurrentTimeDbl = 0; - AdaptiveSyncPoint ASP[MAX_ADAPTIVE_SYNC_POINTS]; - I32 SyncPointCount = 0; - I32 SearchStartIndex = 0; - dbl ASPMaxTimeDiffDbl = 0; - dbl ASPMaxTrajDiffDbl = 0; - dbl ASPFilterLevelDbl = 0; - dbl ASPMaxDeltaTimeDbl = 0; - I32 ASPDebugRate = 1; - I32 ASPStepBackCount = 0; - char confDirectoryPath[MAX_FILE_PATH]; - - U8 ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_BOOTING; - - OBCState_t OBCState = vInitializeState(OBC_STATE_IDLE, GSD); - U8 uiTimeCycle = 0; - I32 ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; - - C8 Buffer2[SMALL_BUFFER_SIZE_1]; - C8 LogBuffer[LOG_BUFFER_LENGTH]; - C8 VOILReceivers[SMALL_BUFFER_SIZE_254]; - C8 DTMReceivers[SMALL_BUFFER_SIZE_254]; - U32 RowCount; - U32 DTMIpU32; - U32 DTMLengthU32; - - U8 DisconnectU8 = 0; - I32 iResult; - - FILE *TempFd; - U16 MiscU16; - I32 j = 0; - - U8 STRTSentU8 = 0; - - - // Create log - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO, "Object control task running with PID: %i", getpid()); - - - // Set up signal handlers - if (signal(SIGINT, signalHandler) == SIG_ERR) - util_error("Unable to initialize signal handler"); - - // Set up message bus connection - if (iCommInit()) - util_error("Unable to connect to message queue bus"); - - // Initialize timer for sending state - TimeSetToCurrentSystemTime(¤tTime); - nextStateReportTime = currentTime; - - // Initialize timer for sending state - TimeSetToCurrentSystemTime(¤tTime); - nextStateReportTime = currentTime; - - while(!iExit) - { - OBCState = vGetState(GSD); - - if(OBCState == OBC_STATE_ERROR) - { - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, 0); - UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); - - } - - if(OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) - { - /*HEAB*/ - for(iIndex=0;iIndexGPSSecondsOfWeekU32*1000 + (U32)TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; - - - /*MTSP*/ - if(HeartbeatMessageCounter == 0) - { - HeartbeatMessageCounter = 0; - for(iIndex=0;iIndex 0 && ASPData.TimeToSyncPointDbl > -1) - { - /*Send Master time to adaptive sync point*/ - MessageLength =ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, ASPData.MTSPU32, 0); - //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); - UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); - } - /*else if(TEST_SYNC_POINTS == 1 && iIndex == 1 && ASPData.MTSPU32 > 0 && ASPData.TimeToSyncPointDbl > -1 ) - { - Send Master time to adaptive sync point - MessageLength =ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, (U32)ASPData.MTSPU32, 0); - ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); - }*/ - } - } - } - - - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) - { - bzero(buffer,RECV_MESSAGE_BUFFER); - receivedMONRData = uiRecvMonitor(&safety_socket_fd[iIndex],buffer, RECV_MESSAGE_BUFFER); - - if (receivedMONRData > 0) - { - LogMessage(LOG_LEVEL_DEBUG,"Recieved new data from %s %d %d: %s",object_address_name[iIndex],object_udp_port[iIndex],receivedMONRData,buffer); - - if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) - { - // Append IP to buffer - memcpy(&buffer[receivedMONRData], &safety_object_addr[iIndex].sin_addr.s_addr, sizeof(in_addr_t)); - - // Send MONR message as bytes - if(iCommSend(COMM_MONR, buffer, (size_t)(receivedMONRData) + sizeof(in_addr_t)) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONR command - entering error state"); - vSetState(OBC_STATE_ERROR, GSD); - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - } - } - - ObjectControlBuildMONRMessage(buffer, &MONRData, 0); - - //Store MONR in GSD - //UtilSendUDPData("ObjectControl", &ObjectControlUDPSocketfdI32, &simulator_addr, &MONRData, sizeof(MONRData), 0); - - for(i = 0; i < (MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); i++) GSD->MONRData[i] = buffer[i]; - GSD->MONRSizeU8 = MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH; - - ObjectControlMONRToASCII(&MONRData, &OriginPosition, iIndex, Id, Timestamp, XPosition, YPosition, ZPosition, LongitudinalSpeed, LateralSpeed, LongitudinalAcc, LateralAcc, Heading, DriveDirection, StatusFlag, StateFlag, 1); - bzero(buffer,OBJECT_MESS_BUFFER_SIZE); - strcat(buffer,object_address_name[iIndex]); strcat(buffer,";"); - strcat(buffer,"0"); strcat(buffer,";"); - strcat(buffer,Timestamp); strcat(buffer,";"); - strcat(buffer,XPosition); strcat(buffer,";"); - strcat(buffer,YPosition); strcat(buffer,";"); - strcat(buffer,ZPosition); strcat(buffer,";"); - strcat(buffer,Heading); strcat(buffer,";"); - strcat(buffer,LongitudinalSpeed); strcat(buffer,";"); - strcat(buffer,LateralSpeed); strcat(buffer,";"); - strcat(buffer,LongitudinalAcc); strcat(buffer,";"); - strcat(buffer,LateralAcc); strcat(buffer,";"); - strcat(buffer,DriveDirection); strcat(buffer,";"); strcat(buffer,StatusFlag); strcat(buffer,";"); - strcat(buffer,StateFlag); strcat(buffer,";"); - strcat(buffer,StatusFlag); strcat(buffer,";"); - - - if(ASPData.MTSPU32 != 0) - { - //Add MTSP to MONR if not 0 - bzero(MTSP, SMALL_BUFFER_SIZE_0); - sprintf(MTSP, "%" PRIu32, ASPData.MTSPU32); - strcat(buffer, MTSP); strcat(buffer,";"); - } - - LogMessage(LOG_LEVEL_DEBUG, "Sending MONR message: %s", buffer); - - if(ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) - { - // Send MONR message on old (ASCII) format - if(iCommSend(COMM_MONI,buffer,strlen(buffer)) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending MONI command - entering error state"); - vSetState(OBC_STATE_ERROR, GSD); - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - } - } - - //Ok, let's do the ASP - for(i = 0; i < SyncPointCount; i++) - { - if( TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].MasterIP) != NULL && CurrentTimeU32 > StartTimeU32 && StartTimeU32 > 0 && ASPData.TimeToSyncPointDbl > -1 - /*|| TEST_SYNC_POINTS == 1 && ASP[0].TestPort == object_udp_port[iIndex] && StartTimeU32 > 0 && iIndex == 0 && TimeToSyncPoint > -1*/) - { - // Use the util.c function for time here but it soent mather - gettimeofday(&CurrentTimeStruct, NULL); //Capture time - - TimeCap1 = (uint64_t)CurrentTimeStruct.tv_sec*1000 + (uint64_t)CurrentTimeStruct.tv_usec/1000; //Calculate initial timestamp - - OP[iIndex].x = ((dbl)atoi(XPosition))/1000; //Set x and y on OP (ObjectPosition) - OP[iIndex].y = ((dbl)atoi(YPosition))/1000; - - //OP[iIndex].OrigoDistance = sqrt(pow(OP[iIndex].x,2) + pow(OP[iIndex].y,2)); //Calculate hypotenuse - - UtilCalcPositionDelta(OriginLatitudeDbl,OriginLongitudeDbl,atof(XPosition)/1e7,atof(YPosition)/1e7, &OP[iIndex]); - - if(OP[iIndex].BestFoundTrajectoryIndex <= OP[iIndex].SyncIndex) - { - ASPData.CurrentTimeU32 = CurrentTimeU32; - ASPData.CurrentTimeDbl = (((double)CurrentTimeU32-(double)StartTimeU32)/1000); - SearchStartIndex = OP[iIndex].BestFoundTrajectoryIndex - ASPStepBackCount; - UtilFindCurrentTrajectoryPosition(&OP[iIndex], SearchStartIndex, ASPData.CurrentTimeDbl, ASPMaxTrajDiffDbl, ASPMaxTimeDiffDbl, 0); - ASPData.BestFoundIndexI32 = OP[iIndex].BestFoundTrajectoryIndex; - - if(OP[iIndex].BestFoundTrajectoryIndex != TRAJ_POSITION_NOT_FOUND) - { - ASPData.TimeToSyncPointDbl = UtilCalculateTimeToSync(&OP[iIndex]); - if(ASPData.TimeToSyncPointDbl > 0) - { - if(ASPData.PrevTimeToSyncPointDbl != 0 && ASPFilterLevelDbl > 0) - { - if(ASPData.TimeToSyncPointDbl/ASPData.PrevTimeToSyncPointDbl > (1 + ASPFilterLevelDbl/100)) ASPData.TimeToSyncPointDbl = ASPData.PrevTimeToSyncPointDbl + ASPMaxDeltaTimeDbl;//TimeToSyncPoint*ASPFilterLevelDbl/500; - else if(ASPData.TimeToSyncPointDbl/ASPData.PrevTimeToSyncPointDbl < (1 - ASPFilterLevelDbl/100)) ASPData.TimeToSyncPointDbl = ASPData.PrevTimeToSyncPointDbl - ASPMaxDeltaTimeDbl;//TimeToSyncPoint*ASPFilterLevelDbl/500; - } - ASPData.MTSPU32 = CurrentTimeU32 + (U32)(ASPData.TimeToSyncPointDbl*4000); - - ASPData.PrevTimeToSyncPointDbl = ASPData.TimeToSyncPointDbl; - OldTimeU32 = CurrentTimeU32; - } - else - { - CurrentTimeU32 = 0; - ASPData.TimeToSyncPointDbl = -1; - } - - } - - gettimeofday(&CurrentTimeStruct, NULL); - TimeCap2 = (uint64_t)CurrentTimeStruct.tv_sec*1000 + (uint64_t)CurrentTimeStruct.tv_usec/1000; - - ASPData.SyncPointIndexI32 = OP[iIndex].SyncIndex; - ASPData.IterationTimeU16 = (U16)(TimeCap2 - TimeCap1); - //Build ASP debug data and set to GSD - //bzero(buffer,OBJECT_MESS_BUFFER_SIZE); - //ObjectControlBuildASPMessage(buffer, &ASPData, 0); - DataDictionarySetRVSSAsp(GSD, &ASPData); - - if(atoi(Timestamp)%ASPDebugRate == 0) - { - printf("%d, %d, %3.3f, %s, %s\n", CurrentTimeU32, StartTimeU32, ASPData.TimeToSyncPointDbl, object_address_name[iIndex], ASP[i].MasterIP); - printf("TtS=%3.3f, BestIndex=%d, MTSP=%d, iIndex=%d, IterationTime=%3.0f ms\n",ASPData.TimeToSyncPointDbl, OP[iIndex].BestFoundTrajectoryIndex, ASPData.MTSPU32, iIndex, ((double)(TimeCap2)-(double)TimeCap1)); - printf("CurrentTime=%3.3f, x=%3.3f mm, y=%3.3f\n\n",ASPData.CurrentTimeDbl, OP[iIndex].x, OP[iIndex].y); - - //Build and send ASP on message queue - //(void)iCommSend(COMM_ASP,buffer); - } - } - } - } - - OP[iIndex].Speed = atof(Speed); - - } - } - } - - - bzero(pcRecvBuffer,RECV_MESSAGE_BUFFER); - //Have we recieved a command? - if(iCommRecv(&iCommand,pcRecvBuffer,RECV_MESSAGE_BUFFER,NULL)) - { - LogMessage(LOG_LEVEL_INFO, "Received command %d", iCommand); - - - if(iCommand == COMM_ARMD && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED)) - { - if(pcRecvBuffer[0] == COMMAND_OSTM_OPT_SET_ARMED_STATE) - { - LOG_SEND(LogBuffer,"[ObjectControl] Sending ARM %d", pcRecvBuffer[0]); - vSetState(OBC_STATE_ARMED, GSD); - } - else if(pcRecvBuffer[0] == COMMAND_OSTM_OPT_SET_DISARMED_STATE) - { - LOG_SEND(LogBuffer,"[ObjectControl] Sending DISARM: %d", pcRecvBuffer[0]); - vSetState(OBC_STATE_CONNECTED, GSD); - } - MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, pcRecvBuffer[0], 0); - for(iIndex=0;iIndexSTRTData[i] = MessageBuffer[i]; - //GSD->STRTSizeU8 = (U8)MessageLength; - STRTSentU8 = 1; - } - //OBCState = OBC_STATE_INITIALIZED; //This is temporary! - //printf("OutgoingStartTimeU32 = %d\n", OutgoingStartTimeU32); - GSD->ScenarioStartTimeU32 = OutgoingStartTimeU32; - bzero(MiscText, SMALL_BUFFER_SIZE_0); - sprintf(MiscText, "%" PRIu32, GSD->ScenarioStartTimeU32 << 2); - LOG_SEND(LogBuffer, "[ObjectControl] START received <%s>, GPS time <%s>\n",pcRecvBuffer, MiscText); - } - else if(iCommand == COMM_REPLAY) - { - ObjectcontrolExecutionMode = OBJECT_CONTROL_REPLAY_MODE; - LogMessage(LOG_LEVEL_INFO,"Entering REPLAY mode <%s>", pcRecvBuffer); - } - else if(iCommand == COMM_ABORT && OBCState == OBC_STATE_RUNNING) - { - vSetState(OBC_STATE_CONNECTED, GSD); - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; //Set server to ABORT - LogMessage(LOG_LEVEL_WARNING,"ABORT received"); - LOG_SEND(LogBuffer, "[ObjectControl] ABORT received."); - } - else if(iCommand == COMM_CONTROL) - { - ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; - printf("[ObjectControl] Object control in CONTROL mode\n"); - } - else if(iCommand == COMM_INIT) - { - LogMessage(LOG_LEVEL_INFO,"INIT received"); - LOG_SEND(LogBuffer, "[ObjectControl] INIT received."); - /* Get objects; name and drive file */ - nbr_objects = 0; - vFindObjectsInfo(object_traj_file,object_address_name,objectIPs,&nbr_objects); - DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); - - for(iIndex=0;iIndex= 0) - { - /* Send OSEM command in mq so that we get some information like GPSweek, origin (latitude,logitude,altitude in gps coordinates)*/ - LogMessage(LOG_LEVEL_INFO,"Sending OSEM"); - LOG_SEND(LogBuffer, "[ObjectControl] Sending OSEM."); - - ObjectControlOSEMtoASCII(&OSEMData, GPSWeek, OriginLatitude, OriginLongitude, OriginAltitude ); - bzero(pcSendBuffer, sizeof(pcSendBuffer)); - strcat(pcSendBuffer,GPSWeek);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,OriginLongitude);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,OriginLatitude);strcat(pcSendBuffer,";"); - strcat(pcSendBuffer,OriginAltitude); - - if(iCommSend(COMM_OSEM,pcSendBuffer,strlen(pcSendBuffer)+1) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OSEM command - entering error state"); - vSetState(OBC_STATE_ERROR, GSD); - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - } - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); - - /*Here we send DOTM, if the IP-address not is found*/ - if(strstr(DTMReceivers, object_address_name[iIndex]) == NULL) - { - - fd = fopen (object_traj_file[iIndex], "r"); - - if (fd != NULL) - { - RowCount = UtilCountFileRows(fd); - //printf("RowCount: %d\n", RowCount); - fclose (fd); - - /*DOTM*/ - MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount-2, &HeaderData, &TRAJInfoData, 0); - - /*Send DOTM header*/ - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); - - /*Send DOTM data*/ - ObjectControlSendDOTMMessage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount-2, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); - - } - else LogMessage(LOG_LEVEL_WARNING, "Could not open file <%s>", object_traj_file[iIndex]); - } - - - /* Adaptive Sync Points object configuration start...*/ - if(TEST_SYNC_POINTS == 1) printf("Trajfile: %s\n", object_traj_file[iIndex]); - OP[iIndex].TrajectoryPositionCount = RowCount-2; - OP[iIndex].SpaceArr = SpaceArr[iIndex]; - OP[iIndex].TimeArr = TimeArr[iIndex]; - OP[iIndex].SpaceTimeArr = SpaceTimeArr[iIndex]; - UtilPopulateSpaceTimeArr(&OP[iIndex], object_traj_file[iIndex]); - - for(i = 0; i < SyncPointCount; i++) - { - if(TEST_SYNC_POINTS == 1 && iIndex == 1) - { - /*Send SYPM to slave*/ - MessageLength =ObjectControlBuildSYPMMessage(MessageBuffer, &SYPMData, ASP[i].SlaveTrajSyncTime*1000, ASP[i].SlaveSyncStopTime*1000, 1); - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 1); - } - else if(TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL) - { - /*Send SYPM to slave*/ - MessageLength =ObjectControlBuildSYPMMessage(MessageBuffer, &SYPMData, ASP[i].SlaveTrajSyncTime*1000, ASP[i].SlaveSyncStopTime*1000, 1); - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 1); - } - } - - /*Set Sync point in OP*/ - for(i = 0; i < SyncPointCount; i++) - { - if(TEST_SYNC_POINTS == 1 && iIndex == 0) UtilSetSyncPoint(&OP[iIndex], 0, 0, 0, ASP[i].MasterTrajSyncTime); - else if(TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].MasterIP) != NULL) UtilSetSyncPoint(&OP[iIndex], 0, 0, 0, ASP[i].MasterTrajSyncTime); - } - /* ...end*/ - } - - } - for(iIndex=0;iIndex= HEARTBEAT_TIME_MS/TASK_PERIOD_MS) - { - uiTimeCycle = 0; - } - - // Periodically send state to signal aliveness - TimeSetToCurrentSystemTime(¤tTime); - if (timercmp(¤tTime, &nextStateReportTime, >)) - { - timeradd(&nextStateReportTime, &stateReportPeriod, - &nextStateReportTime); - - OBCState = vGetState(GSD); - bzero(Buffer2, sizeof(Buffer2)); - Buffer2[0] = (uint8_t)(DataDictionaryGetOBCStateU8(GSD)); - if (iCommSend(COMM_OBC_STATE, Buffer2, sizeof(Buffer2)) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state"); - vSetState(OBC_STATE_ERROR, GSD); - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - } - } - - (void)nanosleep(&sleep_time,&ref_time); - } - } - - LogMessage(LOG_LEVEL_INFO,"Object control exiting"); +void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { + I32 safety_socket_fd[MAX_OBJECTS]; + struct sockaddr_in safety_object_addr[MAX_OBJECTS]; + I32 socket_fds[MAX_OBJECTS]; + I32 socket_fd = 0; + C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH]; + C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH]; + in_addr_t objectIPs[MAX_OBJECTS]; + U32 object_udp_port[MAX_OBJECTS]; + U32 object_tcp_port[MAX_OBJECTS]; + I32 nbr_objects = 0; + enum COMMAND iCommand; + U8 pcRecvBuffer[RECV_MESSAGE_BUFFER]; + C8 pcTempBuffer[512]; + C8 MessageBuffer[BUFFER_SIZE_3100]; + I32 iIndex = 0, i = 0; + struct timespec sleep_time, ref_time; + + /*! Timers for reporting state over message bus */ + const struct timespec mqEmptyPollPeriod = { OC_SLEEP_TIME_EMPTY_MQ_S, OC_SLEEP_TIME_EMPTY_MQ_NS }; + const struct timespec mqNonEmptyPollPeriod = + { OC_SLEEP_TIME_NONEMPTY_MQ_S, OC_SLEEP_TIME_NONEMPTY_MQ_NS }; + const struct timeval stateReportPeriod = { OC_STATE_REPORT_PERIOD_S, OC_STATE_REPORT_PERIOD_US }; + struct timeval currentTime, nextStateReportTime; + U8 iForceObjectToLocalhostU8 = 0; + + FILE *fd; + C8 Id[SMALL_BUFFER_SIZE_0]; + C8 GPSWeek[SMALL_BUFFER_SIZE_0], Timestamp[SMALL_BUFFER_SIZE_0], XPosition[SMALL_BUFFER_SIZE_0], + YPosition[SMALL_BUFFER_SIZE_0], ZPosition[SMALL_BUFFER_SIZE_0]; + C8 Speed[SMALL_BUFFER_SIZE_0], LongitudinalSpeed[SMALL_BUFFER_SIZE_0], LateralSpeed[SMALL_BUFFER_SIZE_0], + LongitudinalAcc[SMALL_BUFFER_SIZE_0], LateralAcc[SMALL_BUFFER_SIZE_0]; + C8 Heading[SMALL_BUFFER_SIZE_0], DriveDirection[SMALL_BUFFER_SIZE_1], StatusFlag[SMALL_BUFFER_SIZE_1], + StateFlag[SMALL_BUFFER_SIZE_1], MTSP[SMALL_BUFFER_SIZE_0]; + I32 MessageLength; + C8 *MiscPtr; + C8 MiscText[SMALL_BUFFER_SIZE_0]; + U32 StartTimeU32 = 0; + U32 OutgoingStartTimeU32 = 0; + U32 DelayedStartU32 = 0; + U32 CurrentTimeU32 = 0; + U32 OldTimeU32 = 0; + U64 TimeCap1, TimeCap2; + struct timeval CurrentTimeStruct; + I32 HeartbeatMessageCounter = 0; + + ObjectPosition OP[MAX_OBJECTS]; + flt SpaceArr[MAX_OBJECTS][TRAJECTORY_FILE_MAX_ROWS]; + flt TimeArr[MAX_OBJECTS][TRAJECTORY_FILE_MAX_ROWS]; + SpaceTime SpaceTimeArr[MAX_OBJECTS][TRAJECTORY_FILE_MAX_ROWS]; + C8 OriginLatitude[SMALL_BUFFER_SIZE_0], OriginLongitude[SMALL_BUFFER_SIZE_0], + OriginAltitude[SMALL_BUFFER_SIZE_0], OriginHeading[SMALL_BUFFER_SIZE_0]; + C8 TextBuffer[SMALL_BUFFER_SIZE_0]; + dbl OriginLatitudeDbl; + dbl OriginLongitudeDbl; + dbl OriginAltitudeDbl; + dbl OriginHeadingDbl; + C8 pcSendBuffer[MBUS_MAX_DATALEN]; + C8 ObjectPort[SMALL_BUFFER_SIZE_0]; + HeaderType HeaderData; + OSEMType OSEMData; + STRTType STRTData; + OSTMType OSTMData; + HEABType HEABData; + MONRType MONRData; + DOTMType DOTMData; + TRAJInfoType TRAJInfoData; + VOILType VOILData; + SYPMType SYPMData; + MTSPType MTSPData; + ACCMData mqACCMData; + EXACData mqEXACData; + GeoPosition OriginPosition; + ASPType ASPData; + + ASPData.MTSPU32 = 0; + ASPData.TimeToSyncPointDbl = 0; + ASPData.PrevTimeToSyncPointDbl = 0; + ASPData.CurrentTimeDbl = 0; + AdaptiveSyncPoint ASP[MAX_ADAPTIVE_SYNC_POINTS]; + I32 SyncPointCount = 0; + I32 SearchStartIndex = 0; + dbl ASPMaxTimeDiffDbl = 0; + dbl ASPMaxTrajDiffDbl = 0; + dbl ASPFilterLevelDbl = 0; + dbl ASPMaxDeltaTimeDbl = 0; + I32 ASPDebugRate = 1; + I32 ASPStepBackCount = 0; + char confDirectoryPath[MAX_FILE_PATH]; + + U8 ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_BOOTING; + + OBCState_t OBCState = vInitializeState(OBC_STATE_IDLE, GSD); + U8 uiTimeCycle = 0; + I32 ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; + + C8 Buffer2[SMALL_BUFFER_SIZE_1]; + C8 LogBuffer[LOG_BUFFER_LENGTH]; + C8 VOILReceivers[SMALL_BUFFER_SIZE_254]; + C8 DTMReceivers[SMALL_BUFFER_SIZE_254]; + U32 RowCount; + U32 DTMIpU32; + U32 DTMLengthU32; + + U8 DisconnectU8 = 0; + I32 iResult; + + FILE *TempFd; + U16 MiscU16; + I32 j = 0; + + U8 STRTSentU8 = 0; + + + // Create log + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "Object control task running with PID: %i", getpid()); + + + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + // Set up message bus connection + if (iCommInit()) + util_error("Unable to connect to message queue bus"); + + // Initialize timer for sending state + TimeSetToCurrentSystemTime(¤tTime); + nextStateReportTime = currentTime; + + // Initialize timer for sending state + TimeSetToCurrentSystemTime(¤tTime); + nextStateReportTime = currentTime; + + while (!iExit) { + OBCState = vGetState(GSD); + + if (OBCState == OBC_STATE_ERROR) { + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + MessageLength = + ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, + 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], + MessageBuffer, MessageLength, 0); + + } + + if (OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) { + /*HEAB*/ for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + if (uiTimeCycle == 0) { + //HeartbeatMessageCounter ++; + MessageLength = + ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, + ObjectControlServerStatus, 0); + //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], + MessageBuffer, MessageLength, 0); + } + } + + + // Check if any object has disconnected - if so, disconnect all objects and return to idle + DisconnectU8 = 0; + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + DisconnectU8 |= vCheckRemoteDisconnected(&socket_fds[iIndex]); + if (DisconnectU8) { + LogMessage(LOG_LEVEL_WARNING, "Lost connection to IP %s - returning to IDLE", + object_address_name[iIndex]); + + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + vDisconnectObject(&socket_fds[iIndex]); + } + + /* Close safety socket */ + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + vCloseSafetyChannel(&safety_socket_fd[iIndex]); + } + vSetState(OBC_STATE_IDLE, GSD); + break; + } + } + } + + if (OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED) { + char buffer[RECV_MESSAGE_BUFFER]; + size_t receivedMONRData = 0; + + // this is etsi time lets remov it ans use utc instead + //gettimeofday(&CurrentTimeStruct, NULL); + + CurrentTimeU32 = + ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + + GPSTime->MicroSecondU16; + + + /*MTSP*/ if (HeartbeatMessageCounter == 0) { + HeartbeatMessageCounter = 0; + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + for (i = 0; i < SyncPointCount; i++) { + if (TEST_SYNC_POINTS == 0 + && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL + && ASPData.MTSPU32 > 0 && ASPData.TimeToSyncPointDbl > -1) { + /*Send Master time to adaptive sync point */ + MessageLength = + ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, ASPData.MTSPU32, 0); + //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], + &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + } + /*else if(TEST_SYNC_POINTS == 1 && iIndex == 1 && ASPData.MTSPU32 > 0 && ASPData.TimeToSyncPointDbl > -1 ) + { + Send Master time to adaptive sync point + MessageLength =ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, (U32)ASPData.MTSPU32, 0); + ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + } */ + } + } + } + + + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + bzero(buffer, RECV_MESSAGE_BUFFER); + receivedMONRData = uiRecvMonitor(&safety_socket_fd[iIndex], buffer, RECV_MESSAGE_BUFFER); + + if (receivedMONRData > 0) { + LogMessage(LOG_LEVEL_DEBUG, "Recieved new data from %s %d %d: %s", + object_address_name[iIndex], object_udp_port[iIndex], receivedMONRData, + buffer); + + if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { + // Append IP to buffer + memcpy(&buffer[receivedMONRData], &safety_object_addr[iIndex].sin_addr.s_addr, + sizeof (in_addr_t)); + + // Send MONR message as bytes + if (iCommSend(COMM_MONR, buffer, (size_t) (receivedMONRData) + sizeof (in_addr_t)) < + 0) { + LogMessage(LOG_LEVEL_ERROR, + "Fatal communication fault when sending MONR command - entering error state"); + vSetState(OBC_STATE_ERROR, GSD); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } + } + + ObjectControlBuildMONRMessage(buffer, &MONRData, 0); + + //Store MONR in GSD + //UtilSendUDPData("ObjectControl", &ObjectControlUDPSocketfdI32, &simulator_addr, &MONRData, sizeof(MONRData), 0); + + for (i = 0; + i < + (MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + + COMMAND_MESSAGE_FOOTER_LENGTH); i++) + GSD->MONRData[i] = buffer[i]; + GSD->MONRSizeU8 = + MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + + COMMAND_MESSAGE_FOOTER_LENGTH; + + ObjectControlMONRToASCII(&MONRData, &OriginPosition, iIndex, Id, Timestamp, XPosition, + YPosition, ZPosition, LongitudinalSpeed, LateralSpeed, + LongitudinalAcc, LateralAcc, Heading, DriveDirection, StatusFlag, + StateFlag, 1); + bzero(buffer, OBJECT_MESS_BUFFER_SIZE); + strcat(buffer, object_address_name[iIndex]); + strcat(buffer, ";"); + strcat(buffer, "0"); + strcat(buffer, ";"); + strcat(buffer, Timestamp); + strcat(buffer, ";"); + strcat(buffer, XPosition); + strcat(buffer, ";"); + strcat(buffer, YPosition); + strcat(buffer, ";"); + strcat(buffer, ZPosition); + strcat(buffer, ";"); + strcat(buffer, Heading); + strcat(buffer, ";"); + strcat(buffer, LongitudinalSpeed); + strcat(buffer, ";"); + strcat(buffer, LateralSpeed); + strcat(buffer, ";"); + strcat(buffer, LongitudinalAcc); + strcat(buffer, ";"); + strcat(buffer, LateralAcc); + strcat(buffer, ";"); + strcat(buffer, DriveDirection); + strcat(buffer, ";"); + strcat(buffer, StatusFlag); + strcat(buffer, ";"); + strcat(buffer, StateFlag); + strcat(buffer, ";"); + strcat(buffer, StatusFlag); + strcat(buffer, ";"); + + + if (ASPData.MTSPU32 != 0) { + //Add MTSP to MONR if not 0 + bzero(MTSP, SMALL_BUFFER_SIZE_0); + sprintf(MTSP, "%" PRIu32, ASPData.MTSPU32); + strcat(buffer, MTSP); + strcat(buffer, ";"); + } + + LogMessage(LOG_LEVEL_DEBUG, "Sending MONR message: %s", buffer); + + if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { + // Send MONR message on old (ASCII) format + if (iCommSend(COMM_MONI, buffer, strlen(buffer)) < 0) { + LogMessage(LOG_LEVEL_ERROR, + "Fatal communication fault when sending MONI command - entering error state"); + vSetState(OBC_STATE_ERROR, GSD); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } + } + + //Ok, let's do the ASP + for (i = 0; i < SyncPointCount; i++) { + if (TEST_SYNC_POINTS == 0 + && strstr(object_address_name[iIndex], ASP[i].MasterIP) != NULL + && CurrentTimeU32 > StartTimeU32 && StartTimeU32 > 0 + && ASPData.TimeToSyncPointDbl > -1 + /*|| TEST_SYNC_POINTS == 1 && ASP[0].TestPort == object_udp_port[iIndex] && StartTimeU32 > 0 && iIndex == 0 && TimeToSyncPoint > -1 */ + ) { + // Use the util.c function for time here but it soent mather + gettimeofday(&CurrentTimeStruct, NULL); //Capture time + + TimeCap1 = (uint64_t) CurrentTimeStruct.tv_sec * 1000 + (uint64_t) CurrentTimeStruct.tv_usec / 1000; //Calculate initial timestamp + + OP[iIndex].x = ((dbl) atoi(XPosition)) / 1000; //Set x and y on OP (ObjectPosition) + OP[iIndex].y = ((dbl) atoi(YPosition)) / 1000; + + //OP[iIndex].OrigoDistance = sqrt(pow(OP[iIndex].x,2) + pow(OP[iIndex].y,2)); //Calculate hypotenuse + + UtilCalcPositionDelta(OriginLatitudeDbl, OriginLongitudeDbl, + atof(XPosition) / 1e7, atof(YPosition) / 1e7, &OP[iIndex]); + + if (OP[iIndex].BestFoundTrajectoryIndex <= OP[iIndex].SyncIndex) { + ASPData.CurrentTimeU32 = CurrentTimeU32; + ASPData.CurrentTimeDbl = + (((double)CurrentTimeU32 - (double)StartTimeU32) / 1000); + SearchStartIndex = OP[iIndex].BestFoundTrajectoryIndex - ASPStepBackCount; + UtilFindCurrentTrajectoryPosition(&OP[iIndex], SearchStartIndex, + ASPData.CurrentTimeDbl, ASPMaxTrajDiffDbl, + ASPMaxTimeDiffDbl, 0); + ASPData.BestFoundIndexI32 = OP[iIndex].BestFoundTrajectoryIndex; + + if (OP[iIndex].BestFoundTrajectoryIndex != TRAJ_POSITION_NOT_FOUND) { + ASPData.TimeToSyncPointDbl = UtilCalculateTimeToSync(&OP[iIndex]); + if (ASPData.TimeToSyncPointDbl > 0) { + if (ASPData.PrevTimeToSyncPointDbl != 0 && ASPFilterLevelDbl > 0) { + if (ASPData.TimeToSyncPointDbl / ASPData.PrevTimeToSyncPointDbl > + (1 + ASPFilterLevelDbl / 100)) + ASPData.TimeToSyncPointDbl = ASPData.PrevTimeToSyncPointDbl + ASPMaxDeltaTimeDbl; //TimeToSyncPoint*ASPFilterLevelDbl/500; + else if (ASPData.TimeToSyncPointDbl / + ASPData.PrevTimeToSyncPointDbl < + (1 - ASPFilterLevelDbl / 100)) + ASPData.TimeToSyncPointDbl = ASPData.PrevTimeToSyncPointDbl - ASPMaxDeltaTimeDbl; //TimeToSyncPoint*ASPFilterLevelDbl/500; + } + ASPData.MTSPU32 = + CurrentTimeU32 + (U32) (ASPData.TimeToSyncPointDbl * 4000); + + ASPData.PrevTimeToSyncPointDbl = ASPData.TimeToSyncPointDbl; + OldTimeU32 = CurrentTimeU32; + } + else { + CurrentTimeU32 = 0; + ASPData.TimeToSyncPointDbl = -1; + } + + } + + gettimeofday(&CurrentTimeStruct, NULL); + TimeCap2 = + (uint64_t) CurrentTimeStruct.tv_sec * 1000 + + (uint64_t) CurrentTimeStruct.tv_usec / 1000; + + ASPData.SyncPointIndexI32 = OP[iIndex].SyncIndex; + ASPData.IterationTimeU16 = (U16) (TimeCap2 - TimeCap1); + //Build ASP debug data and set to GSD + //bzero(buffer,OBJECT_MESS_BUFFER_SIZE); + //ObjectControlBuildASPMessage(buffer, &ASPData, 0); + DataDictionarySetRVSSAsp(GSD, &ASPData); + + if (atoi(Timestamp) % ASPDebugRate == 0) { + printf("%d, %d, %3.3f, %s, %s\n", CurrentTimeU32, StartTimeU32, + ASPData.TimeToSyncPointDbl, object_address_name[iIndex], + ASP[i].MasterIP); + printf + ("TtS=%3.3f, BestIndex=%d, MTSP=%d, iIndex=%d, IterationTime=%3.0f ms\n", + ASPData.TimeToSyncPointDbl, OP[iIndex].BestFoundTrajectoryIndex, + ASPData.MTSPU32, iIndex, ((double)(TimeCap2) - (double)TimeCap1)); + printf("CurrentTime=%3.3f, x=%3.3f mm, y=%3.3f\n\n", + ASPData.CurrentTimeDbl, OP[iIndex].x, OP[iIndex].y); + + //Build and send ASP on message queue + //(void)iCommSend(COMM_ASP,buffer); + } + } + } + } + + OP[iIndex].Speed = atof(Speed); + + } + } + } + + + bzero(pcRecvBuffer, RECV_MESSAGE_BUFFER); + //Have we recieved a command? + if (iCommRecv(&iCommand, pcRecvBuffer, RECV_MESSAGE_BUFFER, NULL)) { + LogMessage(LOG_LEVEL_INFO, "Received command %d", iCommand); + + + if (iCommand == COMM_ARMD && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED)) { + if (pcRecvBuffer[0] == COMMAND_OSTM_OPT_SET_ARMED_STATE) { + LOG_SEND(LogBuffer, "[ObjectControl] Sending ARM %d", pcRecvBuffer[0]); + vSetState(OBC_STATE_ARMED, GSD); + } + else if (pcRecvBuffer[0] == COMMAND_OSTM_OPT_SET_DISARMED_STATE) { + LOG_SEND(LogBuffer, "[ObjectControl] Sending DISARM: %d", pcRecvBuffer[0]); + vSetState(OBC_STATE_CONNECTED, GSD); + } + MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, pcRecvBuffer[0], 0); + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + /*Send OSTM message */ + UtilSendTCPData("[Object Control test]", MessageBuffer, MessageLength, + &socket_fds[iIndex], 1); + } + + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY + } + else if (iCommand == COMM_STRT && (OBCState == OBC_STATE_ARMED) /*|| OBC_STATE_INITIALIZED) */ ) //OBC_STATE_INITIALIZED is temporary! + { + bzero(Timestamp, SMALL_BUFFER_SIZE_0); + MiscPtr = strchr(pcRecvBuffer, ';'); + strncpy(Timestamp, MiscPtr + 1, (uint64_t) strchr(MiscPtr + 1, ';') - (uint64_t) MiscPtr - 1); + StartTimeU32 = atol(Timestamp); + bzero(Timestamp, SMALL_BUFFER_SIZE_0); + MiscPtr += 1; + MiscPtr = strchr(pcRecvBuffer, ';'); + strncpy(Timestamp, MiscPtr + 1, (uint64_t) strchr(MiscPtr + 1, ';') - (uint64_t) MiscPtr - 1); + DelayedStartU32 = atoi(Timestamp); + ASPData.MTSPU32 = 0; + ASPData.TimeToSyncPointDbl = 0; + SearchStartIndex = -1; + ASPData.PrevTimeToSyncPointDbl = 0; + OldTimeU32 = CurrentTimeU32; + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY + MessageLength = + ObjectControlBuildSTRTMessage(MessageBuffer, &STRTData, GPSTime, (U32) StartTimeU32, + DelayedStartU32, &OutgoingStartTimeU32, 0); + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); + } + vSetState(OBC_STATE_RUNNING, GSD); + + //Store STRT in GSD + if (STRTSentU8 == 0) { + //for(i = 0; i < MessageLength; i++) GSD->STRTData[i] = MessageBuffer[i]; + //GSD->STRTSizeU8 = (U8)MessageLength; + STRTSentU8 = 1; + } + //OBCState = OBC_STATE_INITIALIZED; //This is temporary! + //printf("OutgoingStartTimeU32 = %d\n", OutgoingStartTimeU32); + GSD->ScenarioStartTimeU32 = OutgoingStartTimeU32; + bzero(MiscText, SMALL_BUFFER_SIZE_0); + sprintf(MiscText, "%" PRIu32, GSD->ScenarioStartTimeU32 << 2); + LOG_SEND(LogBuffer, "[ObjectControl] START received <%s>, GPS time <%s>\n", pcRecvBuffer, + MiscText); + } + else if (iCommand == COMM_REPLAY) { + ObjectcontrolExecutionMode = OBJECT_CONTROL_REPLAY_MODE; + LogMessage(LOG_LEVEL_INFO, "Entering REPLAY mode <%s>", pcRecvBuffer); + } + else if (iCommand == COMM_ABORT && OBCState == OBC_STATE_RUNNING) { + vSetState(OBC_STATE_CONNECTED, GSD); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; //Set server to ABORT + LogMessage(LOG_LEVEL_WARNING, "ABORT received"); + LOG_SEND(LogBuffer, "[ObjectControl] ABORT received."); + } + else if (iCommand == COMM_CONTROL) { + ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; + printf("[ObjectControl] Object control in CONTROL mode\n"); + } + else if (iCommand == COMM_INIT) { + LogMessage(LOG_LEVEL_INFO, "INIT received"); + LOG_SEND(LogBuffer, "[ObjectControl] INIT received."); + /* Get objects; name and drive file */ + nbr_objects = 0; + vFindObjectsInfo(object_traj_file, object_address_name, objectIPs, &nbr_objects); + DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); + + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + if (0 == iForceObjectToLocalhostU8) { + object_udp_port[iIndex] = SAFETY_CHANNEL_PORT; + object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT; + } + else { + object_udp_port[iIndex] = SAFETY_CHANNEL_PORT + iIndex * 2; + object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT + iIndex * 2; + } + } + + /*Setup Adaptive Sync Points (ASP) */ + UtilGetConfDirectoryPath(confDirectoryPath, sizeof (confDirectoryPath)); + strcat(confDirectoryPath, ADAPTIVE_SYNC_FILE_NAME); + fd = fopen(confDirectoryPath, "r"); + if (fd) { + SyncPointCount = UtilCountFileRows(fd) - 1; + fclose(fd); + fd = fopen(confDirectoryPath, "r"); + UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header + + for (i = 0; i < SyncPointCount; i++) { + UtilSetAdaptiveSyncPoint(&ASP[i], fd, 0); + if (TEST_SYNC_POINTS == 1) + ASP[i].TestPort = SAFETY_CHANNEL_PORT; + } + fclose(fd); + } + + vSetState(OBC_STATE_INITIALIZED, GSD); + LogMessage(LOG_LEVEL_INFO, "ObjectControl is initialized"); + LOG_SEND(LogBuffer, "[ObjectControl] ObjectControl is initialized."); + + //Remove temporary file + remove(TEMP_LOG_FILE); + if (USE_TEMP_LOGFILE) { + //Create temporary file + TempFd = fopen(TEMP_LOG_FILE, "w+"); + } + + //OSEMSentU8 = 0; + STRTSentU8 = 0; + } + else if (iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) { + UtilPopulateACCMDataStructFromMQ(pcRecvBuffer, sizeof (pcRecvBuffer), &mqACCMData); + iIndex = + iGetObjectIndexFromObjectIP(mqACCMData.ip, objectIPs, + sizeof (objectIPs) / sizeof (objectIPs[0])); + if (iIndex != -1) { + ObjectControlSendACCMMessage(&mqACCMData, &(socket_fds[iIndex]), 1); + } + else + LogMessage(LOG_LEVEL_WARNING, "Unable to send ACCM: no valid socket found"); + } + else if (iCommand == COMM_EXAC && OBCState == OBC_STATE_RUNNING) { + UtilPopulateEXACDataStructFromMQ(pcRecvBuffer, sizeof (pcRecvBuffer), &mqEXACData); + iIndex = + iGetObjectIndexFromObjectIP(mqEXACData.ip, objectIPs, + sizeof (objectIPs) / sizeof (objectIPs[0])); + if (iIndex != -1) + ObjectControlSendEXACMessage(&mqEXACData, &(socket_fds[iIndex]), 1); + else + LogMessage(LOG_LEVEL_WARNING, "Unable to send EXAC: no valid socket found"); + } + else if (iCommand == COMM_CONNECT && OBCState == OBC_STATE_INITIALIZED) { + LogMessage(LOG_LEVEL_INFO, "CONNECT received"); + LOG_SEND(LogBuffer, "[ObjectControl] CONNECT received."); + + /* Connect and send drive files */ + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + + UtilSetObjectPositionIP(&OP[iIndex], object_address_name[iIndex]); + + MessageLength = ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, GPSTime, + OriginLatitude, + OriginLongitude, OriginAltitude, 0); + + DisconnectU8 = 0; + + do { + + iResult = + vConnectObject(&socket_fds[iIndex], object_address_name[iIndex], + object_tcp_port[iIndex], &DisconnectU8); + + if (iResult < 0) { + switch (errno) { + case ECONNREFUSED: + LogMessage(LOG_LEVEL_INFO, + "Unable to connect to object %s:%d, retry in %d sec...", + object_address_name[iIndex], object_tcp_port[iIndex], + (!(1 & DisconnectU8)) * 3); + LOG_SEND(LogBuffer, + "[ObjectControl] Was not able to connect to object, [IP: %s] [PORT: %d], retry in %d sec...", + object_address_name[iIndex], object_tcp_port[iIndex], + (!(1 & DisconnectU8)) * 3); + (void)sleep(3); // TODO: Move this to the rest of the sleep operations? Also, remove the hardcoded 3 + break; + case EADDRINUSE: + util_error("[ObjectControl] Local address/port already in use"); + break; + case EALREADY: + util_error("[ObjectControl] Previous connection attempt still in progress"); + break; + case EISCONN: + util_error("[ObjectControl] Socket is already connected"); + break; + case ENETUNREACH: + util_error("[ObjectControl] Network unreachable"); + break; + case ETIMEDOUT: + util_error("[ObjectControl] Connection timed out"); + break; + default: + util_error("ERR: Failed to connect to control socket"); + break; + } + + } + + bzero(pcRecvBuffer, RECV_MESSAGE_BUFFER); + //Have we received a command? + if (iCommRecv(&iCommand, pcRecvBuffer, RECV_MESSAGE_BUFFER, NULL)) { + if (iCommand == COMM_DISCONNECT) { + DisconnectU8 = 1; + LOG_SEND(LogBuffer, "[ObjectControl] DISCONNECT received."); + } + + } + + } while (iResult < 0 && DisconnectU8 == 0); + + if (iResult >= 0) { + /* Send OSEM command in mq so that we get some information like GPSweek, origin (latitude,logitude,altitude in gps coordinates) */ + LogMessage(LOG_LEVEL_INFO, "Sending OSEM"); + LOG_SEND(LogBuffer, "[ObjectControl] Sending OSEM."); + + ObjectControlOSEMtoASCII(&OSEMData, GPSWeek, OriginLatitude, OriginLongitude, + OriginAltitude); + bzero(pcSendBuffer, sizeof (pcSendBuffer)); + strcat(pcSendBuffer, GPSWeek); + strcat(pcSendBuffer, ";"); + strcat(pcSendBuffer, OriginLongitude); + strcat(pcSendBuffer, ";"); + strcat(pcSendBuffer, OriginLatitude); + strcat(pcSendBuffer, ";"); + strcat(pcSendBuffer, OriginAltitude); + + if (iCommSend(COMM_OSEM, pcSendBuffer, strlen(pcSendBuffer) + 1) < 0) { + LogMessage(LOG_LEVEL_ERROR, + "Fatal communication fault when sending OSEM command - entering error state"); + vSetState(OBC_STATE_ERROR, GSD); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], + 0); + + /*Here we send DOTM, if the IP-address not is found */ + if (strstr(DTMReceivers, object_address_name[iIndex]) == NULL) { + + fd = fopen(object_traj_file[iIndex], "r"); + + if (fd != NULL) { + RowCount = UtilCountFileRows(fd); + //printf("RowCount: %d\n", RowCount); + fclose(fd); + + /*DOTM*/ + MessageLength = + ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount - 2, &HeaderData, + &TRAJInfoData, 0); + + /*Send DOTM header */ + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, + &socket_fds[iIndex], 0); + + /*Send DOTM data */ + ObjectControlSendDOTMMessage(object_traj_file[iIndex], &socket_fds[iIndex], + RowCount - 2, + (char *)&object_address_name[iIndex], + object_tcp_port[iIndex], &DOTMData, 0); + + } + else + LogMessage(LOG_LEVEL_WARNING, "Could not open file <%s>", + object_traj_file[iIndex]); + } + + + /* Adaptive Sync Points object configuration start... */ + if (TEST_SYNC_POINTS == 1) + printf("Trajfile: %s\n", object_traj_file[iIndex]); + OP[iIndex].TrajectoryPositionCount = RowCount - 2; + OP[iIndex].SpaceArr = SpaceArr[iIndex]; + OP[iIndex].TimeArr = TimeArr[iIndex]; + OP[iIndex].SpaceTimeArr = SpaceTimeArr[iIndex]; + UtilPopulateSpaceTimeArr(&OP[iIndex], object_traj_file[iIndex]); + + for (i = 0; i < SyncPointCount; i++) { + if (TEST_SYNC_POINTS == 1 && iIndex == 1) { + /*Send SYPM to slave */ + MessageLength = + ObjectControlBuildSYPMMessage(MessageBuffer, &SYPMData, + ASP[i].SlaveTrajSyncTime * 1000, + ASP[i].SlaveSyncStopTime * 1000, 1); + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, + &socket_fds[iIndex], 1); + } + else if (TEST_SYNC_POINTS == 0 + && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL) { + /*Send SYPM to slave */ + MessageLength = + ObjectControlBuildSYPMMessage(MessageBuffer, &SYPMData, + ASP[i].SlaveTrajSyncTime * 1000, + ASP[i].SlaveSyncStopTime * 1000, 1); + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, + &socket_fds[iIndex], 1); + } + } + + /*Set Sync point in OP */ + for (i = 0; i < SyncPointCount; i++) { + if (TEST_SYNC_POINTS == 1 && iIndex == 0) + UtilSetSyncPoint(&OP[iIndex], 0, 0, 0, ASP[i].MasterTrajSyncTime); + else if (TEST_SYNC_POINTS == 0 + && strstr(object_address_name[iIndex], ASP[i].MasterIP) != NULL) + UtilSetSyncPoint(&OP[iIndex], 0, 0, 0, ASP[i].MasterTrajSyncTime); + } + /* ...end */ + } + + } + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + if (USE_TEST_HOST == 0) + vCreateSafetyChannel(object_address_name[iIndex], object_udp_port[iIndex], + &safety_socket_fd[iIndex], &safety_object_addr[iIndex]); + else if (USE_TEST_HOST == 1) + vCreateSafetyChannel(TESTSERVER_IP, object_udp_port[iIndex], + &safety_socket_fd[iIndex], &safety_object_addr[iIndex]); + } + + uiTimeCycle = 0; + + /* Execution mode */ + ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; + + /*Set server status */ + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY + + if (DisconnectU8 == 0) { + vSetState(OBC_STATE_CONNECTED, GSD); + iCommSend(COMM_OBJECTS_CONNECTED, NULL, 0); + } + else if (DisconnectU8 == 1) + vSetState(OBC_STATE_IDLE, GSD); + } + else if (iCommand == COMM_DATA_DICT) { + + LogMessage(LOG_LEVEL_INFO, "Updating variables from DataDictionary."); + DataDictionaryGetOriginLatitudeC8(GSD, OriginLatitude, SMALL_BUFFER_SIZE_0); + DataDictionaryGetOriginLongitudeC8(GSD, OriginLongitude, SMALL_BUFFER_SIZE_0); + DataDictionaryGetOriginAltitudeC8(GSD, OriginAltitude, SMALL_BUFFER_SIZE_0); + + DataDictionaryGetOriginLatitudeDbl(GSD, &OriginLatitudeDbl); + DataDictionaryGetOriginLongitudeDbl(GSD, &OriginLongitudeDbl); + DataDictionaryGetOriginAltitudeDbl(GSD, &OriginAltitudeDbl); + + OriginLatitudeDbl = atof(OriginLatitude); + OriginLongitudeDbl = atof(OriginLongitude); + OriginAltitudeDbl = atof(OriginAltitude); + OriginHeadingDbl = atof(OriginHeading); + OriginPosition.Latitude = OriginLatitudeDbl; + OriginPosition.Longitude = OriginLongitudeDbl; + OriginPosition.Altitude = OriginAltitudeDbl; + OriginPosition.Heading = OriginHeadingDbl; + + DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); + LogMessage(LOG_LEVEL_INFO, "ForceObjectToLocalhost = %d", iForceObjectToLocalhostU8); + LOG_SEND(LogBuffer, "[ObjectControl] ForceObjectToLocalhost = %d", iForceObjectToLocalhostU8); + + DataDictionaryGetASPMaxTimeDiffDbl(GSD, &ASPMaxTimeDiffDbl); + DataDictionaryGetASPMaxTrajDiffDbl(GSD, &ASPMaxTrajDiffDbl); + DataDictionaryGetASPStepBackCountU32(GSD, &ASPStepBackCount); + DataDictionaryGetASPFilterLevelDbl(GSD, &ASPFilterLevelDbl); + DataDictionaryGetASPMaxDeltaTimeDbl(GSD, &ASPMaxDeltaTimeDbl); + ASPDebugRate = 1; + DataDictionaryGetVOILReceiversC8(GSD, VOILReceivers, SMALL_BUFFER_SIZE_254); + DataDictionaryGetDTMReceiversC8(GSD, DTMReceivers, SMALL_BUFFER_SIZE_254); + } + else if (iCommand == COMM_DISCONNECT) { + //#ifndef NOTCP + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + vDisconnectObject(&socket_fds[iIndex]); + } + //#endif //NOTCP + + LogMessage(LOG_LEVEL_INFO, "DISCONNECT received"); + LOG_SEND(LogBuffer, "[ObjectControl] DISCONNECT received."); + /* Close safety socket */ + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + vCloseSafetyChannel(&safety_socket_fd[iIndex]); + } + vSetState(OBC_STATE_IDLE, GSD); + } + else if (iCommand == COMM_EXIT) { + iExit = 1; + iCommClose(); + } + else { + LogMessage(LOG_LEVEL_WARNING, "Unhandled command in object control: %d", iCommand); + } + } + + if (!iExit) { + /* Make call periodic */ + sleep_time = iCommand == COMM_INV ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; + + ++uiTimeCycle; + if (uiTimeCycle >= HEARTBEAT_TIME_MS / TASK_PERIOD_MS) { + uiTimeCycle = 0; + } + + // Periodically send state to signal aliveness + TimeSetToCurrentSystemTime(¤tTime); + if (timercmp(¤tTime, &nextStateReportTime, >)) { + timeradd(&nextStateReportTime, &stateReportPeriod, &nextStateReportTime); + + OBCState = vGetState(GSD); + bzero(Buffer2, sizeof (Buffer2)); + Buffer2[0] = (uint8_t) (DataDictionaryGetOBCStateU8(GSD)); + if (iCommSend(COMM_OBC_STATE, Buffer2, sizeof (Buffer2)) < 0) { + LogMessage(LOG_LEVEL_ERROR, + "Fatal communication fault when sending OBC_STATE command - entering error state"); + vSetState(OBC_STATE_ERROR, GSD); + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; + } + } + + (void)nanosleep(&sleep_time, &ref_time); + } + } + + LogMessage(LOG_LEVEL_INFO, "Object control exiting"); } @@ -1037,1071 +1096,1109 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -- Private functions ------------------------------------------------------------*/ -void signalHandler(int signo) -{ - if (signo == SIGINT) - { - LogMessage(LOG_LEVEL_WARNING,"Caught keyboard interrupt"); - iExit = 1; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); - } +void signalHandler(int signo) { + if (signo == SIGINT) { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } } -I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* SimData, U8 debug) -{ - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; - U16 U16Data = 0; - I16 I16Data = 0; - U32 U32Data = 0; - I32 I32Data = 0; - - if(debug) - { - printf("Length: %d\n", *(SimData+3)); - for(i= 0; i < *(SimData+3)+4; i++) printf("%x-", *(SimData+i)); - printf("\n"); - } - - U16Data = (U16Data | *(SimData+5)) << 8; - U16Data = (U16Data | *(SimData+4)) ; - U16 MessageId = U16Data; - //printf("MessageId = %x\n", MessageId); - - U32Data = (U32Data | *(SimData+6)) << 8; - U32Data = (U32Data | *(SimData+7)) << 8; - U32Data = (U32Data | *(SimData+8)) << 8; - U32Data = (U32Data | *(SimData+9)); - U32 GPSSOW = U32Data; - //printf("GPSSOW = %x\n", GPSSOW); - U8 DynamicWorldState = *(SimData+10); - U8 ObjectCount = *(SimData+11); - //printf("ObjectCount = %d\n", ObjectCount); - - U8 ObjectId = *(SimData+12); - U8 ObjectState = *(SimData+13); - - I32Data = (I32Data | *(SimData+14)) << 8; - I32Data = (I32Data | *(SimData+15)) << 8; - I32Data = (I32Data | *(SimData+16)) << 8; - I32Data = (I32Data | *(SimData+17)); - I32 XPosition = I32Data; - - I32Data = 0; - I32Data = (I32Data | *(SimData+18)) << 8; - I32Data = (I32Data | *(SimData+19)) << 8; - I32Data = (I32Data | *(SimData+20)) << 8; - I32Data = (I32Data | *(SimData+21)); - I32 YPosition = I32Data; - - I32Data = 0; - I32Data = (I32Data | *(SimData+22)) << 8; - I32Data = (I32Data | *(SimData+23)) << 8; - I32Data = (I32Data | *(SimData+24)) << 8; - I32Data = (I32Data | *(SimData+25)); - I32 ZPosition = I32Data; - - U16Data = 0; - U16Data = (U16Data | *(SimData+26)) << 8; - U16Data = (U16Data | *(SimData+27)); - U16 Heading = U16Data; - - U16Data = 0; - U16Data = (U16Data | *(SimData+28)) << 8; - U16Data = (U16Data | *(SimData+29)); - U16 Pitch = U16Data; - U16Data = 0; - U16Data = (U16Data | *(SimData+30)) << 8; - U16Data = (U16Data | *(SimData+31)); - U16 Roll = U16Data; - - //printf("Roll = %d\n", Roll); - I16Data = 0; - I16Data = (I16Data | *(SimData+32)) << 8; - I16Data = (I16Data | *(SimData+33)); - I16 Speed = I16Data; - //printf("Speed = %d\n", Speed); - - - bzero(MessageBuffer, ObjectCount*sizeof(Sim1Type) + 6 + COMMAND_MESSAGE_FOOTER_LENGTH + COMMAND_MESSAGE_HEADER_LENGTH); - - - VOILData->Header.SyncWordU16 = SYNC_WORD; - VOILData->Header.TransmitterIdU8 = 0; - VOILData->Header.MessageCounterU8 = 0; - VOILData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - VOILData->Header.MessageIdU16 = COMMAND_VOIL_CODE; - VOILData->Header.MessageLengthU32 = ObjectCount*sizeof(Sim1Type) + 6 - COMMAND_MESSAGE_HEADER_LENGTH; - VOILData->GPSQmsOfWeekU32 = GPSSOW; - VOILData->WorldStateU8 = DynamicWorldState; - VOILData->ObjectCountU8 = ObjectCount; - VOILData->SimObjects[0].ObjectIdU8 = ObjectId; - VOILData->SimObjects[0].ObjectStateU8 = ObjectState; - VOILData->SimObjects[0].XPositionI32 = XPosition; - VOILData->SimObjects[0].YPositionI32 = YPosition; - VOILData->SimObjects[0].ZPositionI32 = ZPosition; - VOILData->SimObjects[0].HeadingU16 = Heading; - VOILData->SimObjects[0].PitchU16 = Pitch; - VOILData->SimObjects[0].RollU16 = Roll; - VOILData->SimObjects[0].SpeedI16 = Speed; - - - p=(C8 *)VOILData; - for(i=0; i < ObjectCount*sizeof(Sim1Type) + 6 + COMMAND_MESSAGE_HEADER_LENGTH; i++) *(MessageBuffer + i) = *p++; - //Crc = crc_16((const C8*)MessageBuffer, sizeof(VOILData)); - Crc = 0; - *(MessageBuffer + i++) = (U8)(Crc); - *(MessageBuffer + i++) = (U8)(Crc >> 8); - MessageIndex = i; - - if(debug) - { - // TODO: use byte printout from logging when it has been implemented - printf("VOILData total length = %d bytes (header+message+footer)\n", (int)(ObjectCount*sizeof(Sim1Type) + 6 + COMMAND_MESSAGE_FOOTER_LENGTH +COMMAND_MESSAGE_HEADER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(Sim1Type)*ObjectCount + 6 + COMMAND_MESSAGE_HEADER_LENGTH; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - - - return ObjectCount*sizeof(Sim1Type) + 6 + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH; //Total number of bytes +I32 ObjectControlBuildVOILMessage(C8 * MessageBuffer, VOILType * VOILData, C8 * SimData, U8 debug) { + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; + U16 U16Data = 0; + I16 I16Data = 0; + U32 U32Data = 0; + I32 I32Data = 0; + + if (debug) { + printf("Length: %d\n", *(SimData + 3)); + for (i = 0; i < *(SimData + 3) + 4; i++) + printf("%x-", *(SimData + i)); + printf("\n"); + } + + U16Data = (U16Data | *(SimData + 5)) << 8; + U16Data = (U16Data | *(SimData + 4)); + U16 MessageId = U16Data; + + //printf("MessageId = %x\n", MessageId); + + U32Data = (U32Data | *(SimData + 6)) << 8; + U32Data = (U32Data | *(SimData + 7)) << 8; + U32Data = (U32Data | *(SimData + 8)) << 8; + U32Data = (U32Data | *(SimData + 9)); + U32 GPSSOW = U32Data; + + //printf("GPSSOW = %x\n", GPSSOW); + U8 DynamicWorldState = *(SimData + 10); + U8 ObjectCount = *(SimData + 11); + + //printf("ObjectCount = %d\n", ObjectCount); + + U8 ObjectId = *(SimData + 12); + U8 ObjectState = *(SimData + 13); + + I32Data = (I32Data | *(SimData + 14)) << 8; + I32Data = (I32Data | *(SimData + 15)) << 8; + I32Data = (I32Data | *(SimData + 16)) << 8; + I32Data = (I32Data | *(SimData + 17)); + I32 XPosition = I32Data; + + I32Data = 0; + I32Data = (I32Data | *(SimData + 18)) << 8; + I32Data = (I32Data | *(SimData + 19)) << 8; + I32Data = (I32Data | *(SimData + 20)) << 8; + I32Data = (I32Data | *(SimData + 21)); + I32 YPosition = I32Data; + + I32Data = 0; + I32Data = (I32Data | *(SimData + 22)) << 8; + I32Data = (I32Data | *(SimData + 23)) << 8; + I32Data = (I32Data | *(SimData + 24)) << 8; + I32Data = (I32Data | *(SimData + 25)); + I32 ZPosition = I32Data; + + U16Data = 0; + U16Data = (U16Data | *(SimData + 26)) << 8; + U16Data = (U16Data | *(SimData + 27)); + U16 Heading = U16Data; + + U16Data = 0; + U16Data = (U16Data | *(SimData + 28)) << 8; + U16Data = (U16Data | *(SimData + 29)); + U16 Pitch = U16Data; + + U16Data = 0; + U16Data = (U16Data | *(SimData + 30)) << 8; + U16Data = (U16Data | *(SimData + 31)); + U16 Roll = U16Data; + + //printf("Roll = %d\n", Roll); + I16Data = 0; + I16Data = (I16Data | *(SimData + 32)) << 8; + I16Data = (I16Data | *(SimData + 33)); + I16 Speed = I16Data; + + //printf("Speed = %d\n", Speed); + + + bzero(MessageBuffer, + ObjectCount * sizeof (Sim1Type) + 6 + COMMAND_MESSAGE_FOOTER_LENGTH + + COMMAND_MESSAGE_HEADER_LENGTH); + + + VOILData->Header.SyncWordU16 = SYNC_WORD; + VOILData->Header.TransmitterIdU8 = 0; + VOILData->Header.MessageCounterU8 = 0; + VOILData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + VOILData->Header.MessageIdU16 = COMMAND_VOIL_CODE; + VOILData->Header.MessageLengthU32 = ObjectCount * sizeof (Sim1Type) + 6 - COMMAND_MESSAGE_HEADER_LENGTH; + VOILData->GPSQmsOfWeekU32 = GPSSOW; + VOILData->WorldStateU8 = DynamicWorldState; + VOILData->ObjectCountU8 = ObjectCount; + VOILData->SimObjects[0].ObjectIdU8 = ObjectId; + VOILData->SimObjects[0].ObjectStateU8 = ObjectState; + VOILData->SimObjects[0].XPositionI32 = XPosition; + VOILData->SimObjects[0].YPositionI32 = YPosition; + VOILData->SimObjects[0].ZPositionI32 = ZPosition; + VOILData->SimObjects[0].HeadingU16 = Heading; + VOILData->SimObjects[0].PitchU16 = Pitch; + VOILData->SimObjects[0].RollU16 = Roll; + VOILData->SimObjects[0].SpeedI16 = Speed; + + + p = (C8 *) VOILData; + for (i = 0; i < ObjectCount * sizeof (Sim1Type) + 6 + COMMAND_MESSAGE_HEADER_LENGTH; i++) + *(MessageBuffer + i) = *p++; + //Crc = crc_16((const C8*)MessageBuffer, sizeof(VOILData)); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc); + *(MessageBuffer + i++) = (U8) (Crc >> 8); + MessageIndex = i; + + if (debug) { + // TODO: use byte printout from logging when it has been implemented + printf("VOILData total length = %d bytes (header+message+footer)\n", + (int)(ObjectCount * sizeof (Sim1Type) + 6 + COMMAND_MESSAGE_FOOTER_LENGTH + + COMMAND_MESSAGE_HEADER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (Sim1Type) * ObjectCount + 6 + COMMAND_MESSAGE_HEADER_LENGTH; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } + + + return ObjectCount * sizeof (Sim1Type) + 6 + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH; //Total number of bytes } -I32 ObjectControlBuildMONRMessage(C8 *MonrData, MONRType *MONRData, U8 debug) -{ - I32 MessageIndex = 0, i = 0; - dbl Data; - U16 Crc = 0, U16Data = 0; - I16 I16Data = 0; - U32 U32Data = 0; - I32 I32Data = 0; - U64 U64Data = 0; - U16 contentLength = 0; - U16 valueID = 0; - C8 *p = MonrData; +I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug) { + I32 MessageIndex = 0, i = 0; + dbl Data; + U16 Crc = 0, U16Data = 0; + I16 I16Data = 0; + U32 U32Data = 0; + I32 I32Data = 0; + U64 U64Data = 0; + U16 contentLength = 0; + U16 valueID = 0; + C8 *p = MonrData; - // Decode ISO header - memcpy(&MONRData->Header.SyncWordU16, p, sizeof(MONRData->Header.SyncWordU16)); - p += sizeof(MONRData->Header.SyncWordU16); + // Decode ISO header + memcpy(&MONRData->Header.SyncWordU16, p, sizeof (MONRData->Header.SyncWordU16)); + p += sizeof (MONRData->Header.SyncWordU16); - memcpy(&MONRData->Header.TransmitterIdU8, p, sizeof(MONRData->Header.TransmitterIdU8)); - p += sizeof(MONRData->Header.TransmitterIdU8); + memcpy(&MONRData->Header.TransmitterIdU8, p, sizeof (MONRData->Header.TransmitterIdU8)); + p += sizeof (MONRData->Header.TransmitterIdU8); - memcpy(&MONRData->Header.MessageCounterU8, p, sizeof(MONRData->Header.MessageCounterU8)); - p += sizeof(MONRData->Header.MessageCounterU8); + memcpy(&MONRData->Header.MessageCounterU8, p, sizeof (MONRData->Header.MessageCounterU8)); + p += sizeof (MONRData->Header.MessageCounterU8); - memcpy(&MONRData->Header.AckReqProtVerU8, p, sizeof(MONRData->Header.AckReqProtVerU8)); - p += sizeof(MONRData->Header.AckReqProtVerU8); + memcpy(&MONRData->Header.AckReqProtVerU8, p, sizeof (MONRData->Header.AckReqProtVerU8)); + p += sizeof (MONRData->Header.AckReqProtVerU8); - memcpy(&MONRData->Header.MessageIdU16, p, sizeof(MONRData->Header.MessageIdU16)); - p += sizeof(MONRData->Header.MessageIdU16); + memcpy(&MONRData->Header.MessageIdU16, p, sizeof (MONRData->Header.MessageIdU16)); + p += sizeof (MONRData->Header.MessageIdU16); - memcpy(&MONRData->Header.MessageLengthU32, p, sizeof(MONRData->Header.MessageLengthU32)); - p += sizeof(MONRData->Header.MessageLengthU32); + memcpy(&MONRData->Header.MessageLengthU32, p, sizeof (MONRData->Header.MessageLengthU32)); + p += sizeof (MONRData->Header.MessageLengthU32); - // Decode content header - memcpy(&valueID, p, sizeof(valueID)); - if (valueID == VALUE_ID_MONR_STRUCT) - { - p += sizeof(valueID); + // Decode content header + memcpy(&valueID, p, sizeof (valueID)); + if (valueID == VALUE_ID_MONR_STRUCT) { + p += sizeof (valueID); - memcpy(&contentLength, p, sizeof(contentLength)); - p += sizeof(contentLength); + memcpy(&contentLength, p, sizeof (contentLength)); + p += sizeof (contentLength); - // TODO: check on content length - } - else if (debug) - { - LogPrint("MONR message did not contain a content header"); - } + // TODO: check on content length + } + else if (debug) { + LogPrint("MONR message did not contain a content header"); + } - // Decode content - memcpy(&MONRData->GPSQmsOfWeekU32, p, sizeof(MONRData->GPSQmsOfWeekU32)); - p += sizeof(MONRData->GPSQmsOfWeekU32); + // Decode content + memcpy(&MONRData->GPSQmsOfWeekU32, p, sizeof (MONRData->GPSQmsOfWeekU32)); + p += sizeof (MONRData->GPSQmsOfWeekU32); - memcpy(&MONRData->XPositionI32, p, sizeof(MONRData->XPositionI32)); - p += sizeof(MONRData->XPositionI32); + memcpy(&MONRData->XPositionI32, p, sizeof (MONRData->XPositionI32)); + p += sizeof (MONRData->XPositionI32); - memcpy(&MONRData->YPositionI32, p, sizeof(MONRData->YPositionI32)); - p += sizeof(MONRData->YPositionI32); + memcpy(&MONRData->YPositionI32, p, sizeof (MONRData->YPositionI32)); + p += sizeof (MONRData->YPositionI32); - memcpy(&MONRData->ZPositionI32, p, sizeof(MONRData->ZPositionI32)); - p += sizeof(MONRData->ZPositionI32); + memcpy(&MONRData->ZPositionI32, p, sizeof (MONRData->ZPositionI32)); + p += sizeof (MONRData->ZPositionI32); - memcpy(&MONRData->HeadingU16, p, sizeof(MONRData->HeadingU16)); - p += sizeof(MONRData->HeadingU16); + memcpy(&MONRData->HeadingU16, p, sizeof (MONRData->HeadingU16)); + p += sizeof (MONRData->HeadingU16); - memcpy(&MONRData->LongitudinalSpeedI16, p, sizeof(MONRData->LongitudinalSpeedI16)); - p += sizeof(MONRData->LongitudinalSpeedI16); + memcpy(&MONRData->LongitudinalSpeedI16, p, sizeof (MONRData->LongitudinalSpeedI16)); + p += sizeof (MONRData->LongitudinalSpeedI16); - memcpy(&MONRData->LateralSpeedI16, p, sizeof(MONRData->LateralSpeedI16)); - p += sizeof(MONRData->LateralSpeedI16); + memcpy(&MONRData->LateralSpeedI16, p, sizeof (MONRData->LateralSpeedI16)); + p += sizeof (MONRData->LateralSpeedI16); - memcpy(&MONRData->LongitudinalAccI16, p, sizeof(MONRData->LongitudinalAccI16)); - p += sizeof(MONRData->LongitudinalAccI16); + memcpy(&MONRData->LongitudinalAccI16, p, sizeof (MONRData->LongitudinalAccI16)); + p += sizeof (MONRData->LongitudinalAccI16); - memcpy(&MONRData->LateralAccI16, p, sizeof(MONRData->LateralAccI16)); - p += sizeof(MONRData->LateralAccI16); + memcpy(&MONRData->LateralAccI16, p, sizeof (MONRData->LateralAccI16)); + p += sizeof (MONRData->LateralAccI16); - memcpy(&MONRData->DriveDirectionU8, p, sizeof(MONRData->DriveDirectionU8)); - p += sizeof(MONRData->DriveDirectionU8); + memcpy(&MONRData->DriveDirectionU8, p, sizeof (MONRData->DriveDirectionU8)); + p += sizeof (MONRData->DriveDirectionU8); - memcpy(&MONRData->StateU8, p, sizeof(MONRData->StateU8)); - p += sizeof(MONRData->StateU8); + memcpy(&MONRData->StateU8, p, sizeof (MONRData->StateU8)); + p += sizeof (MONRData->StateU8); - memcpy(&MONRData->ReadyToArmU8, p, sizeof(MONRData->ReadyToArmU8)); - p += sizeof(MONRData->ReadyToArmU8); + memcpy(&MONRData->ReadyToArmU8, p, sizeof (MONRData->ReadyToArmU8)); + p += sizeof (MONRData->ReadyToArmU8); - memcpy(&MONRData->ErrorStatusU8, p, sizeof(MONRData->ErrorStatusU8)); - p += sizeof(MONRData->ErrorStatusU8); + memcpy(&MONRData->ErrorStatusU8, p, sizeof (MONRData->ErrorStatusU8)); + p += sizeof (MONRData->ErrorStatusU8); - // Footer - memcpy(&MONRData->CRC, p, sizeof(MONRData->CRC)); - p += sizeof(MONRData->CRC); + // Footer + memcpy(&MONRData->CRC, p, sizeof (MONRData->CRC)); + p += sizeof (MONRData->CRC); - // TODO: check on CRC + // TODO: check on CRC - if(debug == 1) - { - LogPrint("MONR:"); - LogPrint("SyncWord = %d", MONRData->Header.SyncWordU16); - LogPrint("TransmitterId = %d", MONRData->Header.TransmitterIdU8); - LogPrint("PackageCounter = %d", MONRData->Header.MessageCounterU8); - LogPrint("AckReq = %d", MONRData->Header.AckReqProtVerU8); - LogPrint("MessageLength = %d", MONRData->Header.MessageLengthU32); - LogPrint("GPSSOW = %u",MONRData->GPSQmsOfWeekU32); - } + if (debug == 1) { + LogPrint("MONR:"); + LogPrint("SyncWord = %d", MONRData->Header.SyncWordU16); + LogPrint("TransmitterId = %d", MONRData->Header.TransmitterIdU8); + LogPrint("PackageCounter = %d", MONRData->Header.MessageCounterU8); + LogPrint("AckReq = %d", MONRData->Header.AckReqProtVerU8); + LogPrint("MessageLength = %d", MONRData->Header.MessageLengthU32); + LogPrint("GPSSOW = %u", MONRData->GPSQmsOfWeekU32); + } - return 0; + return 0; } -I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I32 Idn, C8 *Id, C8 *Timestamp, C8 *XPosition, C8 *YPosition, C8 *ZPosition, C8 *LongitudinalSpeed, C8 *LateralSpeed, C8 *LongitudinalAcc, C8 *LateralAcc, C8 *Heading, C8 *DriveDirection, C8 *StatusFlag, C8 *StateFlag, C8 debug) -{ - char Buffer[6]; - long unsigned int MonrValueU64; - unsigned int MonrValueU32; - unsigned short MonrValueU16; - unsigned char MonrValueU8; - double iLlh[3] = {0, 0, 0}; - double xyz[3] = {0, 0, 0}; - double Llh[3] = {0, 0, 0}; - uint64_t ConvertGPStoUTC; - - bzero(Id, SMALL_BUFFER_SIZE_1); - bzero(Timestamp, SMALL_BUFFER_SIZE_0); - bzero(XPosition, SMALL_BUFFER_SIZE_0); - bzero(YPosition, SMALL_BUFFER_SIZE_0); - bzero(ZPosition, SMALL_BUFFER_SIZE_0); - bzero(LongitudinalSpeed, SMALL_BUFFER_SIZE_0); - bzero(LateralSpeed, SMALL_BUFFER_SIZE_0); - bzero(LongitudinalAcc, SMALL_BUFFER_SIZE_0); - bzero(LateralAcc, SMALL_BUFFER_SIZE_0); - bzero(Heading, SMALL_BUFFER_SIZE_0); - bzero(DriveDirection, SMALL_BUFFER_SIZE_1); - bzero(StatusFlag, SMALL_BUFFER_SIZE_1); - bzero(StateFlag, SMALL_BUFFER_SIZE_1); - - - if(MONRData->Header.MessageIdU16 == COMMAND_MONR_CODE) - { - //Index - sprintf(Id, "%" PRIu8, (C8)Idn); - - //Timestamp - MonrValueU64 = 0; - //for(i = 0; i <= 5; i++, j++) MonrValueU64 = *(MonrData+j) | (MonrValueU64 << 8); - ConvertGPStoUTC = - sprintf(Timestamp, "%" PRIu32, MONRData->GPSQmsOfWeekU32); - - if(debug && MONRData->GPSQmsOfWeekU32%400 == 0) - { - LogMessage(LOG_LEVEL_DEBUG,"MONR = %x-%x-%x-%x-%x-%x-%d-%d-%d-%d-%d-%d-%d-%d-%d-%d", - MONRData->Header.MessageIdU16, - MONRData->Header.SyncWordU16, - MONRData->Header.TransmitterIdU8, - MONRData->Header.MessageCounterU8, - MONRData->Header.AckReqProtVerU8, - MONRData->Header.MessageLengthU32, - MONRData->GPSQmsOfWeekU32, - MONRData->XPositionI32, - MONRData->YPositionI32, - MONRData->ZPositionI32, - MONRData->LongitudinalSpeedI16, - MONRData->HeadingU16, - MONRData->DriveDirectionU8, - MONRData->StateU8, - MONRData->ReadyToArmU8, - MONRData->ErrorStatusU8); - } - - iLlh[0] = OriginPosition->Latitude; - iLlh[1] = OriginPosition->Longitude; - iLlh[2] = OriginPosition->Altitude; - - xyz[0] = ((dbl)MONRData->XPositionI32)/1000; - xyz[1] = ((dbl)MONRData->YPositionI32)/1000; - xyz[2] = ((dbl)MONRData->ZPositionI32)/1000; - - enuToLlh(iLlh, xyz, Llh); - - //XPosition - //MonrValueU32 = 0; - //for(i = 0; i <= 3; i++, j++) MonrValueU32 = *(MonrData+j) | (MonrValueU32 << 8); - //sprintf(Latitude, "%" PRIi32, (I32)(Llh[0]*1e7)); - sprintf(XPosition, "%" PRIi32, MONRData->XPositionI32); - - //YPosition - //MonrValueU32 = 0; - //for(i = 0; i <= 3; i++, j++) MonrValueU32 = *(MonrData+j) | (MonrValueU32 << 8); - //sprintf(Longitude, "%" PRIi32, (I32)(Llh[1]*1e7)); - sprintf(YPosition, "%" PRIi32, MONRData->YPositionI32); - - //ZPosition - //MonrValueU32 = 0; - //for(i = 0; i <= 3; i++, j++) MonrValueU32 = *(MonrData+j) | (MonrValueU32 << 8); - //sprintf(Altitude, "%" PRIi32, (I32)(Llh[2])); - sprintf(ZPosition, "%" PRIi32, MONRData->ZPositionI32); - - //Speed - //MonrValueU16 = 0; - //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); - sprintf(LongitudinalSpeed, "%" PRIi16, MONRData->LongitudinalSpeedI16); - - //LatSpeed - //MonrValueU16 = 0; - //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); - sprintf(LateralSpeed, "%" PRIi16, MONRData->LateralSpeedI16); - - //LongAcc - //MonrValueU16 = 0; - //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); - sprintf(LongitudinalAcc, "%" PRIi16, MONRData->LongitudinalAccI16); - - //LatAcc - //MonrValueU16 = 0; - //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); - sprintf(LateralAcc, "%" PRIi16, MONRData->LateralAccI16); - - //Heading - //MonrValueU16 = 0; - //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); - sprintf(Heading, "%" PRIu16, MONRData->HeadingU16); - - //Driving direction - //MonrValueU8 = (unsigned char)*(MonrData+j); - //printf("D: %d\n", MonrValueU8 ); - - sprintf(DriveDirection, "%" PRIu8, MONRData->DriveDirectionU8); - - //State - //MonrValueU8 = (unsigned char)*(MonrData+j); - sprintf(StatusFlag, "%" PRIu8, MONRData->StateU8); - - //ReadyToArmU8 - //MonrValueU8 = (unsigned char)*(MonrData+j); - sprintf(StateFlag, "%" PRIu8, MONRData->ReadyToArmU8); - - //ErrorStatusU8 - //MonrValueU8 = (unsigned char)*(MonrData+j); - sprintf(StateFlag, "%" PRIu8, MONRData->ErrorStatusU8); - - } - - return 0; +I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, I32 Idn, C8 * Id, + C8 * Timestamp, C8 * XPosition, C8 * YPosition, C8 * ZPosition, + C8 * LongitudinalSpeed, C8 * LateralSpeed, C8 * LongitudinalAcc, C8 * LateralAcc, + C8 * Heading, C8 * DriveDirection, C8 * StatusFlag, C8 * StateFlag, C8 debug) { + char Buffer[6]; + long unsigned int MonrValueU64; + unsigned int MonrValueU32; + unsigned short MonrValueU16; + unsigned char MonrValueU8; + double iLlh[3] = { 0, 0, 0 }; + double xyz[3] = { 0, 0, 0 }; + double Llh[3] = { 0, 0, 0 }; + uint64_t ConvertGPStoUTC; + + bzero(Id, SMALL_BUFFER_SIZE_1); + bzero(Timestamp, SMALL_BUFFER_SIZE_0); + bzero(XPosition, SMALL_BUFFER_SIZE_0); + bzero(YPosition, SMALL_BUFFER_SIZE_0); + bzero(ZPosition, SMALL_BUFFER_SIZE_0); + bzero(LongitudinalSpeed, SMALL_BUFFER_SIZE_0); + bzero(LateralSpeed, SMALL_BUFFER_SIZE_0); + bzero(LongitudinalAcc, SMALL_BUFFER_SIZE_0); + bzero(LateralAcc, SMALL_BUFFER_SIZE_0); + bzero(Heading, SMALL_BUFFER_SIZE_0); + bzero(DriveDirection, SMALL_BUFFER_SIZE_1); + bzero(StatusFlag, SMALL_BUFFER_SIZE_1); + bzero(StateFlag, SMALL_BUFFER_SIZE_1); + + + if (MONRData->Header.MessageIdU16 == COMMAND_MONR_CODE) { + //Index + sprintf(Id, "%" PRIu8, (C8) Idn); + + //Timestamp + MonrValueU64 = 0; + //for(i = 0; i <= 5; i++, j++) MonrValueU64 = *(MonrData+j) | (MonrValueU64 << 8); + ConvertGPStoUTC = sprintf(Timestamp, "%" PRIu32, MONRData->GPSQmsOfWeekU32); + + if (debug && MONRData->GPSQmsOfWeekU32 % 400 == 0) { + LogMessage(LOG_LEVEL_DEBUG, "MONR = %x-%x-%x-%x-%x-%x-%d-%d-%d-%d-%d-%d-%d-%d-%d-%d", + MONRData->Header.MessageIdU16, + MONRData->Header.SyncWordU16, + MONRData->Header.TransmitterIdU8, + MONRData->Header.MessageCounterU8, + MONRData->Header.AckReqProtVerU8, + MONRData->Header.MessageLengthU32, + MONRData->GPSQmsOfWeekU32, + MONRData->XPositionI32, + MONRData->YPositionI32, + MONRData->ZPositionI32, + MONRData->LongitudinalSpeedI16, + MONRData->HeadingU16, + MONRData->DriveDirectionU8, + MONRData->StateU8, MONRData->ReadyToArmU8, MONRData->ErrorStatusU8); + } + + iLlh[0] = OriginPosition->Latitude; + iLlh[1] = OriginPosition->Longitude; + iLlh[2] = OriginPosition->Altitude; + + xyz[0] = ((dbl) MONRData->XPositionI32) / 1000; + xyz[1] = ((dbl) MONRData->YPositionI32) / 1000; + xyz[2] = ((dbl) MONRData->ZPositionI32) / 1000; + + enuToLlh(iLlh, xyz, Llh); + + //XPosition + //MonrValueU32 = 0; + //for(i = 0; i <= 3; i++, j++) MonrValueU32 = *(MonrData+j) | (MonrValueU32 << 8); + //sprintf(Latitude, "%" PRIi32, (I32)(Llh[0]*1e7)); + sprintf(XPosition, "%" PRIi32, MONRData->XPositionI32); + + //YPosition + //MonrValueU32 = 0; + //for(i = 0; i <= 3; i++, j++) MonrValueU32 = *(MonrData+j) | (MonrValueU32 << 8); + //sprintf(Longitude, "%" PRIi32, (I32)(Llh[1]*1e7)); + sprintf(YPosition, "%" PRIi32, MONRData->YPositionI32); + + //ZPosition + //MonrValueU32 = 0; + //for(i = 0; i <= 3; i++, j++) MonrValueU32 = *(MonrData+j) | (MonrValueU32 << 8); + //sprintf(Altitude, "%" PRIi32, (I32)(Llh[2])); + sprintf(ZPosition, "%" PRIi32, MONRData->ZPositionI32); + + //Speed + //MonrValueU16 = 0; + //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); + sprintf(LongitudinalSpeed, "%" PRIi16, MONRData->LongitudinalSpeedI16); + + //LatSpeed + //MonrValueU16 = 0; + //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); + sprintf(LateralSpeed, "%" PRIi16, MONRData->LateralSpeedI16); + + //LongAcc + //MonrValueU16 = 0; + //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); + sprintf(LongitudinalAcc, "%" PRIi16, MONRData->LongitudinalAccI16); + + //LatAcc + //MonrValueU16 = 0; + //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); + sprintf(LateralAcc, "%" PRIi16, MONRData->LateralAccI16); + + //Heading + //MonrValueU16 = 0; + //for(i = 0; i <= 1; i++, j++) MonrValueU16 = *(MonrData+j) | (MonrValueU16 << 8); + sprintf(Heading, "%" PRIu16, MONRData->HeadingU16); + + //Driving direction + //MonrValueU8 = (unsigned char)*(MonrData+j); + //printf("D: %d\n", MonrValueU8 ); + + sprintf(DriveDirection, "%" PRIu8, MONRData->DriveDirectionU8); + + //State + //MonrValueU8 = (unsigned char)*(MonrData+j); + sprintf(StatusFlag, "%" PRIu8, MONRData->StateU8); + + //ReadyToArmU8 + //MonrValueU8 = (unsigned char)*(MonrData+j); + sprintf(StateFlag, "%" PRIu8, MONRData->ReadyToArmU8); + + //ErrorStatusU8 + //MonrValueU8 = (unsigned char)*(MonrData+j); + sprintf(StateFlag, "%" PRIu8, MONRData->ErrorStatusU8); + + } + + return 0; } -int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId, char *TriggAction, char *TriggDelay, char debug) -{ - char Buffer[6]; - long unsigned int MonrValueU64; - unsigned int MonrValueU32; - unsigned short MonrValueU16; - unsigned char MonrValueU8; - int i,j; - - bzero(TriggId, SMALL_BUFFER_SIZE_1); - bzero(TriggAction, SMALL_BUFFER_SIZE_1); - bzero(TriggDelay, SMALL_BUFFER_SIZE_0); - - if(*TomData == COMMAND_TOM_CODE) - { - - if(debug == 1) - { - for(i = 0; i < COMMAND_MESSAGE_HEADER_LENGTH+COMMAND_TOM_MESSAGE_LENGTH; i ++) printf("%x-", (unsigned char)TomData[i]); - printf("\n"); - } - - //Trigg id - j=5; - MonrValueU8 = (unsigned char)*(TomData+j); - sprintf(TriggId, "%" PRIu8, MonrValueU8); - j++; - - //Trigg type - MonrValueU8 = (unsigned char)*(TomData+j); - sprintf(TriggAction, "%" PRIu8, MonrValueU8); - j++; - - //Delay - MonrValueU64 = 0; - for(i = 0; i <= 5; i++, j++) MonrValueU64 = *(TomData+j) | (MonrValueU64 << 8); - sprintf(TriggDelay, "%" PRIu64, MonrValueU64); - - } - - return 0; +int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId, char *TriggAction, char *TriggDelay, + char debug) { + char Buffer[6]; + long unsigned int MonrValueU64; + unsigned int MonrValueU32; + unsigned short MonrValueU16; + unsigned char MonrValueU8; + int i, j; + + bzero(TriggId, SMALL_BUFFER_SIZE_1); + bzero(TriggAction, SMALL_BUFFER_SIZE_1); + bzero(TriggDelay, SMALL_BUFFER_SIZE_0); + + if (*TomData == COMMAND_TOM_CODE) { + + if (debug == 1) { + for (i = 0; i < COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TOM_MESSAGE_LENGTH; i++) + printf("%x-", (unsigned char)TomData[i]); + printf("\n"); + } + + //Trigg id + j = 5; + MonrValueU8 = (unsigned char)*(TomData + j); + sprintf(TriggId, "%" PRIu8, MonrValueU8); + j++; + + //Trigg type + MonrValueU8 = (unsigned char)*(TomData + j); + sprintf(TriggAction, "%" PRIu8, MonrValueU8); + j++; + + //Delay + MonrValueU64 = 0; + for (i = 0; i <= 5; i++, j++) + MonrValueU64 = *(TomData + j) | (MonrValueU64 << 8); + sprintf(TriggDelay, "%" PRIu64, MonrValueU64); + + } + + return 0; } -I32 ObjectControlBuildOSEMMessage(C8* MessageBuffer, OSEMType *OSEMData, TimeType *GPSTime, C8 *Latitude, C8 *Longitude, C8 *Altitude, U8 debug) -{ - I32 MessageIndex = 0, i = 0; - dbl Data; - U16 Crc = 0; - C8 *p; - - bzero(MessageBuffer, COMMAND_OSEM_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH); - - OSEMData->Header.SyncWordU16 = SYNC_WORD; - OSEMData->Header.TransmitterIdU8 = 0; - OSEMData->Header.MessageCounterU8 = 0; - OSEMData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - OSEMData->Header.MessageIdU16 = COMMAND_OSEM_CODE; - OSEMData->Header.MessageLengthU32 = sizeof(OSEMType) - sizeof(HeaderType) - 4; - OSEMData->LatitudeValueIdU16 = VALUE_ID_LATITUDE; - OSEMData->LatitudeContentLengthU16 = 6; - OSEMData->LatitudeI64 = (I64) ((atof((char *)Latitude) * 1e10)); - OSEMData->LongitudeValueIdU16 = VALUE_ID_LONGITUDE; - OSEMData->LongitudeContentLengthU16 = 6; - OSEMData->LongitudeI64 = (I64)((atof((char *)Longitude) * 1e10)); - OSEMData->AltitudeValueIdU16 = VALUE_ID_ALTITUDE; - OSEMData->AltitudeContentLengthU16 = 4; - OSEMData->AltitudeI32 = (I32)(atof((char *)Altitude) * 1e2); - OSEMData->DateValueIdU16 = VALUE_ID_DATE_ISO8601; - OSEMData->DateContentLengthU16 = 4; - OSEMData->DateU32 = (U32)GPSTime->YearU16*10000+(U32)GPSTime->MonthU8*1000+(U32)GPSTime->DayU8; - OSEMData->GPSWeekValueIdU16 = VALUE_ID_GPS_WEEK; - OSEMData->GPSWeekContentLengthU16 = 2; - OSEMData->GPSWeekU16 = GPSTime->GPSWeekU16; - OSEMData->GPSSOWValueIdU16 = VALUE_ID_GPS_SECOND_OF_WEEK; - OSEMData->GPSSOWContentLengthU16 = 4; - OSEMData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + GPSTime->MillisecondU16) << 2) + GPSTime->MicroSecondU16; - OSEMData->MaxWayDeviationValueIdU16 = VALUE_ID_MAX_WAY_DEVIATION; - OSEMData->MaxWayDeviationContentLengthU16 = 2; - OSEMData->MaxWayDeviationU16 = 65535; - OSEMData->MaxLateralDeviationValueIdU16 = VALUE_ID_MAX_LATERAL_DEVIATION; - OSEMData->MaxLateralDeviationContentLengthU16 = 2; - OSEMData->MaxLateralDeviationU16 = 65535; - OSEMData->MinPosAccuracyContentLengthU16 = 2; - OSEMData->MinPosAccuracyValueIdU16 = VALUE_ID_MIN_POS_ACCURACY; - OSEMData->MinPosAccuracyU16 = 65535; - - if (!GPSTime->isGPSenabled) - { - OSEMData->DateU32 = UtilgetIntDateFromMS(UtilgetCurrentUTCtimeMS()); - UtilgetCurrentGPStime(&OSEMData->GPSWeekU16,&OSEMData->GPSQmsOfWeekU32); - } - - p=(C8 *)OSEMData; - for(i=0; i<21; i++) *(MessageBuffer + i) = *p++; - *p++; *p++; - for(; i<31; i++) *(MessageBuffer + i) = *p++; - *p++; *p++; - for(; i> 8); - - MessageIndex = i; - - if(debug) - { - // TODO: Change to log printout when byte thingy has been implemented - printf("OSEM total length = %d bytes (header+message+footer)\n", (int)(COMMAND_OSEM_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(OSEMType)-4; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - return MessageIndex; //Total number of bytes +I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeType * GPSTime, C8 * Latitude, + C8 * Longitude, C8 * Altitude, U8 debug) { + I32 MessageIndex = 0, i = 0; + dbl Data; + U16 Crc = 0; + C8 *p; + + bzero(MessageBuffer, COMMAND_OSEM_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); + + OSEMData->Header.SyncWordU16 = SYNC_WORD; + OSEMData->Header.TransmitterIdU8 = 0; + OSEMData->Header.MessageCounterU8 = 0; + OSEMData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + OSEMData->Header.MessageIdU16 = COMMAND_OSEM_CODE; + OSEMData->Header.MessageLengthU32 = sizeof (OSEMType) - sizeof (HeaderType) - 4; + OSEMData->LatitudeValueIdU16 = VALUE_ID_LATITUDE; + OSEMData->LatitudeContentLengthU16 = 6; + OSEMData->LatitudeI64 = (I64) ((atof((char *)Latitude) * 1e10)); + OSEMData->LongitudeValueIdU16 = VALUE_ID_LONGITUDE; + OSEMData->LongitudeContentLengthU16 = 6; + OSEMData->LongitudeI64 = (I64) ((atof((char *)Longitude) * 1e10)); + OSEMData->AltitudeValueIdU16 = VALUE_ID_ALTITUDE; + OSEMData->AltitudeContentLengthU16 = 4; + OSEMData->AltitudeI32 = (I32) (atof((char *)Altitude) * 1e2); + OSEMData->DateValueIdU16 = VALUE_ID_DATE_ISO8601; + OSEMData->DateContentLengthU16 = 4; + OSEMData->DateU32 = (U32) GPSTime->YearU16 * 10000 + (U32) GPSTime->MonthU8 * 1000 + (U32) GPSTime->DayU8; + OSEMData->GPSWeekValueIdU16 = VALUE_ID_GPS_WEEK; + OSEMData->GPSWeekContentLengthU16 = 2; + OSEMData->GPSWeekU16 = GPSTime->GPSWeekU16; + OSEMData->GPSSOWValueIdU16 = VALUE_ID_GPS_SECOND_OF_WEEK; + OSEMData->GPSSOWContentLengthU16 = 4; + OSEMData->GPSQmsOfWeekU32 = + ((GPSTime->GPSSecondsOfWeekU32 * 1000 + GPSTime->MillisecondU16) << 2) + GPSTime->MicroSecondU16; + OSEMData->MaxWayDeviationValueIdU16 = VALUE_ID_MAX_WAY_DEVIATION; + OSEMData->MaxWayDeviationContentLengthU16 = 2; + OSEMData->MaxWayDeviationU16 = 65535; + OSEMData->MaxLateralDeviationValueIdU16 = VALUE_ID_MAX_LATERAL_DEVIATION; + OSEMData->MaxLateralDeviationContentLengthU16 = 2; + OSEMData->MaxLateralDeviationU16 = 65535; + OSEMData->MinPosAccuracyContentLengthU16 = 2; + OSEMData->MinPosAccuracyValueIdU16 = VALUE_ID_MIN_POS_ACCURACY; + OSEMData->MinPosAccuracyU16 = 65535; + + if (!GPSTime->isGPSenabled) { + OSEMData->DateU32 = UtilgetIntDateFromMS(UtilgetCurrentUTCtimeMS()); + UtilgetCurrentGPStime(&OSEMData->GPSWeekU16, &OSEMData->GPSQmsOfWeekU32); + } + + p = (C8 *) OSEMData; + for (i = 0; i < 21; i++) + *(MessageBuffer + i) = *p++; + *p++; + *p++; + for (; i < 31; i++) + *(MessageBuffer + i) = *p++; + *p++; + *p++; + for (; i < sizeof (OSEMType) - 4; i++) + *(MessageBuffer + i) = *p++; + + Crc = crc_16((const C8 *)MessageBuffer, sizeof (OSEMType) - 4); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc); + *(MessageBuffer + i++) = (U8) (Crc >> 8); + + MessageIndex = i; + + if (debug) { + // TODO: Change to log printout when byte thingy has been implemented + printf("OSEM total length = %d bytes (header+message+footer)\n", + (int)(COMMAND_OSEM_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (OSEMType) - 4; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } + return MessageIndex; //Total number of bytes } -int ObjectControlOSEMtoASCII(OSEMType *OSEMData, char *GPSWeek, char *GPSLatitude, char *GPSLongitude, char *GPSAltitude) -{ - // what do i want? in my mq? gps week, origin in lat and long coordinates - bzero(GPSWeek,SMALL_BUFFER_SIZE_0); - bzero(GPSLatitude,SMALL_BUFFER_SIZE_0); - bzero(GPSLongitude,SMALL_BUFFER_SIZE_0); - bzero(GPSAltitude,SMALL_BUFFER_SIZE_0); +int ObjectControlOSEMtoASCII(OSEMType * OSEMData, char *GPSWeek, char *GPSLatitude, char *GPSLongitude, + char *GPSAltitude) { + // what do i want? in my mq? gps week, origin in lat and long coordinates + bzero(GPSWeek, SMALL_BUFFER_SIZE_0); + bzero(GPSLatitude, SMALL_BUFFER_SIZE_0); + bzero(GPSLongitude, SMALL_BUFFER_SIZE_0); + bzero(GPSAltitude, SMALL_BUFFER_SIZE_0); - if (OSEMData->Header.MessageIdU16 == COMMAND_OSEM_CODE) - { - sprintf(GPSWeek,"%" PRIu16 ,OSEMData->GPSWeekU16); + if (OSEMData->Header.MessageIdU16 == COMMAND_OSEM_CODE) { + sprintf(GPSWeek, "%" PRIu16, OSEMData->GPSWeekU16); - sprintf(GPSLatitude,"%" PRIi64, OSEMData->LongitudeI64); + sprintf(GPSLatitude, "%" PRIi64, OSEMData->LongitudeI64); - sprintf(GPSLongitude,"%" PRIi64,OSEMData->LatitudeI64); + sprintf(GPSLongitude, "%" PRIi64, OSEMData->LatitudeI64); - sprintf(GPSAltitude,"%" PRIi32, OSEMData->AltitudeI32); - } - return 0; + sprintf(GPSAltitude, "%" PRIi32, OSEMData->AltitudeI32); + } + return 0; } -int ObjectControlBuildSTRTMessage(C8* MessageBuffer, STRTType *STRTData, TimeType *GPSTime, U32 ScenarioStartTime, U32 DelayStart, U32 *OutgoingStartTime, U8 debug) -{ - I32 MessageIndex = 0, i = 0; - U16 Crc = 0; - C8 *p; - - bzero(MessageBuffer, COMMAND_STRT_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH); - - STRTData->Header.SyncWordU16 = SYNC_WORD; - STRTData->Header.TransmitterIdU8 = 0; - STRTData->Header.MessageCounterU8 = 0; - STRTData->Header.AckReqProtVerU8 = 0; - STRTData->Header.MessageIdU16 = COMMAND_STRT_CODE; - STRTData->Header.MessageLengthU32 = sizeof(STRTType) - sizeof(HeaderType); - STRTData->StartTimeValueIdU16 = VALUE_ID_GPS_SECOND_OF_WEEK; - STRTData->StartTimeContentLengthU16 = 4; - STRTData->StartTimeU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + (U32)TimeControlGetMillisecond(GPSTime) + ScenarioStartTime) << 2) + GPSTime->MicroSecondU16; - STRTData->DelayStartValueIdU16 = VALUE_ID_RELATIVE_TIME; - STRTData->DelayStartContentLengthU16 = 4; - STRTData->DelayStartU32 = DelayStart; - *OutgoingStartTime = (STRTData->StartTimeU32) >> 2; - - if(!GPSTime->isGPSenabled) - { - UtilgetCurrentGPStime(NULL,&STRTData->StartTimeU32); - } - - p=(char *)STRTData; - for(i=0; i> 8); - MessageIndex = i; - - if(debug) - { - // TODO: Change to log printout when byte thingy has been implemented - printf("STRT total length = %d bytes (header+message+footer)\n", (int)(COMMAND_STRT_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(STRTType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - - return MessageIndex; //Total number of bytes +int ObjectControlBuildSTRTMessage(C8 * MessageBuffer, STRTType * STRTData, TimeType * GPSTime, + U32 ScenarioStartTime, U32 DelayStart, U32 * OutgoingStartTime, U8 debug) { + I32 MessageIndex = 0, i = 0; + U16 Crc = 0; + C8 *p; + + bzero(MessageBuffer, COMMAND_STRT_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); + + STRTData->Header.SyncWordU16 = SYNC_WORD; + STRTData->Header.TransmitterIdU8 = 0; + STRTData->Header.MessageCounterU8 = 0; + STRTData->Header.AckReqProtVerU8 = 0; + STRTData->Header.MessageIdU16 = COMMAND_STRT_CODE; + STRTData->Header.MessageLengthU32 = sizeof (STRTType) - sizeof (HeaderType); + STRTData->StartTimeValueIdU16 = VALUE_ID_GPS_SECOND_OF_WEEK; + STRTData->StartTimeContentLengthU16 = 4; + STRTData->StartTimeU32 = + ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime) + + ScenarioStartTime) << 2) + GPSTime->MicroSecondU16; + STRTData->DelayStartValueIdU16 = VALUE_ID_RELATIVE_TIME; + STRTData->DelayStartContentLengthU16 = 4; + STRTData->DelayStartU32 = DelayStart; + *OutgoingStartTime = (STRTData->StartTimeU32) >> 2; + + if (!GPSTime->isGPSenabled) { + UtilgetCurrentGPStime(NULL, &STRTData->StartTimeU32); + } + + p = (char *)STRTData; + for (i = 0; i < sizeof (STRTType); i++) + *(MessageBuffer + i) = *p++; + Crc = crc_16((const unsigned char *)MessageBuffer, sizeof (STRTType)); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc); + *(MessageBuffer + i++) = (U8) (Crc >> 8); + MessageIndex = i; + + if (debug) { + // TODO: Change to log printout when byte thingy has been implemented + printf("STRT total length = %d bytes (header+message+footer)\n", + (int)(COMMAND_STRT_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (STRTType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } + + return MessageIndex; //Total number of bytes } -I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 CommandOption, U8 debug) -{ - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; - - bzero(MessageBuffer, COMMAND_OSTM_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH); - - OSTMData->Header.SyncWordU16 = SYNC_WORD; - OSTMData->Header.TransmitterIdU8 = 0; - OSTMData->Header.MessageCounterU8 = 0; - OSTMData->Header.AckReqProtVerU8 = 0; - OSTMData->Header.MessageIdU16 = COMMAND_OSTM_CODE; - OSTMData->Header.MessageLengthU32 = sizeof(OSTMType) - sizeof(HeaderType); - OSTMData->StateValueIdU16 = VALUE_ID_STATE_CHANGE_REQUEST; - OSTMData->StateContentLengthU16 = 1; - OSTMData->StateU8 = (U8)CommandOption; - - p=(C8 *)OSTMData; - for(i=0; i> 8); - *(MessageBuffer + i++) = (U8)(Crc); - MessageIndex = i; - - if(debug) - { - // TODO: Change to log printout when byte thingy has been implemented - printf("OSTM total length = %d bytes (header+message+footer)\n", (int)(COMMAND_OSTM_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(OSTMType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - - return MessageIndex; //Total number of bytes +I32 ObjectControlBuildOSTMMessage(C8 * MessageBuffer, OSTMType * OSTMData, C8 CommandOption, U8 debug) { + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; + + bzero(MessageBuffer, COMMAND_OSTM_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); + + OSTMData->Header.SyncWordU16 = SYNC_WORD; + OSTMData->Header.TransmitterIdU8 = 0; + OSTMData->Header.MessageCounterU8 = 0; + OSTMData->Header.AckReqProtVerU8 = 0; + OSTMData->Header.MessageIdU16 = COMMAND_OSTM_CODE; + OSTMData->Header.MessageLengthU32 = sizeof (OSTMType) - sizeof (HeaderType); + OSTMData->StateValueIdU16 = VALUE_ID_STATE_CHANGE_REQUEST; + OSTMData->StateContentLengthU16 = 1; + OSTMData->StateU8 = (U8) CommandOption; + + p = (C8 *) OSTMData; + for (i = 0; i < sizeof (OSTMType); i++) + *(MessageBuffer + i) = *p++; + Crc = crc_16((const C8 *)MessageBuffer, sizeof (OSTMType)); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc >> 8); + *(MessageBuffer + i++) = (U8) (Crc); + MessageIndex = i; + + if (debug) { + // TODO: Change to log printout when byte thingy has been implemented + printf("OSTM total length = %d bytes (header+message+footer)\n", + (int)(COMMAND_OSTM_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (OSTMType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } + + return MessageIndex; //Total number of bytes } -I32 ObjectControlBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeType *GPSTime, U8 CCStatus, U8 debug) -{ - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; - - bzero(MessageBuffer, COMMAND_HEAB_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH); - - HEABData->Header.SyncWordU16 = SYNC_WORD; - HEABData->Header.TransmitterIdU8 = 0; - HEABData->Header.MessageCounterU8 = 0; - HEABData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - HEABData->Header.MessageIdU16 = COMMAND_HEAB_CODE; - HEABData->Header.MessageLengthU32 = sizeof(HEABType) - sizeof(HeaderType); - //HEABData->HeabStructValueIdU16 = 0; - //HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; - HEABData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + (U32)TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; - HEABData->CCStatusU8 = CCStatus; - - if(!GPSTime->isGPSenabled){ - UtilgetCurrentGPStime(NULL,&HEABData->GPSQmsOfWeekU32); - } - - p=(C8 *)HEABData; - for(i=0; i> 8); - MessageIndex = i; - - if(debug) - { - // TODO: Change to log printout when byte thingy has been implemented - printf("HEAB total length = %d bytes (header+message+footer)\n", (int)(COMMAND_HEAB_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(HEABType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - - return MessageIndex; //Total number of bytes +I32 ObjectControlBuildHEABMessage(C8 * MessageBuffer, HEABType * HEABData, TimeType * GPSTime, U8 CCStatus, + U8 debug) { + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; + + bzero(MessageBuffer, COMMAND_HEAB_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); + + HEABData->Header.SyncWordU16 = SYNC_WORD; + HEABData->Header.TransmitterIdU8 = 0; + HEABData->Header.MessageCounterU8 = 0; + HEABData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + HEABData->Header.MessageIdU16 = COMMAND_HEAB_CODE; + HEABData->Header.MessageLengthU32 = sizeof (HEABType) - sizeof (HeaderType); + //HEABData->HeabStructValueIdU16 = 0; + //HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; + HEABData->GPSQmsOfWeekU32 = + ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + + GPSTime->MicroSecondU16; + HEABData->CCStatusU8 = CCStatus; + + if (!GPSTime->isGPSenabled) { + UtilgetCurrentGPStime(NULL, &HEABData->GPSQmsOfWeekU32); + } + + p = (C8 *) HEABData; + for (i = 0; i < sizeof (HEABType); i++) + *(MessageBuffer + i) = *p++; + Crc = crc_16((const C8 *)MessageBuffer, sizeof (HEABType)); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc); + *(MessageBuffer + i++) = (U8) (Crc >> 8); + MessageIndex = i; + + if (debug) { + // TODO: Change to log printout when byte thingy has been implemented + printf("HEAB total length = %d bytes (header+message+footer)\n", + (int)(COMMAND_HEAB_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (HEABType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } + + return MessageIndex; //Total number of bytes } -int ObjectControlBuildLLCMMessage(char* MessageBuffer, unsigned short Speed, unsigned short Curvature, unsigned char Mode, char debug) -{ - int MessageIndex = 0; +int ObjectControlBuildLLCMMessage(char *MessageBuffer, unsigned short Speed, unsigned short Curvature, + unsigned char Mode, char debug) { + int MessageIndex = 0; + + bzero(MessageBuffer, COMMAND_LLCM_MESSAGE_LENGTH + COMMAND_MESSAGE_HEADER_LENGTH); - bzero(MessageBuffer, COMMAND_LLCM_MESSAGE_LENGTH + COMMAND_MESSAGE_HEADER_LENGTH); + UtilAddOneByteMessageData(MessageBuffer, COMMAND_CODE_INDEX, COMMAND_LLCM_CODE); - UtilAddOneByteMessageData(MessageBuffer, COMMAND_CODE_INDEX, COMMAND_LLCM_CODE); + MessageIndex = + UtilAddTwoBytesMessageData(MessageBuffer, MessageIndex + COMMAND_MESSAGE_HEADER_LENGTH, Speed); - MessageIndex = UtilAddTwoBytesMessageData(MessageBuffer, MessageIndex+COMMAND_MESSAGE_HEADER_LENGTH, Speed); + MessageIndex = UtilAddTwoBytesMessageData(MessageBuffer, MessageIndex, Curvature); - MessageIndex = UtilAddTwoBytesMessageData(MessageBuffer, MessageIndex, Curvature); + MessageIndex = UtilAddOneByteMessageData(MessageBuffer, MessageIndex, Mode); - MessageIndex = UtilAddOneByteMessageData(MessageBuffer, MessageIndex, Mode); + UtilAddFourBytesMessageData(MessageBuffer, COMMAND_MESSAGE_LENGTH_INDEX, + (unsigned int)MessageIndex - COMMAND_MESSAGE_HEADER_LENGTH); - UtilAddFourBytesMessageData(MessageBuffer, COMMAND_MESSAGE_LENGTH_INDEX, (unsigned int) MessageIndex - COMMAND_MESSAGE_HEADER_LENGTH); + if (debug) { + int i = 0; - if(debug) - { - int i = 0; - LogMessage(LOG_LEVEL_DEBUG,"LLCM:"); - for(i = 0; i < MessageIndex; i ++) LogMessage(LOG_LEVEL_DEBUG,"[%d]= %x", i, (unsigned char)MessageBuffer[i]); - } + LogMessage(LOG_LEVEL_DEBUG, "LLCM:"); + for (i = 0; i < MessageIndex; i++) + LogMessage(LOG_LEVEL_DEBUG, "[%d]= %x", i, (unsigned char)MessageBuffer[i]); + } - return MessageIndex; //Total number of bytes = COMMAND_MESSAGE_HEADER_LENGTH + message data count + return MessageIndex; //Total number of bytes = COMMAND_MESSAGE_HEADER_LENGTH + message data count } -I32 ObjectControlBuildSYPMMessage(C8* MessageBuffer, SYPMType *SYPMData, U32 SyncPoint, U32 StopTime, U8 debug) -{ - - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; - - bzero(MessageBuffer, COMMAND_SYPM_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH); - - SYPMData->Header.SyncWordU16 = SYNC_WORD; - SYPMData->Header.TransmitterIdU8 = 0; - SYPMData->Header.MessageCounterU8 = 0; - SYPMData->Header.AckReqProtVerU8 = 0; - SYPMData->Header.MessageIdU16 = COMMAND_SYPM_CODE; - SYPMData->Header.MessageLengthU32 = sizeof(SYPMType) - sizeof(HeaderType); - SYPMData->SyncPointTimeValueIdU16 = 1; - SYPMData->SyncPointTimeContentLengthU16 = 4; - SYPMData->SyncPointTimeU32 = SyncPoint; - SYPMData->FreezeTimeValueIdU16 = 2; - SYPMData->FreezeTimeContentLengthU16 = 4; - SYPMData->FreezeTimeU32 = StopTime; - - - p=(C8 *)SYPMData; - for(i=0; i> 8); - *(MessageBuffer + i++) = (U8)(Crc); - MessageIndex = i; - - if(debug) - { - // TODO: Change to log printout when byte thingy has been implemented - printf("SYPM total length = %d bytes (header+message+footer)\n", (int)(COMMAND_SYPM_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(SYPMType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - - return MessageIndex; //Total number of bytes +I32 ObjectControlBuildSYPMMessage(C8 * MessageBuffer, SYPMType * SYPMData, U32 SyncPoint, U32 StopTime, + U8 debug) { + + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; + + bzero(MessageBuffer, COMMAND_SYPM_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); + + SYPMData->Header.SyncWordU16 = SYNC_WORD; + SYPMData->Header.TransmitterIdU8 = 0; + SYPMData->Header.MessageCounterU8 = 0; + SYPMData->Header.AckReqProtVerU8 = 0; + SYPMData->Header.MessageIdU16 = COMMAND_SYPM_CODE; + SYPMData->Header.MessageLengthU32 = sizeof (SYPMType) - sizeof (HeaderType); + SYPMData->SyncPointTimeValueIdU16 = 1; + SYPMData->SyncPointTimeContentLengthU16 = 4; + SYPMData->SyncPointTimeU32 = SyncPoint; + SYPMData->FreezeTimeValueIdU16 = 2; + SYPMData->FreezeTimeContentLengthU16 = 4; + SYPMData->FreezeTimeU32 = StopTime; + + + p = (C8 *) SYPMData; + for (i = 0; i < sizeof (SYPMType); i++) + *(MessageBuffer + i) = *p++; + Crc = crc_16((const C8 *)MessageBuffer, sizeof (SYPMType)); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc >> 8); + *(MessageBuffer + i++) = (U8) (Crc); + MessageIndex = i; + + if (debug) { + // TODO: Change to log printout when byte thingy has been implemented + printf("SYPM total length = %d bytes (header+message+footer)\n", + (int)(COMMAND_SYPM_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (SYPMType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } + + return MessageIndex; //Total number of bytes } -I32 ObjectControlBuildMTSPMessage(C8* MessageBuffer, MTSPType *MTSPData, U32 SyncTimestamp, U8 debug) -{ - - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; - - bzero(MessageBuffer, COMMAND_MTSP_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH); - - MTSPData->Header.SyncWordU16 = SYNC_WORD; - MTSPData->Header.TransmitterIdU8 = 0; - MTSPData->Header.MessageCounterU8 = 0; - MTSPData->Header.AckReqProtVerU8 = 0; - MTSPData->Header.MessageIdU16 = COMMAND_MTSP_CODE; - MTSPData->Header.MessageLengthU32 = sizeof(MTSPType) - sizeof(HeaderType); - MTSPData->EstSyncPointTimeValueIdU16 = 1; - MTSPData->EstSyncPointTimeContentLengthU16 = 4; - MTSPData->EstSyncPointTimeU32 = SyncTimestamp; - - - p=(C8 *)MTSPData; - for(i=0; i> 8); - *(MessageBuffer + i++) = (U8)(Crc); - MessageIndex = i; - - if(debug) - { - // TODO: Change to log printout when byte thingy has been implemented - printf("MTSPData total length = %d bytes (header+message+footer)\n", (int)(COMMAND_MTSP_MESSAGE_LENGTH+COMMAND_MESSAGE_FOOTER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(MTSPType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - - return MessageIndex; //Total number of bytes +I32 ObjectControlBuildMTSPMessage(C8 * MessageBuffer, MTSPType * MTSPData, U32 SyncTimestamp, U8 debug) { + + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; + + bzero(MessageBuffer, COMMAND_MTSP_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); + + MTSPData->Header.SyncWordU16 = SYNC_WORD; + MTSPData->Header.TransmitterIdU8 = 0; + MTSPData->Header.MessageCounterU8 = 0; + MTSPData->Header.AckReqProtVerU8 = 0; + MTSPData->Header.MessageIdU16 = COMMAND_MTSP_CODE; + MTSPData->Header.MessageLengthU32 = sizeof (MTSPType) - sizeof (HeaderType); + MTSPData->EstSyncPointTimeValueIdU16 = 1; + MTSPData->EstSyncPointTimeContentLengthU16 = 4; + MTSPData->EstSyncPointTimeU32 = SyncTimestamp; + + + p = (C8 *) MTSPData; + for (i = 0; i < sizeof (MTSPType); i++) + *(MessageBuffer + i) = *p++; + Crc = crc_16((const C8 *)MessageBuffer, sizeof (MTSPType)); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc >> 8); + *(MessageBuffer + i++) = (U8) (Crc); + MessageIndex = i; + + if (debug) { + // TODO: Change to log printout when byte thingy has been implemented + printf("MTSPData total length = %d bytes (header+message+footer)\n", + (int)(COMMAND_MTSP_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (MTSPType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } + + return MessageIndex; //Total number of bytes } -I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, U8 debug) -{ - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; +I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 RowCount, HeaderType * HeaderData, + TRAJInfoType * TRAJInfoData, U8 debug) { + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; - bzero(MessageBuffer, COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH); + bzero(MessageBuffer, COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH); - HeaderData->SyncWordU16 = SYNC_WORD; - HeaderData->TransmitterIdU8 = 0; - HeaderData->MessageCounterU8 = 0; - HeaderData->AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - HeaderData->MessageIdU16 = COMMAND_DOTM_CODE; - HeaderData->MessageLengthU32 = COMMAND_DOTM_ROW_MESSAGE_LENGTH*RowCount + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; + HeaderData->SyncWordU16 = SYNC_WORD; + HeaderData->TransmitterIdU8 = 0; + HeaderData->MessageCounterU8 = 0; + HeaderData->AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + HeaderData->MessageIdU16 = COMMAND_DOTM_CODE; + HeaderData->MessageLengthU32 = + COMMAND_DOTM_ROW_MESSAGE_LENGTH * RowCount + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; - p=(C8 *)HeaderData; - for(i=0; i< COMMAND_MESSAGE_HEADER_LENGTH; i++) *(MessageBuffer + i) = *p++; + p = (C8 *) HeaderData; + for (i = 0; i < COMMAND_MESSAGE_HEADER_LENGTH; i++) + *(MessageBuffer + i) = *p++; - TRAJInfoData->TrajectoryIDValueIdU16 = VALUE_ID_TRAJECTORY_ID; - TRAJInfoData->TrajectoryIDContentLengthU16 = 2; + TRAJInfoData->TrajectoryIDValueIdU16 = VALUE_ID_TRAJECTORY_ID; + TRAJInfoData->TrajectoryIDContentLengthU16 = 2; - TRAJInfoData->TrajectoryNameValueIdU16 = VALUE_ID_TRAJECTORY_NAME; - TRAJInfoData->TrajectoryNameContentLengthU16 = 64; + TRAJInfoData->TrajectoryNameValueIdU16 = VALUE_ID_TRAJECTORY_NAME; + TRAJInfoData->TrajectoryNameContentLengthU16 = 64; - TRAJInfoData->TrajectoryVersionValueIdU16 = VALUE_ID_TRAJECTORY_VERSION; - TRAJInfoData->TrajectoryVersionContentLengthU16 = 2; + TRAJInfoData->TrajectoryVersionValueIdU16 = VALUE_ID_TRAJECTORY_VERSION; + TRAJInfoData->TrajectoryVersionContentLengthU16 = 2; - TRAJInfoData->IpAddressValueIdU16 = 0xA000; - TRAJInfoData->IpAddressContentLengthU16 = 4; + TRAJInfoData->IpAddressValueIdU16 = 0xA000; + TRAJInfoData->IpAddressContentLengthU16 = 4; - p=(C8 *)TRAJInfoData; - for(; i< COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; i++) *(MessageBuffer + i) = *p++; + p = (C8 *) TRAJInfoData; + for (; i < COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; i++) + *(MessageBuffer + i) = *p++; - MessageIndex = i; + MessageIndex = i; - if(debug) - { - // TODO: Change to log printout when byte thingy has been implemented - printf("Header + TRAJInfo total length = %d bytes\n", (int)(COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH)); - printf("----HEADER + TRAJInfo----\n"); - for(i = 0;i < sizeof(HeaderType) + sizeof(TRAJInfoType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - printf("DOTM message total length = %d bytes.\n", (int)HeaderData->MessageLengthU32); - printf("TrajectoryID = %d\n", TRAJInfoData->TrajectoryIDU16); - printf("TrajectoryName = %s\n", TRAJInfoData->TrajectoryNameC8); - printf("TrajectoryVersion = %d\n", TRAJInfoData->TrajectoryVersionU16); - printf("IpAddress = %d\n", TRAJInfoData->IpAddressU32); - printf("\n----MESSAGE----\n"); - } + if (debug) { + // TODO: Change to log printout when byte thingy has been implemented + printf("Header + TRAJInfo total length = %d bytes\n", + (int)(COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH)); + printf("----HEADER + TRAJInfo----\n"); + for (i = 0; i < sizeof (HeaderType) + sizeof (TRAJInfoType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + printf("DOTM message total length = %d bytes.\n", (int)HeaderData->MessageLengthU32); + printf("TrajectoryID = %d\n", TRAJInfoData->TrajectoryIDU16); + printf("TrajectoryName = %s\n", TRAJInfoData->TrajectoryNameC8); + printf("TrajectoryVersion = %d\n", TRAJInfoData->TrajectoryVersionU16); + printf("IpAddress = %d\n", TRAJInfoData->IpAddressU32); + printf("\n----MESSAGE----\n"); + } - return MessageIndex; //Total number of bytes = COMMAND_MESSAGE_HEADER_LENGTH + return MessageIndex; //Total number of bytes = COMMAND_MESSAGE_HEADER_LENGTH } -I32 ObjectControlSendDOTMMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug) -{ - FILE *fd; - fd = fopen (Filename, "r"); - if (fd == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", Filename); - return -1; - } - - UtilReadLineCntSpecChars(fd, TrajBuffer);//Read first line - int Rest = 0, i = 0, MessageLength = 0, SumMessageLength = 0, Modulo = 0, Transmissions = 0; - Transmissions = RowCount / COMMAND_DOTM_ROWS_IN_TRANSMISSION; - Rest = RowCount % COMMAND_DOTM_ROWS_IN_TRANSMISSION; - U16 CrcU16 = 0; - - for(i = 0; i < Transmissions; i ++) - { - MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, COMMAND_DOTM_ROWS_IN_TRANSMISSION, DOTMData, debug); - - if(i == Transmissions && Rest == 0) - { - TrajBuffer[MessageLength] = (U8)(CrcU16); - TrajBuffer[MessageLength+1] = (U8)(CrcU16 >> 8); - MessageLength = MessageLength + 2; - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); - SumMessageLength = SumMessageLength + MessageLength; - } - else - { - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); - SumMessageLength = SumMessageLength + MessageLength; - } - - if(debug) LogMessage(LOG_LEVEL_DEBUG,"Transmission %d: %d bytes sent", i, MessageLength); - } - - if(Rest > 0) - { - MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, Rest, DOTMData, debug); - TrajBuffer[MessageLength] = (U8)(CrcU16); - TrajBuffer[MessageLength+1] = (U8)(CrcU16 >> 8); - MessageLength = MessageLength + 2; - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); - SumMessageLength = SumMessageLength + MessageLength; - if(debug) LogMessage(LOG_LEVEL_DEBUG,"Transmission %d: %d bytes sent.\n", i, MessageLength); - } - - LogMessage(LOG_LEVEL_INFO,"%d DOTM bytes sent to %s:%d", SumMessageLength, IP, Port); - - fclose (fd); - - return 0; +I32 ObjectControlSendDOTMMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, + DOTMType * DOTMData, U8 debug) { + FILE *fd; + + fd = fopen(Filename, "r"); + if (fd == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", Filename); + return -1; + } + + UtilReadLineCntSpecChars(fd, TrajBuffer); //Read first line + int Rest = 0, i = 0, MessageLength = 0, SumMessageLength = 0, Modulo = 0, Transmissions = 0; + + Transmissions = RowCount / COMMAND_DOTM_ROWS_IN_TRANSMISSION; + Rest = RowCount % COMMAND_DOTM_ROWS_IN_TRANSMISSION; + U16 CrcU16 = 0; + + for (i = 0; i < Transmissions; i++) { + MessageLength = + ObjectControlBuildDOTMMessage(TrajBuffer, fd, COMMAND_DOTM_ROWS_IN_TRANSMISSION, DOTMData, debug); + + if (i == Transmissions && Rest == 0) { + TrajBuffer[MessageLength] = (U8) (CrcU16); + TrajBuffer[MessageLength + 1] = (U8) (CrcU16 >> 8); + MessageLength = MessageLength + 2; + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); + SumMessageLength = SumMessageLength + MessageLength; + } + else { + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); + SumMessageLength = SumMessageLength + MessageLength; + } + + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "Transmission %d: %d bytes sent", i, MessageLength); + } + + if (Rest > 0) { + MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, Rest, DOTMData, debug); + TrajBuffer[MessageLength] = (U8) (CrcU16); + TrajBuffer[MessageLength + 1] = (U8) (CrcU16 >> 8); + MessageLength = MessageLength + 2; + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, Socket, 0); + SumMessageLength = SumMessageLength + MessageLength; + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "Transmission %d: %d bytes sent.\n", i, MessageLength); + } + + LogMessage(LOG_LEVEL_INFO, "%d DOTM bytes sent to %s:%d", SumMessageLength, IP, Port); + + fclose(fd); + + return 0; } -I32 ObjectControlBuildDOTMMessage(C8* MessageBuffer, FILE *fd, I32 RowCount, DOTMType *DOTMData, U8 debug) -{ - I32 MessageIndex = 0; - C8 RowBuffer[100]; - C8 DataBuffer[20]; - dbl Data; - C8 *src, *p; - U16 Crc = 0; - - bzero(MessageBuffer, COMMAND_DOTM_ROW_MESSAGE_LENGTH*RowCount); - - I32 i = 0, j = 0, n = 0; - for(i = 0; i < RowCount; i++) - { - bzero(RowBuffer, 100); - UtilReadLineCntSpecChars(fd, RowBuffer); - - //Read to ';' in row = LINE;0.00;21.239000;39.045000;0.000000;-1.240001;0.029103;0.004005;0.000000;3;ENDLINE; - //Time - src = strchr(RowBuffer, ';'); - bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (U64)strchr(src+1, ';') - (U64)src - 1); - Data = atof(DataBuffer)*1e3; - DOTMData->RelativeTimeValueIdU16 = VALUE_ID_RELATIVE_TIME; - DOTMData->RelativeTimeContentLengthU16 = 4; - DOTMData->RelativeTimeU32 = (U32)Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //x - src = strchr(src + 1, ';'); - bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = atof(DataBuffer)*1e3; - DOTMData->XPositionValueIdU16 = VALUE_ID_X_POSITION; - DOTMData->XPositionContentLengthU16 = 4; - DOTMData->XPositionI32 = (I32)Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //y - src = strchr(src + 1, ';'); - bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = atof(DataBuffer)*1e3; - DOTMData->YPositionValueIdU16 = VALUE_ID_Y_POSITION; - DOTMData->YPositionContentLengthU16 = 4; - DOTMData->YPositionI32 = (I32)Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //z - src = strchr(src + 1, ';'); - bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = atof(DataBuffer)*1e3; - DOTMData->ZPositionValueIdU16 = VALUE_ID_Z_POSITION; - DOTMData->ZPositionContentLengthU16 = 4; - DOTMData->ZPositionI32 = (I32)Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //Heading - src = strchr(src + 1, ';'); - bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = UtilRadToDeg(atof(DataBuffer)); - Data = 450 - Data; //Turn heading back pi/2 - while(Data<0) Data+=360.0; - while(Data>360) Data-=360.0; - DOTMData->HeadingValueIdU16 = VALUE_ID_HEADING; - DOTMData->HeadingContentLengthU16 = 2; - DOTMData->HeadingU16 = (U16)(Data*1e2); - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //Longitudinal speed - src = strchr(src + 1, ';'); - bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = atof(DataBuffer)*1e2; - DOTMData->LongitudinalSpeedValueIdU16 = VALUE_ID_LONGITUDINAL_SPEED; - DOTMData->LongitudinalSpeedContentLengthU16 = 2; - DOTMData->LongitudinalSpeedI16 = (I16)Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //Lateral speed - //src = strchr(src + 1, ';'); - //bzero(DataBuffer, 20); - //strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - //Data = atof(DataBuffer)*1e2; - DOTMData->LateralSpeedValueIdU16 = VALUE_ID_LATERAL_SPEED; - DOTMData->LateralSpeedContentLengthU16 = 2; - DOTMData->LateralSpeedI16 = -32768; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //Longitudinal acceleration - src = strchr(src + 1, ';'); - bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = atof(DataBuffer)*1e3; - DOTMData->LongitudinalAccValueIdU16 = VALUE_ID_LONGITUDINAL_ACCELERATION; - DOTMData->LongitudinalAccContentLengthU16 = 2; - DOTMData->LongitudinalAccI16 = (I16)Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //Lateral acceleration - //src = strchr(src + 1, ';'); - //bzero(DataBuffer, 20); - //strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - //Data = atof(DataBuffer)*1e3; - DOTMData->LateralAccValueIdU16 = VALUE_ID_LATERAL_ACCELERATION; - DOTMData->LateralAccContentLengthU16 = 2; - DOTMData->LateralAccI16 = -32000; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - //Curvature - src = strchr(src + 1, ';'); - bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = atof(DataBuffer)*3e4; - DOTMData->CurvatureValueIdU16 = VALUE_ID_CURVATURE; - DOTMData->CurvatureContentLengthU16 = 4; - DOTMData->CurvatureI32 = (I32)Data; - - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); - - p=(C8 *)DOTMData; - for(j=0; j= 0 && (unsigned char)MessageBuffer[i] <= 15) printf("0"); - printf("%x-", (unsigned char)MessageBuffer[i]); - } - printf("\n"); - } - - return MessageIndex; //Total number of bytes +I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, DOTMType * DOTMData, U8 debug) { + I32 MessageIndex = 0; + C8 RowBuffer[100]; + C8 DataBuffer[20]; + dbl Data; + C8 *src, *p; + U16 Crc = 0; + + bzero(MessageBuffer, COMMAND_DOTM_ROW_MESSAGE_LENGTH * RowCount); + + I32 i = 0, j = 0, n = 0; + + for (i = 0; i < RowCount; i++) { + bzero(RowBuffer, 100); + UtilReadLineCntSpecChars(fd, RowBuffer); + + //Read to ';' in row = LINE;0.00;21.239000;39.045000;0.000000;-1.240001;0.029103;0.004005;0.000000;3;ENDLINE; + //Time + src = strchr(RowBuffer, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src + 1, (U64) strchr(src + 1, ';') - (U64) src - 1); + Data = atof(DataBuffer) * 1e3; + DOTMData->RelativeTimeValueIdU16 = VALUE_ID_RELATIVE_TIME; + DOTMData->RelativeTimeContentLengthU16 = 4; + DOTMData->RelativeTimeU32 = (U32) Data; + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //x + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = atof(DataBuffer) * 1e3; + DOTMData->XPositionValueIdU16 = VALUE_ID_X_POSITION; + DOTMData->XPositionContentLengthU16 = 4; + DOTMData->XPositionI32 = (I32) Data; + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //y + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = atof(DataBuffer) * 1e3; + DOTMData->YPositionValueIdU16 = VALUE_ID_Y_POSITION; + DOTMData->YPositionContentLengthU16 = 4; + DOTMData->YPositionI32 = (I32) Data; + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //z + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = atof(DataBuffer) * 1e3; + DOTMData->ZPositionValueIdU16 = VALUE_ID_Z_POSITION; + DOTMData->ZPositionContentLengthU16 = 4; + DOTMData->ZPositionI32 = (I32) Data; + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //Heading + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = UtilRadToDeg(atof(DataBuffer)); + Data = 450 - Data; //Turn heading back pi/2 + while (Data < 0) + Data += 360.0; + while (Data > 360) + Data -= 360.0; + DOTMData->HeadingValueIdU16 = VALUE_ID_HEADING; + DOTMData->HeadingContentLengthU16 = 2; + DOTMData->HeadingU16 = (U16) (Data * 1e2); + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //Longitudinal speed + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = atof(DataBuffer) * 1e2; + DOTMData->LongitudinalSpeedValueIdU16 = VALUE_ID_LONGITUDINAL_SPEED; + DOTMData->LongitudinalSpeedContentLengthU16 = 2; + DOTMData->LongitudinalSpeedI16 = (I16) Data; + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //Lateral speed + //src = strchr(src + 1, ';'); + //bzero(DataBuffer, 20); + //strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); + //Data = atof(DataBuffer)*1e2; + DOTMData->LateralSpeedValueIdU16 = VALUE_ID_LATERAL_SPEED; + DOTMData->LateralSpeedContentLengthU16 = 2; + DOTMData->LateralSpeedI16 = -32768; + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //Longitudinal acceleration + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = atof(DataBuffer) * 1e3; + DOTMData->LongitudinalAccValueIdU16 = VALUE_ID_LONGITUDINAL_ACCELERATION; + DOTMData->LongitudinalAccContentLengthU16 = 2; + DOTMData->LongitudinalAccI16 = (I16) Data; + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //Lateral acceleration + //src = strchr(src + 1, ';'); + //bzero(DataBuffer, 20); + //strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); + //Data = atof(DataBuffer)*1e3; + DOTMData->LateralAccValueIdU16 = VALUE_ID_LATERAL_ACCELERATION; + DOTMData->LateralAccContentLengthU16 = 2; + DOTMData->LateralAccI16 = -32000; + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + //Curvature + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = atof(DataBuffer) * 3e4; + DOTMData->CurvatureValueIdU16 = VALUE_ID_CURVATURE; + DOTMData->CurvatureContentLengthU16 = 4; + DOTMData->CurvatureI32 = (I32) Data; + + //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + + p = (C8 *) DOTMData; + for (j = 0; j < sizeof (DOTMType); j++, n++) + *(MessageBuffer + n) = *p++; + MessageIndex = n; + } + + + if (debug) { + int i = 0; + + for (i = 0; i < MessageIndex; i++) { + // TODO: Write to log when bytes thingy has been implemented + if ((unsigned char)MessageBuffer[i] >= 0 && (unsigned char)MessageBuffer[i] <= 15) + printf("0"); + printf("%x-", (unsigned char)MessageBuffer[i]); + } + printf("\n"); + } + + return MessageIndex; //Total number of bytes } -I32 ObjectControlBuildASPMessage(C8* MessageBuffer, ASPType *ASPData, U8 debug) -{ - I32 MessageIndex = 0, i; - C8 *p; +I32 ObjectControlBuildASPMessage(C8 * MessageBuffer, ASPType * ASPData, U8 debug) { + I32 MessageIndex = 0, i; + C8 *p; - bzero(MessageBuffer, ASP_MESSAGE_LENGTH); - p=(C8 *)ASPData; - for(i=0; i messageBuffer) messageSize = (U32)(ptr-messageBuffer); + if (ptr > messageBuffer) + messageSize = (U32) (ptr - messageBuffer); - if (messageSize - sizeof(isoACCM.header) - sizeof(isoACCM.footer) != isoACCM.header.MessageLengthU32) - LogMessage(LOG_LEVEL_WARNING, "ACCM message sent with invalid message length"); + if (messageSize - sizeof (isoACCM.header) - sizeof (isoACCM.footer) != isoACCM.header.MessageLengthU32) + LogMessage(LOG_LEVEL_WARNING, "ACCM message sent with invalid message length"); - UtilSendTCPData(MODULE_NAME, messageBuffer, (I32)messageSize, socket, 1); + UtilSendTCPData(MODULE_NAME, messageBuffer, (I32) messageSize, socket, 1); - return (I32)messageSize; + return (I32) messageSize; } /*! @@ -2213,98 +2313,101 @@ I32 ObjectControlSendACCMMessage(ACCMData *ACCM, I32 *socket, U8 debug) * \param debug Debug flag * \return Length of sent message */ -I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug) -{ - TRCMType isoTRCM; - C8 messageBuffer[sizeof(isoTRCM)]; - C8* ptr = messageBuffer; - U32 messageSize = 0; +I32 ObjectControlSendTRCMMessage(TRCMData * TRCM, I32 * socket, U8 debug) { + TRCMType isoTRCM; + C8 messageBuffer[sizeof (isoTRCM)]; + C8 *ptr = messageBuffer; + U32 messageSize = 0; - ObjectControlBuildTRCMMessage(TRCM, &isoTRCM, debug); + ObjectControlBuildTRCMMessage(TRCM, &isoTRCM, debug); - // Copy TRCM header to send buffer - memcpy(ptr, &isoTRCM.header.SyncWordU16, sizeof(isoTRCM.header.SyncWordU16)); - ptr += sizeof(isoTRCM.header.SyncWordU16); + // Copy TRCM header to send buffer + memcpy(ptr, &isoTRCM.header.SyncWordU16, sizeof (isoTRCM.header.SyncWordU16)); + ptr += sizeof (isoTRCM.header.SyncWordU16); - memcpy(ptr, &isoTRCM.header.TransmitterIdU8, sizeof(isoTRCM.header.TransmitterIdU8)); - ptr += sizeof(isoTRCM.header.TransmitterIdU8); + memcpy(ptr, &isoTRCM.header.TransmitterIdU8, sizeof (isoTRCM.header.TransmitterIdU8)); + ptr += sizeof (isoTRCM.header.TransmitterIdU8); - memcpy(ptr, &isoTRCM.header.MessageCounterU8, sizeof(isoTRCM.header.MessageCounterU8)); - ptr += sizeof(isoTRCM.header.MessageCounterU8); + memcpy(ptr, &isoTRCM.header.MessageCounterU8, sizeof (isoTRCM.header.MessageCounterU8)); + ptr += sizeof (isoTRCM.header.MessageCounterU8); - memcpy(ptr, &isoTRCM.header.AckReqProtVerU8, sizeof(isoTRCM.header.AckReqProtVerU8)); - ptr += sizeof(isoTRCM.header.AckReqProtVerU8); + memcpy(ptr, &isoTRCM.header.AckReqProtVerU8, sizeof (isoTRCM.header.AckReqProtVerU8)); + ptr += sizeof (isoTRCM.header.AckReqProtVerU8); - memcpy(ptr, &isoTRCM.header.MessageIdU16, sizeof(isoTRCM.header.MessageIdU16)); - ptr += sizeof(isoTRCM.header.MessageIdU16); + memcpy(ptr, &isoTRCM.header.MessageIdU16, sizeof (isoTRCM.header.MessageIdU16)); + ptr += sizeof (isoTRCM.header.MessageIdU16); - memcpy(ptr, &isoTRCM.header.MessageLengthU32, sizeof(isoTRCM.header.MessageLengthU32)); - ptr += sizeof(isoTRCM.header.MessageLengthU32); + memcpy(ptr, &isoTRCM.header.MessageLengthU32, sizeof (isoTRCM.header.MessageLengthU32)); + ptr += sizeof (isoTRCM.header.MessageLengthU32); - // Copy TRCM trigger ID to send buffer - memcpy(ptr, &isoTRCM.triggerIDValueID, sizeof(isoTRCM.triggerIDValueID)); - ptr += sizeof(isoTRCM.triggerIDValueID); + // Copy TRCM trigger ID to send buffer + memcpy(ptr, &isoTRCM.triggerIDValueID, sizeof (isoTRCM.triggerIDValueID)); + ptr += sizeof (isoTRCM.triggerIDValueID); - memcpy(ptr, &isoTRCM.triggerIDContentLength, sizeof(isoTRCM.triggerIDContentLength)); - ptr += sizeof(isoTRCM.triggerIDContentLength); + memcpy(ptr, &isoTRCM.triggerIDContentLength, sizeof (isoTRCM.triggerIDContentLength)); + ptr += sizeof (isoTRCM.triggerIDContentLength); - memcpy(ptr, &isoTRCM.triggerID, sizeof(isoTRCM.triggerID)); - ptr += sizeof(isoTRCM.triggerID); + memcpy(ptr, &isoTRCM.triggerID, sizeof (isoTRCM.triggerID)); + ptr += sizeof (isoTRCM.triggerID); - // Copy TRCM trigger type to send buffer - memcpy(ptr, &isoTRCM.triggerTypeValueID, sizeof(isoTRCM.triggerTypeValueID)); - ptr += sizeof(isoTRCM.triggerTypeValueID); + // Copy TRCM trigger type to send buffer + memcpy(ptr, &isoTRCM.triggerTypeValueID, sizeof (isoTRCM.triggerTypeValueID)); + ptr += sizeof (isoTRCM.triggerTypeValueID); - memcpy(ptr, &isoTRCM.triggerTypeContentLength, sizeof(isoTRCM.triggerTypeContentLength)); - ptr += sizeof(isoTRCM.triggerTypeContentLength); + memcpy(ptr, &isoTRCM.triggerTypeContentLength, sizeof (isoTRCM.triggerTypeContentLength)); + ptr += sizeof (isoTRCM.triggerTypeContentLength); - memcpy(ptr, &isoTRCM.triggerType, sizeof(isoTRCM.triggerType)); - ptr += sizeof(isoTRCM.triggerType); + memcpy(ptr, &isoTRCM.triggerType, sizeof (isoTRCM.triggerType)); + ptr += sizeof (isoTRCM.triggerType); - // Copy TRCM trigger parameter 1 to send buffer - memcpy(ptr, &isoTRCM.triggerTypeParameter1ValueID, sizeof(isoTRCM.triggerTypeParameter1ValueID)); - ptr += sizeof(isoTRCM.triggerTypeParameter1ValueID); + // Copy TRCM trigger parameter 1 to send buffer + memcpy(ptr, &isoTRCM.triggerTypeParameter1ValueID, sizeof (isoTRCM.triggerTypeParameter1ValueID)); + ptr += sizeof (isoTRCM.triggerTypeParameter1ValueID); - memcpy(ptr, &isoTRCM.triggerTypeParameter1ContentLength, sizeof(isoTRCM.triggerTypeParameter1ContentLength)); - ptr += sizeof(isoTRCM.triggerTypeParameter1ContentLength); + memcpy(ptr, &isoTRCM.triggerTypeParameter1ContentLength, + sizeof (isoTRCM.triggerTypeParameter1ContentLength)); + ptr += sizeof (isoTRCM.triggerTypeParameter1ContentLength); - memcpy(ptr, &isoTRCM.triggerTypeParameter1, sizeof(isoTRCM.triggerTypeParameter1)); - ptr += sizeof(isoTRCM.triggerTypeParameter1); + memcpy(ptr, &isoTRCM.triggerTypeParameter1, sizeof (isoTRCM.triggerTypeParameter1)); + ptr += sizeof (isoTRCM.triggerTypeParameter1); - // Copy TRCM trigger parameter 2 to send buffer - memcpy(ptr, &isoTRCM.triggerTypeParameter2ValueID, sizeof(isoTRCM.triggerTypeParameter2ValueID)); - ptr += sizeof(isoTRCM.triggerTypeParameter2ValueID); + // Copy TRCM trigger parameter 2 to send buffer + memcpy(ptr, &isoTRCM.triggerTypeParameter2ValueID, sizeof (isoTRCM.triggerTypeParameter2ValueID)); + ptr += sizeof (isoTRCM.triggerTypeParameter2ValueID); - memcpy(ptr, &isoTRCM.triggerTypeParameter2ContentLength, sizeof(isoTRCM.triggerTypeParameter2ContentLength)); - ptr += sizeof(isoTRCM.triggerTypeParameter2ContentLength); + memcpy(ptr, &isoTRCM.triggerTypeParameter2ContentLength, + sizeof (isoTRCM.triggerTypeParameter2ContentLength)); + ptr += sizeof (isoTRCM.triggerTypeParameter2ContentLength); - memcpy(ptr, &isoTRCM.triggerTypeParameter2, sizeof(isoTRCM.triggerTypeParameter2)); - ptr += sizeof(isoTRCM.triggerTypeParameter2); + memcpy(ptr, &isoTRCM.triggerTypeParameter2, sizeof (isoTRCM.triggerTypeParameter2)); + ptr += sizeof (isoTRCM.triggerTypeParameter2); - // Copy TRCM trigger parameter 3 to send buffer - memcpy(ptr, &isoTRCM.triggerTypeParameter3ValueID, sizeof(isoTRCM.triggerTypeParameter3ValueID)); - ptr += sizeof(isoTRCM.triggerTypeParameter3ValueID); + // Copy TRCM trigger parameter 3 to send buffer + memcpy(ptr, &isoTRCM.triggerTypeParameter3ValueID, sizeof (isoTRCM.triggerTypeParameter3ValueID)); + ptr += sizeof (isoTRCM.triggerTypeParameter3ValueID); - memcpy(ptr, &isoTRCM.triggerTypeParameter3ContentLength, sizeof(isoTRCM.triggerTypeParameter3ContentLength)); - ptr += sizeof(isoTRCM.triggerTypeParameter3ContentLength); + memcpy(ptr, &isoTRCM.triggerTypeParameter3ContentLength, + sizeof (isoTRCM.triggerTypeParameter3ContentLength)); + ptr += sizeof (isoTRCM.triggerTypeParameter3ContentLength); - memcpy(ptr, &isoTRCM.triggerTypeParameter3, sizeof(isoTRCM.triggerTypeParameter3)); - ptr += sizeof(isoTRCM.triggerTypeParameter3); + memcpy(ptr, &isoTRCM.triggerTypeParameter3, sizeof (isoTRCM.triggerTypeParameter3)); + ptr += sizeof (isoTRCM.triggerTypeParameter3); - // Copy TRCM footer to send buffer - memcpy(ptr, &isoTRCM.footer.Crc, sizeof(isoTRCM.footer.Crc)); - ptr += sizeof(isoTRCM.footer.Crc); + // Copy TRCM footer to send buffer + memcpy(ptr, &isoTRCM.footer.Crc, sizeof (isoTRCM.footer.Crc)); + ptr += sizeof (isoTRCM.footer.Crc); - if (ptr > messageBuffer) messageSize = (U32)(ptr-messageBuffer); + if (ptr > messageBuffer) + messageSize = (U32) (ptr - messageBuffer); - if (messageSize - sizeof(isoTRCM.header) - sizeof(isoTRCM.footer) != isoTRCM.header.MessageLengthU32) - LogMessage(LOG_LEVEL_WARNING, "TRCM message sent with invalid message length"); + if (messageSize - sizeof (isoTRCM.header) - sizeof (isoTRCM.footer) != isoTRCM.header.MessageLengthU32) + LogMessage(LOG_LEVEL_WARNING, "TRCM message sent with invalid message length"); - UtilSendTCPData(MODULE_NAME, messageBuffer, (I32)messageSize, socket, 0); + UtilSendTCPData(MODULE_NAME, messageBuffer, (I32) messageSize, socket, 0); - return (I32)messageSize; + return (I32) messageSize; } /*! @@ -2314,68 +2417,68 @@ I32 ObjectControlSendTRCMMessage(TRCMData *TRCM, I32 *socket, U8 debug) * \param debug Debug flag * \return Length of sent message */ -I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug) -{ - EXACType isoEXAC; - C8 messageBuffer[sizeof(isoEXAC)]; - C8* ptr = messageBuffer; - U32 messageSize = 0; +I32 ObjectControlSendEXACMessage(EXACData * EXAC, I32 * socket, U8 debug) { + EXACType isoEXAC; + C8 messageBuffer[sizeof (isoEXAC)]; + C8 *ptr = messageBuffer; + U32 messageSize = 0; - ObjectControlBuildEXACMessage(EXAC, &isoEXAC, debug); + ObjectControlBuildEXACMessage(EXAC, &isoEXAC, debug); - // Copy EXAC header to send buffer - memcpy(ptr, &isoEXAC.header.SyncWordU16, sizeof(isoEXAC.header.SyncWordU16)); - ptr += sizeof(isoEXAC.header.SyncWordU16); + // Copy EXAC header to send buffer + memcpy(ptr, &isoEXAC.header.SyncWordU16, sizeof (isoEXAC.header.SyncWordU16)); + ptr += sizeof (isoEXAC.header.SyncWordU16); - memcpy(ptr, &isoEXAC.header.TransmitterIdU8, sizeof(isoEXAC.header.TransmitterIdU8)); - ptr += sizeof(isoEXAC.header.TransmitterIdU8); + memcpy(ptr, &isoEXAC.header.TransmitterIdU8, sizeof (isoEXAC.header.TransmitterIdU8)); + ptr += sizeof (isoEXAC.header.TransmitterIdU8); - memcpy(ptr, &isoEXAC.header.MessageCounterU8, sizeof(isoEXAC.header.MessageCounterU8)); - ptr += sizeof(isoEXAC.header.MessageCounterU8); + memcpy(ptr, &isoEXAC.header.MessageCounterU8, sizeof (isoEXAC.header.MessageCounterU8)); + ptr += sizeof (isoEXAC.header.MessageCounterU8); - memcpy(ptr, &isoEXAC.header.AckReqProtVerU8, sizeof(isoEXAC.header.AckReqProtVerU8)); - ptr += sizeof(isoEXAC.header.AckReqProtVerU8); + memcpy(ptr, &isoEXAC.header.AckReqProtVerU8, sizeof (isoEXAC.header.AckReqProtVerU8)); + ptr += sizeof (isoEXAC.header.AckReqProtVerU8); - memcpy(ptr, &isoEXAC.header.MessageIdU16, sizeof(isoEXAC.header.MessageIdU16)); - ptr += sizeof(isoEXAC.header.MessageIdU16); + memcpy(ptr, &isoEXAC.header.MessageIdU16, sizeof (isoEXAC.header.MessageIdU16)); + ptr += sizeof (isoEXAC.header.MessageIdU16); - memcpy(ptr, &isoEXAC.header.MessageLengthU32, sizeof(isoEXAC.header.MessageLengthU32)); - ptr += sizeof(isoEXAC.header.MessageLengthU32); + memcpy(ptr, &isoEXAC.header.MessageLengthU32, sizeof (isoEXAC.header.MessageLengthU32)); + ptr += sizeof (isoEXAC.header.MessageLengthU32); - // Copy EXAC action ID to send buffer - memcpy(ptr, &isoEXAC.actionIDValueID, sizeof(isoEXAC.actionIDValueID)); - ptr += sizeof(isoEXAC.actionIDValueID); + // Copy EXAC action ID to send buffer + memcpy(ptr, &isoEXAC.actionIDValueID, sizeof (isoEXAC.actionIDValueID)); + ptr += sizeof (isoEXAC.actionIDValueID); - memcpy(ptr, &isoEXAC.actionIDContentLength, sizeof(isoEXAC.actionIDContentLength)); - ptr += sizeof(isoEXAC.actionIDContentLength); + memcpy(ptr, &isoEXAC.actionIDContentLength, sizeof (isoEXAC.actionIDContentLength)); + ptr += sizeof (isoEXAC.actionIDContentLength); - memcpy(ptr, &isoEXAC.actionID, sizeof(isoEXAC.actionID)); - ptr += sizeof(isoEXAC.actionID); + memcpy(ptr, &isoEXAC.actionID, sizeof (isoEXAC.actionID)); + ptr += sizeof (isoEXAC.actionID); - // Copy EXAC action execution time to send buffer - memcpy(ptr, &isoEXAC.executionTime_qmsoWValueID, sizeof(isoEXAC.executionTime_qmsoWValueID)); - ptr += sizeof(isoEXAC.executionTime_qmsoWValueID); + // Copy EXAC action execution time to send buffer + memcpy(ptr, &isoEXAC.executionTime_qmsoWValueID, sizeof (isoEXAC.executionTime_qmsoWValueID)); + ptr += sizeof (isoEXAC.executionTime_qmsoWValueID); - memcpy(ptr, &isoEXAC.executionTime_qmsoWContentLength, sizeof(isoEXAC.executionTime_qmsoWContentLength)); - ptr += sizeof(isoEXAC.executionTime_qmsoWContentLength); + memcpy(ptr, &isoEXAC.executionTime_qmsoWContentLength, sizeof (isoEXAC.executionTime_qmsoWContentLength)); + ptr += sizeof (isoEXAC.executionTime_qmsoWContentLength); - memcpy(ptr, &isoEXAC.executionTime_qmsoW, sizeof(isoEXAC.executionTime_qmsoW)); - ptr += sizeof(isoEXAC.executionTime_qmsoW); + memcpy(ptr, &isoEXAC.executionTime_qmsoW, sizeof (isoEXAC.executionTime_qmsoW)); + ptr += sizeof (isoEXAC.executionTime_qmsoW); - // Copy EXAC footer to send buffer - memcpy(ptr, &isoEXAC.footer.Crc, sizeof(isoEXAC.footer.Crc)); - ptr += sizeof(isoEXAC.footer.Crc); + // Copy EXAC footer to send buffer + memcpy(ptr, &isoEXAC.footer.Crc, sizeof (isoEXAC.footer.Crc)); + ptr += sizeof (isoEXAC.footer.Crc); - if (ptr > messageBuffer) messageSize = (U32)(ptr-messageBuffer); + if (ptr > messageBuffer) + messageSize = (U32) (ptr - messageBuffer); - if (messageSize - sizeof(isoEXAC.header) - sizeof(isoEXAC.footer) != isoEXAC.header.MessageLengthU32) - LogMessage(LOG_LEVEL_WARNING, "EXAC message sent with invalid message length"); + if (messageSize - sizeof (isoEXAC.header) - sizeof (isoEXAC.footer) != isoEXAC.header.MessageLengthU32) + LogMessage(LOG_LEVEL_WARNING, "EXAC message sent with invalid message length"); - UtilSendTCPData(MODULE_NAME, messageBuffer, (I32)messageSize, socket, 0); + UtilSendTCPData(MODULE_NAME, messageBuffer, (I32) messageSize, socket, 0); - return (I32)messageSize; + return (I32) messageSize; } @@ -2386,62 +2489,70 @@ I32 ObjectControlSendEXACMessage(EXACData *EXAC, I32 *socket, U8 debug) * \param debug Debug flag * \return Byte size of ACCM struct */ -I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug) -{ - // Header - ACCM->header.SyncWordU16 = SYNC_WORD; - ACCM->header.TransmitterIdU8 = 0; - ACCM->header.MessageCounterU8 = 0; - ACCM->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - ACCM->header.MessageIdU16 = COMMAND_ACCM_CODE; - ACCM->header.MessageLengthU32 = sizeof(ACCMType) - sizeof(HeaderType) - sizeof(FooterType); - - // Data fields - ACCM->actionID = mqACCMData->actionID; - ACCM->actionType = mqACCMData->actionType; - ACCM->actionTypeParameter1 = mqACCMData->actionTypeParameter1; - ACCM->actionTypeParameter2 = mqACCMData->actionTypeParameter2; - ACCM->actionTypeParameter3 = mqACCMData->actionTypeParameter3; - - // Value ID fields - ACCM->actionIDValueID = VALUE_ID_ACTION_ID; - ACCM->actionTypeValueID = VALUE_ID_ACTION_TYPE; - ACCM->actionTypeParameter1ValueID = VALUE_ID_ACTION_TYPE_PARAM1; - ACCM->actionTypeParameter2ValueID = VALUE_ID_ACTION_TYPE_PARAM2; - ACCM->actionTypeParameter3ValueID = VALUE_ID_ACTION_TYPE_PARAM3; - - // Content length fields - ACCM->actionIDContentLength = sizeof(ACCM->actionID); - ACCM->actionTypeContentLength = sizeof(ACCM->actionType); - ACCM->actionTypeParameter1ContentLength = sizeof(ACCM->actionTypeParameter1); - ACCM->actionTypeParameter2ContentLength = sizeof(ACCM->actionTypeParameter2); - ACCM->actionTypeParameter3ContentLength = sizeof(ACCM->actionTypeParameter3); - - // Header content length - ACCM->header.MessageLengthU32 = sizeof(ACCM->actionID) + sizeof(ACCM->actionType) - + sizeof(ACCM->actionTypeParameter1) + sizeof(ACCM->actionTypeParameter2) + sizeof(ACCM->actionTypeParameter3) - + sizeof(ACCM->actionIDValueID) + sizeof(ACCM->actionTypeValueID) - + sizeof(ACCM->actionTypeParameter1ValueID) + sizeof(ACCM->actionTypeParameter1ValueID) + sizeof(ACCM->actionTypeParameter3ValueID) - + sizeof(ACCM->actionIDContentLength) + sizeof(ACCM->actionTypeContentLength) - + sizeof(ACCM->actionTypeParameter1ContentLength) + sizeof(ACCM->actionTypeParameter1ContentLength) + sizeof(ACCM->actionTypeParameter3ContentLength); - - - // Footer (TODO) - ACCM->footer.Crc = 0; - - U32 messageLen = ACCM->header.MessageLengthU32 + sizeof(ACCM->footer.Crc) + sizeof(ACCM->header.SyncWordU16) + sizeof(ACCM->header.MessageIdU16) + sizeof(ACCM->header.AckReqProtVerU8) + sizeof(ACCM->header.TransmitterIdU8) + sizeof(ACCM->header.MessageCounterU8) + sizeof(ACCM->header.MessageLengthU32); - - if (debug) - { - LogPrint("ACCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", messageLen, - ACCM->actionIDValueID, ACCM->actionIDContentLength, ACCM->actionID, - ACCM->actionTypeValueID, ACCM->actionTypeContentLength, ACCM->actionType, - ACCM->actionTypeParameter1ValueID, ACCM->actionTypeParameter1ContentLength, ACCM->actionTypeParameter1, - ACCM->actionTypeParameter2ValueID, ACCM->actionTypeParameter2ContentLength, ACCM->actionTypeParameter2, - ACCM->actionTypeParameter3ValueID, ACCM->actionTypeParameter3ContentLength, ACCM->actionTypeParameter3); - } - - return (I32)messageLen; +I32 ObjectControlBuildACCMMessage(ACCMData * mqACCMData, ACCMType * ACCM, U8 debug) { + // Header + ACCM->header.SyncWordU16 = SYNC_WORD; + ACCM->header.TransmitterIdU8 = 0; + ACCM->header.MessageCounterU8 = 0; + ACCM->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + ACCM->header.MessageIdU16 = COMMAND_ACCM_CODE; + ACCM->header.MessageLengthU32 = sizeof (ACCMType) - sizeof (HeaderType) - sizeof (FooterType); + + // Data fields + ACCM->actionID = mqACCMData->actionID; + ACCM->actionType = mqACCMData->actionType; + ACCM->actionTypeParameter1 = mqACCMData->actionTypeParameter1; + ACCM->actionTypeParameter2 = mqACCMData->actionTypeParameter2; + ACCM->actionTypeParameter3 = mqACCMData->actionTypeParameter3; + + // Value ID fields + ACCM->actionIDValueID = VALUE_ID_ACTION_ID; + ACCM->actionTypeValueID = VALUE_ID_ACTION_TYPE; + ACCM->actionTypeParameter1ValueID = VALUE_ID_ACTION_TYPE_PARAM1; + ACCM->actionTypeParameter2ValueID = VALUE_ID_ACTION_TYPE_PARAM2; + ACCM->actionTypeParameter3ValueID = VALUE_ID_ACTION_TYPE_PARAM3; + + // Content length fields + ACCM->actionIDContentLength = sizeof (ACCM->actionID); + ACCM->actionTypeContentLength = sizeof (ACCM->actionType); + ACCM->actionTypeParameter1ContentLength = sizeof (ACCM->actionTypeParameter1); + ACCM->actionTypeParameter2ContentLength = sizeof (ACCM->actionTypeParameter2); + ACCM->actionTypeParameter3ContentLength = sizeof (ACCM->actionTypeParameter3); + + // Header content length + ACCM->header.MessageLengthU32 = sizeof (ACCM->actionID) + sizeof (ACCM->actionType) + + sizeof (ACCM->actionTypeParameter1) + sizeof (ACCM->actionTypeParameter2) + + sizeof (ACCM->actionTypeParameter3) + + sizeof (ACCM->actionIDValueID) + sizeof (ACCM->actionTypeValueID) + + sizeof (ACCM->actionTypeParameter1ValueID) + sizeof (ACCM->actionTypeParameter1ValueID) + + sizeof (ACCM->actionTypeParameter3ValueID) + + sizeof (ACCM->actionIDContentLength) + sizeof (ACCM->actionTypeContentLength) + + sizeof (ACCM->actionTypeParameter1ContentLength) + + sizeof (ACCM->actionTypeParameter1ContentLength) + sizeof (ACCM->actionTypeParameter3ContentLength); + + + // Footer (TODO) + ACCM->footer.Crc = 0; + + U32 messageLen = + ACCM->header.MessageLengthU32 + sizeof (ACCM->footer.Crc) + sizeof (ACCM->header.SyncWordU16) + + sizeof (ACCM->header.MessageIdU16) + sizeof (ACCM->header.AckReqProtVerU8) + + sizeof (ACCM->header.TransmitterIdU8) + sizeof (ACCM->header.MessageCounterU8) + + sizeof (ACCM->header.MessageLengthU32); + + if (debug) { + LogPrint + ("ACCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", + messageLen, ACCM->actionIDValueID, ACCM->actionIDContentLength, ACCM->actionID, + ACCM->actionTypeValueID, ACCM->actionTypeContentLength, ACCM->actionType, + ACCM->actionTypeParameter1ValueID, ACCM->actionTypeParameter1ContentLength, + ACCM->actionTypeParameter1, ACCM->actionTypeParameter2ValueID, + ACCM->actionTypeParameter2ContentLength, ACCM->actionTypeParameter2, + ACCM->actionTypeParameter3ValueID, ACCM->actionTypeParameter3ContentLength, + ACCM->actionTypeParameter3); + } + + return (I32) messageLen; } /*! @@ -2451,50 +2562,54 @@ I32 ObjectControlBuildACCMMessage(ACCMData *mqACCMData, ACCMType *ACCM, U8 debug * \param debug Debug flag * \return Byte size of EXAC struct */ -I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug) -{ - // TODO: Make system time follow GPS time (better) or pass the GSD pointer into here somehow - struct timeval systemTime; - TimeSetToCurrentSystemTime(&systemTime); - - // Header - EXAC->header.SyncWordU16 = SYNC_WORD; - EXAC->header.TransmitterIdU8 = 0; - EXAC->header.MessageCounterU8 = 0; - EXAC->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - EXAC->header.MessageIdU16 = COMMAND_EXAC_CODE; - - // Data fields - EXAC->actionID = mqEXACData->actionID; - EXAC->executionTime_qmsoW = mqEXACData->executionTime_qmsoW; - - // Value ID fields - EXAC->actionIDValueID = VALUE_ID_ACTION_ID; - EXAC->executionTime_qmsoWValueID = VALUE_ID_ACTION_EXECUTE_TIME; - - // Content length fields - EXAC->actionIDContentLength = sizeof(EXAC->actionID); - EXAC->executionTime_qmsoWContentLength = sizeof(EXAC->executionTime_qmsoW); - - - // Header message length - EXAC->header.MessageLengthU32 = sizeof(EXAC->actionID) + sizeof(EXAC->executionTime_qmsoW) - + sizeof(EXAC->actionIDValueID) + sizeof(EXAC->executionTime_qmsoWValueID) - + sizeof(EXAC->actionIDContentLength) + sizeof(EXAC->executionTime_qmsoWContentLength); - - // Footer (TODO) - EXAC->footer.Crc = 0; - - U32 messageLen = EXAC->header.MessageLengthU32 + sizeof(EXAC->footer.Crc) + sizeof(EXAC->header.SyncWordU16) + sizeof(EXAC->header.MessageIdU16) + sizeof(EXAC->header.AckReqProtVerU8) + sizeof(EXAC->header.TransmitterIdU8) + sizeof(EXAC->header.MessageCounterU8) + sizeof(EXAC->header.MessageLengthU32); - - if (debug) - { - LogPrint("EXAC (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", messageLen, - EXAC->actionIDValueID, EXAC->actionIDContentLength, EXAC->actionID, - EXAC->executionTime_qmsoWValueID, EXAC->executionTime_qmsoWContentLength, EXAC->executionTime_qmsoW); - } - - return (I32)messageLen; +I32 ObjectControlBuildEXACMessage(EXACData * mqEXACData, EXACType * EXAC, U8 debug) { + // TODO: Make system time follow GPS time (better) or pass the GSD pointer into here somehow + struct timeval systemTime; + + TimeSetToCurrentSystemTime(&systemTime); + + // Header + EXAC->header.SyncWordU16 = SYNC_WORD; + EXAC->header.TransmitterIdU8 = 0; + EXAC->header.MessageCounterU8 = 0; + EXAC->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + EXAC->header.MessageIdU16 = COMMAND_EXAC_CODE; + + // Data fields + EXAC->actionID = mqEXACData->actionID; + EXAC->executionTime_qmsoW = mqEXACData->executionTime_qmsoW; + + // Value ID fields + EXAC->actionIDValueID = VALUE_ID_ACTION_ID; + EXAC->executionTime_qmsoWValueID = VALUE_ID_ACTION_EXECUTE_TIME; + + // Content length fields + EXAC->actionIDContentLength = sizeof (EXAC->actionID); + EXAC->executionTime_qmsoWContentLength = sizeof (EXAC->executionTime_qmsoW); + + + // Header message length + EXAC->header.MessageLengthU32 = sizeof (EXAC->actionID) + sizeof (EXAC->executionTime_qmsoW) + + sizeof (EXAC->actionIDValueID) + sizeof (EXAC->executionTime_qmsoWValueID) + + sizeof (EXAC->actionIDContentLength) + sizeof (EXAC->executionTime_qmsoWContentLength); + + // Footer (TODO) + EXAC->footer.Crc = 0; + + U32 messageLen = + EXAC->header.MessageLengthU32 + sizeof (EXAC->footer.Crc) + sizeof (EXAC->header.SyncWordU16) + + sizeof (EXAC->header.MessageIdU16) + sizeof (EXAC->header.AckReqProtVerU8) + + sizeof (EXAC->header.TransmitterIdU8) + sizeof (EXAC->header.MessageCounterU8) + + sizeof (EXAC->header.MessageLengthU32); + + if (debug) { + LogPrint("EXAC (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", messageLen, + EXAC->actionIDValueID, EXAC->actionIDContentLength, EXAC->actionID, + EXAC->executionTime_qmsoWValueID, EXAC->executionTime_qmsoWContentLength, + EXAC->executionTime_qmsoW); + } + + return (I32) messageLen; } /*! @@ -2504,631 +2619,615 @@ I32 ObjectControlBuildEXACMessage(EXACData *mqEXACData, EXACType *EXAC, U8 debug * \param debug Debug flag * \return Byte size of TRCM struct */ -I32 ObjectControlBuildTRCMMessage(TRCMData *mqTRCMData, TRCMType *TRCM, U8 debug) -{ - // Header - TRCM->header.SyncWordU16 = SYNC_WORD; - TRCM->header.TransmitterIdU8 = 0; - TRCM->header.MessageCounterU8 = 0; - TRCM->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - TRCM->header.MessageIdU16 = COMMAND_TRCM_CODE; - - - // Data fields - TRCM->triggerID = mqTRCMData->triggerID; - TRCM->triggerType = mqTRCMData->triggerType; - TRCM->triggerTypeParameter1 = mqTRCMData->triggerTypeParameter1; - TRCM->triggerTypeParameter2 = mqTRCMData->triggerTypeParameter2; - TRCM->triggerTypeParameter3 = mqTRCMData->triggerTypeParameter3; - - // Value ID fields - TRCM->triggerIDValueID = VALUE_ID_TRIGGER_ID; - TRCM->triggerIDValueID = VALUE_ID_TRIGGER_TYPE; - TRCM->triggerTypeParameter1ValueID = VALUE_ID_TRIGGER_TYPE_PARAM1; - TRCM->triggerTypeParameter2ValueID = VALUE_ID_TRIGGER_TYPE_PARAM2; - TRCM->triggerTypeParameter3ValueID = VALUE_ID_TRIGGER_TYPE_PARAM3; - - // Content length fields - TRCM->triggerIDContentLength = sizeof(TRCM->triggerID); - TRCM->triggerTypeContentLength = sizeof(TRCM->triggerType); - TRCM->triggerTypeParameter1ContentLength = sizeof(TRCM->triggerTypeParameter1); - TRCM->triggerTypeParameter2ContentLength = sizeof(TRCM->triggerTypeParameter2); - TRCM->triggerTypeParameter3ContentLength = sizeof(TRCM->triggerTypeParameter3); - - - // Message length in header - TRCM->header.MessageLengthU32 = sizeof(TRCM->triggerID) + sizeof(TRCM->triggerType) - + sizeof(TRCM->triggerTypeParameter1) + sizeof(TRCM->triggerTypeParameter2) + sizeof(TRCM->triggerTypeParameter3) - + sizeof(TRCM->triggerIDValueID) + sizeof(TRCM->triggerTypeValueID) - + sizeof(TRCM->triggerTypeParameter1ValueID) + sizeof(TRCM->triggerTypeParameter1ValueID) + sizeof(TRCM->triggerTypeParameter3ValueID) - + sizeof(TRCM->triggerIDContentLength) + sizeof(TRCM->triggerTypeContentLength) - + sizeof(TRCM->triggerTypeParameter1ContentLength) + sizeof(TRCM->triggerTypeParameter1ContentLength) + sizeof(TRCM->triggerTypeParameter3ContentLength); - - - // Footer (TODO) - TRCM->footer.Crc = 0; - - U32 messageLen = TRCM->header.MessageLengthU32 + sizeof(TRCM->footer.Crc) + sizeof(TRCM->header.SyncWordU16) + sizeof(TRCM->header.MessageIdU16) + sizeof(TRCM->header.AckReqProtVerU8) + sizeof(TRCM->header.TransmitterIdU8) + sizeof(TRCM->header.MessageCounterU8) + sizeof(TRCM->header.MessageLengthU32); - if (debug) - { - LogPrint("TRCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", messageLen, - TRCM->triggerIDValueID, TRCM->triggerIDContentLength, TRCM->triggerID, - TRCM->triggerTypeValueID, TRCM->triggerTypeContentLength, TRCM->triggerType, - TRCM->triggerTypeParameter1ValueID, TRCM->triggerTypeParameter1ContentLength, TRCM->triggerTypeParameter1, - TRCM->triggerTypeParameter2ValueID, TRCM->triggerTypeParameter2ContentLength, TRCM->triggerTypeParameter2, - TRCM->triggerTypeParameter3ValueID, TRCM->triggerTypeParameter3ContentLength, TRCM->triggerTypeParameter3); - } - - return (I32)messageLen; +I32 ObjectControlBuildTRCMMessage(TRCMData * mqTRCMData, TRCMType * TRCM, U8 debug) { + // Header + TRCM->header.SyncWordU16 = SYNC_WORD; + TRCM->header.TransmitterIdU8 = 0; + TRCM->header.MessageCounterU8 = 0; + TRCM->header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + TRCM->header.MessageIdU16 = COMMAND_TRCM_CODE; + + + // Data fields + TRCM->triggerID = mqTRCMData->triggerID; + TRCM->triggerType = mqTRCMData->triggerType; + TRCM->triggerTypeParameter1 = mqTRCMData->triggerTypeParameter1; + TRCM->triggerTypeParameter2 = mqTRCMData->triggerTypeParameter2; + TRCM->triggerTypeParameter3 = mqTRCMData->triggerTypeParameter3; + + // Value ID fields + TRCM->triggerIDValueID = VALUE_ID_TRIGGER_ID; + TRCM->triggerIDValueID = VALUE_ID_TRIGGER_TYPE; + TRCM->triggerTypeParameter1ValueID = VALUE_ID_TRIGGER_TYPE_PARAM1; + TRCM->triggerTypeParameter2ValueID = VALUE_ID_TRIGGER_TYPE_PARAM2; + TRCM->triggerTypeParameter3ValueID = VALUE_ID_TRIGGER_TYPE_PARAM3; + + // Content length fields + TRCM->triggerIDContentLength = sizeof (TRCM->triggerID); + TRCM->triggerTypeContentLength = sizeof (TRCM->triggerType); + TRCM->triggerTypeParameter1ContentLength = sizeof (TRCM->triggerTypeParameter1); + TRCM->triggerTypeParameter2ContentLength = sizeof (TRCM->triggerTypeParameter2); + TRCM->triggerTypeParameter3ContentLength = sizeof (TRCM->triggerTypeParameter3); + + + // Message length in header + TRCM->header.MessageLengthU32 = sizeof (TRCM->triggerID) + sizeof (TRCM->triggerType) + + sizeof (TRCM->triggerTypeParameter1) + sizeof (TRCM->triggerTypeParameter2) + + sizeof (TRCM->triggerTypeParameter3) + + sizeof (TRCM->triggerIDValueID) + sizeof (TRCM->triggerTypeValueID) + + sizeof (TRCM->triggerTypeParameter1ValueID) + sizeof (TRCM->triggerTypeParameter1ValueID) + + sizeof (TRCM->triggerTypeParameter3ValueID) + + sizeof (TRCM->triggerIDContentLength) + sizeof (TRCM->triggerTypeContentLength) + + sizeof (TRCM->triggerTypeParameter1ContentLength) + + sizeof (TRCM->triggerTypeParameter1ContentLength) + sizeof (TRCM->triggerTypeParameter3ContentLength); + + + // Footer (TODO) + TRCM->footer.Crc = 0; + + U32 messageLen = + TRCM->header.MessageLengthU32 + sizeof (TRCM->footer.Crc) + sizeof (TRCM->header.SyncWordU16) + + sizeof (TRCM->header.MessageIdU16) + sizeof (TRCM->header.AckReqProtVerU8) + + sizeof (TRCM->header.TransmitterIdU8) + sizeof (TRCM->header.MessageCounterU8) + + sizeof (TRCM->header.MessageLengthU32); + if (debug) { + LogPrint + ("TRCM (%u bytes):\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x\n\t%#x-%#x-%#x", + messageLen, TRCM->triggerIDValueID, TRCM->triggerIDContentLength, TRCM->triggerID, + TRCM->triggerTypeValueID, TRCM->triggerTypeContentLength, TRCM->triggerType, + TRCM->triggerTypeParameter1ValueID, TRCM->triggerTypeParameter1ContentLength, + TRCM->triggerTypeParameter1, TRCM->triggerTypeParameter2ValueID, + TRCM->triggerTypeParameter2ContentLength, TRCM->triggerTypeParameter2, + TRCM->triggerTypeParameter3ValueID, TRCM->triggerTypeParameter3ContentLength, + TRCM->triggerTypeParameter3); + } + + return (I32) messageLen; } -I32 ObjectControlSendDTMMessage(C8 *DTMData, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug) -{ +I32 ObjectControlSendDTMMessage(C8 * DTMData, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, + DOTMType * DOTMData, U8 debug) { - U32 Rest = 0, i = 0, MessageLength = 0, SumMessageLength = 0, Modulo = 0, Transmissions = 0; - U16 CrcU16 = 0; + U32 Rest = 0, i = 0, MessageLength = 0, SumMessageLength = 0, Modulo = 0, Transmissions = 0; + U16 CrcU16 = 0; - MessageLength = ObjectControlBuildDTMMessage(TrajBuffer, DTMData, COMMAND_DOTM_ROWS_IN_TRANSMISSION, DOTMData, 0); + MessageLength = + ObjectControlBuildDTMMessage(TrajBuffer, DTMData, COMMAND_DOTM_ROWS_IN_TRANSMISSION, DOTMData, 0); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"Transmission %d: %d bytes sent", i, MessageLength); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "Transmission %d: %d bytes sent", i, MessageLength); - LogMessage(LOG_LEVEL_INFO,"%d DTM bytes sent to %s:%d", SumMessageLength, IP, Port); + LogMessage(LOG_LEVEL_INFO, "%d DTM bytes sent to %s:%d", SumMessageLength, IP, Port); - return 0; + return 0; } -I32 ObjectControlBuildDTMMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug) -{ - I32 MessageIndex = 0; - U32 Data; - C8 *src, *p; - U16 Crc = 0; - - bzero(MessageBuffer, COMMAND_DOTM_ROW_MESSAGE_LENGTH*RowCount); - - I32 i = 0, j = 0, n = 0; - for(i = 0; i < RowCount; i++) - { - if(debug) LogMessage(LOG_LEVEL_DEBUG,"DOTM row:"); - //Time - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 3); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 2); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 1); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 0); - DOTMData->RelativeTimeValueIdU16 = VALUE_ID_RELATIVE_TIME; - DOTMData->RelativeTimeContentLengthU16 = 4; - DOTMData->RelativeTimeU32 = SwapU32((U32)Data); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"Time=%d", DOTMData->RelativeTimeU32); - - //x - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 7); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 6); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 5); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 4); - DOTMData->XPositionValueIdU16 = VALUE_ID_X_POSITION; - DOTMData->XPositionContentLengthU16 = 4; - DOTMData->XPositionI32 = SwapI32((I32)Data); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"X=%d", DOTMData->XPositionI32); - - //y - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 11); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 10); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 9); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 8); - DOTMData->YPositionValueIdU16 = VALUE_ID_Y_POSITION; - DOTMData->YPositionContentLengthU16 = 4; - DOTMData->YPositionI32 = SwapI32((I32)Data); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"Y=%d", DOTMData->YPositionI32); - - //z - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 15); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 14); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 13); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 12); - DOTMData->ZPositionValueIdU16 = VALUE_ID_Z_POSITION; - DOTMData->ZPositionContentLengthU16 = 4; - DOTMData->ZPositionI32 = SwapI32((I32)Data); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"Z=%d", DOTMData->ZPositionI32); - - //Heading - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 17); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 16); - //Data = UtilRadToDeg(Data); - //Data = 4500 - Data; //Turn heading back pi/2 - //while(Data<0) Data+=360.0; - //while(Data>3600) Data-=360.0; - DOTMData->HeadingValueIdU16 = VALUE_ID_HEADING; - DOTMData->HeadingContentLengthU16 = 2; - DOTMData->HeadingU16 = SwapU16((U16)(Data)); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"Heading=%d", DOTMData->HeadingU16); - - //Longitudinal speed - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 19); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 18); - DOTMData->LongitudinalSpeedValueIdU16 = VALUE_ID_LONGITUDINAL_SPEED; - DOTMData->LongitudinalSpeedContentLengthU16 = 2; - DOTMData->LongitudinalSpeedI16 = SwapI16((I16)Data); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"LongitudinalSpeedI16=%d", DOTMData->LongitudinalSpeedI16); - - //Lateral speed - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 21); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 20); - DOTMData->LateralSpeedValueIdU16 = VALUE_ID_LATERAL_SPEED; - DOTMData->LateralSpeedContentLengthU16 = 2; - DOTMData->LateralSpeedI16 = SwapI16((I16)Data); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"LateralSpeedI16=%d", DOTMData->LateralSpeedI16); - - //Longitudinal acceleration - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 23); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 22); - DOTMData->LongitudinalAccValueIdU16 = VALUE_ID_LONGITUDINAL_ACCELERATION; - DOTMData->LongitudinalAccContentLengthU16 = 2; - DOTMData->LongitudinalAccI16 = SwapI16((I16)Data); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"LongitudinalAccI16=%d", DOTMData->LongitudinalAccI16); - - //Lateral acceleration - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 25); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 24); - DOTMData->LateralAccValueIdU16 = VALUE_ID_LATERAL_ACCELERATION; - DOTMData->LateralAccContentLengthU16 = 2; - DOTMData->LateralAccI16 = SwapI16((I16)Data); - if(debug) LogMessage(LOG_LEVEL_DEBUG,"LateralAccI16=%d", DOTMData->LateralAccI16); - - //Curvature - Data = 0; - Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 29); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 28); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 27); - Data = (Data<<8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW*i + 26); - DOTMData->CurvatureValueIdU16 = VALUE_ID_CURVATURE; - DOTMData->CurvatureContentLengthU16 = 4; - DOTMData->CurvatureI32 = SwapI32((I32)Data); - if(debug) printf("CurvatureI32=%d \n", DOTMData->CurvatureI32); - - p=(C8 *)DOTMData; - for(j=0; j> 8); - - - if(debug) - { - int i = 0; - for(i = 0; i < MessageIndex; i ++) - { - // TODO: Write to log when bytes thingy has been implemented - if((unsigned char)MessageBuffer[i] >= 0 && (unsigned char)MessageBuffer[i] <= 15) printf("0"); - printf("%x-", (unsigned char)MessageBuffer[i]); - } - printf("\n"); - } - - return MessageIndex; //Total number of bytes +I32 ObjectControlBuildDTMMessage(C8 * MessageBuffer, C8 * DTMData, I32 RowCount, DOTMType * DOTMData, + U8 debug) { + I32 MessageIndex = 0; + U32 Data; + C8 *src, *p; + U16 Crc = 0; + + bzero(MessageBuffer, COMMAND_DOTM_ROW_MESSAGE_LENGTH * RowCount); + + I32 i = 0, j = 0, n = 0; + + for (i = 0; i < RowCount; i++) { + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "DOTM row:"); + //Time + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 3); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 2); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 1); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 0); + DOTMData->RelativeTimeValueIdU16 = VALUE_ID_RELATIVE_TIME; + DOTMData->RelativeTimeContentLengthU16 = 4; + DOTMData->RelativeTimeU32 = SwapU32((U32) Data); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "Time=%d", DOTMData->RelativeTimeU32); + + //x + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 7); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 6); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 5); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 4); + DOTMData->XPositionValueIdU16 = VALUE_ID_X_POSITION; + DOTMData->XPositionContentLengthU16 = 4; + DOTMData->XPositionI32 = SwapI32((I32) Data); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "X=%d", DOTMData->XPositionI32); + + //y + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 11); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 10); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 9); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 8); + DOTMData->YPositionValueIdU16 = VALUE_ID_Y_POSITION; + DOTMData->YPositionContentLengthU16 = 4; + DOTMData->YPositionI32 = SwapI32((I32) Data); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "Y=%d", DOTMData->YPositionI32); + + //z + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 15); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 14); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 13); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 12); + DOTMData->ZPositionValueIdU16 = VALUE_ID_Z_POSITION; + DOTMData->ZPositionContentLengthU16 = 4; + DOTMData->ZPositionI32 = SwapI32((I32) Data); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "Z=%d", DOTMData->ZPositionI32); + + //Heading + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 17); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 16); + //Data = UtilRadToDeg(Data); + //Data = 4500 - Data; //Turn heading back pi/2 + //while(Data<0) Data+=360.0; + //while(Data>3600) Data-=360.0; + DOTMData->HeadingValueIdU16 = VALUE_ID_HEADING; + DOTMData->HeadingContentLengthU16 = 2; + DOTMData->HeadingU16 = SwapU16((U16) (Data)); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "Heading=%d", DOTMData->HeadingU16); + + //Longitudinal speed + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 19); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 18); + DOTMData->LongitudinalSpeedValueIdU16 = VALUE_ID_LONGITUDINAL_SPEED; + DOTMData->LongitudinalSpeedContentLengthU16 = 2; + DOTMData->LongitudinalSpeedI16 = SwapI16((I16) Data); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "LongitudinalSpeedI16=%d", DOTMData->LongitudinalSpeedI16); + + //Lateral speed + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 21); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 20); + DOTMData->LateralSpeedValueIdU16 = VALUE_ID_LATERAL_SPEED; + DOTMData->LateralSpeedContentLengthU16 = 2; + DOTMData->LateralSpeedI16 = SwapI16((I16) Data); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "LateralSpeedI16=%d", DOTMData->LateralSpeedI16); + + //Longitudinal acceleration + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 23); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 22); + DOTMData->LongitudinalAccValueIdU16 = VALUE_ID_LONGITUDINAL_ACCELERATION; + DOTMData->LongitudinalAccContentLengthU16 = 2; + DOTMData->LongitudinalAccI16 = SwapI16((I16) Data); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "LongitudinalAccI16=%d", DOTMData->LongitudinalAccI16); + + //Lateral acceleration + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 25); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 24); + DOTMData->LateralAccValueIdU16 = VALUE_ID_LATERAL_ACCELERATION; + DOTMData->LateralAccContentLengthU16 = 2; + DOTMData->LateralAccI16 = SwapI16((I16) Data); + if (debug) + LogMessage(LOG_LEVEL_DEBUG, "LateralAccI16=%d", DOTMData->LateralAccI16); + + //Curvature + Data = 0; + Data = *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 29); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 28); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 27); + Data = (Data << 8) | *(DTMData + COMMAND_DTM_BYTES_IN_ROW * i + 26); + DOTMData->CurvatureValueIdU16 = VALUE_ID_CURVATURE; + DOTMData->CurvatureContentLengthU16 = 4; + DOTMData->CurvatureI32 = SwapI32((I32) Data); + if (debug) + printf("CurvatureI32=%d \n", DOTMData->CurvatureI32); + + p = (C8 *) DOTMData; + for (j = 0; j < sizeof (DOTMType); j++, n++) + *(MessageBuffer + n) = *p++; + MessageIndex = n; + } + + + Crc = crc_16((const C8 *)MessageBuffer, sizeof (DOTMType)); + Crc = 0; + *(MessageBuffer + MessageIndex++) = (U8) (Crc); + *(MessageBuffer + MessageIndex++) = (U8) (Crc >> 8); + + + if (debug) { + int i = 0; + + for (i = 0; i < MessageIndex; i++) { + // TODO: Write to log when bytes thingy has been implemented + if ((unsigned char)MessageBuffer[i] >= 0 && (unsigned char)MessageBuffer[i] <= 15) + printf("0"); + printf("%x-", (unsigned char)MessageBuffer[i]); + } + printf("\n"); + } + + return MessageIndex; //Total number of bytes } -static int iGetObjectIndexFromObjectIP(in_addr_t ipAddr, in_addr_t objectIPs[], unsigned int numberOfObjects) -{ - for (unsigned int i = 0; i < numberOfObjects; ++i) { - if (objectIPs[i] == ipAddr) - return (int)i; - } - return -1; +static int iGetObjectIndexFromObjectIP(in_addr_t ipAddr, in_addr_t objectIPs[], unsigned int numberOfObjects) { + for (unsigned int i = 0; i < numberOfObjects; ++i) { + if (objectIPs[i] == ipAddr) + return (int)i; + } + return -1; } -static I32 vConnectObject(int* sockfd, const char* name, const uint32_t port, U8 *Disconnect) -{ - struct sockaddr_in serv_addr; - struct hostent *server; +static I32 vConnectObject(int *sockfd, const char *name, const uint32_t port, U8 * Disconnect) { + struct sockaddr_in serv_addr; + struct hostent *server; - char buffer[256]; - int iResult; + char buffer[256]; + int iResult; - *sockfd = socket(AF_INET, SOCK_STREAM, 0); + *sockfd = socket(AF_INET, SOCK_STREAM, 0); - if (*sockfd < 0) - { - util_error("[ObjectControl] ERR: Failed to open control socket"); - } + if (*sockfd < 0) { + util_error("[ObjectControl] ERR: Failed to open control socket"); + } - server = gethostbyname(name); - if (server == NULL) - { - util_error("[ObjectControl] ERR: Unknown host "); - } + server = gethostbyname(name); + if (server == NULL) { + util_error("[ObjectControl] ERR: Unknown host "); + } - bzero((char *) &serv_addr, sizeof(serv_addr)); - serv_addr.sin_family = AF_INET; + bzero((char *)&serv_addr, sizeof (serv_addr)); + serv_addr.sin_family = AF_INET; - bcopy((char *) server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); - serv_addr.sin_port = htons(port); + bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); + serv_addr.sin_port = htons(port); - LogMessage(LOG_LEVEL_INFO,"Attempting to connect to socket: %s %i",name,port); + LogMessage(LOG_LEVEL_INFO, "Attempting to connect to socket: %s %i", name, port); - // do - { - iResult = connect(*sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)); + // do + { + iResult = connect(*sockfd, (struct sockaddr *)&serv_addr, sizeof (serv_addr)); - /*if ( iResult < 0) - { - if(errno == ECONNREFUSED) - { - printf("WARNiNG: Was not able to connect to object, [IP: %s] [PORT: %d], %d retry in 3 sec...\n",name,port, *Disconnect); - fflush(stdout); - (void)sleep(3); - } - else - { - util_error("ERR: Failed to connect to control socket"); - }*/ - } - //} while(iResult < 0 && *Disconnect == 0); + /*if ( iResult < 0) + { + if(errno == ECONNREFUSED) + { + printf("WARNiNG: Was not able to connect to object, [IP: %s] [PORT: %d], %d retry in 3 sec...\n",name,port, *Disconnect); + fflush(stdout); + (void)sleep(3); + } + else + { + util_error("ERR: Failed to connect to control socket"); + } */ + } + //} while(iResult < 0 && *Disconnect == 0); - LogMessage(LOG_LEVEL_INFO,"Connected to command socket: %s %i",name,port); - // Enable polling of status to detect remote disconnect - fcntl(*sockfd, F_SETFL, O_NONBLOCK); + LogMessage(LOG_LEVEL_INFO, "Connected to command socket: %s %i", name, port); + // Enable polling of status to detect remote disconnect + fcntl(*sockfd, F_SETFL, O_NONBLOCK); - return iResult; + return iResult; } -static void vDisconnectObject(int* sockfd) -{ - close(*sockfd); +static void vDisconnectObject(int *sockfd) { + close(*sockfd); } -static void vCreateSafetyChannel(const char* name, const uint32_t port, int* sockfd, struct sockaddr_in* addr) -{ - int result; - struct hostent *object; +static void vCreateSafetyChannel(const char *name, const uint32_t port, int *sockfd, struct sockaddr_in *addr) { + int result; + struct hostent *object; - /* Connect to object safety socket */ - LogMessage(LOG_LEVEL_DEBUG,"Creating safety socket"); + /* Connect to object safety socket */ + LogMessage(LOG_LEVEL_DEBUG, "Creating safety socket"); - *sockfd= socket(AF_INET, SOCK_DGRAM, 0); - if (*sockfd < 0) - { - util_error("ERR: Failed to connect to monitor socket"); - } + *sockfd = socket(AF_INET, SOCK_DGRAM, 0); + if (*sockfd < 0) { + util_error("ERR: Failed to connect to monitor socket"); + } - /* Set address to object */ - object = gethostbyname(name); + /* Set address to object */ + object = gethostbyname(name); - if (object==0) - { - util_error("ERR: Unknown host"); - } + if (object == 0) { + util_error("ERR: Unknown host"); + } - bcopy((char *) object->h_addr, (char *)&addr->sin_addr.s_addr, object->h_length); - addr->sin_family = AF_INET; - addr->sin_port = htons(port); + bcopy((char *)object->h_addr, (char *)&addr->sin_addr.s_addr, object->h_length); + addr->sin_family = AF_INET; + addr->sin_port = htons(port); - /* set socket to non-blocking */ - result = fcntl(*sockfd, F_SETFL, - fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); - if (result < 0) - { - util_error("ERR: calling fcntl"); - } + /* set socket to non-blocking */ + result = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); + if (result < 0) { + util_error("ERR: calling fcntl"); + } - LogMessage(LOG_LEVEL_INFO,"Created socket and safety address: %s:%d",name,port); + LogMessage(LOG_LEVEL_INFO, "Created socket and safety address: %s:%d", name, port); } -static void vCloseSafetyChannel(int* sockfd) -{ - close(*sockfd); +static void vCloseSafetyChannel(int *sockfd) { + close(*sockfd); } -static I32 vCheckRemoteDisconnected(int* sockfd) -{ - char dummy; - ssize_t x = recv(*sockfd, &dummy, 1, MSG_PEEK); - - // Remote has disconnected: EOF => x=0 - if (x == 0) - { - return 1; - } - - if (x == -1) - { - // Everything is normal - no communication has been received - if (errno == EAGAIN || errno == EWOULDBLOCK) return 0; - - // Other error occurred - LogMessage(LOG_LEVEL_WARNING,"Error when checking connection status"); - return 1; - } - - // Something has been received on socket - if (x > 0) - { - LogMessage(LOG_LEVEL_INFO,"Received unexpected communication from object on command channel"); - return 0; - } - - return 1; +static I32 vCheckRemoteDisconnected(int *sockfd) { + char dummy; + ssize_t x = recv(*sockfd, &dummy, 1, MSG_PEEK); + + // Remote has disconnected: EOF => x=0 + if (x == 0) { + return 1; + } + + if (x == -1) { + // Everything is normal - no communication has been received + if (errno == EAGAIN || errno == EWOULDBLOCK) + return 0; + + // Other error occurred + LogMessage(LOG_LEVEL_WARNING, "Error when checking connection status"); + return 1; + } + + // Something has been received on socket + if (x > 0) { + LogMessage(LOG_LEVEL_INFO, "Received unexpected communication from object on command channel"); + return 0; + } + + return 1; } -int ObjectControlSendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendData, int Length, char debug) -{ - ssize_t result; +int ObjectControlSendUDPData(int *sockfd, struct sockaddr_in *addr, char *SendData, int Length, char debug) { + ssize_t result; + + // TODO: Change to log write when bytes thingy has been implemented + if (debug) { + printf("Bytes sent: "); + int i = 0; - // TODO: Change to log write when bytes thingy has been implemented - if(debug){ printf("Bytes sent: "); int i = 0; for(i = 0; i < Length; i++) printf("%x-", (unsigned char)*(SendData+i)); printf("\n");} + for (i = 0; i < Length; i++) + printf("%x-", (unsigned char)*(SendData + i)); + printf("\n"); + } - result = sendto(*sockfd, SendData, Length, 0, (const struct sockaddr *) addr, sizeof(struct sockaddr_in)); + result = sendto(*sockfd, SendData, Length, 0, (const struct sockaddr *)addr, sizeof (struct sockaddr_in)); - if (result < 0) - { - util_error("ERR: Failed to send on monitor socket"); - } + if (result < 0) { + util_error("ERR: Failed to send on monitor socket"); + } - return 0; + return 0; } -static size_t uiRecvMonitor(int* sockfd, char* buffer, size_t length) -{ - ssize_t result = 0; - size_t recvDataSize = 0; - - // Read until receive buffer is empty, return last read message - do - { - result = recv(*sockfd, buffer, length, 0); - - if (result < 0) - { - if(errno != EAGAIN && errno != EWOULDBLOCK) - { - util_error("Failed to receive from monitor socket"); - } - } - else - { - recvDataSize = (size_t)(result); - LogMessage(LOG_LEVEL_DEBUG,"Received: <%s>",buffer); - } - } while(result > 0 ); - - return recvDataSize; +static size_t uiRecvMonitor(int *sockfd, char *buffer, size_t length) { + ssize_t result = 0; + size_t recvDataSize = 0; + + // Read until receive buffer is empty, return last read message + do { + result = recv(*sockfd, buffer, length, 0); + + if (result < 0) { + if (errno != EAGAIN && errno != EWOULDBLOCK) { + util_error("Failed to receive from monitor socket"); + } + } + else { + recvDataSize = (size_t) (result); + LogMessage(LOG_LEVEL_DEBUG, "Received: <%s>", buffer); + } + } while (result > 0); + + return recvDataSize; } -void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], in_addr_t objectIPs[MAX_OBJECTS], I32 *nbr_objects) -{ - DIR* traj_directory; - struct dirent *directory_entry; - int iForceObjectToLocalhost; - struct sockaddr_in sockaddr; - int result; - char trajPathDir[MAX_FILE_PATH]; - UtilGetTrajDirectoryPath(trajPathDir, sizeof(trajPathDir)); - - iForceObjectToLocalhost = 0; - - traj_directory = opendir(trajPathDir); - if(traj_directory == NULL) - { - util_error("ERR: Failed to open trajectory directory"); - } - - (void)iUtilGetIntParaConfFile("ForceObjectToLocalhost",&iForceObjectToLocalhost); - - while ((directory_entry = readdir(traj_directory)) && ((*nbr_objects) < MAX_OBJECTS)) - { - - /* Check so it's not . or .. */ - if (strncmp(directory_entry->d_name,".",1) && (strstr(directory_entry->d_name, "sync") == NULL) ) - { - bzero(object_address_name[(*nbr_objects)],MAX_FILE_PATH); - - bzero(object_traj_file[(*nbr_objects)],MAX_FILE_PATH); - (void)strcat(object_traj_file[(*nbr_objects)],trajPathDir); - (void)strcat(object_traj_file[(*nbr_objects)],directory_entry->d_name); - - if(0 == iForceObjectToLocalhost) - { - (void)strncat(object_address_name[(*nbr_objects)],directory_entry->d_name,strlen(directory_entry->d_name)); - result = inet_pton(AF_INET,object_address_name[*nbr_objects],&sockaddr.sin_addr); - if (result == -1) - { - LogMessage(LOG_LEVEL_ERROR,"Invalid address family"); - continue; - } - else if (result == 0) - { - LogMessage(LOG_LEVEL_WARNING,"Address <%s> is not a valid IPv4 address",object_address_name[*nbr_objects]); - continue; - } - else - objectIPs[*nbr_objects] = sockaddr.sin_addr.s_addr; - } - else - { - if(USE_TEST_HOST == 0) (void)strcat(object_address_name[(*nbr_objects)],LOCALHOST); - else if (USE_TEST_HOST == 1)(void)strcat(object_address_name[(*nbr_objects)],TESTHOST_IP); - - } - - ++(*nbr_objects); - } - } - (void)closedir(traj_directory); +void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], + C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], in_addr_t objectIPs[MAX_OBJECTS], + I32 * nbr_objects) { + DIR *traj_directory; + struct dirent *directory_entry; + int iForceObjectToLocalhost; + struct sockaddr_in sockaddr; + int result; + char trajPathDir[MAX_FILE_PATH]; + + UtilGetTrajDirectoryPath(trajPathDir, sizeof (trajPathDir)); + + iForceObjectToLocalhost = 0; + + traj_directory = opendir(trajPathDir); + if (traj_directory == NULL) { + util_error("ERR: Failed to open trajectory directory"); + } + + (void)iUtilGetIntParaConfFile("ForceObjectToLocalhost", &iForceObjectToLocalhost); + + while ((directory_entry = readdir(traj_directory)) && ((*nbr_objects) < MAX_OBJECTS)) { + + /* Check so it's not . or .. */ + if (strncmp(directory_entry->d_name, ".", 1) && (strstr(directory_entry->d_name, "sync") == NULL)) { + bzero(object_address_name[(*nbr_objects)], MAX_FILE_PATH); + + bzero(object_traj_file[(*nbr_objects)], MAX_FILE_PATH); + (void)strcat(object_traj_file[(*nbr_objects)], trajPathDir); + (void)strcat(object_traj_file[(*nbr_objects)], directory_entry->d_name); + + if (0 == iForceObjectToLocalhost) { + (void)strncat(object_address_name[(*nbr_objects)], directory_entry->d_name, + strlen(directory_entry->d_name)); + result = inet_pton(AF_INET, object_address_name[*nbr_objects], &sockaddr.sin_addr); + if (result == -1) { + LogMessage(LOG_LEVEL_ERROR, "Invalid address family"); + continue; + } + else if (result == 0) { + LogMessage(LOG_LEVEL_WARNING, "Address <%s> is not a valid IPv4 address", + object_address_name[*nbr_objects]); + continue; + } + else + objectIPs[*nbr_objects] = sockaddr.sin_addr.s_addr; + } + else { + if (USE_TEST_HOST == 0) + (void)strcat(object_address_name[(*nbr_objects)], LOCALHOST); + else if (USE_TEST_HOST == 1) + (void)strcat(object_address_name[(*nbr_objects)], TESTHOST_IP); + + } + + ++(*nbr_objects); + } + } + (void)closedir(traj_directory); } -OBCState_t vGetState(GSDType *GSD) -{ - return DataDictionaryGetOBCStateU8(GSD); +OBCState_t vGetState(GSDType * GSD) { + return DataDictionaryGetOBCStateU8(GSD); } -StateTransitionResult vSetState(OBCState_t requestedState, GSDType *GSD) -{ - StateTransition transitionFunction; - StateTransitionResult retval = TRANSITION_RESULT_UNDEFINED; - OBCState_t currentState = DataDictionaryGetOBCStateU8(GSD); - - // Always allow transitions to these two states - if (requestedState == OBC_STATE_ERROR || requestedState == OBC_STATE_UNDEFINED) - { - if (DataDictionarySetOBCStateU8(GSD, requestedState) == WRITE_OK) - { - LogMessage(LOG_LEVEL_WARNING,"Transitioning to state %u",(unsigned char)requestedState); - retval = TRANSITION_OK; - } - else - retval = TRANSITION_MEMORY_ERROR; - } - else if (requestedState == currentState) - { - retval = TRANSITION_OK; - } - else - { - transitionFunction = tGetTransition(currentState); - retval = transitionFunction(¤tState, requestedState); - if (retval != TRANSITION_INVALID) - { - if(DataDictionarySetOBCStateU8(GSD, currentState) == WRITE_OK) - { - LogMessage(LOG_LEVEL_INFO,"Transitioning to state %u",(unsigned char)requestedState); - retval = TRANSITION_OK; - } - else - retval = TRANSITION_MEMORY_ERROR; - } - } - - if (retval == TRANSITION_INVALID) - { - LogMessage(LOG_LEVEL_WARNING,"Invalid transition requested: from %d to %d",currentState,requestedState); - } - else if (retval == TRANSITION_MEMORY_ERROR) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to set state to %u in shared memory!!", requestedState); - } - return retval; +StateTransitionResult vSetState(OBCState_t requestedState, GSDType * GSD) { + StateTransition transitionFunction; + StateTransitionResult retval = TRANSITION_RESULT_UNDEFINED; + OBCState_t currentState = DataDictionaryGetOBCStateU8(GSD); + + // Always allow transitions to these two states + if (requestedState == OBC_STATE_ERROR || requestedState == OBC_STATE_UNDEFINED) { + if (DataDictionarySetOBCStateU8(GSD, requestedState) == WRITE_OK) { + LogMessage(LOG_LEVEL_WARNING, "Transitioning to state %u", (unsigned char)requestedState); + retval = TRANSITION_OK; + } + else + retval = TRANSITION_MEMORY_ERROR; + } + else if (requestedState == currentState) { + retval = TRANSITION_OK; + } + else { + transitionFunction = tGetTransition(currentState); + retval = transitionFunction(¤tState, requestedState); + if (retval != TRANSITION_INVALID) { + if (DataDictionarySetOBCStateU8(GSD, currentState) == WRITE_OK) { + LogMessage(LOG_LEVEL_INFO, "Transitioning to state %u", (unsigned char)requestedState); + retval = TRANSITION_OK; + } + else + retval = TRANSITION_MEMORY_ERROR; + } + } + + if (retval == TRANSITION_INVALID) { + LogMessage(LOG_LEVEL_WARNING, "Invalid transition requested: from %d to %d", currentState, + requestedState); + } + else if (retval == TRANSITION_MEMORY_ERROR) { + LogMessage(LOG_LEVEL_ERROR, "Unable to set state to %u in shared memory!!", requestedState); + } + return retval; } -StateTransition tGetTransition(OBCState_t fromState) -{ - switch (fromState) - { - case OBC_STATE_IDLE: - return &tFromIdle; - case OBC_STATE_INITIALIZED: - return &tFromInitialized; - case OBC_STATE_CONNECTED: - return &tFromConnected; - case OBC_STATE_ARMED: - return &tFromArmed; - case OBC_STATE_RUNNING: - return &tFromRunning; - case OBC_STATE_ERROR: - return &tFromError; - case OBC_STATE_UNDEFINED: - return &tFromUndefined; - } +StateTransition tGetTransition(OBCState_t fromState) { + switch (fromState) { + case OBC_STATE_IDLE: + return &tFromIdle; + case OBC_STATE_INITIALIZED: + return &tFromInitialized; + case OBC_STATE_CONNECTED: + return &tFromConnected; + case OBC_STATE_ARMED: + return &tFromArmed; + case OBC_STATE_RUNNING: + return &tFromRunning; + case OBC_STATE_ERROR: + return &tFromError; + case OBC_STATE_UNDEFINED: + return &tFromUndefined; + } } -StateTransitionResult tFromIdle(OBCState_t *currentState, OBCState_t requestedState) -{ - if (requestedState == OBC_STATE_INITIALIZED) - { - *currentState = requestedState; - return TRANSITION_OK; - } - return TRANSITION_INVALID; +StateTransitionResult tFromIdle(OBCState_t * currentState, OBCState_t requestedState) { + if (requestedState == OBC_STATE_INITIALIZED) { + *currentState = requestedState; + return TRANSITION_OK; + } + return TRANSITION_INVALID; } -StateTransitionResult tFromInitialized(OBCState_t *currentState, OBCState_t requestedState) -{ - if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_IDLE) - { - *currentState = requestedState; - return TRANSITION_OK; - } - return TRANSITION_INVALID; +StateTransitionResult tFromInitialized(OBCState_t * currentState, OBCState_t requestedState) { + if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_IDLE) { + *currentState = requestedState; + return TRANSITION_OK; + } + return TRANSITION_INVALID; } -StateTransitionResult tFromConnected(OBCState_t *currentState, OBCState_t requestedState) -{ - if (requestedState == OBC_STATE_ARMED || requestedState == OBC_STATE_IDLE) - { - *currentState = requestedState; - return TRANSITION_OK; - } - return TRANSITION_INVALID; +StateTransitionResult tFromConnected(OBCState_t * currentState, OBCState_t requestedState) { + if (requestedState == OBC_STATE_ARMED || requestedState == OBC_STATE_IDLE) { + *currentState = requestedState; + return TRANSITION_OK; + } + return TRANSITION_INVALID; } -StateTransitionResult tFromArmed(OBCState_t *currentState, OBCState_t requestedState) -{ - if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_RUNNING || requestedState == OBC_STATE_IDLE) - { - *currentState = requestedState; - return TRANSITION_OK; - } - return TRANSITION_INVALID; +StateTransitionResult tFromArmed(OBCState_t * currentState, OBCState_t requestedState) { + if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_RUNNING + || requestedState == OBC_STATE_IDLE) { + *currentState = requestedState; + return TRANSITION_OK; + } + return TRANSITION_INVALID; } -StateTransitionResult tFromRunning(OBCState_t *currentState, OBCState_t requestedState) -{ - if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_IDLE) - { - *currentState = requestedState; - return TRANSITION_OK; - } - return TRANSITION_INVALID; +StateTransitionResult tFromRunning(OBCState_t * currentState, OBCState_t requestedState) { + if (requestedState == OBC_STATE_CONNECTED || requestedState == OBC_STATE_IDLE) { + *currentState = requestedState; + return TRANSITION_OK; + } + return TRANSITION_INVALID; } -StateTransitionResult tFromError(OBCState_t *currentState, OBCState_t requestedState) -{ - if (requestedState == OBC_STATE_IDLE) - { - *currentState = requestedState; - return TRANSITION_OK; - } - return TRANSITION_INVALID; +StateTransitionResult tFromError(OBCState_t * currentState, OBCState_t requestedState) { + if (requestedState == OBC_STATE_IDLE) { + *currentState = requestedState; + return TRANSITION_OK; + } + return TRANSITION_INVALID; } -StateTransitionResult tFromUndefined(OBCState_t *currentState, OBCState_t requestedState) -{ - return TRANSITION_INVALID; +StateTransitionResult tFromUndefined(OBCState_t * currentState, OBCState_t requestedState) { + return TRANSITION_INVALID; } -OBCState_t vInitializeState(OBCState_t firstState, GSDType *GSD){ - static int8_t isInitialized = 0; - if (!isInitialized) - { - isInitialized = 1; - if(DataDictionarySetOBCStateU8(GSD,firstState) != WRITE_OK) - util_error("Unable to write object control state to shared memory"); - } - else { - LogMessage(LOG_LEVEL_WARNING,"Object control state already initialized"); - } - return DataDictionaryGetOBCStateU8(GSD); +OBCState_t vInitializeState(OBCState_t firstState, GSDType * GSD) { + static int8_t isInitialized = 0; + + if (!isInitialized) { + isInitialized = 1; + if (DataDictionarySetOBCStateU8(GSD, firstState) != WRITE_OK) + util_error("Unable to write object control state to shared memory"); + } + else { + LogMessage(LOG_LEVEL_WARNING, "Object control state already initialized"); + } + return DataDictionaryGetOBCStateU8(GSD); } diff --git a/server/src/remotecontrol.c b/server/src/remotecontrol.c index 8f26ac0bc..49d870ed8 100755 --- a/server/src/remotecontrol.c +++ b/server/src/remotecontrol.c @@ -38,14 +38,14 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -static void RemoteControlSendBytes(const char* data, int length, int* sockfd, int debug); +static void RemoteControlSendBytes(const char *data, int length, int *sockfd, int debug); //void RemoteControlConnectServer(int* sockfd, const char* name, const uint32_t port); //U32 RemoteControlSignIn(I32 ServerSocketI32, C8 *TablenameC8, C8 *UsernameC8, C8 *PasswordC8, U8 Debug); -static void vCreateTimeChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); -static void vRecvTime(int* sockfd, char* buffer, int length, int* recievedNewData); -int SendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendData, int Length, char debug); +static void vCreateTimeChannel(const char *name, const uint32_t port, int *sockfd, struct sockaddr_in *addr); +static void vRecvTime(int *sockfd, char *buffer, int length, int *recievedNewData); +int SendUDPData(int *sockfd, struct sockaddr_in *addr, char *SendData, int Length, char debug); void getIP(); @@ -62,395 +62,376 @@ static const LOG_LEVEL logLevel = LOG_LEVEL_DEBUG; /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -int remotecontrol_task(TimeType *GPSTime) -{ - - U8 ModeU8 = 0; - C8 TextBufferC8[REMOTE_CONTROL_BUFFER_SIZE_20]; - C8 ServerIPC8[REMOTE_CONTROL_BUFFER_SIZE_20]; - U16 ServerPortU16; - I32 SocketfdI32=-1; - struct sockaddr_in time_addr; - I32 iExit = 0; - C8 TimeBuffer[REMOTE_CONTROL_BUFFER_SIZE_52]; - I32 RecievedNewData, i; - C8 SendData[4] = {0, 0, 3, 0xe8}; - - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO,"Remote control task running with PID: %i",getpid()); - - - UtilSearchTextFile(REMOTE_CONTROL_CONF_FILE_PATH, "RemoteMode=", "", TextBufferC8); - ModeU8 = (U8)atoi(TextBufferC8); - UtilSearchTextFile(REMOTE_CONTROL_CONF_FILE_PATH, "RemoteServerIP=", "", TextBufferC8); - bzero(ServerIPC8, REMOTE_CONTROL_BUFFER_SIZE_20); - strcat(ServerIPC8, TextBufferC8); - UtilSearchTextFile(REMOTE_CONTROL_CONF_FILE_PATH, "RemoteServerPort=", "", TextBufferC8); - ServerPortU16 = (U16)atoi(TextBufferC8); - /* - vCreateTimeChannel("192.168.0.42", 53000, &SocketfdI32, &time_addr); - SendUDPData(&SocketfdI32, &time_addr, SendData, 4, 1); - printf("Checking time...\n"); - while(!iExit) - { - - bzero(TimeBuffer,REMOTE_CONTROL_BUFFER_SIZE_52); - vRecvTime(&SocketfdI32,TimeBuffer, REMOTE_CONTROL_BUFFER_SIZE_52, &RecievedNewData); - if(RecievedNewData) - { - for(i=0; i < REMOTE_CONTROL_BUFFER_SIZE_52; i++) printf("%x-", TimeBuffer[i]); - printf("\n"); - } - - } - */ - usleep(1000); +int remotecontrol_task(TimeType * GPSTime) { + + U8 ModeU8 = 0; + C8 TextBufferC8[REMOTE_CONTROL_BUFFER_SIZE_20]; + C8 ServerIPC8[REMOTE_CONTROL_BUFFER_SIZE_20]; + U16 ServerPortU16; + I32 SocketfdI32 = -1; + struct sockaddr_in time_addr; + I32 iExit = 0; + C8 TimeBuffer[REMOTE_CONTROL_BUFFER_SIZE_52]; + I32 RecievedNewData, i; + C8 SendData[4] = { 0, 0, 3, 0xe8 }; + + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "Remote control task running with PID: %i", getpid()); + + + UtilSearchTextFile(REMOTE_CONTROL_CONF_FILE_PATH, "RemoteMode=", "", TextBufferC8); + ModeU8 = (U8) atoi(TextBufferC8); + UtilSearchTextFile(REMOTE_CONTROL_CONF_FILE_PATH, "RemoteServerIP=", "", TextBufferC8); + bzero(ServerIPC8, REMOTE_CONTROL_BUFFER_SIZE_20); + strcat(ServerIPC8, TextBufferC8); + UtilSearchTextFile(REMOTE_CONTROL_CONF_FILE_PATH, "RemoteServerPort=", "", TextBufferC8); + ServerPortU16 = (U16) atoi(TextBufferC8); + /* + vCreateTimeChannel("192.168.0.42", 53000, &SocketfdI32, &time_addr); + SendUDPData(&SocketfdI32, &time_addr, SendData, 4, 1); + printf("Checking time...\n"); + while(!iExit) + { + + bzero(TimeBuffer,REMOTE_CONTROL_BUFFER_SIZE_52); + vRecvTime(&SocketfdI32,TimeBuffer, REMOTE_CONTROL_BUFFER_SIZE_52, &RecievedNewData); + if(RecievedNewData) + { + for(i=0; i < REMOTE_CONTROL_BUFFER_SIZE_52; i++) printf("%x-", TimeBuffer[i]); + printf("\n"); + } + + } + */ + usleep(1000); } -U32 RemoteControlSendServerStatus(I32 ServerSocketI32, ServiceSessionType *SessionData, U32 StatusU32, U8 Debug) -{ - - I32 ClientResultI32; - I32 i; - C8 StatusC8[20]; - C8 UserIdC8[20]; - C8 LengthC8[4]; - U32 LengthU32; - C8 FirstResponseC8[5]; - - bzero(FirstResponseC8, 5); - bzero(StatusC8, 20); - sprintf(StatusC8, "%" PRIu32, StatusU32); - - bzero(UserIdC8, 20); - sprintf(UserIdC8, "%" PRIu32, SessionData->UserIdU32); - - - bzero(httpbuffer, REMOTE_CONTROL_HTTP_BUFFER); - bzero(recvbuffer, REMOTE_CONTROL_RECV_BUFFER); - strcat(httpbuffer, REMOTE_CONTROL_HTTP_HEADER); - strcat(httpbuffer, "SQL[UPDATE "); - strcat(httpbuffer, "serverstatus"); - strcat(httpbuffer, " SET"); - strcat(httpbuffer, " status="); - strcat(httpbuffer, StatusC8); - strcat(httpbuffer, " WHERE userId="); - strcat(httpbuffer, UserIdC8); - strcat(httpbuffer, "];"); - if(Debug)printf("httpbuffer = %s\n", httpbuffer); - LengthU32 = strlen(httpbuffer); - LengthC8[0] = (C8)(LengthU32 >> 24); LengthC8[1] = (C8)(LengthU32 >> 16); LengthC8[2] = (C8)(LengthU32 >> 8); LengthC8[3] = (C8)(LengthU32); - RemoteControlSendBytes(LengthC8, 4, &ServerSocketI32, Debug); - RemoteControlSendBytes(httpbuffer, LengthU32, &ServerSocketI32, Debug); - - struct timeval tv; - tv.tv_sec = 5; - tv.tv_usec = 0; - setsockopt(ServerSocketI32, SOL_SOCKET, SO_RCVTIMEO, (const char*)&tv, sizeof tv); - - ClientResultI32 = recv(ServerSocketI32, FirstResponseC8, 1024, 0); - - if (ClientResultI32 > 0) - { - if(Debug) - { - printf("First response from Maestro service: %d bytes\n", ClientResultI32); - for(i = 0; i < ClientResultI32; i ++) printf("%d-", FirstResponseC8[i]); - printf("\n"); - } - } - - ClientResultI32 = recv(ServerSocketI32, recvbuffer, 1024, 0); - - if (ClientResultI32 <= -1) - { - if(errno != EAGAIN && errno != EWOULDBLOCK) - { - perror("[RemoteControl]ERR: Failed to receive from command socket."); - exit(1); - } - } - else if(ClientResultI32 == 0) - { - printf("[RemoteControl] Client closed connection.\n"); - close(ServerSocketI32); - exit(1); - } - if (ClientResultI32 > 0) - { - if(Debug) - { - printf("Second response from Maestro service: %d bytes\n", ClientResultI32); - for(i = 0; i < ClientResultI32; i ++) printf("%d-", recvbuffer[i]); - printf("\n"); - } - } - - return 0; +U32 RemoteControlSendServerStatus(I32 ServerSocketI32, ServiceSessionType * SessionData, U32 StatusU32, + U8 Debug) { + + I32 ClientResultI32; + I32 i; + C8 StatusC8[20]; + C8 UserIdC8[20]; + C8 LengthC8[4]; + U32 LengthU32; + C8 FirstResponseC8[5]; + + bzero(FirstResponseC8, 5); + bzero(StatusC8, 20); + sprintf(StatusC8, "%" PRIu32, StatusU32); + + bzero(UserIdC8, 20); + sprintf(UserIdC8, "%" PRIu32, SessionData->UserIdU32); + + + bzero(httpbuffer, REMOTE_CONTROL_HTTP_BUFFER); + bzero(recvbuffer, REMOTE_CONTROL_RECV_BUFFER); + strcat(httpbuffer, REMOTE_CONTROL_HTTP_HEADER); + strcat(httpbuffer, "SQL[UPDATE "); + strcat(httpbuffer, "serverstatus"); + strcat(httpbuffer, " SET"); + strcat(httpbuffer, " status="); + strcat(httpbuffer, StatusC8); + strcat(httpbuffer, " WHERE userId="); + strcat(httpbuffer, UserIdC8); + strcat(httpbuffer, "];"); + if (Debug) + printf("httpbuffer = %s\n", httpbuffer); + LengthU32 = strlen(httpbuffer); + LengthC8[0] = (C8) (LengthU32 >> 24); + LengthC8[1] = (C8) (LengthU32 >> 16); + LengthC8[2] = (C8) (LengthU32 >> 8); + LengthC8[3] = (C8) (LengthU32); + RemoteControlSendBytes(LengthC8, 4, &ServerSocketI32, Debug); + RemoteControlSendBytes(httpbuffer, LengthU32, &ServerSocketI32, Debug); + + struct timeval tv; + + tv.tv_sec = 5; + tv.tv_usec = 0; + setsockopt(ServerSocketI32, SOL_SOCKET, SO_RCVTIMEO, (const char *)&tv, sizeof tv); + + ClientResultI32 = recv(ServerSocketI32, FirstResponseC8, 1024, 0); + + if (ClientResultI32 > 0) { + if (Debug) { + printf("First response from Maestro service: %d bytes\n", ClientResultI32); + for (i = 0; i < ClientResultI32; i++) + printf("%d-", FirstResponseC8[i]); + printf("\n"); + } + } + + ClientResultI32 = recv(ServerSocketI32, recvbuffer, 1024, 0); + + if (ClientResultI32 <= -1) { + if (errno != EAGAIN && errno != EWOULDBLOCK) { + perror("[RemoteControl]ERR: Failed to receive from command socket."); + exit(1); + } + } + else if (ClientResultI32 == 0) { + printf("[RemoteControl] Client closed connection.\n"); + close(ServerSocketI32); + exit(1); + } + if (ClientResultI32 > 0) { + if (Debug) { + printf("Second response from Maestro service: %d bytes\n", ClientResultI32); + for (i = 0; i < ClientResultI32; i++) + printf("%d-", recvbuffer[i]); + printf("\n"); + } + } + + return 0; } -U32 RemoteControlSignIn(I32 ServerSocketI32, C8 *TablenameC8, C8 *UsernameC8, C8 *PasswordC8, ServiceSessionType *SessionData, U8 Debug) -{ - - I32 ClientResultI32; - I32 i; - SessionData->SessionIdU32 = 0; - SessionData->UserIdU32 = 0; - SessionData->UserTypeU8 = 0; - - bzero(httpbuffer, REMOTE_CONTROL_HTTP_BUFFER); - bzero(recvbuffer, REMOTE_CONTROL_RECV_BUFFER); - strcat(httpbuffer, REMOTE_CONTROL_HTTP_HEADER); - strcat(httpbuffer, "SignIn("); - strcat(httpbuffer, TablenameC8); - strcat(httpbuffer, ","); - strcat(httpbuffer, UsernameC8); - strcat(httpbuffer, ","); - strcat(httpbuffer, PasswordC8); - strcat(httpbuffer, ");"); - printf("httpbuffer = %s\n", httpbuffer); - - RemoteControlSendBytes(httpbuffer, strlen(httpbuffer), &ServerSocketI32, 0); - - struct timeval tv; - tv.tv_sec = 5; - tv.tv_usec = 0; - setsockopt(ServerSocketI32, SOL_SOCKET, SO_RCVTIMEO, (const char*)&tv, sizeof tv); - - ClientResultI32 = recv(ServerSocketI32, recvbuffer, 1024, 0); - - if (ClientResultI32 <= -1) - { - if(errno != EAGAIN && errno != EWOULDBLOCK) - { - perror("[RemoteControl]ERR: Failed to receive from command socket."); - exit(1); - } - } - else if(ClientResultI32 == 0) - { - printf("[RemoteControl] Client closed connection.\n"); - close(ServerSocketI32); - exit(1); - } - if (ClientResultI32 > 0) - { - if(Debug) - { - printf("Response from Maestro service: %d bytes\n", ClientResultI32); - for(i = 0; i < ClientResultI32; i ++) printf("%d-", recvbuffer[i]); - printf("\n"); - } - SessionData->SessionIdU32 = recvbuffer[6]; - SessionData->SessionIdU32 = (SessionData->SessionIdU32<<8) | recvbuffer[7]; - SessionData->SessionIdU32 = (SessionData->SessionIdU32<<8) | recvbuffer[8]; - SessionData->SessionIdU32 = (SessionData->SessionIdU32<<8) | recvbuffer[9]; - - SessionData->UserIdU32 = recvbuffer[10]; - SessionData->UserIdU32 = (SessionData->UserIdU32<<8) | recvbuffer[11]; - SessionData->UserIdU32 = (SessionData->UserIdU32<<8) | recvbuffer[12]; - SessionData->UserIdU32 = (SessionData->UserIdU32<<8) | recvbuffer[13]; - - SessionData->UserTypeU8 = recvbuffer[14]; - } - - return 0; +U32 RemoteControlSignIn(I32 ServerSocketI32, C8 * TablenameC8, C8 * UsernameC8, C8 * PasswordC8, + ServiceSessionType * SessionData, U8 Debug) { + + I32 ClientResultI32; + I32 i; + + SessionData->SessionIdU32 = 0; + SessionData->UserIdU32 = 0; + SessionData->UserTypeU8 = 0; + + bzero(httpbuffer, REMOTE_CONTROL_HTTP_BUFFER); + bzero(recvbuffer, REMOTE_CONTROL_RECV_BUFFER); + strcat(httpbuffer, REMOTE_CONTROL_HTTP_HEADER); + strcat(httpbuffer, "SignIn("); + strcat(httpbuffer, TablenameC8); + strcat(httpbuffer, ","); + strcat(httpbuffer, UsernameC8); + strcat(httpbuffer, ","); + strcat(httpbuffer, PasswordC8); + strcat(httpbuffer, ");"); + printf("httpbuffer = %s\n", httpbuffer); + + RemoteControlSendBytes(httpbuffer, strlen(httpbuffer), &ServerSocketI32, 0); + + struct timeval tv; + + tv.tv_sec = 5; + tv.tv_usec = 0; + setsockopt(ServerSocketI32, SOL_SOCKET, SO_RCVTIMEO, (const char *)&tv, sizeof tv); + + ClientResultI32 = recv(ServerSocketI32, recvbuffer, 1024, 0); + + if (ClientResultI32 <= -1) { + if (errno != EAGAIN && errno != EWOULDBLOCK) { + perror("[RemoteControl]ERR: Failed to receive from command socket."); + exit(1); + } + } + else if (ClientResultI32 == 0) { + printf("[RemoteControl] Client closed connection.\n"); + close(ServerSocketI32); + exit(1); + } + if (ClientResultI32 > 0) { + if (Debug) { + printf("Response from Maestro service: %d bytes\n", ClientResultI32); + for (i = 0; i < ClientResultI32; i++) + printf("%d-", recvbuffer[i]); + printf("\n"); + } + SessionData->SessionIdU32 = recvbuffer[6]; + SessionData->SessionIdU32 = (SessionData->SessionIdU32 << 8) | recvbuffer[7]; + SessionData->SessionIdU32 = (SessionData->SessionIdU32 << 8) | recvbuffer[8]; + SessionData->SessionIdU32 = (SessionData->SessionIdU32 << 8) | recvbuffer[9]; + + SessionData->UserIdU32 = recvbuffer[10]; + SessionData->UserIdU32 = (SessionData->UserIdU32 << 8) | recvbuffer[11]; + SessionData->UserIdU32 = (SessionData->UserIdU32 << 8) | recvbuffer[12]; + SessionData->UserIdU32 = (SessionData->UserIdU32 << 8) | recvbuffer[13]; + + SessionData->UserTypeU8 = recvbuffer[14]; + } + + return 0; } -void RemoteControlConnectServer(int* sockfd, const char* name, const uint32_t port) -{ - struct sockaddr_in serv_addr; - struct hostent *server; +void RemoteControlConnectServer(int *sockfd, const char *name, const uint32_t port) { + struct sockaddr_in serv_addr; + struct hostent *server; - char buffer[256]; - int iResult; + char buffer[256]; + int iResult; - *sockfd = socket(AF_INET, SOCK_STREAM, 0); + *sockfd = socket(AF_INET, SOCK_STREAM, 0); - if (*sockfd < 0) - { - util_error("ERR: Failed to open control socket"); - } + if (*sockfd < 0) { + util_error("ERR: Failed to open control socket"); + } - server = gethostbyname(name); - if (server == NULL) - { - util_error("ERR: Unknown host "); - } + server = gethostbyname(name); + if (server == NULL) { + util_error("ERR: Unknown host "); + } - bzero((char *) &serv_addr, sizeof(serv_addr)); - serv_addr.sin_family = AF_INET; + bzero((char *)&serv_addr, sizeof (serv_addr)); + serv_addr.sin_family = AF_INET; - bcopy((char *) server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); - serv_addr.sin_port = htons(port); + bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); + serv_addr.sin_port = htons(port); - LogMessage(LOG_LEVEL_INFO,"Attempting to connect to control socket: %s:%i",name,port); + LogMessage(LOG_LEVEL_INFO, "Attempting to connect to control socket: %s:%i", name, port); - do - { - iResult = connect(*sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)); + do { + iResult = connect(*sockfd, (struct sockaddr *)&serv_addr, sizeof (serv_addr)); - if ( iResult < 0) - { - if(errno == ECONNREFUSED) - { - LogMessage(LOG_LEVEL_WARNING,"Unable to connect to object, retrying in 3 sec..."); - (void)sleep(3); - } - else - { - util_error("ERR: Failed to connect to control socket"); - } - } - } while(iResult < 0); + if (iResult < 0) { + if (errno == ECONNREFUSED) { + LogMessage(LOG_LEVEL_WARNING, "Unable to connect to object, retrying in 3 sec..."); + (void)sleep(3); + } + else { + util_error("ERR: Failed to connect to control socket"); + } + } + } while (iResult < 0); - /* set socket to non-blocking */ - //iResult = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); - LogMessage(LOG_LEVEL_INFO,"Client connected to server: %s:%i",name,port); + /* set socket to non-blocking */ + //iResult = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); + LogMessage(LOG_LEVEL_INFO, "Client connected to server: %s:%i", name, port); } -static void RemoteControlSendBytes(const char* data, int length, int* sockfd, int debug) -{ - int i, n; +static void RemoteControlSendBytes(const char *data, int length, int *sockfd, int debug) { + int i, n; - if(debug == 1){ printf("Bytes sent: "); int i = 0; for(i = 0; i < length; i++) printf("%x-", (unsigned char)*(data+i)); printf("\n");} + if (debug == 1) { + printf("Bytes sent: "); + int i = 0; - n = write(*sockfd, data, length); - if (n < 0) - { - util_error("[RemoteControl] ERR: Failed to send on control socket"); - } + for (i = 0; i < length; i++) + printf("%x-", (unsigned char)*(data + i)); + printf("\n"); + } + + n = write(*sockfd, data, length); + if (n < 0) { + util_error("[RemoteControl] ERR: Failed to send on control socket"); + } } -void getIP() -{ - struct addrinfo hints; - struct addrinfo *result, *rp; - int sfd, s, j; - size_t len; - ssize_t nread; - char buf[BUF_SIZE]; - const char *hostm = "maestro.sebart.net"; +void getIP() { + struct addrinfo hints; + struct addrinfo *result, *rp; + int sfd, s, j; + size_t len; + ssize_t nread; + char buf[BUF_SIZE]; + const char *hostm = "maestro.sebart.net"; - /* Obtain address(es) matching host/port */ + /* Obtain address(es) matching host/port */ - printf("Maestro check address\n"); - memset(&hints, 0, sizeof(struct addrinfo)); - hints.ai_family = 0; /* Allow IPv4 or IPv6 */ - hints.ai_socktype = 0; /* Datagram socket */ - hints.ai_flags = 0; - hints.ai_protocol = 0; /* Any protocol */ + printf("Maestro check address\n"); + memset(&hints, 0, sizeof (struct addrinfo)); + hints.ai_family = 0; /* Allow IPv4 or IPv6 */ + hints.ai_socktype = 0; /* Datagram socket */ + hints.ai_flags = 0; + hints.ai_protocol = 0; /* Any protocol */ - s = getaddrinfo(NULL, hostm, &hints, &result); - if (s != 0) { - fprintf(stderr, "getaddrinfo: %s\n", gai_strerror(s)); - //exit(EXIT_FAILURE); - } + s = getaddrinfo(NULL, hostm, &hints, &result); + if (s != 0) { + fprintf(stderr, "getaddrinfo: %s\n", gai_strerror(s)); + //exit(EXIT_FAILURE); + } - printf("Maestro service IP:%s\n", result->ai_addr->sa_data); - /* getaddrinfo() returns a list of address structures. - Try each address until we successfully connect(2). - If socket(2) (or connect(2)) fails, we (close the socket - and) try the next address. */ + printf("Maestro service IP:%s\n", result->ai_addr->sa_data); + /* getaddrinfo() returns a list of address structures. + Try each address until we successfully connect(2). + If socket(2) (or connect(2)) fails, we (close the socket + and) try the next address. */ - freeaddrinfo(result); /* No longer needed */ - } + freeaddrinfo(result); /* No longer needed */ +} -static void vCreateTimeChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr) -{ - int result; - struct hostent *object; +static void vCreateTimeChannel(const char *name, const uint32_t port, int *sockfd, struct sockaddr_in *addr) { + int result; + struct hostent *object; - /* Connect to object safety socket */ - LogMessage(LOG_LEVEL_INFO,"Creating safety socket"); + /* Connect to object safety socket */ + LogMessage(LOG_LEVEL_INFO, "Creating safety socket"); - *sockfd= socket(AF_INET, SOCK_DGRAM, 0); - if (*sockfd < 0) - { - util_error("ERR: Failed to connect to monitor socket"); - } + *sockfd = socket(AF_INET, SOCK_DGRAM, 0); + if (*sockfd < 0) { + util_error("ERR: Failed to connect to monitor socket"); + } - /* Set address to object */ - object = gethostbyname(name); + /* Set address to object */ + object = gethostbyname(name); - if (object==0) - { - util_error("ERR: Unknown host"); - } + if (object == 0) { + util_error("ERR: Unknown host"); + } - bcopy((char *) object->h_addr, - (char *)&addr->sin_addr.s_addr, object->h_length); - addr->sin_family = AF_INET; - addr->sin_port = htons(port); + bcopy((char *)object->h_addr, (char *)&addr->sin_addr.s_addr, object->h_length); + addr->sin_family = AF_INET; + addr->sin_port = htons(port); - /* set socket to non-blocking */ - result = fcntl(*sockfd, F_SETFL, - fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); - if (result < 0) - { - util_error("ERR: calling fcntl"); - } - LogMessage(LOG_LEVEL_INFO,"Created socket and safety address: %s:%d",name,port); + /* set socket to non-blocking */ + result = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); + if (result < 0) { + util_error("ERR: calling fcntl"); + } + LogMessage(LOG_LEVEL_INFO, "Created socket and safety address: %s:%d", name, port); } -static void vRecvTime(int* sockfd, char* buffer, int length, int* recievedNewData) -{ - int result; - *recievedNewData = 0; - do - { - result = recv(*sockfd, buffer, length, 0); - - if (result < 0) - { - if(errno != EAGAIN && errno != EWOULDBLOCK) - { - util_error("ERR: Failed to receive from monitor socket"); - } - else - { - LogMessage(LOG_LEVEL_DEBUG,"No data received"); - - } - } - else - { - - LogMessage(LOG_LEVEL_DEBUG,"Received: <%s>",buffer); - - } - } while(result > 0 ); +static void vRecvTime(int *sockfd, char *buffer, int length, int *recievedNewData) { + int result; + + *recievedNewData = 0; + do { + result = recv(*sockfd, buffer, length, 0); + + if (result < 0) { + if (errno != EAGAIN && errno != EWOULDBLOCK) { + util_error("ERR: Failed to receive from monitor socket"); + } + else { + LogMessage(LOG_LEVEL_DEBUG, "No data received"); + + } + } + else { + + LogMessage(LOG_LEVEL_DEBUG, "Received: <%s>", buffer); + + } + } while (result > 0); } -int SendUDPData(int* sockfd, struct sockaddr_in* addr, char* SendData, int Length, char debug) -{ - int result; +int SendUDPData(int *sockfd, struct sockaddr_in *addr, char *SendData, int Length, char debug) { + int result; - result = sendto(*sockfd, SendData, Length, 0, (const struct sockaddr *) addr, sizeof(struct sockaddr_in)); + result = sendto(*sockfd, SendData, Length, 0, (const struct sockaddr *)addr, sizeof (struct sockaddr_in)); - if (result < 0) - { - util_error("ERR: Failed to send on monitor socket"); - } + if (result < 0) { + util_error("ERR: Failed to send on monitor socket"); + } - return 0; + return 0; } diff --git a/server/src/simulatorcontrol.c b/server/src/simulatorcontrol.c index 82e1901ff..13cb30d3d 100755 --- a/server/src/simulatorcontrol.c +++ b/server/src/simulatorcontrol.c @@ -34,12 +34,12 @@ #define SIM_CONTROL_CONF_FILE_PATH "conf/test.conf" #define SIM_CONTROL_BUFFER_SIZE_5 5 #define SIM_CONTROL_BUFFER_SIZE_20 20 -#define SIM_CONTROL_BUFFER_SIZE_64 64 +#define SIM_CONTROL_BUFFER_SIZE_64 64 #define SIM_CONTROL_BUFFER_SIZE_128 128 #define SIM_CONTROL_BUFFER_SIZE_400 400 #define SIM_CONTROL_BUFFER_SIZE_2048 2048 #define SIM_CONTROL_BUFFER_SIZE_3100 3100 -#define SIM_CONTROL_BUFFER_SIZE_6200 6200 +#define SIM_CONTROL_BUFFER_SIZE_6200 6200 #define SIM_CONTROL_TASK_PERIOD_MS 1 #define SIM_CONTROL_HEARTBEAT_TIME_MS 10 #define SIM_CONTROL_LOG_BUFFER_LENGTH 128 @@ -57,728 +57,739 @@ -- Function declarations. ------------------------------------------------------------*/ -void SimulatorControlSendHeartbeat( I32 *Sockfd, struct sockaddr_in *Addr, TimeType *GPSTime, U8 Debug); -void SimulatorControlInitSimulator( I32 *Sockfd, U8 SimulatorMode, C8 *FunctionReqResponse, U8 Debug); -void SimulatorControlStartScenario( I32 *Sockfd, C8 *StartTime, U8 Debug); -void SimulatorControlSendMONR( I32 *Sockfd, struct sockaddr_in *Addr, C8 *MonrData, U8 Debug); -U32 SimulatorControlBuildObjectMonitorMessage(C8* MessageBuffer, C8 *MONRData, ObjectMonitorType *ObjectMonitorData, U8 debug); -U32 SimulatorControlVOILToASCII(C8 *VOILData, C8 *VOILString); -U32 SimulatorControlBinaryMessageManager(I32 DataLength, C8* ReceiveBuffer, C8 *MsgQueBuffer, U8 Debug); -void SimulatorControlObjectAddressList( I32 *Sockfd, C8 *AddressList, C8 *FunctionReqResponse, U8 Debug); -U32 SimulatorControlTextMessageManager(C8 *RxData, C8 *ReqFunction, SMGDType *SMGD, U8 Debug); +void SimulatorControlSendHeartbeat(I32 * Sockfd, struct sockaddr_in *Addr, TimeType * GPSTime, U8 Debug); +void SimulatorControlInitSimulator(I32 * Sockfd, U8 SimulatorMode, C8 * FunctionReqResponse, U8 Debug); +void SimulatorControlStartScenario(I32 * Sockfd, C8 * StartTime, U8 Debug); +void SimulatorControlSendMONR(I32 * Sockfd, struct sockaddr_in *Addr, C8 * MonrData, U8 Debug); +U32 SimulatorControlBuildObjectMonitorMessage(C8 * MessageBuffer, C8 * MONRData, + ObjectMonitorType * ObjectMonitorData, U8 debug); +U32 SimulatorControlVOILToASCII(C8 * VOILData, C8 * VOILString); +U32 SimulatorControlBinaryMessageManager(I32 DataLength, C8 * ReceiveBuffer, C8 * MsgQueBuffer, U8 Debug); +void SimulatorControlObjectAddressList(I32 * Sockfd, C8 * AddressList, C8 * FunctionReqResponse, U8 Debug); +U32 SimulatorControlTextMessageManager(C8 * RxData, C8 * ReqFunction, SMGDType * SMGD, U8 Debug); + /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -int simulatorcontrol_task(TimeType *GPSTime, GSDType *GSD) -{ - - I32 iExit = 0, iCommand; - C8 MqRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; - (void)iCommInit(IPC_RECV_SEND,MQ_LG,0); - - printf("[SimulatorControl] Starting simulator control...\n"); - - C8 TextBufferC8[SIM_CONTROL_BUFFER_SIZE_20]; - C8 SimulatorServerIPC8[SIM_CONTROL_BUFFER_SIZE_20]; - C8 DTMObjectAddressesC8[SIM_CONTROL_BUFFER_SIZE_128]; - U32 SimulatorIpU32 = 0; - U16 SimulatorTCPPortU16; - I32 SimulatorTCPSocketfdI32=-1; - U16 SimulatorUDPPortU16; - I32 SimulatorUDPSocketfdI32=-1; - C8 SupervisorServerIPC8[SIM_CONTROL_BUFFER_SIZE_20]; - U32 SupervisorIpU32 = 0; - struct sockaddr_in simulator_addr; - I32 ClientResultI32; - C8 RxBuffer[SIM_CONTROL_BUFFER_SIZE_2048]; - C8 ReceiveBuffer[SIM_CONTROL_BUFFER_SIZE_3100]; - C8 UDPReceiveBuffer[SIM_CONTROL_BUFFER_SIZE_400]; - C8 SendBuffer[SIM_CONTROL_BUFFER_SIZE_128]; - I32 ReceivedNewData, i, j; - struct timespec sleep_time, ref_time; - struct timeval tv, ExecTime; - struct tm *tm; - U8 PrevSecondU8; - U16 CurrentMilliSecondU16, PrevMilliSecondU16; - U16 CycleU16; - U8 ServerStatusU8 = 0; - U8 SimulatorInitiatedReqU8 = 0; - U8 SimulatorInitiatedU8 = 0; - C8 *MiscPtr; - U64 StartTimeU64; - C8 LogBuffer[SIM_CONTROL_LOG_BUFFER_LENGTH]; - C8 VOILString[SIM_CONTROL_LOG_BUFFER_LENGTH]; - C8 Timestamp[SIM_CONTROL_BUFFER_SIZE_20]; - ObjectMonitorType ObjectMonitorData; - U32 LengthU32; - C8 SimFuncReqResponse[SIM_CONTROL_BUFFER_SIZE_64]; - C8 SimFuncRx[SIM_CONTROL_BUFFER_SIZE_64]; - U16 SimRxCodeU16 = 0; - U16 ResponseDataIndexU16 = 0; - C8 MsgQueBuffer[SIM_CONTROL_BUFFER_SIZE_6200]; - - SMGDType SMGD; - - SMGD.SimulatorModeU8 = 0; - U32 RxTotalDataU32 = 0; - U32 ReqRxLengthU32 = 0; - U8 WaitAllDataU8 = 0; - U8 DataChunkedU8 = 0; - - OBCState_t OBCStateStatus = OBC_STATE_IDLE; - U8 ObjectAddressListSentU8 = 0; - U8 SupervisorModeU8 = 0; - GSD->ChunkSize = 0; - - gettimeofday(&ExecTime, NULL); - CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); - PrevMilliSecondU16 = CurrentMilliSecondU16; - - //Get the Simulator IP - bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, "SimulatorIP=", "", TextBufferC8); - bzero(SimulatorServerIPC8, SIM_CONTROL_BUFFER_SIZE_20); - strcat(SimulatorServerIPC8, TextBufferC8); - printf("[SimulatorControl] Simulator IP: %s\n", TextBufferC8); - SimulatorIpU32 = UtilIPStringToInt(SimulatorServerIPC8); - - //Get the Supervisor IP - bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, "SupervisorIP=", "", TextBufferC8); - bzero(SupervisorServerIPC8, SIM_CONTROL_BUFFER_SIZE_20); - strcat(SupervisorServerIPC8, TextBufferC8); - printf("[SimulatorControl] Supervisor IP: %s\n", TextBufferC8); - SupervisorIpU32 = UtilIPStringToInt(SupervisorServerIPC8); - - //Get the Supervisor mode - bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, "SimulatorMode=", "", TextBufferC8); - SupervisorModeU8 = atoi(TextBufferC8); - printf("[SimulatorControl] SimulatorMode: %d\n", SupervisorModeU8); - - //Get object addresses used in DTM mode - bzero(DTMObjectAddressesC8, SIM_CONTROL_BUFFER_SIZE_128); - UtilSearchTextFile(TEST_CONF_FILE, "DTMReceivers=", "", DTMObjectAddressesC8); - - if(SimulatorIpU32 != 0) //Do stuff if IP is defined - { - bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, "SimulatorTCPPort=", "", TextBufferC8); - SimulatorTCPPortU16 = (U16)atoi(TextBufferC8); - bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); - UtilSearchTextFile(TEST_CONF_FILE, "SimulatorUDPPort=", "", TextBufferC8); - SimulatorUDPPortU16 = (U16)atoi(TextBufferC8); - - printf("[SimulatorControl] SimulatorTCPPort = %d\n", SimulatorTCPPortU16); - printf("[SimulatorControl] SimulatorUDPPort = %d\n", SimulatorUDPPortU16); - - - while (GPSTime->TimeInitiatedU8 == 0) { usleep(100); } - - while(!iExit) - { - if(SimulatorTCPSocketfdI32 <= 0) - { - ClientResultI32 = UtilConnectTCPChannel("SimulatorControl", &SimulatorTCPSocketfdI32, (const C8*)SimulatorServerIPC8, SimulatorTCPPortU16); - UtilCreateUDPChannel("SimulatorControl", &SimulatorUDPSocketfdI32, (const C8*)SimulatorServerIPC8, SimulatorUDPPortU16, &simulator_addr); - } - else - { - bzero(RxBuffer, SIM_CONTROL_BUFFER_SIZE_2048); - ClientResultI32 = UtilReceiveTCPData("SimulatorControl", &SimulatorTCPSocketfdI32, RxBuffer, 0, 0); //Data length resides in ClientResultI32 - if(ClientResultI32 == 0) - { - DEBUG_LPRINT(DEBUG_LEVEL_HIGH, "[SimulatorControl] Client closed connection.\n"); - close(SimulatorTCPSocketfdI32); - SimulatorTCPSocketfdI32 = -1; - SimulatorInitiatedU8 = 0; - } - - /*Initiate the simulator if not initialized and a there is a valid TCP connection */ - if(SimulatorInitiatedReqU8 == 0 && SimulatorTCPSocketfdI32 > 0) - { - SimulatorControlInitSimulator(&SimulatorTCPSocketfdI32, SupervisorModeU8, SimFuncReqResponse, 0); - SimulatorInitiatedReqU8 = 1; - } - - //Send ObjectAddressList if in correct mode and ObjectControl is in armed state - if(OBCStateStatus == OBC_STATE_ARMED && (SMGD.SimulatorModeU8 == SIM_CONTROL_DTM_MODE || SMGD.SimulatorModeU8 == SIM_CONTROL_VIM_DTM_MODE) && ObjectAddressListSentU8 == 0) - { - SimulatorControlObjectAddressList(&SimulatorTCPSocketfdI32, DTMObjectAddressesC8/*"192.168.0.15"*/, SimFuncReqResponse, 0); - ObjectAddressListSentU8 = 1; - } - - - if(ClientResultI32 > 0 || WaitAllDataU8 == 1) - { - RxTotalDataU32 = RxTotalDataU32 + ClientResultI32; - - if(WaitAllDataU8 == 0) - { - ReqRxLengthU32 = (C8)RxBuffer[0]; - ReqRxLengthU32 = (C8)RxBuffer[1] | (ReqRxLengthU32 << 8); - ReqRxLengthU32 = (C8)RxBuffer[2] | (ReqRxLengthU32 << 8); - ReqRxLengthU32 = (C8)RxBuffer[3] | (ReqRxLengthU32 << 8); - ReqRxLengthU32 += 4; - - bzero(ReceiveBuffer, SIM_CONTROL_BUFFER_SIZE_3100); - j = 0; - } - - if(ClientResultI32 > 0 && SIM_CONTROL_DEBUG_TCP_RX_DATA) - { - printf("[SimulatorControl] TCP Rx length = %d data: ", ClientResultI32); - for(int i = 0;i < ClientResultI32; i ++) printf("%x ", (C8)RxBuffer[i]); - printf("\n"); - printf("ReqRxLengthU32= %d\n", ReqRxLengthU32); - } - - if (RxTotalDataU32 != ReqRxLengthU32) - { - WaitAllDataU8 = 1; - DataChunkedU8 = 1; - for(i = 0; i < ClientResultI32; i++, j++) ReceiveBuffer[j] = RxBuffer[i]; - } - else - { - if(DataChunkedU8 == 1) for(i = 0; i < ClientResultI32; i++, j++) ReceiveBuffer[j] = RxBuffer[i]; - else if(DataChunkedU8 == 0) for(j = 0; j < RxTotalDataU32; j++) ReceiveBuffer[j] = RxBuffer[j]; - DataChunkedU8 = 0; - ReqRxLengthU32 = 0; - WaitAllDataU8 = 0; - } - - if(ClientResultI32 > 0 && SIM_CONTROL_DEBUG_TCP_RX_DATA) - { - printf("WaitAllDataU8= %d\n", WaitAllDataU8); - printf("RxTotalDataU32= %d\n", RxTotalDataU32); - printf("ClientResultI32= %d\n", ClientResultI32); - printf("DataChunkedU8= %d\n", DataChunkedU8); - } - } - - - if(WaitAllDataU8 == 0 && ClientResultI32 > 0) - { - if(SIM_CONTROL_DEBUG_TCP_RX_DATA) - { - printf("[SimulatorControl]"); - for(int i = 0;i < RxTotalDataU32; i ++) printf("%x ", ReceiveBuffer[i]); - printf("\n"); - } - - SimRxCodeU16 = ReceiveBuffer[4]; - SimRxCodeU16 = (SimRxCodeU16 << 8) | ReceiveBuffer[5]; - - if(SimRxCodeU16 > 0) - { - - printf("[SimulatorControl] SimRxCodeU16 = 0x%x\n", SimRxCodeU16); - if(SimRxCodeU16 == 0x7E7E && SMGD.SimulatorModeU8 == SIM_CONTROL_DTM_MODE) - { - - //Binary data is received from simulator, send to binary message manager when Supervisor not is available - bzero(MsgQueBuffer, SIM_CONTROL_BUFFER_SIZE_6200); - SimulatorControlBinaryMessageManager(RxTotalDataU32, ReceiveBuffer, MsgQueBuffer, 0); - - if(SupervisorIpU32 == 0) - { - //printf("[SimulatorControl] To MsgQueue: %s\n", MsgQueBuffer); - (void)iCommSend(COMM_TRAJ, MsgQueBuffer); //COMM_TRAJ will be received by ObjectControl - } - else - { - - for(i = 0; i < strlen(MsgQueBuffer); i ++) GSD->Chunk[i] = MsgQueBuffer[i]; - GSD->ChunkSize = strlen(MsgQueBuffer); - - //(void)iCommSend(COMM_TRAJ_TOSUP, MsgQueBuffer); //COMM_TRAJ_TOSUP will be received by SupervisorControl - } - SimRxCodeU16 = 0; - } - else if(SimRxCodeU16 == 10) - { - bzero(SimFuncRx, SIM_CONTROL_BUFFER_SIZE_64); - strncpy(SimFuncRx, ReceiveBuffer+6, strlen(ReceiveBuffer+6)); - printf("[SimulatorControl] Incoming URC function: %s\n", SimFuncRx); - - SimRxCodeU16 = 0; - } - else - { - - bzero(SimFuncRx, SIM_CONTROL_BUFFER_SIZE_64); - strncpy(SimFuncRx, ReceiveBuffer+6, (U64)strchr(ReceiveBuffer+6, ':') - (U64)(ReceiveBuffer+6)); - - //printf("[SimulatorControl] Requesting function: %s\n", SimFuncReqResponse); - //printf("[SimulatorControl] Incoming function: %s\n", SimFuncRx); - - if(strcmp(SimFuncReqResponse, SimFuncRx) == 0 && SimRxCodeU16 == 1) - { - ResponseDataIndexU16 = strlen(SimFuncReqResponse) + 7; - - if(strcmp(SimFuncReqResponse, "InitSimulator") == 0) - { - //printf("Do ObjectAddressList\n"); - if(ReceiveBuffer[ResponseDataIndexU16] >= SIM_CONTROL_VIM_MODE && ReceiveBuffer[ResponseDataIndexU16] <= SIM_CONTROL_DEBUG_MODE) SMGD.SimulatorModeU8 = ReceiveBuffer[ResponseDataIndexU16]; - - } - else if(strcmp(SimFuncReqResponse, "ObjectAddressList") == 0) - { - printf("[SimulatorControl] %s sent, SimulatorMode = %d\n", SimFuncRx, SMGD.SimulatorModeU8); - bzero(SimFuncReqResponse, SIM_CONTROL_BUFFER_SIZE_64); - } - } - else if(SimRxCodeU16 == 0xFFFF) - { - printf("[SimulatorControl] %s not supported!\n", SimFuncRx); - } - else - { - printf("[SimulatorControl] Unknown data from simulator: "); - for(j = 0;j < RxTotalDataU32; j ++) printf("%x ", (C8)ReceiveBuffer[j]); - printf("\n"); - } - } - - - SimRxCodeU16 = 0; - bzero(ReceiveBuffer, RxTotalDataU32); - bzero(SimFuncRx, SIM_CONTROL_BUFFER_SIZE_64); - - } - - WaitAllDataU8 = 0; - ClientResultI32 = 0; - RxTotalDataU32 = 0; - } - - /*Check if we received UDP data from the simulator*/ - bzero(UDPReceiveBuffer, SIM_CONTROL_BUFFER_SIZE_400); - UtilReceiveUDPData("SimulatorControl", &SimulatorUDPSocketfdI32, UDPReceiveBuffer, 100, &ReceivedNewData, 0); - - - if(ReceivedNewData) - { - /* - ReceiveBuffer[0] = 0; ReceiveBuffer[1] = 0; ReceiveBuffer[2] = 0; ReceiveBuffer[3] = 0; - ReceiveBuffer[4] = 0xA1; ReceiveBuffer[5] = 0x00; - ReceiveBuffer[6] = 12; ReceiveBuffer[7] = 34; ReceiveBuffer[8] = 56; ReceiveBuffer[9] = 78; - ReceiveBuffer[10] = 3; ReceiveBuffer[11] = 2; - ReceiveBuffer[12] = 5; ReceiveBuffer[13] = 6; - ReceiveBuffer[14] = 0; ReceiveBuffer[15] = 0; ReceiveBuffer[16] = 56; ReceiveBuffer[17] = 45; - ReceiveBuffer[18] = 19; ReceiveBuffer[19] = 0; ReceiveBuffer[20] = 23; ReceiveBuffer[21] = 69; - ReceiveBuffer[22] = 254; ReceiveBuffer[23] = 0; ReceiveBuffer[24] = 2; ReceiveBuffer[25] = 80; - ReceiveBuffer[26] = 24; ReceiveBuffer[27] = 6; - ReceiveBuffer[28] = 73; ReceiveBuffer[29] = 8; - ReceiveBuffer[30] = 28; ReceiveBuffer[31] = 81; - ReceiveBuffer[32] = 21; ReceiveBuffer[33] = 33; - - ReceiveBuffer[34] = 10; ReceiveBuffer[35] = 11; - ReceiveBuffer[36] = 0; ReceiveBuffer[37] = 0; ReceiveBuffer[38] = 56; ReceiveBuffer[39] = 45; - ReceiveBuffer[40] = 19; ReceiveBuffer[41] = 0; ReceiveBuffer[42] = 23; ReceiveBuffer[43] = 69; - ReceiveBuffer[44] = 254; ReceiveBuffer[45] = 0; ReceiveBuffer[46] = 2; ReceiveBuffer[47] = 80; - ReceiveBuffer[48] = 24; ReceiveBuffer[49] = 6; - ReceiveBuffer[50] = 73; ReceiveBuffer[51] = 8; - ReceiveBuffer[52] = 28; ReceiveBuffer[53] = 81; - ReceiveBuffer[54] = 21; ReceiveBuffer[55] = 33; - */ - - /*We received data...*/ - /*Add binary data to global data*/ - - //printf("FROM HIL: "); - for(i = 0; i < UDPReceiveBuffer[3] + 4; i++) - { - GSD->VOILData[i] = (U8)UDPReceiveBuffer[i]; - //printf("%x-", GSD->VOILData[i]); - } - // printf("\n"); - - /*Make ASCII data from binary data*/ - bzero(VOILString, SIM_CONTROL_LOG_BUFFER_LENGTH); - SimulatorControlVOILToASCII(UDPReceiveBuffer, VOILString); - /*Send data to message queue so it is written to the log file*/ - (void)iCommSend(COMM_VIOP, VOILString); - } - - - if(CycleU16 == 0) - { - /*Send hearbeat to the simulator*/ - SimulatorControlSendHeartbeat( &SimulatorUDPSocketfdI32, &simulator_addr, GPSTime, 0); - } - - } - - if(GSD->ScenarioStartTimeU32 != 0) - { - /*There is a scenario start time in global data, send it to the simulator*/ - bzero(Timestamp, SIM_CONTROL_BUFFER_SIZE_20); - sprintf(Timestamp, "%" PRIu32, GSD->ScenarioStartTimeU32); - printf("[SimulatorControl] Sending StartScenario(%s)\n", Timestamp); - //LOG_SEND(LogBuffer, "[SimulatorControl] Sending StartScenario(%s)", Timestamp); - SimulatorControlStartScenario( &SimulatorTCPSocketfdI32, Timestamp, 1); - GSD->ScenarioStartTimeU32 = 0; - } - - - bzero(MqRecvBuffer,MQ_MAX_MESSAGE_LENGTH); - (void)iCommRecv(&iCommand,MqRecvBuffer,MQ_MAX_MESSAGE_LENGTH, NULL); - - - if(iCommand == COMM_EXIT) - { - iExit = 1; - printf("simulatorcontrol exiting.\n"); - (void)iCommClose(); - } - else if(iCommand == COMM_MONI) - { - //printf("Monr sim %s\n", MqRecvBuffer); - //Monitor message received, we send it to simulator - LengthU32 = SimulatorControlBuildObjectMonitorMessage(SendBuffer, MqRecvBuffer, &ObjectMonitorData, 0); - UtilSendUDPData("SimulatorControl", &SimulatorUDPSocketfdI32, &simulator_addr, SendBuffer, LengthU32, 0); - } - else if (iCommand == COMM_OBC_STATE) - { - OBCStateStatus = (U8)*MqRecvBuffer; - //Prepare to send ObjectAddressList - if(OBCStateStatus == OBC_STATE_CONNECTED) ObjectAddressListSentU8 = 0; - } - - - ++CycleU16; - if(CycleU16 >= SIM_CONTROL_HEARTBEAT_TIME_MS/SIM_CONTROL_TASK_PERIOD_MS) CycleU16 = 0; - sleep_time.tv_sec = 0; - sleep_time.tv_nsec = SIM_CONTROL_TASK_PERIOD_MS*1000000; - (void)nanosleep(&sleep_time,&ref_time); - - - } - } +int simulatorcontrol_task(TimeType * GPSTime, GSDType * GSD) { + + I32 iExit = 0, iCommand; + C8 MqRecvBuffer[MQ_MAX_MESSAGE_LENGTH]; + + (void)iCommInit(IPC_RECV_SEND, MQ_LG, 0); + + printf("[SimulatorControl] Starting simulator control...\n"); + + C8 TextBufferC8[SIM_CONTROL_BUFFER_SIZE_20]; + C8 SimulatorServerIPC8[SIM_CONTROL_BUFFER_SIZE_20]; + C8 DTMObjectAddressesC8[SIM_CONTROL_BUFFER_SIZE_128]; + U32 SimulatorIpU32 = 0; + U16 SimulatorTCPPortU16; + I32 SimulatorTCPSocketfdI32 = -1; + U16 SimulatorUDPPortU16; + I32 SimulatorUDPSocketfdI32 = -1; + C8 SupervisorServerIPC8[SIM_CONTROL_BUFFER_SIZE_20]; + U32 SupervisorIpU32 = 0; + struct sockaddr_in simulator_addr; + I32 ClientResultI32; + C8 RxBuffer[SIM_CONTROL_BUFFER_SIZE_2048]; + C8 ReceiveBuffer[SIM_CONTROL_BUFFER_SIZE_3100]; + C8 UDPReceiveBuffer[SIM_CONTROL_BUFFER_SIZE_400]; + C8 SendBuffer[SIM_CONTROL_BUFFER_SIZE_128]; + I32 ReceivedNewData, i, j; + struct timespec sleep_time, ref_time; + struct timeval tv, ExecTime; + struct tm *tm; + U8 PrevSecondU8; + U16 CurrentMilliSecondU16, PrevMilliSecondU16; + U16 CycleU16; + U8 ServerStatusU8 = 0; + U8 SimulatorInitiatedReqU8 = 0; + U8 SimulatorInitiatedU8 = 0; + C8 *MiscPtr; + U64 StartTimeU64; + C8 LogBuffer[SIM_CONTROL_LOG_BUFFER_LENGTH]; + C8 VOILString[SIM_CONTROL_LOG_BUFFER_LENGTH]; + C8 Timestamp[SIM_CONTROL_BUFFER_SIZE_20]; + ObjectMonitorType ObjectMonitorData; + U32 LengthU32; + C8 SimFuncReqResponse[SIM_CONTROL_BUFFER_SIZE_64]; + C8 SimFuncRx[SIM_CONTROL_BUFFER_SIZE_64]; + U16 SimRxCodeU16 = 0; + U16 ResponseDataIndexU16 = 0; + C8 MsgQueBuffer[SIM_CONTROL_BUFFER_SIZE_6200]; + + SMGDType SMGD; + + SMGD.SimulatorModeU8 = 0; + U32 RxTotalDataU32 = 0; + U32 ReqRxLengthU32 = 0; + U8 WaitAllDataU8 = 0; + U8 DataChunkedU8 = 0; + + OBCState_t OBCStateStatus = OBC_STATE_IDLE; + U8 ObjectAddressListSentU8 = 0; + U8 SupervisorModeU8 = 0; + + GSD->ChunkSize = 0; + + gettimeofday(&ExecTime, NULL); + CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); + PrevMilliSecondU16 = CurrentMilliSecondU16; + + //Get the Simulator IP + bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(TEST_CONF_FILE, "SimulatorIP=", "", TextBufferC8); + bzero(SimulatorServerIPC8, SIM_CONTROL_BUFFER_SIZE_20); + strcat(SimulatorServerIPC8, TextBufferC8); + printf("[SimulatorControl] Simulator IP: %s\n", TextBufferC8); + SimulatorIpU32 = UtilIPStringToInt(SimulatorServerIPC8); + + //Get the Supervisor IP + bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(TEST_CONF_FILE, "SupervisorIP=", "", TextBufferC8); + bzero(SupervisorServerIPC8, SIM_CONTROL_BUFFER_SIZE_20); + strcat(SupervisorServerIPC8, TextBufferC8); + printf("[SimulatorControl] Supervisor IP: %s\n", TextBufferC8); + SupervisorIpU32 = UtilIPStringToInt(SupervisorServerIPC8); + + //Get the Supervisor mode + bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(TEST_CONF_FILE, "SimulatorMode=", "", TextBufferC8); + SupervisorModeU8 = atoi(TextBufferC8); + printf("[SimulatorControl] SimulatorMode: %d\n", SupervisorModeU8); + + //Get object addresses used in DTM mode + bzero(DTMObjectAddressesC8, SIM_CONTROL_BUFFER_SIZE_128); + UtilSearchTextFile(TEST_CONF_FILE, "DTMReceivers=", "", DTMObjectAddressesC8); + + if (SimulatorIpU32 != 0) //Do stuff if IP is defined + { + bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(TEST_CONF_FILE, "SimulatorTCPPort=", "", TextBufferC8); + SimulatorTCPPortU16 = (U16) atoi(TextBufferC8); + bzero(TextBufferC8, SIM_CONTROL_BUFFER_SIZE_20); + UtilSearchTextFile(TEST_CONF_FILE, "SimulatorUDPPort=", "", TextBufferC8); + SimulatorUDPPortU16 = (U16) atoi(TextBufferC8); + + printf("[SimulatorControl] SimulatorTCPPort = %d\n", SimulatorTCPPortU16); + printf("[SimulatorControl] SimulatorUDPPort = %d\n", SimulatorUDPPortU16); + + + while (GPSTime->TimeInitiatedU8 == 0) { + usleep(100); + } + + while (!iExit) { + if (SimulatorTCPSocketfdI32 <= 0) { + ClientResultI32 = + UtilConnectTCPChannel("SimulatorControl", &SimulatorTCPSocketfdI32, + (const C8 *)SimulatorServerIPC8, SimulatorTCPPortU16); + UtilCreateUDPChannel("SimulatorControl", &SimulatorUDPSocketfdI32, + (const C8 *)SimulatorServerIPC8, SimulatorUDPPortU16, &simulator_addr); + } + else { + bzero(RxBuffer, SIM_CONTROL_BUFFER_SIZE_2048); + ClientResultI32 = UtilReceiveTCPData("SimulatorControl", &SimulatorTCPSocketfdI32, RxBuffer, 0, 0); //Data length resides in ClientResultI32 + if (ClientResultI32 == 0) { + DEBUG_LPRINT(DEBUG_LEVEL_HIGH, "[SimulatorControl] Client closed connection.\n"); + close(SimulatorTCPSocketfdI32); + SimulatorTCPSocketfdI32 = -1; + SimulatorInitiatedU8 = 0; + } + + /*Initiate the simulator if not initialized and a there is a valid TCP connection */ + if (SimulatorInitiatedReqU8 == 0 && SimulatorTCPSocketfdI32 > 0) { + SimulatorControlInitSimulator(&SimulatorTCPSocketfdI32, SupervisorModeU8, + SimFuncReqResponse, 0); + SimulatorInitiatedReqU8 = 1; + } + + //Send ObjectAddressList if in correct mode and ObjectControl is in armed state + if (OBCStateStatus == OBC_STATE_ARMED + && (SMGD.SimulatorModeU8 == SIM_CONTROL_DTM_MODE + || SMGD.SimulatorModeU8 == SIM_CONTROL_VIM_DTM_MODE) + && ObjectAddressListSentU8 == 0) { + SimulatorControlObjectAddressList(&SimulatorTCPSocketfdI32, + DTMObjectAddressesC8 /*"192.168.0.15" */ , + SimFuncReqResponse, 0); + ObjectAddressListSentU8 = 1; + } + + + if (ClientResultI32 > 0 || WaitAllDataU8 == 1) { + RxTotalDataU32 = RxTotalDataU32 + ClientResultI32; + + if (WaitAllDataU8 == 0) { + ReqRxLengthU32 = (C8) RxBuffer[0]; + ReqRxLengthU32 = (C8) RxBuffer[1] | (ReqRxLengthU32 << 8); + ReqRxLengthU32 = (C8) RxBuffer[2] | (ReqRxLengthU32 << 8); + ReqRxLengthU32 = (C8) RxBuffer[3] | (ReqRxLengthU32 << 8); + ReqRxLengthU32 += 4; + + bzero(ReceiveBuffer, SIM_CONTROL_BUFFER_SIZE_3100); + j = 0; + } + + if (ClientResultI32 > 0 && SIM_CONTROL_DEBUG_TCP_RX_DATA) { + printf("[SimulatorControl] TCP Rx length = %d data: ", ClientResultI32); + for (int i = 0; i < ClientResultI32; i++) + printf("%x ", (C8) RxBuffer[i]); + printf("\n"); + printf("ReqRxLengthU32= %d\n", ReqRxLengthU32); + } + + if (RxTotalDataU32 != ReqRxLengthU32) { + WaitAllDataU8 = 1; + DataChunkedU8 = 1; + for (i = 0; i < ClientResultI32; i++, j++) + ReceiveBuffer[j] = RxBuffer[i]; + } + else { + if (DataChunkedU8 == 1) + for (i = 0; i < ClientResultI32; i++, j++) + ReceiveBuffer[j] = RxBuffer[i]; + else if (DataChunkedU8 == 0) + for (j = 0; j < RxTotalDataU32; j++) + ReceiveBuffer[j] = RxBuffer[j]; + DataChunkedU8 = 0; + ReqRxLengthU32 = 0; + WaitAllDataU8 = 0; + } + + if (ClientResultI32 > 0 && SIM_CONTROL_DEBUG_TCP_RX_DATA) { + printf("WaitAllDataU8= %d\n", WaitAllDataU8); + printf("RxTotalDataU32= %d\n", RxTotalDataU32); + printf("ClientResultI32= %d\n", ClientResultI32); + printf("DataChunkedU8= %d\n", DataChunkedU8); + } + } + + + if (WaitAllDataU8 == 0 && ClientResultI32 > 0) { + if (SIM_CONTROL_DEBUG_TCP_RX_DATA) { + printf("[SimulatorControl]"); + for (int i = 0; i < RxTotalDataU32; i++) + printf("%x ", ReceiveBuffer[i]); + printf("\n"); + } + + SimRxCodeU16 = ReceiveBuffer[4]; + SimRxCodeU16 = (SimRxCodeU16 << 8) | ReceiveBuffer[5]; + + if (SimRxCodeU16 > 0) { + + printf("[SimulatorControl] SimRxCodeU16 = 0x%x\n", SimRxCodeU16); + if (SimRxCodeU16 == 0x7E7E && SMGD.SimulatorModeU8 == SIM_CONTROL_DTM_MODE) { + + //Binary data is received from simulator, send to binary message manager when Supervisor not is available + bzero(MsgQueBuffer, SIM_CONTROL_BUFFER_SIZE_6200); + SimulatorControlBinaryMessageManager(RxTotalDataU32, ReceiveBuffer, MsgQueBuffer, + 0); + + if (SupervisorIpU32 == 0) { + //printf("[SimulatorControl] To MsgQueue: %s\n", MsgQueBuffer); + (void)iCommSend(COMM_TRAJ, MsgQueBuffer); //COMM_TRAJ will be received by ObjectControl + } + else { + + for (i = 0; i < strlen(MsgQueBuffer); i++) + GSD->Chunk[i] = MsgQueBuffer[i]; + GSD->ChunkSize = strlen(MsgQueBuffer); + + //(void)iCommSend(COMM_TRAJ_TOSUP, MsgQueBuffer); //COMM_TRAJ_TOSUP will be received by SupervisorControl + } + SimRxCodeU16 = 0; + } + else if (SimRxCodeU16 == 10) { + bzero(SimFuncRx, SIM_CONTROL_BUFFER_SIZE_64); + strncpy(SimFuncRx, ReceiveBuffer + 6, strlen(ReceiveBuffer + 6)); + printf("[SimulatorControl] Incoming URC function: %s\n", SimFuncRx); + + SimRxCodeU16 = 0; + } + else { + + bzero(SimFuncRx, SIM_CONTROL_BUFFER_SIZE_64); + strncpy(SimFuncRx, ReceiveBuffer + 6, + (U64) strchr(ReceiveBuffer + 6, ':') - (U64) (ReceiveBuffer + 6)); + + //printf("[SimulatorControl] Requesting function: %s\n", SimFuncReqResponse); + //printf("[SimulatorControl] Incoming function: %s\n", SimFuncRx); + + if (strcmp(SimFuncReqResponse, SimFuncRx) == 0 && SimRxCodeU16 == 1) { + ResponseDataIndexU16 = strlen(SimFuncReqResponse) + 7; + + if (strcmp(SimFuncReqResponse, "InitSimulator") == 0) { + //printf("Do ObjectAddressList\n"); + if (ReceiveBuffer[ResponseDataIndexU16] >= SIM_CONTROL_VIM_MODE + && ReceiveBuffer[ResponseDataIndexU16] <= SIM_CONTROL_DEBUG_MODE) + SMGD.SimulatorModeU8 = ReceiveBuffer[ResponseDataIndexU16]; + + } + else if (strcmp(SimFuncReqResponse, "ObjectAddressList") == 0) { + printf("[SimulatorControl] %s sent, SimulatorMode = %d\n", SimFuncRx, + SMGD.SimulatorModeU8); + bzero(SimFuncReqResponse, SIM_CONTROL_BUFFER_SIZE_64); + } + } + else if (SimRxCodeU16 == 0xFFFF) { + printf("[SimulatorControl] %s not supported!\n", SimFuncRx); + } + else { + printf("[SimulatorControl] Unknown data from simulator: "); + for (j = 0; j < RxTotalDataU32; j++) + printf("%x ", (C8) ReceiveBuffer[j]); + printf("\n"); + } + } + + + SimRxCodeU16 = 0; + bzero(ReceiveBuffer, RxTotalDataU32); + bzero(SimFuncRx, SIM_CONTROL_BUFFER_SIZE_64); + + } + + WaitAllDataU8 = 0; + ClientResultI32 = 0; + RxTotalDataU32 = 0; + } + + /*Check if we received UDP data from the simulator */ + bzero(UDPReceiveBuffer, SIM_CONTROL_BUFFER_SIZE_400); + UtilReceiveUDPData("SimulatorControl", &SimulatorUDPSocketfdI32, UDPReceiveBuffer, 100, + &ReceivedNewData, 0); + + + if (ReceivedNewData) { + /* + ReceiveBuffer[0] = 0; ReceiveBuffer[1] = 0; ReceiveBuffer[2] = 0; ReceiveBuffer[3] = 0; + ReceiveBuffer[4] = 0xA1; ReceiveBuffer[5] = 0x00; + ReceiveBuffer[6] = 12; ReceiveBuffer[7] = 34; ReceiveBuffer[8] = 56; ReceiveBuffer[9] = 78; + ReceiveBuffer[10] = 3; ReceiveBuffer[11] = 2; + ReceiveBuffer[12] = 5; ReceiveBuffer[13] = 6; + ReceiveBuffer[14] = 0; ReceiveBuffer[15] = 0; ReceiveBuffer[16] = 56; ReceiveBuffer[17] = 45; + ReceiveBuffer[18] = 19; ReceiveBuffer[19] = 0; ReceiveBuffer[20] = 23; ReceiveBuffer[21] = 69; + ReceiveBuffer[22] = 254; ReceiveBuffer[23] = 0; ReceiveBuffer[24] = 2; ReceiveBuffer[25] = 80; + ReceiveBuffer[26] = 24; ReceiveBuffer[27] = 6; + ReceiveBuffer[28] = 73; ReceiveBuffer[29] = 8; + ReceiveBuffer[30] = 28; ReceiveBuffer[31] = 81; + ReceiveBuffer[32] = 21; ReceiveBuffer[33] = 33; + + ReceiveBuffer[34] = 10; ReceiveBuffer[35] = 11; + ReceiveBuffer[36] = 0; ReceiveBuffer[37] = 0; ReceiveBuffer[38] = 56; ReceiveBuffer[39] = 45; + ReceiveBuffer[40] = 19; ReceiveBuffer[41] = 0; ReceiveBuffer[42] = 23; ReceiveBuffer[43] = 69; + ReceiveBuffer[44] = 254; ReceiveBuffer[45] = 0; ReceiveBuffer[46] = 2; ReceiveBuffer[47] = 80; + ReceiveBuffer[48] = 24; ReceiveBuffer[49] = 6; + ReceiveBuffer[50] = 73; ReceiveBuffer[51] = 8; + ReceiveBuffer[52] = 28; ReceiveBuffer[53] = 81; + ReceiveBuffer[54] = 21; ReceiveBuffer[55] = 33; + */ + + /*We received data... */ + /*Add binary data to global data */ + + //printf("FROM HIL: "); + for (i = 0; i < UDPReceiveBuffer[3] + 4; i++) { + GSD->VOILData[i] = (U8) UDPReceiveBuffer[i]; + //printf("%x-", GSD->VOILData[i]); + } + // printf("\n"); + + /*Make ASCII data from binary data */ + bzero(VOILString, SIM_CONTROL_LOG_BUFFER_LENGTH); + SimulatorControlVOILToASCII(UDPReceiveBuffer, VOILString); + /*Send data to message queue so it is written to the log file */ + (void)iCommSend(COMM_VIOP, VOILString); + } + + + if (CycleU16 == 0) { + /*Send hearbeat to the simulator */ + SimulatorControlSendHeartbeat(&SimulatorUDPSocketfdI32, &simulator_addr, GPSTime, 0); + } + + } + + if (GSD->ScenarioStartTimeU32 != 0) { + /*There is a scenario start time in global data, send it to the simulator */ + bzero(Timestamp, SIM_CONTROL_BUFFER_SIZE_20); + sprintf(Timestamp, "%" PRIu32, GSD->ScenarioStartTimeU32); + printf("[SimulatorControl] Sending StartScenario(%s)\n", Timestamp); + //LOG_SEND(LogBuffer, "[SimulatorControl] Sending StartScenario(%s)", Timestamp); + SimulatorControlStartScenario(&SimulatorTCPSocketfdI32, Timestamp, 1); + GSD->ScenarioStartTimeU32 = 0; + } + + + bzero(MqRecvBuffer, MQ_MAX_MESSAGE_LENGTH); + (void)iCommRecv(&iCommand, MqRecvBuffer, MQ_MAX_MESSAGE_LENGTH, NULL); + + + if (iCommand == COMM_EXIT) { + iExit = 1; + printf("simulatorcontrol exiting.\n"); + (void)iCommClose(); + } + else if (iCommand == COMM_MONI) { + //printf("Monr sim %s\n", MqRecvBuffer); + //Monitor message received, we send it to simulator + LengthU32 = + SimulatorControlBuildObjectMonitorMessage(SendBuffer, MqRecvBuffer, &ObjectMonitorData, + 0); + UtilSendUDPData("SimulatorControl", &SimulatorUDPSocketfdI32, &simulator_addr, SendBuffer, + LengthU32, 0); + } + else if (iCommand == COMM_OBC_STATE) { + OBCStateStatus = (U8) * MqRecvBuffer; + //Prepare to send ObjectAddressList + if (OBCStateStatus == OBC_STATE_CONNECTED) + ObjectAddressListSentU8 = 0; + } + + + ++CycleU16; + if (CycleU16 >= SIM_CONTROL_HEARTBEAT_TIME_MS / SIM_CONTROL_TASK_PERIOD_MS) + CycleU16 = 0; + sleep_time.tv_sec = 0; + sleep_time.tv_nsec = SIM_CONTROL_TASK_PERIOD_MS * 1000000; + (void)nanosleep(&sleep_time, &ref_time); + + + } + } } -void SimulatorControlStartScenario( I32 *Sockfd, C8 *StartTime, U8 Debug) -{ - C8 SendData[SIM_CONTROL_BUFFER_SIZE_128]; - C8 SendLength[4] = {0,0,0,0}; - I32 Length = 0; - bzero(SendData, SIM_CONTROL_BUFFER_SIZE_128); - strcat(SendData,"StartScenario("); - strcat(SendData, StartTime); - strcat(SendData, ")"); +void SimulatorControlStartScenario(I32 * Sockfd, C8 * StartTime, U8 Debug) { + C8 SendData[SIM_CONTROL_BUFFER_SIZE_128]; + C8 SendLength[4] = { 0, 0, 0, 0 }; + I32 Length = 0; + + bzero(SendData, SIM_CONTROL_BUFFER_SIZE_128); + strcat(SendData, "StartScenario("); + strcat(SendData, StartTime); + strcat(SendData, ")"); - Length = (I32)(strlen(SendData)); - SendLength[3] = (U8)Length; - UtilSendTCPData("SimulatorControl", (const C8*)SendLength, 4, Sockfd, Debug); - UtilSendTCPData("SimulatorControl", (const C8*)SendData, Length, Sockfd, Debug); + Length = (I32) (strlen(SendData)); + SendLength[3] = (U8) Length; + UtilSendTCPData("SimulatorControl", (const C8 *)SendLength, 4, Sockfd, Debug); + UtilSendTCPData("SimulatorControl", (const C8 *)SendData, Length, Sockfd, Debug); } -void SimulatorControlInitSimulator( I32 *Sockfd, U8 SimulatorMode, C8 *FunctionReqResponse, U8 Debug) -{ - C8 SendData[SIM_CONTROL_BUFFER_SIZE_128]; - C8 SendLength[4] = {0,0,0,0}; - C8 Mode[1] ={0}; - I32 Length = 0; - bzero(SendData, SIM_CONTROL_BUFFER_SIZE_128); - bzero(FunctionReqResponse, SIM_CONTROL_BUFFER_SIZE_128); - strcat(FunctionReqResponse,"InitSimulator"); - strcat(SendData,"InitSimulator("); - sprintf(Mode, "%" PRIu8, SimulatorMode); - strcat(SendData, Mode); - strcat(SendData, ")"); - - Length = (I32)(strlen(SendData)); - SendLength[3] = (U8)Length; - - UtilSendTCPData("SimulatorControl", (const C8*)SendLength, 4, Sockfd, Debug); - UtilSendTCPData("SimulatorControl", (const C8*)SendData, Length, Sockfd, Debug); +void SimulatorControlInitSimulator(I32 * Sockfd, U8 SimulatorMode, C8 * FunctionReqResponse, U8 Debug) { + C8 SendData[SIM_CONTROL_BUFFER_SIZE_128]; + C8 SendLength[4] = { 0, 0, 0, 0 }; + C8 Mode[1] = { 0 }; + I32 Length = 0; + + bzero(SendData, SIM_CONTROL_BUFFER_SIZE_128); + bzero(FunctionReqResponse, SIM_CONTROL_BUFFER_SIZE_128); + strcat(FunctionReqResponse, "InitSimulator"); + strcat(SendData, "InitSimulator("); + sprintf(Mode, "%" PRIu8, SimulatorMode); + strcat(SendData, Mode); + strcat(SendData, ")"); + + Length = (I32) (strlen(SendData)); + SendLength[3] = (U8) Length; + + UtilSendTCPData("SimulatorControl", (const C8 *)SendLength, 4, Sockfd, Debug); + UtilSendTCPData("SimulatorControl", (const C8 *)SendData, Length, Sockfd, Debug); } -void SimulatorControlObjectAddressList( I32 *Sockfd, C8 *AddressList, C8 *FunctionReqResponse, U8 Debug) -{ - C8 SendData[SIM_CONTROL_BUFFER_SIZE_128]; - C8 SendLength[4] = {0,0,0,0}; - I32 Length = 0; - bzero(SendData, SIM_CONTROL_BUFFER_SIZE_128); - bzero(FunctionReqResponse, SIM_CONTROL_BUFFER_SIZE_128); - strcat(FunctionReqResponse,"ObjectAddressList"); - strcat(SendData,"ObjectAddressList("); - strcat(SendData, AddressList); - strcat(SendData, ")"); - - Length = (I32)(strlen(SendData)); - SendLength[0] = (U8)(Length>>24); - SendLength[1] = (U8)(Length>>16); - SendLength[2] = (U8)(Length>>8); - SendLength[3] = (U8)Length; - - UtilSendTCPData("SimulatorControl", (const C8*)SendLength, 4, Sockfd, Debug); - UtilSendTCPData("SimulatorControl", (const C8*)SendData, Length, Sockfd, Debug); +void SimulatorControlObjectAddressList(I32 * Sockfd, C8 * AddressList, C8 * FunctionReqResponse, U8 Debug) { + C8 SendData[SIM_CONTROL_BUFFER_SIZE_128]; + C8 SendLength[4] = { 0, 0, 0, 0 }; + I32 Length = 0; + + bzero(SendData, SIM_CONTROL_BUFFER_SIZE_128); + bzero(FunctionReqResponse, SIM_CONTROL_BUFFER_SIZE_128); + strcat(FunctionReqResponse, "ObjectAddressList"); + strcat(SendData, "ObjectAddressList("); + strcat(SendData, AddressList); + strcat(SendData, ")"); + + Length = (I32) (strlen(SendData)); + SendLength[0] = (U8) (Length >> 24); + SendLength[1] = (U8) (Length >> 16); + SendLength[2] = (U8) (Length >> 8); + SendLength[3] = (U8) Length; + + UtilSendTCPData("SimulatorControl", (const C8 *)SendLength, 4, Sockfd, Debug); + UtilSendTCPData("SimulatorControl", (const C8 *)SendData, Length, Sockfd, Debug); } -void SimulatorControlSendHeartbeat( I32 *Sockfd, struct sockaddr_in *Addr, TimeType *GPSTime, U8 Debug) -{ +void SimulatorControlSendHeartbeat(I32 * Sockfd, struct sockaddr_in *Addr, TimeType * GPSTime, U8 Debug) { + + C8 Data[10]; - C8 Data[10]; + bzero(Data, 10); + U32 GPSSOWms = GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime); - bzero(Data,10); - U32 GPSSOWms = GPSTime->GPSSecondsOfWeekU32*1000 + (U32)TimeControlGetMillisecond(GPSTime); - Data[3] = 6; - Data[5] = 1; - Data[6] = (U8)(GPSSOWms >> 24); - Data[7] = (U8)(GPSSOWms >> 16); - Data[8] = (U8)(GPSSOWms >> 8); - Data[9] = (U8)GPSSOWms; - //printf("%d\n", GPSSOWms); + Data[3] = 6; + Data[5] = 1; + Data[6] = (U8) (GPSSOWms >> 24); + Data[7] = (U8) (GPSSOWms >> 16); + Data[8] = (U8) (GPSSOWms >> 8); + Data[9] = (U8) GPSSOWms; + //printf("%d\n", GPSSOWms); - UtilSendUDPData("SimulatorControl", Sockfd, Addr, Data, 10, Debug); + UtilSendUDPData("SimulatorControl", Sockfd, Addr, Data, 10, Debug); } -U32 SimulatorControlBuildObjectMonitorMessage(C8* MessageBuffer, C8 *MONRData, ObjectMonitorType *ObjectMonitorData, U8 debug) -{ - - C8 *ptr; - C8 TextBuffer[SIM_CONTROL_BUFFER_SIZE_20]; - U32 i,j; - - /*10.130.22.8;0;0;-6;14;229;256;800;0;0;0;0;4;0; */ - //printf("%s\n", MONRData); - - ptr = MONRData; - /*Get IP*/ - bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); - strncpy(TextBuffer, ptr, (uint64_t)strchr(ptr, ';') - (uint64_t)ptr); - ObjectMonitorData->ObjectIPU32 = SwapU32(UtilIPStringToInt(TextBuffer)); - - /*Get GPSSOW*/ - ptr = strchr(ptr+1, ';'); - ptr = strchr(ptr+1, ';'); - bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); - strncpy(TextBuffer, ptr+1, (uint64_t)strchr(ptr+1, ';') - (uint64_t)ptr); - ObjectMonitorData->GPSSOWU32 = SwapU32((U32) atoi(TextBuffer)); - - //Get XPosition - ptr = strchr(ptr+1, ';'); - bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); - strncpy(TextBuffer, ptr+1, (uint64_t)strchr(ptr+1, ';') - (uint64_t)ptr); - ObjectMonitorData->XPositionI32 = SwapI32((I32) atoi(TextBuffer)); - - //Get YPosition - ptr = strchr(ptr+1, ';'); - bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); - strncpy(TextBuffer, ptr+1, (uint64_t)strchr(ptr+1, ';') - (uint64_t)ptr); - ObjectMonitorData->YPositionI32 = SwapI32((I32) atoi(TextBuffer)); - - //Get ZPosition - ptr = strchr(ptr+1, ';'); - bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); - strncpy(TextBuffer, ptr+1, (uint64_t)strchr(ptr+1, ';') - (uint64_t)ptr); - ObjectMonitorData->ZPositionI32 = SwapI32((I32) atoi(TextBuffer)); - - //Get Heading - ptr = strchr(ptr+1, ';'); - bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); - strncpy(TextBuffer, ptr+1, (uint64_t)strchr(ptr+1, ';') - (uint64_t)ptr); - ObjectMonitorData->HeadingU16 = SwapU16((U16) atoi(TextBuffer)); - - //Get Speed - ptr = strchr(ptr+1, ';'); - bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); - strncpy(TextBuffer, ptr+1, (uint64_t)strchr(ptr+1, ';') - (uint64_t)ptr); - ObjectMonitorData->SpeedI16 = SwapI16((I16) atoi(TextBuffer)); - - //Set MessageId - ObjectMonitorData->MessageIdU16 = SwapU16(2); - - ptr=(char *)ObjectMonitorData; - for(i=0; i> 24); - *(MessageBuffer + 1) = (U8)(i >> 16); - *(MessageBuffer + 2) = (U8)(i >> 8); - *(MessageBuffer + 3) = (U8)(i); - - if(debug) - { - printf("----MONR TO SIMULATOR----\n"); - for(j = 0;j < sizeof(ObjectMonitorType) + 4; j ++) printf("%x ", (unsigned char)MessageBuffer[j]); - printf("\n"); - } - - - return i + 4; +U32 SimulatorControlBuildObjectMonitorMessage(C8 * MessageBuffer, C8 * MONRData, + ObjectMonitorType * ObjectMonitorData, U8 debug) { + + C8 *ptr; + C8 TextBuffer[SIM_CONTROL_BUFFER_SIZE_20]; + U32 i, j; + + /*10.130.22.8;0;0;-6;14;229;256;800;0;0;0;0;4;0; */ + //printf("%s\n", MONRData); + + ptr = MONRData; + /*Get IP */ + bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); + strncpy(TextBuffer, ptr, (uint64_t) strchr(ptr, ';') - (uint64_t) ptr); + ObjectMonitorData->ObjectIPU32 = SwapU32(UtilIPStringToInt(TextBuffer)); + + /*Get GPSSOW */ + ptr = strchr(ptr + 1, ';'); + ptr = strchr(ptr + 1, ';'); + bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); + strncpy(TextBuffer, ptr + 1, (uint64_t) strchr(ptr + 1, ';') - (uint64_t) ptr); + ObjectMonitorData->GPSSOWU32 = SwapU32((U32) atoi(TextBuffer)); + + //Get XPosition + ptr = strchr(ptr + 1, ';'); + bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); + strncpy(TextBuffer, ptr + 1, (uint64_t) strchr(ptr + 1, ';') - (uint64_t) ptr); + ObjectMonitorData->XPositionI32 = SwapI32((I32) atoi(TextBuffer)); + + //Get YPosition + ptr = strchr(ptr + 1, ';'); + bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); + strncpy(TextBuffer, ptr + 1, (uint64_t) strchr(ptr + 1, ';') - (uint64_t) ptr); + ObjectMonitorData->YPositionI32 = SwapI32((I32) atoi(TextBuffer)); + + //Get ZPosition + ptr = strchr(ptr + 1, ';'); + bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); + strncpy(TextBuffer, ptr + 1, (uint64_t) strchr(ptr + 1, ';') - (uint64_t) ptr); + ObjectMonitorData->ZPositionI32 = SwapI32((I32) atoi(TextBuffer)); + + //Get Heading + ptr = strchr(ptr + 1, ';'); + bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); + strncpy(TextBuffer, ptr + 1, (uint64_t) strchr(ptr + 1, ';') - (uint64_t) ptr); + ObjectMonitorData->HeadingU16 = SwapU16((U16) atoi(TextBuffer)); + + //Get Speed + ptr = strchr(ptr + 1, ';'); + bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_20); + strncpy(TextBuffer, ptr + 1, (uint64_t) strchr(ptr + 1, ';') - (uint64_t) ptr); + ObjectMonitorData->SpeedI16 = SwapI16((I16) atoi(TextBuffer)); + + //Set MessageId + ObjectMonitorData->MessageIdU16 = SwapU16(2); + + ptr = (char *)ObjectMonitorData; + for (i = 0; i < sizeof (ObjectMonitorType); i++) + *(MessageBuffer + i + 4) = *ptr++; + + *(MessageBuffer + 0) = (U8) (i >> 24); + *(MessageBuffer + 1) = (U8) (i >> 16); + *(MessageBuffer + 2) = (U8) (i >> 8); + *(MessageBuffer + 3) = (U8) (i); + + if (debug) { + printf("----MONR TO SIMULATOR----\n"); + for (j = 0; j < sizeof (ObjectMonitorType) + 4; j++) + printf("%x ", (unsigned char)MessageBuffer[j]); + printf("\n"); + } + + + return i + 4; } -void SimulatorControlSendMONR( I32 *Sockfd, struct sockaddr_in *Addr, C8 *MonrData, U8 Debug) -{ +void SimulatorControlSendMONR(I32 * Sockfd, struct sockaddr_in *Addr, C8 * MonrData, U8 Debug) { - C8 Data[128]; + C8 Data[128]; - bzero(Data,128); - Data[3] = strlen(MonrData); - Data[5] = 2; - strcat((Data+6), MonrData); + bzero(Data, 128); + Data[3] = strlen(MonrData); + Data[5] = 2; + strcat((Data + 6), MonrData); - UtilSendUDPData("SimulatorControl", Sockfd, Addr, Data, strlen(MonrData) + 6, Debug); + UtilSendUDPData("SimulatorControl", Sockfd, Addr, Data, strlen(MonrData) + 6, Debug); } -U32 SimulatorControlVOILToASCII(C8 *VOILData, C8 *VOILString) -{ - C8 Buffer[SIM_CONTROL_BUFFER_SIZE_5]; - C8 TextBuffer[SIM_CONTROL_BUFFER_SIZE_400]; - U32 i; - U16 WordU16; - I16 WordI16; - U32 WordU32; - I32 WordI32; - U8 VoilSize = SIM_CONTROL_VOP_OBJECT_SIZE - 1; - - WordU16 = *(VOILData + 4); - WordU16 = (WordU16 << 8) | *(VOILData+5); - - - if(WordU16 == 0xA100) - { - - bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_400); - //GPSSOW - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - WordU32 = 0; - WordU32 = *(VOILData + 6); - WordU32 = (WordU32 << 8) | *(VOILData+7); - WordU32 = (WordU32 << 8) | *(VOILData+8); - WordU32 = (WordU32 << 8) | *(VOILData+9); - sprintf(Buffer, "%" PRIu32, WordU32); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //Dynamic World state - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - sprintf(Buffer, "%" PRIu8, *(VOILData+10)); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //Object Count - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - sprintf(Buffer, "%" PRIu8, *(VOILData+11)); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - C8 *StartPtr = (VOILData+12); - for(i=0; i < *(VOILData+11); i++) - { - //Object Id - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - sprintf(Buffer, "%" PRIu8, *(StartPtr+VoilSize*i+0)); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //Object State - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - sprintf(Buffer, "%" PRIu8, *(StartPtr+VoilSize*i+1)); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //XPosition - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - WordI32 = 0; - WordI32 = *(StartPtr+VoilSize*i+2); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+3); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+4); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+5); - sprintf(Buffer, "%" PRIi32, WordI32); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //YPosition - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - WordI32 = 0; - WordI32 = *(StartPtr+VoilSize*i+6); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+7); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+8); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+9); - sprintf(Buffer, "%" PRIi32, WordI32); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //ZPosition - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - WordI32 = 0; - WordI32 = *(StartPtr+VoilSize*i+10); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+11); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+12); - WordI32 = (WordI32 << 8) | *(StartPtr+VoilSize*i+13); - sprintf(Buffer, "%" PRIi32, WordI32); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //Heading - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - WordU16 = 0; - WordU16 = *(StartPtr+VoilSize*i+14); - WordU16 = (WordU16 << 8) | *(StartPtr+VoilSize*i+15); - sprintf(Buffer, "%" PRIu16, WordU16); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //Roll - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - WordU16 = 0; - WordU16 = *(StartPtr+VoilSize*i+16); - WordU16 = (WordU16 << 8) | *(StartPtr+VoilSize*i+17); - sprintf(Buffer, "%" PRIu16, WordU16); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //Pitch - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - WordU16 = 0; - WordU16 = *(StartPtr+VoilSize*i+18); - WordU16 = (WordU16 << 8) | *(StartPtr+VoilSize*i+19); - sprintf(Buffer, "%" PRIu16, WordU16); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - - //Speed - bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); - WordI16 = 0; - WordI16 = *(StartPtr+VoilSize*i+20); - WordI16 = (WordI16 << 8) | *(StartPtr+VoilSize*i+21); - sprintf(Buffer, "%" PRIi16, WordI16); - strcat(TextBuffer, Buffer); strcat(TextBuffer,";"); - } - } - - strncpy(VOILString, (const C8*)TextBuffer, strlen(TextBuffer) ); - - return 0; +U32 SimulatorControlVOILToASCII(C8 * VOILData, C8 * VOILString) { + C8 Buffer[SIM_CONTROL_BUFFER_SIZE_5]; + C8 TextBuffer[SIM_CONTROL_BUFFER_SIZE_400]; + U32 i; + U16 WordU16; + I16 WordI16; + U32 WordU32; + I32 WordI32; + U8 VoilSize = SIM_CONTROL_VOP_OBJECT_SIZE - 1; + + WordU16 = *(VOILData + 4); + WordU16 = (WordU16 << 8) | *(VOILData + 5); + + + if (WordU16 == 0xA100) { + + bzero(TextBuffer, SIM_CONTROL_BUFFER_SIZE_400); + //GPSSOW + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + WordU32 = 0; + WordU32 = *(VOILData + 6); + WordU32 = (WordU32 << 8) | *(VOILData + 7); + WordU32 = (WordU32 << 8) | *(VOILData + 8); + WordU32 = (WordU32 << 8) | *(VOILData + 9); + sprintf(Buffer, "%" PRIu32, WordU32); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //Dynamic World state + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + sprintf(Buffer, "%" PRIu8, *(VOILData + 10)); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //Object Count + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + sprintf(Buffer, "%" PRIu8, *(VOILData + 11)); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + C8 *StartPtr = (VOILData + 12); + + for (i = 0; i < *(VOILData + 11); i++) { + //Object Id + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + sprintf(Buffer, "%" PRIu8, *(StartPtr + VoilSize * i + 0)); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //Object State + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + sprintf(Buffer, "%" PRIu8, *(StartPtr + VoilSize * i + 1)); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //XPosition + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + WordI32 = 0; + WordI32 = *(StartPtr + VoilSize * i + 2); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 3); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 4); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 5); + sprintf(Buffer, "%" PRIi32, WordI32); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //YPosition + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + WordI32 = 0; + WordI32 = *(StartPtr + VoilSize * i + 6); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 7); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 8); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 9); + sprintf(Buffer, "%" PRIi32, WordI32); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //ZPosition + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + WordI32 = 0; + WordI32 = *(StartPtr + VoilSize * i + 10); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 11); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 12); + WordI32 = (WordI32 << 8) | *(StartPtr + VoilSize * i + 13); + sprintf(Buffer, "%" PRIi32, WordI32); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //Heading + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + WordU16 = 0; + WordU16 = *(StartPtr + VoilSize * i + 14); + WordU16 = (WordU16 << 8) | *(StartPtr + VoilSize * i + 15); + sprintf(Buffer, "%" PRIu16, WordU16); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //Roll + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + WordU16 = 0; + WordU16 = *(StartPtr + VoilSize * i + 16); + WordU16 = (WordU16 << 8) | *(StartPtr + VoilSize * i + 17); + sprintf(Buffer, "%" PRIu16, WordU16); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //Pitch + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + WordU16 = 0; + WordU16 = *(StartPtr + VoilSize * i + 18); + WordU16 = (WordU16 << 8) | *(StartPtr + VoilSize * i + 19); + sprintf(Buffer, "%" PRIu16, WordU16); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + + //Speed + bzero(Buffer, SIM_CONTROL_BUFFER_SIZE_5); + WordI16 = 0; + WordI16 = *(StartPtr + VoilSize * i + 20); + WordI16 = (WordI16 << 8) | *(StartPtr + VoilSize * i + 21); + sprintf(Buffer, "%" PRIi16, WordI16); + strcat(TextBuffer, Buffer); + strcat(TextBuffer, ";"); + } + } + + strncpy(VOILString, (const C8 *)TextBuffer, strlen(TextBuffer)); + + return 0; } -U32 SimulatorControlBinaryMessageManager(I32 DataLength, C8* ReceiveBuffer, C8 *MsgQueBuffer, U8 Debug) -{ - I32 j; - U16 MessageIdU16; - - if(Debug) - { - printf("[SimulatorControl] Binary data length = %d: ", DataLength); - for(j = 80;j < DataLength; j ++) printf("%x ", (C8)ReceiveBuffer[j]); //j = 80 is where first timestamp is - printf("\n"); - } - - MessageIdU16 = *(ReceiveBuffer+6); - MessageIdU16 = (MessageIdU16<<8) | *(ReceiveBuffer+7); - - if(MessageIdU16 == 0x0001) //TRAJ - { - UtilBinaryToHexText(DataLength-8, ReceiveBuffer+8, MsgQueBuffer, 0); - } - - - return 0; +U32 SimulatorControlBinaryMessageManager(I32 DataLength, C8 * ReceiveBuffer, C8 * MsgQueBuffer, U8 Debug) { + I32 j; + U16 MessageIdU16; + + if (Debug) { + printf("[SimulatorControl] Binary data length = %d: ", DataLength); + for (j = 80; j < DataLength; j++) + printf("%x ", (C8) ReceiveBuffer[j]); //j = 80 is where first timestamp is + printf("\n"); + } + + MessageIdU16 = *(ReceiveBuffer + 6); + MessageIdU16 = (MessageIdU16 << 8) | *(ReceiveBuffer + 7); + + if (MessageIdU16 == 0x0001) //TRAJ + { + UtilBinaryToHexText(DataLength - 8, ReceiveBuffer + 8, MsgQueBuffer, 0); + } + + + return 0; } diff --git a/server/src/supervision.c b/server/src/supervision.c index ad983c807..8d484bf07 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -40,12 +40,11 @@ /*------------------------------------------------------------ -- Type definitions. ------------------------------------------------------------*/ -typedef struct -{ - U16 numberOfPoints; - I8 isPermitted; - char name[MAX_GEOFENCE_NAME_LEN]; - CartesianPosition *polygonPoints; +typedef struct { + U16 numberOfPoints; + I8 isPermitted; + char name[MAX_GEOFENCE_NAME_LEN]; + CartesianPosition *polygonPoints; } GeofenceType; @@ -53,11 +52,12 @@ typedef struct -- Function declarations. ------------------------------------------------------------*/ -int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences); -int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof); -int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence); +int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType * geofences, + unsigned int numberOfGeofences); +int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof); +int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence); static void signalHandler(int signo); -void freeGeofences(GeofenceType *geoFence, unsigned int *nGeof); +void freeGeofences(GeofenceType * geoFence, unsigned int *nGeof); /*------------------------------------------------------------ -- Static variables @@ -67,97 +67,89 @@ static volatile int iExit = 0; /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -{ - - char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus - MonitorDataType MONRMessage; - - unsigned int numberOfGeofences = 0; - GeofenceType *geofenceArray = NULL; - - enum COMMAND command; - - // Create log - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); - - // Set up signal handlers - if (signal(SIGINT, signalHandler) == SIG_ERR) - util_error("Unable to initialize signal handler"); - - // Set up message bus connection - if (iCommInit()) - util_error("Unable to connect to message queue bus"); - - while(!iExit) - { - bzero(busReceiveBuffer, sizeof(busReceiveBuffer)); - (void)iCommRecv(&command,busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - if (command == COMM_ABORT) - { - // TODO: - - } - - if (command == COMM_EXIT) - { - iExit = 1; - - freeGeofences(geofenceArray, &numberOfGeofences); - - LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); - (void)iCommClose(); - } - - switch (command) - { - case COMM_INIT: - if (geofenceArray != NULL) - freeGeofences(geofenceArray, &numberOfGeofences); - - if (loadGeofenceFiles(&geofenceArray, &numberOfGeofences) == -1) - util_error("Unable to load geofences"); // TODO: Do something more e.g. stop the INIT process - - break; - case COMM_MONI: - // Ignore old style MONR data - break; - case COMM_MONR: - UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof(busReceiveBuffer), &MONRMessage, 0); - // TODO: react to output from SupervisionCheckGeofences - SupervisionCheckGeofences(MONRMessage, geofenceArray, numberOfGeofences); - - break; - case COMM_OBC_STATE: - break; - case COMM_CONNECT: - break; - case COMM_LOG: - break; - case COMM_INV: - break; - default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); - } - } +void supervision_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { + + char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus + MonitorDataType MONRMessage; + + unsigned int numberOfGeofences = 0; + GeofenceType *geofenceArray = NULL; + + enum COMMAND command; + + // Create log + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); + + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + // Set up message bus connection + if (iCommInit()) + util_error("Unable to connect to message queue bus"); + + while (!iExit) { + bzero(busReceiveBuffer, sizeof (busReceiveBuffer)); + (void)iCommRecv(&command, busReceiveBuffer, sizeof (busReceiveBuffer), NULL); + if (command == COMM_ABORT) { + // TODO: + + } + + if (command == COMM_EXIT) { + iExit = 1; + + freeGeofences(geofenceArray, &numberOfGeofences); + + LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); + (void)iCommClose(); + } + + switch (command) { + case COMM_INIT: + if (geofenceArray != NULL) + freeGeofences(geofenceArray, &numberOfGeofences); + + if (loadGeofenceFiles(&geofenceArray, &numberOfGeofences) == -1) + util_error("Unable to load geofences"); // TODO: Do something more e.g. stop the INIT process + + break; + case COMM_MONI: + // Ignore old style MONR data + break; + case COMM_MONR: + UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof (busReceiveBuffer), &MONRMessage, 0); + // TODO: react to output from SupervisionCheckGeofences + SupervisionCheckGeofences(MONRMessage, geofenceArray, numberOfGeofences); + + break; + case COMM_OBC_STATE: + break; + case COMM_CONNECT: + break; + case COMM_LOG: + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); + } + } } /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -void signalHandler(int signo) - { - if (signo == SIGINT) - { - LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); - iExit = 1; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); - } +void signalHandler(int signo) { + if (signo == SIGINT) { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } } /*! @@ -166,76 +158,70 @@ void signalHandler(int signo) * \param *nGeof A pointer to count number of geofences loaded. * */ -int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof){ - - struct dirent *pDirent; - DIR *pDir; - char *ext; - unsigned int n = 0; - - LogMessage(LOG_LEVEL_DEBUG,"Loading geofences"); - - pDir = opendir (GEOFENCE_DIRECTORY); - if (pDir == NULL) { - LogMessage(LOG_LEVEL_ERROR,"Cannot open geofence directory"); - return -1; - } - - // Count the nuber of geofence files in the directory - while ((pDirent = readdir(pDir)) != NULL) - { - ext = strrchr(pDirent->d_name, '.'); - if(strcmp(ext, ".geofence") == 0) - { - n++; - } - } - closedir (pDir); - *nGeof = n; - - *geofences = (GeofenceType *)malloc(n * sizeof (GeofenceType)); - - if (*geofences == NULL) - { - LogMessage(LOG_LEVEL_ERROR,"Unable to allocate memory for geofences"); - return -1; - } - - LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", *nGeof); - - pDir = opendir (GEOFENCE_DIRECTORY); - if (pDir == NULL) { - LogMessage(LOG_LEVEL_ERROR,"Cannot open geofence directory"); - return -1; - } - - n = 0; - while ((pDirent = readdir(pDir)) != NULL) { - ext = strrchr(pDirent->d_name, '.'); - if(strcmp(ext, ".geofence") != 0 && strcmp(pDirent->d_name,".") != 0 && strcmp(pDirent->d_name,"..") != 0) - { - LogMessage(LOG_LEVEL_WARNING, "File <%s> is not a valid .geofence file", pDirent->d_name); - } - else if (strcmp(pDirent->d_name,".") == 0 || strcmp(pDirent->d_name,"..") == 0) - { - LogMessage(LOG_LEVEL_DEBUG, "Ignored <%s>",pDirent->d_name); - } - else - { - if(parseGeofenceFile(pDirent->d_name, (*geofences)+n) == -1) - { - closedir(pDir); - LogMessage(LOG_LEVEL_ERROR, "Error parsing file <%s>", pDirent->d_name); - return -1; - } - LogMessage(LOG_LEVEL_DEBUG, "Loaded geofence with %u vertices", (*geofences)[n].numberOfPoints); - n++; - } - } - closedir (pDir); - LogMessage(LOG_LEVEL_INFO, "Loaded %d geofences",*nGeof); - - return 0; +int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { + + struct dirent *pDirent; + DIR *pDir; + char *ext; + unsigned int n = 0; + + LogMessage(LOG_LEVEL_DEBUG, "Loading geofences"); + + pDir = opendir(GEOFENCE_DIRECTORY); + if (pDir == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); + return -1; + } + + // Count the nuber of geofence files in the directory + while ((pDirent = readdir(pDir)) != NULL) { + ext = strrchr(pDirent->d_name, '.'); + if (strcmp(ext, ".geofence") == 0) { + n++; + } + } + closedir(pDir); + *nGeof = n; + + *geofences = (GeofenceType *) malloc(n * sizeof (GeofenceType)); + + if (*geofences == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for geofences"); + return -1; + } + + LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", *nGeof); + + pDir = opendir(GEOFENCE_DIRECTORY); + if (pDir == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); + return -1; + } + + n = 0; + while ((pDirent = readdir(pDir)) != NULL) { + ext = strrchr(pDirent->d_name, '.'); + if (strcmp(ext, ".geofence") != 0 && strcmp(pDirent->d_name, ".") != 0 + && strcmp(pDirent->d_name, "..") != 0) { + LogMessage(LOG_LEVEL_WARNING, "File <%s> is not a valid .geofence file", pDirent->d_name); + } + else if (strcmp(pDirent->d_name, ".") == 0 || strcmp(pDirent->d_name, "..") == 0) { + LogMessage(LOG_LEVEL_DEBUG, "Ignored <%s>", pDirent->d_name); + } + else { + if (parseGeofenceFile(pDirent->d_name, (*geofences) + n) == -1) { + closedir(pDir); + LogMessage(LOG_LEVEL_ERROR, "Error parsing file <%s>", pDirent->d_name); + return -1; + } + LogMessage(LOG_LEVEL_DEBUG, "Loaded geofence with %u vertices", (*geofences)[n].numberOfPoints); + n++; + } + } + closedir(pDir); + LogMessage(LOG_LEVEL_INFO, "Loaded %d geofences", *nGeof); + + return 0; } @@ -246,238 +232,227 @@ int loadGeofenceFiles(GeofenceType *geofences[], unsigned int *nGeof){ * \param index An integer used to keep track of which index to store data in. * \return 0 on success, -1 on failure */ -int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ - - char pcFileNameBuffer[MAX_FILE_PATH] = ""; - strcat(pcFileNameBuffer, GEOFENCE_DIRECTORY); - strcat(pcFileNameBuffer, geofenceFile); - - FILE *fp; - char *line = NULL; - size_t len = 0; - ssize_t read; - int tempInt; - int isHeaderParsedSuccessfully = 0; - - LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", pcFileNameBuffer); - fp = fopen(pcFileNameBuffer, "r"); - if ( fp != NULL ) - { - int lineCount = 0; - - while ((read = getline(&line, &len, fp)) != -1) { - char delim[] = ";"; - char *ptr = strtok(line, delim); - - while (ptr != NULL) - { - if (strcmp(ptr, "GEOFENCE") == 0 && strcmp( ptr, "ENDGEOFENCE") != 0 && lineCount != 0) - { - // In case there's a second header somewhere in the middle of the file, catch that - LogMessage(LOG_LEVEL_ERROR, "Found misplaced header in file <%s>", geofenceFile); - fclose(fp); - if(isHeaderParsedSuccessfully) - free(geofence->polygonPoints); - return -1; - } - else if (strcmp( ptr, "GEOFENCE" ) == 0 && strcmp( ptr, "ENDGEOFENCE") != 0) - { - /* Parse header */ - - // Geofence name string - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - strcpy (geofence->name, ptr); - - // Geofence number of points - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - tempInt = atoi(ptr); - if (tempInt < 0) - { - LogMessage(LOG_LEVEL_ERROR, "Header of file <%s> contains a negative number of points", geofenceFile); - fclose(fp); - return -1; - } - else if (tempInt > USHRT_MAX) - { - LogMessage(LOG_LEVEL_ERROR, "Geofence file <%s> contains too many points", geofenceFile); - fclose(fp); - return -1; - } - geofence->numberOfPoints = (unsigned short)tempInt; - - // Permitted|forbidden string - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - - if(strcasecmp( ptr, "permitted" ) == 0){ - geofence->isPermitted = 1; - } - else if (strcasecmp(ptr, "forbidden") == 0) - { - geofence->isPermitted = 0; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - - // Minimum height - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - LogMessage(LOG_LEVEL_DEBUG, "Ignored minimum height %s in geofence <%s> (unimplemented)", ptr, geofenceFile); - - // Maximum height - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - LogMessage(LOG_LEVEL_DEBUG, "Ignored maximum height %s in geofence <%s> (unimplemented)", ptr, geofenceFile); - - // Final delimiter - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - - // Successfully parsed the header; now we can allocate memory for the rest - geofence->polygonPoints = (CartesianPosition*)malloc(geofence->numberOfPoints*sizeof(CartesianPosition)); - if (geofence->polygonPoints == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for coordinate array"); - fclose(fp); - return -1; - } - - isHeaderParsedSuccessfully = 1; - } - else if ((strcmp( ptr, "LINE" ) == 0) && !isHeaderParsedSuccessfully) - { - // In case there's a point before the header, catch that - LogMessage(LOG_LEVEL_ERROR, "Encountered geofence point above header in file <%s>",geofenceFile); - fclose(fp); - return -1; - } - else if (strcmp( ptr, "LINE" ) == 0){ - /* Parse non-header line */ - - // Check so that there are not more points than previously specified - if (lineCount >= geofence->numberOfPoints) - { - LogMessage(LOG_LEVEL_ERROR, "Geofence file <%s> contains more rows than specified in the header",geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - - // Parse x coordinate - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse x coordinate in row %d of file <%s>", lineCount+2, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - geofence->polygonPoints[lineCount].xCoord_m = atof(ptr); - - // Parse y coordinate - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse y coordinate in row %d of file <%s>", lineCount+2, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - geofence->polygonPoints[lineCount].yCoord_m = atof(ptr); - - LogMessage(LOG_LEVEL_DEBUG,"Point: (%.3f, %.3f)", - geofence->polygonPoints[lineCount].xCoord_m, - geofence->polygonPoints[lineCount].yCoord_m); - - // Check so that there is an ENDLINE text - if ((ptr = strtok(NULL, delim)) == NULL) - { - LogMessage(LOG_LEVEL_ERROR, "Could not find ENDLINE at row %d of file <%s>", lineCount+2, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - - if (strcmp(ptr, "ENDLINE") != 0) - { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse row %d of file <%s>", lineCount+2, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - - // Increment the line counter - lineCount++; - } - else if (strcmp( ptr, "ENDGEOFENCE" ) == 0 && !isHeaderParsedSuccessfully) - { - LogMessage(LOG_LEVEL_ERROR, "Found misplaced ENDGEOFENCE in file <%s>", geofenceFile); - fclose(fp); - return -1; - } - else if (strcmp(ptr, "ENDGEOFENCE") == 0) - { - if (lineCount == geofence->numberOfPoints) - { - /* Successful parse, return */ - fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); - return 0; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Mismatch between specified number of points (%u) and row count (%d) in file <%s>", geofence->numberOfPoints, lineCount, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - } - ptr = strtok(NULL, delim); - } - } - - fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcFileNameBuffer); - return -1; - } - - // If we reach here, it means we did not find an ENDGEOFENCE before EOF - LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", pcFileNameBuffer); - if(isHeaderParsedSuccessfully) - free(geofence->polygonPoints); - return -1; +int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { + + char pcFileNameBuffer[MAX_FILE_PATH] = ""; + + strcat(pcFileNameBuffer, GEOFENCE_DIRECTORY); + strcat(pcFileNameBuffer, geofenceFile); + + FILE *fp; + char *line = NULL; + size_t len = 0; + ssize_t read; + int tempInt; + int isHeaderParsedSuccessfully = 0; + + LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", pcFileNameBuffer); + fp = fopen(pcFileNameBuffer, "r"); + if (fp != NULL) { + int lineCount = 0; + + while ((read = getline(&line, &len, fp)) != -1) { + char delim[] = ";"; + char *ptr = strtok(line, delim); + + while (ptr != NULL) { + if (strcmp(ptr, "GEOFENCE") == 0 && strcmp(ptr, "ENDGEOFENCE") != 0 && lineCount != 0) { + // In case there's a second header somewhere in the middle of the file, catch that + LogMessage(LOG_LEVEL_ERROR, "Found misplaced header in file <%s>", geofenceFile); + fclose(fp); + if (isHeaderParsedSuccessfully) + free(geofence->polygonPoints); + return -1; + } + else if (strcmp(ptr, "GEOFENCE") == 0 && strcmp(ptr, "ENDGEOFENCE") != 0) { + /* Parse header */ + + // Geofence name string + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + strcpy(geofence->name, ptr); + + // Geofence number of points + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + tempInt = atoi(ptr); + if (tempInt < 0) { + LogMessage(LOG_LEVEL_ERROR, + "Header of file <%s> contains a negative number of points", geofenceFile); + fclose(fp); + return -1; + } + else if (tempInt > USHRT_MAX) { + LogMessage(LOG_LEVEL_ERROR, "Geofence file <%s> contains too many points", + geofenceFile); + fclose(fp); + return -1; + } + geofence->numberOfPoints = (unsigned short)tempInt; + + // Permitted|forbidden string + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + + if (strcasecmp(ptr, "permitted") == 0) { + geofence->isPermitted = 1; + } + else if (strcasecmp(ptr, "forbidden") == 0) { + geofence->isPermitted = 0; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + + // Minimum height + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + LogMessage(LOG_LEVEL_DEBUG, "Ignored minimum height %s in geofence <%s> (unimplemented)", + ptr, geofenceFile); + + // Maximum height + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + LogMessage(LOG_LEVEL_DEBUG, "Ignored maximum height %s in geofence <%s> (unimplemented)", + ptr, geofenceFile); + + // Final delimiter + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); + fclose(fp); + return -1; + } + + // Successfully parsed the header; now we can allocate memory for the rest + geofence->polygonPoints = + (CartesianPosition *) malloc(geofence->numberOfPoints * sizeof (CartesianPosition)); + if (geofence->polygonPoints == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for coordinate array"); + fclose(fp); + return -1; + } + + isHeaderParsedSuccessfully = 1; + } + else if ((strcmp(ptr, "LINE") == 0) && !isHeaderParsedSuccessfully) { + // In case there's a point before the header, catch that + LogMessage(LOG_LEVEL_ERROR, "Encountered geofence point above header in file <%s>", + geofenceFile); + fclose(fp); + return -1; + } + else if (strcmp(ptr, "LINE") == 0) { + /* Parse non-header line */ + + // Check so that there are not more points than previously specified + if (lineCount >= geofence->numberOfPoints) { + LogMessage(LOG_LEVEL_ERROR, + "Geofence file <%s> contains more rows than specified in the header", + geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + + // Parse x coordinate + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse x coordinate in row %d of file <%s>", + lineCount + 2, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + geofence->polygonPoints[lineCount].xCoord_m = atof(ptr); + + // Parse y coordinate + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse y coordinate in row %d of file <%s>", + lineCount + 2, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + geofence->polygonPoints[lineCount].yCoord_m = atof(ptr); + + LogMessage(LOG_LEVEL_DEBUG, "Point: (%.3f, %.3f)", + geofence->polygonPoints[lineCount].xCoord_m, + geofence->polygonPoints[lineCount].yCoord_m); + + // Check so that there is an ENDLINE text + if ((ptr = strtok(NULL, delim)) == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Could not find ENDLINE at row %d of file <%s>", + lineCount + 2, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + + if (strcmp(ptr, "ENDLINE") != 0) { + LogMessage(LOG_LEVEL_ERROR, "Unable to parse row %d of file <%s>", lineCount + 2, + geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + + // Increment the line counter + lineCount++; + } + else if (strcmp(ptr, "ENDGEOFENCE") == 0 && !isHeaderParsedSuccessfully) { + LogMessage(LOG_LEVEL_ERROR, "Found misplaced ENDGEOFENCE in file <%s>", geofenceFile); + fclose(fp); + return -1; + } + else if (strcmp(ptr, "ENDGEOFENCE") == 0) { + if (lineCount == geofence->numberOfPoints) { + /* Successful parse, return */ + fclose(fp); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); + return 0; + } + else { + LogMessage(LOG_LEVEL_ERROR, + "Mismatch between specified number of points (%u) and row count (%d) in file <%s>", + geofence->numberOfPoints, lineCount, geofenceFile); + fclose(fp); + free(geofence->polygonPoints); + return -1; + } + } + ptr = strtok(NULL, delim); + } + } + + fclose(fp); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcFileNameBuffer); + return -1; + } + + // If we reach here, it means we did not find an ENDGEOFENCE before EOF + LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", pcFileNameBuffer); + if (isHeaderParsedSuccessfully) + free(geofence->polygonPoints); + return -1; } /*! @@ -487,39 +462,42 @@ int parseGeofenceFile(char* geofenceFile, GeofenceType *geofence){ * \param numberOfGeofences Length of struct array * \return 1 if MONR coordinate violates a geofence, 0 if not. -1 on error */ -int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType *geofences, unsigned int numberOfGeofences) -{ - const CartesianPosition monrPoint = {MONRdata.MONR.XPositionI32/1000.0, MONRdata.MONR.YPositionI32/1000.0, MONRdata.MONR.ZPositionI32/1000.0, 0.0}; - char isInPolygon = 0; - int retval = 0; - - for (unsigned int i = 0; i < numberOfGeofences; i++) - { - isInPolygon = UtilIsPointInPolygon(monrPoint, geofences[i].polygonPoints, geofences[i].numberOfPoints); - - if (isInPolygon == -1) - { - LogMessage(LOG_LEVEL_WARNING,"No points in polygon"); - return -1; - } - - if ( (geofences[i].isPermitted && isInPolygon) - || (!geofences[i].isPermitted && !isInPolygon) ) - { - // Inside the polygon if it is permitted, alt. outside the polygon if it is forbidden: all is fine - } - else - { - if (geofences[i].isPermitted) - LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is outside a permitted area %s", MONRdata.MONR.Header.TransmitterIdU8, geofences[i].name); - else - LogMessage(LOG_LEVEL_WARNING,"Object with MONR transmitter ID %u is inside a forbidden area %s", MONRdata.MONR.Header.TransmitterIdU8, geofences[i].name); - - retval = 1; - } - } - - return retval; +int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType * geofences, + unsigned int numberOfGeofences) { + const CartesianPosition monrPoint = + { MONRdata.MONR.XPositionI32 / 1000.0, MONRdata.MONR.YPositionI32 / 1000.0, +MONRdata.MONR.ZPositionI32 / 1000.0, 0.0 }; + char isInPolygon = 0; + int retval = 0; + + for (unsigned int i = 0; i < numberOfGeofences; i++) { + isInPolygon = + UtilIsPointInPolygon(monrPoint, geofences[i].polygonPoints, geofences[i].numberOfPoints); + + if (isInPolygon == -1) { + LogMessage(LOG_LEVEL_WARNING, "No points in polygon"); + return -1; + } + + if ((geofences[i].isPermitted && isInPolygon) + || (!geofences[i].isPermitted && !isInPolygon)) { + // Inside the polygon if it is permitted, alt. outside the polygon if it is forbidden: all is fine + } + else { + if (geofences[i].isPermitted) + LogMessage(LOG_LEVEL_WARNING, + "Object with MONR transmitter ID %u is outside a permitted area %s", + MONRdata.MONR.Header.TransmitterIdU8, geofences[i].name); + else + LogMessage(LOG_LEVEL_WARNING, + "Object with MONR transmitter ID %u is inside a forbidden area %s", + MONRdata.MONR.Header.TransmitterIdU8, geofences[i].name); + + retval = 1; + } + } + + return retval; } /*! @@ -527,10 +505,10 @@ int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType *geofences, * \param geofences Struct array containing geofences * \param nGeofences Length of struct array */ -void freeGeofences(GeofenceType *geofences, unsigned int *nGeofences){ - for(unsigned int i = 0; i < *nGeofences; i++){ - free(geofences[i].polygonPoints); - } - free(geofences); - *nGeofences = 0; +void freeGeofences(GeofenceType * geofences, unsigned int *nGeofences) { + for (unsigned int i = 0; i < *nGeofences; i++) { + free(geofences[i].polygonPoints); + } + free(geofences); + *nGeofences = 0; } diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index 277093494..6b947a071 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -61,279 +61,285 @@ static volatile int iExit = 0; /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -{ - - C8 TextBufferC8[SUP_CONTROL_BUFFER_SIZE_20]; - C8 SupervisorServerIpC8[SUP_CONTROL_BUFFER_SIZE_20]; - U32 SupervisorIpU32 = 0; - U16 SupervisorTCPPortU16; - I32 SupervisorTCPSocketfdI32=-1; - - struct sockaddr_in supervisor_addr; - - I32 ClientResultI32; - C8 RxBuffer[SUP_CONTROL_BUFFER_SIZE_2048]; - C8 TxBuffer[SUP_CONTROL_BUFFER_SIZE_2048]; - U8 SupervisorInitiatedU8 = 0; - - U32 RxTotalDataU32 = 0; - U32 ReqRxLengthU32 = 0; - U8 WaitAllDataU8 = 0; - U8 DataChunkedU8 = 0; - - C8 ReceiveBuffer[SUP_CONTROL_BUFFER_SIZE_3100]; - - I32 i,j; - - HeaderType HeaderData; - INSUPType INSUPData; - HEABType HEABData; - DOTMType DOTMData; - C8 MessageBuffer[SUP_MESSAGE_BUFFER]; - - U32 MessageLength; - U32 DTMIpU32; - U32 DTMLengthU32; - TRAJInfoType TRAJInfoData; - U16 MiscU16; - C8 DTMTrajBuffer[ISO_DTM_ROWS_IN_TRANSMISSION*ISO_DTM_ROW_MESSAGE_LENGTH + ISO_MESSAGE_HEADER_LENGTH + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH]; - U8 ISOMessageStartedU8 = 0; - U8 ISOMessageReadRestU8 = 0; - U8 ISOMessageReceivedU8 = 0; - - enum COMMAND iCommand; - C8 MqBuffer[SUP_MQ_MAX_SIZE]; - - GSD->SupChunkSize = 0; - U16 IterationCounter = 0; - U32 TimestampU32 = 0; - - // Create log - LogInit(MODULE_NAME,logLevel); - LogMessage( LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); - - DataDictionaryGetExternalSupervisorIPU32(GSD, &SupervisorIpU32); - - DataDictionaryGetExternalSupervisorIPC8(GSD, SupervisorServerIpC8, SUP_CONTROL_BUFFER_SIZE_20); - - LogMessage(LOG_LEVEL_INFO,"Supervisor IP: %s", SupervisorServerIpC8); - - LogMessage(LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); - - // Set up signal handlers - if (signal(SIGINT, signalHandler) == SIG_ERR) - util_error("Unable to initialize signal handler"); - - // Set up message bus connection - if(iCommInit()) - util_error("Unable to connect to message bus"); - - - if(SupervisorIpU32 != 0) - { - DataDictionaryGetSupervisorTCPPortU16(GSD, &SupervisorTCPPortU16); - - LogMessage(LOG_LEVEL_INFO,"SupervisorTCPPort = %d", SupervisorTCPPortU16); - - while(!iExit) - { - - if(SupervisorTCPSocketfdI32 <= 0) - { - ClientResultI32 = UtilConnectTCPChannel("SupervisorControl", &SupervisorTCPSocketfdI32, (const C8*)SupervisorServerIpC8, SupervisorTCPPortU16); - int yes = 1; - int result = setsockopt(SupervisorTCPSocketfdI32, IPPROTO_TCP, TCP_NODELAY, (char *) &yes, sizeof(int)); - if(result < 0 ) - { - LogMessage(LOG_LEVEL_WARNING,"Failed to set socket option code = %d", result); - } - } - else - { - - if(ISOMessageStartedU8 == 0 && ISOMessageReadRestU8 == 0) - { - RxTotalDataU32 = 0; - ClientResultI32 = UtilReceiveTCPData("SupervisorControl", &SupervisorTCPSocketfdI32, RxBuffer, 2, 0); //Data length resides in ClientResultI32 - if(ClientResultI32 > 0) RxTotalDataU32 = RxTotalDataU32 + ClientResultI32; - } - else if(ClientResultI32 == 0) - { - LogMessage(LOG_LEVEL_INFO,"Client closed connection"); - close(SupervisorTCPSocketfdI32); - SupervisorTCPSocketfdI32 = -1; - SupervisorInitiatedU8 = 0; - } - - //Initiate the simulator if not initialized and a there is a valid TCP connection - if(SupervisorInitiatedU8 == 0 && SupervisorTCPSocketfdI32 > 0) - { - UtilISOBuildINSUPMessage(TxBuffer, &INSUPData, SUP_MODE_NORMAL, 0); - UtilSendTCPData("SupervisorControl", TxBuffer, INSUPData.Header.MessageLengthU32 + ISO_MESSAGE_HEADER_LENGTH + ISO_MESSAGE_FOOTER_LENGTH, &SupervisorTCPSocketfdI32, 0); - SupervisorInitiatedU8 = 1; - } - - //Check if Sync word - if(RxBuffer[0] == 0x7E && RxBuffer[1] == 0x7E && ISOMessageStartedU8 == 0 && ISOMessageReadRestU8 == 0) - { - ISOMessageStartedU8 = 1; - TimestampU32 = (U32)UtilgetCurrentUTCtimeMS(); - if(SUP_DEBUG_TCP_RX_DATA) LogMessage(LOG_LEVEL_DEBUG,"Rx SYNC word"); - } - - //Get start of message - if(ISOMessageStartedU8 == 1) - { - bzero(RxBuffer + 2, ISO_MESSAGE_HEADER_LENGTH - 2); - ClientResultI32 = UtilReceiveTCPData("SupervisorControl", &SupervisorTCPSocketfdI32, RxBuffer+2, ISO_MESSAGE_HEADER_LENGTH-2, 0); //Data length resides in ClientResultI32 - if(ClientResultI32 > 0) - { - - RxTotalDataU32 = RxTotalDataU32 + ClientResultI32; - if(SUP_DEBUG_TCP_RX_DATA) LogMessage(LOG_LEVEL_DEBUG,"Read Header. Total received bytes %d", RxTotalDataU32); - if(RxTotalDataU32 == 11) - { - UtilISOBuildHeader(RxBuffer, &HeaderData, SUP_DEBUG_TCP_RX_DATA); - ReqRxLengthU32 = HeaderData.MessageLengthU32 + ISO_MESSAGE_FOOTER_LENGTH; - bzero(RxBuffer+ISO_MESSAGE_HEADER_LENGTH, ReqRxLengthU32); - ISOMessageStartedU8 = 0; - ISOMessageReadRestU8 = 1; - ClientResultI32 = 0; - RxTotalDataU32 = 0; - TimestampU32 = (U32)UtilgetCurrentUTCtimeMS(); - } - } - else if (ClientResultI32 == 0) - { - ISOMessageStartedU8 = 0; - SupervisorTCPSocketfdI32 = -1; - SupervisorInitiatedU8 = 0; - } - else if((U32)UtilgetCurrentUTCtimeMS() - TimestampU32 > SUP_ISO_MESSAGE_RX_TIMEOUT) - { - ISOMessageStartedU8 = 0; - } - } - - //Get the rest of the message - if(ISOMessageReadRestU8 == 1) - { - ReqRxLengthU32 = ReqRxLengthU32 - ClientResultI32; - ClientResultI32 = UtilReceiveTCPData("SupervisorControl", &SupervisorTCPSocketfdI32, RxBuffer+ClientResultI32+ISO_MESSAGE_HEADER_LENGTH, ReqRxLengthU32, 0); //Data length resides in ClientResultI32 - if(ClientResultI32 > 0) - { - RxTotalDataU32 = RxTotalDataU32 + ClientResultI32; - if(SUP_DEBUG_TCP_RX_DATA) LogMessage(LOG_LEVEL_DEBUG,"Read %d requested bytes, so far %d bytes read", (U32)(HeaderData.MessageLengthU32+ISO_MESSAGE_FOOTER_LENGTH), RxTotalDataU32); - if(RxTotalDataU32 == HeaderData.MessageLengthU32 + ISO_MESSAGE_FOOTER_LENGTH) - { - ISOMessageStartedU8 = 0; - ISOMessageReadRestU8 = 0; - ISOMessageReceivedU8 = 1; - if(SUP_DEBUG_TCP_RX_DATA) - { - LogMessage(LOG_LEVEL_DEBUG,"ISO Message received!"); - //for(i = 0; i < (ISO_MESSAGE_HEADER_LENGTH + HeaderData.MessageLengthU32 + ISO_MESSAGE_FOOTER_LENGTH); i ++) printf("%x ", RxBuffer[i]); - //printf("\n"); - } - } - } - else if (ClientResultI32 == 0) - { - ISOMessageReadRestU8 = 0; - SupervisorTCPSocketfdI32 = -1; - SupervisorInitiatedU8 = 0; - } - else if((U32)UtilgetCurrentUTCtimeMS() - TimestampU32 > SUP_ISO_MESSAGE_RX_TIMEOUT) - { - ISOMessageReadRestU8 = 0; - } - } - - if(ISOMessageReceivedU8 == 1) - { - if(SUP_DEBUG_TCP_RX_DATA) LogMessage(LOG_LEVEL_DEBUG,"MessageId %d handled", HeaderData.MessageIdU16); - - if(HeaderData.MessageIdU16 == ISO_TRAJ_CODE) - { - //bzero(MqBuffer,SUP_MQ_MAX_SIZE); - //UtilBinaryToHexText(RxTotalDataU32, ReceiveBuffer, MqBuffer, 0); - //printf("%d. Send COMM_TRAJ_FROMSUP\n", ++IterationCounter); - //(void)iCommSend(COMM_TRAJ_FROMSUP, MqBuffer); - for(i = 0; i < HeaderData.MessageLengthU32 + ISO_MESSAGE_HEADER_LENGTH + ISO_MESSAGE_FOOTER_LENGTH; i ++) - { - GSD->SupChunk[i] = RxBuffer[i]; - } - GSD->SupChunkSize = HeaderData.MessageLengthU32 + ISO_MESSAGE_HEADER_LENGTH + ISO_MESSAGE_FOOTER_LENGTH; - LogMessage(LOG_LEVEL_INFO,"%d. Sending chunk to ObjectControl, size is %d bytes", ++IterationCounter, GSD->SupChunkSize); - } - else if(HeaderData.MessageIdU16 == ISO_HEAB_CODE) - { - //printf("[SupervisorControl] HEAB.\n"); - } - - - bzero(RxBuffer, ISO_MESSAGE_HEADER_LENGTH + HeaderData.MessageLengthU32 + ISO_MESSAGE_FOOTER_LENGTH); - ISOMessageReceivedU8 = 0; - RxTotalDataU32 = 0; - ClientResultI32 = 0; - } - } - - bzero(MqBuffer,SUP_MQ_MAX_SIZE); - (void)iCommRecv(&iCommand,MqBuffer,SUP_MQ_MAX_SIZE,NULL); - if(/*iCommand == COMM_TRAJ_TOSUP*/ GSD->ChunkSize > 0) - { - - - bzero(MqBuffer,SUP_MQ_MAX_SIZE); - for(i = 0; i < GSD->ChunkSize; i ++) MqBuffer[i] = GSD->Chunk[i]; - DTMLengthU32 = UtilHexTextToBinary(strlen(MqBuffer), MqBuffer, DTMTrajBuffer, 0); - - LogMessage(LOG_LEVEL_INFO,"Sending chunk to Supervisor, size is %d == %d bytes", GSD->ChunkSize, (I32)strlen(MqBuffer)); - - //for(i = 0; i < GSD->ChunkSize; i ++) DTMTrajBuffer[i] = GSD->Chunk[i]; - //DTMLengthU32 = GSD->ChunkSize; - DTMIpU32 = (C8)DTMTrajBuffer[0]; - DTMIpU32 = (C8)DTMTrajBuffer[1] | (DTMIpU32 << 8); - DTMIpU32 = (C8)DTMTrajBuffer[2] | (DTMIpU32 << 8); - DTMIpU32 = (C8)DTMTrajBuffer[3] | (DTMIpU32 << 8); - TRAJInfoData.IpAddressU32 = DTMIpU32; - - MiscU16 = (C8)DTMTrajBuffer[4]; - MiscU16 = (C8)DTMTrajBuffer[5] | (MiscU16 << 8); - TRAJInfoData.TrajectoryIDU16 = MiscU16; - i = 0; - do - { - TRAJInfoData.TrajectoryNameC8[i] = (C8)DTMTrajBuffer[i + 6]; - i ++; - } while(TRAJInfoData.TrajectoryNameC8[i-1] != 0); - - MiscU16 = (C8)DTMTrajBuffer[70]; - MiscU16 = (C8)DTMTrajBuffer[71] | (MiscU16 << 8); - - TRAJInfoData.TrajectoryVersionU16 = MiscU16; - - MiscU16 = 72; //Number of bytes in [Ip, Id, Name, Version] - - /*TRAJ Header*/ - MessageLength = UtilISOBuildTRAJMessageHeader(MessageBuffer, (DTMLengthU32-MiscU16)/SIM_TRAJ_BYTES_IN_ROW , &HeaderData, &TRAJInfoData, 0); - /*Send TRAJ header*/ - UtilSendTCPData("SupervisorControl", MessageBuffer, MessageLength, &SupervisorTCPSocketfdI32, 0); - /*TRAJ Data*/ - MessageLength = UtilISOBuildTRAJMessage(MessageBuffer, DTMTrajBuffer+MiscU16, (DTMLengthU32-MiscU16)/SIM_TRAJ_BYTES_IN_ROW, &DOTMData, 0); - /*Send DTM data*/ - UtilSendTCPData("SupervisorControl", MessageBuffer, MessageLength, &SupervisorTCPSocketfdI32, 0); - GSD->ChunkSize = 0; - } - - else if(GSD->MONRSizeU8 > 0) - { - //Send MONR data - UtilSendTCPData("SupervisorControl", GSD->MONRData, GSD->MONRSizeU8, &SupervisorTCPSocketfdI32, 0); - GSD->MONRSizeU8 = 0; - } +void supervisorcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { + + C8 TextBufferC8[SUP_CONTROL_BUFFER_SIZE_20]; + C8 SupervisorServerIpC8[SUP_CONTROL_BUFFER_SIZE_20]; + U32 SupervisorIpU32 = 0; + U16 SupervisorTCPPortU16; + I32 SupervisorTCPSocketfdI32 = -1; + + struct sockaddr_in supervisor_addr; + + I32 ClientResultI32; + C8 RxBuffer[SUP_CONTROL_BUFFER_SIZE_2048]; + C8 TxBuffer[SUP_CONTROL_BUFFER_SIZE_2048]; + U8 SupervisorInitiatedU8 = 0; + + U32 RxTotalDataU32 = 0; + U32 ReqRxLengthU32 = 0; + U8 WaitAllDataU8 = 0; + U8 DataChunkedU8 = 0; + + C8 ReceiveBuffer[SUP_CONTROL_BUFFER_SIZE_3100]; + + I32 i, j; + + HeaderType HeaderData; + INSUPType INSUPData; + HEABType HEABData; + DOTMType DOTMData; + C8 MessageBuffer[SUP_MESSAGE_BUFFER]; + + U32 MessageLength; + U32 DTMIpU32; + U32 DTMLengthU32; + TRAJInfoType TRAJInfoData; + U16 MiscU16; + C8 DTMTrajBuffer[ISO_DTM_ROWS_IN_TRANSMISSION * ISO_DTM_ROW_MESSAGE_LENGTH + ISO_MESSAGE_HEADER_LENGTH + + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH]; + U8 ISOMessageStartedU8 = 0; + U8 ISOMessageReadRestU8 = 0; + U8 ISOMessageReceivedU8 = 0; + + enum COMMAND iCommand; + C8 MqBuffer[SUP_MQ_MAX_SIZE]; + + GSD->SupChunkSize = 0; + U16 IterationCounter = 0; + U32 TimestampU32 = 0; + + // Create log + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); + + DataDictionaryGetExternalSupervisorIPU32(GSD, &SupervisorIpU32); + + DataDictionaryGetExternalSupervisorIPC8(GSD, SupervisorServerIpC8, SUP_CONTROL_BUFFER_SIZE_20); + + LogMessage(LOG_LEVEL_INFO, "Supervisor IP: %s", SupervisorServerIpC8); + + LogMessage(LOG_LEVEL_INFO, "Supervisor control task running with PID: %i", getpid()); + + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + // Set up message bus connection + if (iCommInit()) + util_error("Unable to connect to message bus"); + + + if (SupervisorIpU32 != 0) { + DataDictionaryGetSupervisorTCPPortU16(GSD, &SupervisorTCPPortU16); + + LogMessage(LOG_LEVEL_INFO, "SupervisorTCPPort = %d", SupervisorTCPPortU16); + + while (!iExit) { + + if (SupervisorTCPSocketfdI32 <= 0) { + ClientResultI32 = + UtilConnectTCPChannel("SupervisorControl", &SupervisorTCPSocketfdI32, + (const C8 *)SupervisorServerIpC8, SupervisorTCPPortU16); + int yes = 1; + int result = + setsockopt(SupervisorTCPSocketfdI32, IPPROTO_TCP, TCP_NODELAY, (char *)&yes, + sizeof (int)); + if (result < 0) { + LogMessage(LOG_LEVEL_WARNING, "Failed to set socket option code = %d", result); + } + } + else { + + if (ISOMessageStartedU8 == 0 && ISOMessageReadRestU8 == 0) { + RxTotalDataU32 = 0; + ClientResultI32 = UtilReceiveTCPData("SupervisorControl", &SupervisorTCPSocketfdI32, RxBuffer, 2, 0); //Data length resides in ClientResultI32 + if (ClientResultI32 > 0) + RxTotalDataU32 = RxTotalDataU32 + ClientResultI32; + } + else if (ClientResultI32 == 0) { + LogMessage(LOG_LEVEL_INFO, "Client closed connection"); + close(SupervisorTCPSocketfdI32); + SupervisorTCPSocketfdI32 = -1; + SupervisorInitiatedU8 = 0; + } + + //Initiate the simulator if not initialized and a there is a valid TCP connection + if (SupervisorInitiatedU8 == 0 && SupervisorTCPSocketfdI32 > 0) { + UtilISOBuildINSUPMessage(TxBuffer, &INSUPData, SUP_MODE_NORMAL, 0); + UtilSendTCPData("SupervisorControl", TxBuffer, + INSUPData.Header.MessageLengthU32 + ISO_MESSAGE_HEADER_LENGTH + + ISO_MESSAGE_FOOTER_LENGTH, &SupervisorTCPSocketfdI32, 0); + SupervisorInitiatedU8 = 1; + } + + //Check if Sync word + if (RxBuffer[0] == 0x7E && RxBuffer[1] == 0x7E && ISOMessageStartedU8 == 0 + && ISOMessageReadRestU8 == 0) { + ISOMessageStartedU8 = 1; + TimestampU32 = (U32) UtilgetCurrentUTCtimeMS(); + if (SUP_DEBUG_TCP_RX_DATA) + LogMessage(LOG_LEVEL_DEBUG, "Rx SYNC word"); + } + + //Get start of message + if (ISOMessageStartedU8 == 1) { + bzero(RxBuffer + 2, ISO_MESSAGE_HEADER_LENGTH - 2); + ClientResultI32 = UtilReceiveTCPData("SupervisorControl", &SupervisorTCPSocketfdI32, RxBuffer + 2, ISO_MESSAGE_HEADER_LENGTH - 2, 0); //Data length resides in ClientResultI32 + if (ClientResultI32 > 0) { + + RxTotalDataU32 = RxTotalDataU32 + ClientResultI32; + if (SUP_DEBUG_TCP_RX_DATA) + LogMessage(LOG_LEVEL_DEBUG, "Read Header. Total received bytes %d", + RxTotalDataU32); + if (RxTotalDataU32 == 11) { + UtilISOBuildHeader(RxBuffer, &HeaderData, SUP_DEBUG_TCP_RX_DATA); + ReqRxLengthU32 = HeaderData.MessageLengthU32 + ISO_MESSAGE_FOOTER_LENGTH; + bzero(RxBuffer + ISO_MESSAGE_HEADER_LENGTH, ReqRxLengthU32); + ISOMessageStartedU8 = 0; + ISOMessageReadRestU8 = 1; + ClientResultI32 = 0; + RxTotalDataU32 = 0; + TimestampU32 = (U32) UtilgetCurrentUTCtimeMS(); + } + } + else if (ClientResultI32 == 0) { + ISOMessageStartedU8 = 0; + SupervisorTCPSocketfdI32 = -1; + SupervisorInitiatedU8 = 0; + } + else if ((U32) UtilgetCurrentUTCtimeMS() - TimestampU32 > SUP_ISO_MESSAGE_RX_TIMEOUT) { + ISOMessageStartedU8 = 0; + } + } + + //Get the rest of the message + if (ISOMessageReadRestU8 == 1) { + ReqRxLengthU32 = ReqRxLengthU32 - ClientResultI32; + ClientResultI32 = UtilReceiveTCPData("SupervisorControl", &SupervisorTCPSocketfdI32, RxBuffer + ClientResultI32 + ISO_MESSAGE_HEADER_LENGTH, ReqRxLengthU32, 0); //Data length resides in ClientResultI32 + if (ClientResultI32 > 0) { + RxTotalDataU32 = RxTotalDataU32 + ClientResultI32; + if (SUP_DEBUG_TCP_RX_DATA) + LogMessage(LOG_LEVEL_DEBUG, "Read %d requested bytes, so far %d bytes read", + (U32) (HeaderData.MessageLengthU32 + ISO_MESSAGE_FOOTER_LENGTH), + RxTotalDataU32); + if (RxTotalDataU32 == HeaderData.MessageLengthU32 + ISO_MESSAGE_FOOTER_LENGTH) { + ISOMessageStartedU8 = 0; + ISOMessageReadRestU8 = 0; + ISOMessageReceivedU8 = 1; + if (SUP_DEBUG_TCP_RX_DATA) { + LogMessage(LOG_LEVEL_DEBUG, "ISO Message received!"); + //for(i = 0; i < (ISO_MESSAGE_HEADER_LENGTH + HeaderData.MessageLengthU32 + ISO_MESSAGE_FOOTER_LENGTH); i ++) printf("%x ", RxBuffer[i]); + //printf("\n"); + } + } + } + else if (ClientResultI32 == 0) { + ISOMessageReadRestU8 = 0; + SupervisorTCPSocketfdI32 = -1; + SupervisorInitiatedU8 = 0; + } + else if ((U32) UtilgetCurrentUTCtimeMS() - TimestampU32 > SUP_ISO_MESSAGE_RX_TIMEOUT) { + ISOMessageReadRestU8 = 0; + } + } + + if (ISOMessageReceivedU8 == 1) { + if (SUP_DEBUG_TCP_RX_DATA) + LogMessage(LOG_LEVEL_DEBUG, "MessageId %d handled", HeaderData.MessageIdU16); + + if (HeaderData.MessageIdU16 == ISO_TRAJ_CODE) { + //bzero(MqBuffer,SUP_MQ_MAX_SIZE); + //UtilBinaryToHexText(RxTotalDataU32, ReceiveBuffer, MqBuffer, 0); + //printf("%d. Send COMM_TRAJ_FROMSUP\n", ++IterationCounter); + //(void)iCommSend(COMM_TRAJ_FROMSUP, MqBuffer); + for (i = 0; + i < + HeaderData.MessageLengthU32 + ISO_MESSAGE_HEADER_LENGTH + + ISO_MESSAGE_FOOTER_LENGTH; i++) { + GSD->SupChunk[i] = RxBuffer[i]; + } + GSD->SupChunkSize = + HeaderData.MessageLengthU32 + ISO_MESSAGE_HEADER_LENGTH + + ISO_MESSAGE_FOOTER_LENGTH; + LogMessage(LOG_LEVEL_INFO, "%d. Sending chunk to ObjectControl, size is %d bytes", + ++IterationCounter, GSD->SupChunkSize); + } + else if (HeaderData.MessageIdU16 == ISO_HEAB_CODE) { + //printf("[SupervisorControl] HEAB.\n"); + } + + + bzero(RxBuffer, + ISO_MESSAGE_HEADER_LENGTH + HeaderData.MessageLengthU32 + + ISO_MESSAGE_FOOTER_LENGTH); + ISOMessageReceivedU8 = 0; + RxTotalDataU32 = 0; + ClientResultI32 = 0; + } + } + + bzero(MqBuffer, SUP_MQ_MAX_SIZE); + (void)iCommRecv(&iCommand, MqBuffer, SUP_MQ_MAX_SIZE, NULL); + if ( /*iCommand == COMM_TRAJ_TOSUP */ GSD->ChunkSize > 0) { + + + bzero(MqBuffer, SUP_MQ_MAX_SIZE); + for (i = 0; i < GSD->ChunkSize; i++) + MqBuffer[i] = GSD->Chunk[i]; + DTMLengthU32 = UtilHexTextToBinary(strlen(MqBuffer), MqBuffer, DTMTrajBuffer, 0); + + LogMessage(LOG_LEVEL_INFO, "Sending chunk to Supervisor, size is %d == %d bytes", + GSD->ChunkSize, (I32) strlen(MqBuffer)); + + //for(i = 0; i < GSD->ChunkSize; i ++) DTMTrajBuffer[i] = GSD->Chunk[i]; + //DTMLengthU32 = GSD->ChunkSize; + DTMIpU32 = (C8) DTMTrajBuffer[0]; + DTMIpU32 = (C8) DTMTrajBuffer[1] | (DTMIpU32 << 8); + DTMIpU32 = (C8) DTMTrajBuffer[2] | (DTMIpU32 << 8); + DTMIpU32 = (C8) DTMTrajBuffer[3] | (DTMIpU32 << 8); + TRAJInfoData.IpAddressU32 = DTMIpU32; + + MiscU16 = (C8) DTMTrajBuffer[4]; + MiscU16 = (C8) DTMTrajBuffer[5] | (MiscU16 << 8); + TRAJInfoData.TrajectoryIDU16 = MiscU16; + i = 0; + do { + TRAJInfoData.TrajectoryNameC8[i] = (C8) DTMTrajBuffer[i + 6]; + i++; + } while (TRAJInfoData.TrajectoryNameC8[i - 1] != 0); + + MiscU16 = (C8) DTMTrajBuffer[70]; + MiscU16 = (C8) DTMTrajBuffer[71] | (MiscU16 << 8); + + TRAJInfoData.TrajectoryVersionU16 = MiscU16; + + MiscU16 = 72; //Number of bytes in [Ip, Id, Name, Version] + + /*TRAJ Header */ + MessageLength = + UtilISOBuildTRAJMessageHeader(MessageBuffer, + (DTMLengthU32 - MiscU16) / SIM_TRAJ_BYTES_IN_ROW, + &HeaderData, &TRAJInfoData, 0); + /*Send TRAJ header */ + UtilSendTCPData("SupervisorControl", MessageBuffer, MessageLength, &SupervisorTCPSocketfdI32, + 0); + /*TRAJ Data */ + MessageLength = + UtilISOBuildTRAJMessage(MessageBuffer, DTMTrajBuffer + MiscU16, + (DTMLengthU32 - MiscU16) / SIM_TRAJ_BYTES_IN_ROW, &DOTMData, 0); + /*Send DTM data */ + UtilSendTCPData("SupervisorControl", MessageBuffer, MessageLength, &SupervisorTCPSocketfdI32, + 0); + GSD->ChunkSize = 0; + } + + else if (GSD->MONRSizeU8 > 0) { + //Send MONR data + UtilSendTCPData("SupervisorControl", GSD->MONRData, GSD->MONRSizeU8, + &SupervisorTCPSocketfdI32, 0); + GSD->MONRSizeU8 = 0; + } /* if(GSD->HEABSizeU8 > 0) { @@ -365,28 +371,21 @@ void supervisorcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) */ - if(iCommand == COMM_EXIT) - { - iExit = 1; - LogMessage(LOG_LEVEL_INFO,"Supervisor control exiting"); - (void)iCommClose(); - } - } - } + if (iCommand == COMM_EXIT) { + iExit = 1; + LogMessage(LOG_LEVEL_INFO, "Supervisor control exiting"); + (void)iCommClose(); + } + } + } } -void signalHandler(int signo) -{ - if (signo == SIGINT) - { - LogMessage(LOG_LEVEL_WARNING,"Caught keyboard interrupt"); - iExit = 1; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); - } +void signalHandler(int signo) { + if (signo == SIGINT) { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } } - - - diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index fa7806466..6dc50ec9a 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -41,13 +41,13 @@ -- Defines ------------------------------------------------------------*/ typedef enum { - SERVER_STATE_UNDEFINED, - SERVER_STATE_INITIALIZED, - SERVER_STATE_IDLE, - SERVER_STATE_READY, - SERVER_STATE_RUNNING, - SERVER_STATE_INWORK, - SERVER_STATE_ERROR, + SERVER_STATE_UNDEFINED, + SERVER_STATE_INITIALIZED, + SERVER_STATE_IDLE, + SERVER_STATE_READY, + SERVER_STATE_RUNNING, + SERVER_STATE_INWORK, + SERVER_STATE_ERROR, } ServerState_t; @@ -56,8 +56,8 @@ typedef enum { #define SYSTEM_CONTROL_RVSS_TIME_MS 10 -#define SYSTEM_CONTROL_CONTROL_PORT 54241 // Default port, control channel -#define SYSTEM_CONTROL_PROCESS_PORT 54242 // Default port, process channel +#define SYSTEM_CONTROL_CONTROL_PORT 54241 // Default port, control channel +#define SYSTEM_CONTROL_PROCESS_PORT 54242 // Default port, process channel #define SYSTEM_CONTROL_RX_PACKET_SIZE 1280 #define SYSTEM_CONTROL_TX_PACKET_SIZE SYSTEM_CONTROL_RX_PACKET_SIZE #define IPC_BUFFER_SIZE SYSTEM_CONTROL_RX_PACKET_SIZE @@ -70,7 +70,7 @@ typedef enum { #define SYSTEM_CONTROL_ARG_MAX_COUNT 6 #define SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH 32 //#define SYSTEM_CONTROL_TOTAL_COMMAND_MAX_LENGTH SYSTEM_CONTROL_ARG_CHAR_COUNT + SYSTEM_CONTROL_COMMAND_MAX_LENGTH + SYSTEM_CONTROL_ARG_MAX_COUNT*SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH -//#define SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH 80 +//#define SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH 80 #define TCP_RECV_BUFFER_SIZE 2048 #define OSTM_OPT_SET_ARMED_STATE 2 @@ -118,21 +118,30 @@ typedef enum { typedef enum { - Idle_0, GetServerStatus_0, ArmScenario_0, DisarmScenario_0, StartScenario_1, stop_0, AbortScenario_0, InitializeScenario_0, - ConnectObject_0, DisconnectObject_0, GetServerParameterList_0, SetServerParameter_2, GetServerParameter_1, DownloadFile_1, UploadFile_3, CheckFileDirectoryExist_1, GetDirectoryContent_1, - DeleteFileDirectory_1, CreateDirectory_1, GetTestOrigin_0, replay_1, control_0, Exit_0, start_ext_trigg_1, nocommand + Idle_0, GetServerStatus_0, ArmScenario_0, DisarmScenario_0, StartScenario_1, stop_0, AbortScenario_0, + InitializeScenario_0, + ConnectObject_0, DisconnectObject_0, GetServerParameterList_0, SetServerParameter_2, GetServerParameter_1, + DownloadFile_1, UploadFile_3, CheckFileDirectoryExist_1, GetDirectoryContent_1, + DeleteFileDirectory_1, CreateDirectory_1, GetTestOrigin_0, replay_1, control_0, Exit_0, start_ext_trigg_1, + nocommand } SystemControlCommand_t; -const char* SystemControlCommandsArr[] = -{ - "Idle_0", "GetServerStatus_0", "ArmScenario_0", "DisarmScenario_0", "StartScenario_1", "stop_0", "AbortScenario_0", "InitializeScenario_0", - "ConnectObject_0", "DisconnectObject_0", "GetServerParameterList_0", "SetServerParameter_2", "GetServerParameter_1", "DownloadFile_1", "UploadFile_3", "CheckFileDirectoryExist_1", "GetDirectoryContent_1", - "DeleteFileDirectory_1", "CreateDirectory_1", "GetTestOrigin_0" ,"replay_1", "control_0", "Exit_0", "start_ext_trigg_1" + +const char *SystemControlCommandsArr[] = { + "Idle_0", "GetServerStatus_0", "ArmScenario_0", "DisarmScenario_0", "StartScenario_1", "stop_0", + "AbortScenario_0", "InitializeScenario_0", + "ConnectObject_0", "DisconnectObject_0", "GetServerParameterList_0", "SetServerParameter_2", + "GetServerParameter_1", "DownloadFile_1", "UploadFile_3", "CheckFileDirectoryExist_1", + "GetDirectoryContent_1", + "DeleteFileDirectory_1", "CreateDirectory_1", "GetTestOrigin_0", "replay_1", "control_0", "Exit_0", + "start_ext_trigg_1" }; -const char* SystemControlStatesArr[] = { "UNDEFINED", "INITIALIZED", "IDLE", "READY", "RUNNING", "INWORK", "ERROR"}; -const char* SystemControlOBCStatesArr[] = { "UNDEFINED", "IDLE", "INITIALIZED", "CONNECTED", "ARMED", "RUNNING", "ERROR"}; +const char *SystemControlStatesArr[] = + { "UNDEFINED", "INITIALIZED", "IDLE", "READY", "RUNNING", "INWORK", "ERROR" }; +const char *SystemControlOBCStatesArr[] = + { "UNDEFINED", "IDLE", "INITIALIZED", "CONNECTED", "ARMED", "RUNNING", "ERROR" }; -const char* POSTRequestMandatoryContent[] = { "POST", "HTTP/1.1", "\r\n\r\n" }; +const char *POSTRequestMandatoryContent[] = { "POST", "HTTP/1.1", "\r\n\r\n" }; char SystemControlCommandArgCnt[SYSTEM_CONTROL_ARG_CHAR_COUNT]; char SystemControlStrippedCommand[SYSTEM_CONTROL_COMMAND_MAX_LENGTH]; @@ -144,33 +153,42 @@ C8 *STR_SYSTEM_CONTROL_TX_PACKET_SIZE = "1200"; -- Function declarations. ------------------------------------------------------------*/ //SystemControlCommand_t SystemControlFindCommandOld(const char* CommandBuffer, SystemControlCommand_t *CurrentCommand, int *ArgCount); -SystemControlCommand_t SystemControlFindCommand(const char* CommandBuffer, SystemControlCommand_t *CurrentCommand, int *ArgCount); +SystemControlCommand_t SystemControlFindCommand(const char *CommandBuffer, + SystemControlCommand_t * CurrentCommand, int *ArgCount); static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct in_addr *ip_addr); -static I32 SystemControlConnectServer(int* sockfd, const char* name, const uint32_t port); -static void SystemControlSendBytes(const char* data, int length, int* sockfd, int debug); -void SystemControlSendControlResponse(U16 ResponseStatus, C8* ResponseString, C8* ResponseData, I32 ResponseDataLength, I32* Sockfd, U8 Debug); -I32 SystemControlBuildControlResponse(U16 ResponseStatus, C8* ResponseString, C8* ResponseData, I32 ResponseDataLength, U8 Debug); -void SystemControlSendLog(C8* LogString, I32* Sockfd, U8 Debug); -void SystemControlSendMONR(C8* LogString, I32* Sockfd, U8 Debug); -static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I32 *sockfd, struct sockaddr_in* addr); +static I32 SystemControlConnectServer(int *sockfd, const char *name, const uint32_t port); +static void SystemControlSendBytes(const char *data, int length, int *sockfd, int debug); +void SystemControlSendControlResponse(U16 ResponseStatus, C8 * ResponseString, C8 * ResponseData, + I32 ResponseDataLength, I32 * Sockfd, U8 Debug); +I32 SystemControlBuildControlResponse(U16 ResponseStatus, C8 * ResponseString, C8 * ResponseData, + I32 ResponseDataLength, U8 Debug); +void SystemControlSendLog(C8 * LogString, I32 * Sockfd, U8 Debug); +void SystemControlSendMONR(C8 * LogString, I32 * Sockfd, U8 Debug); +static void SystemControlCreateProcessChannel(const C8 * name, const U32 port, I32 * sockfd, + struct sockaddr_in *addr); //I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData, I32 Length, U8 debug); -I32 SystemControlReadServerParameterList(C8 *ParameterList, U8 debug); -I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnValue, U32 BufferLength, U8 Debug); -I32 SystemControlReadServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug); -I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug); -I32 SystemControlSetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *NewValue, U8 Debug); -I32 SystemControlCheckFileDirectoryExist(C8 *ParameterName, C8 *ReturnValue, U8 Debug); -I32 SystemControlUploadFile(C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnValue, U8 Debug); -I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnValue, U8 Debug); -I32 SystemControlDeleteFileDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); -I32 SystemControlBuildFileContentInfo(C8 *Path, C8 *ReturnValue, U8 Debug); -I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *ReturnValue, U8 Remove, U8 Debug); -I32 SystemControlCreateDirectory(C8 *Path, C8 *ReturnValue, U8 Debug); -I32 SystemControlBuildRVSSTimeChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, TimeType *GPSTime, U8 Debug); -I32 SystemControlBuildRVSSMaestroChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, GSDType *GSD, U8 SysCtrlState, U8 Debug); -I32 SystemControlBuildRVSSAspChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, U8 Debug); -I32 SystemControlBuildRVSSMONRChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, C8 *MonrData, U8 Debug); -static C8 SystemControlVerifyHostAddress(char* ip); +I32 SystemControlReadServerParameterList(C8 * ParameterList, U8 debug); +I32 SystemControlGetServerParameter(GSDType * GSD, C8 * ParameterName, C8 * ReturnValue, U32 BufferLength, + U8 Debug); +I32 SystemControlReadServerParameter(C8 * ParameterName, C8 * ReturnValue, U8 Debug); +I32 SystemControlWriteServerParameter(C8 * ParameterName, C8 * NewValue, U8 Debug); +I32 SystemControlSetServerParameter(GSDType * GSD, C8 * ParameterName, C8 * NewValue, U8 Debug); +I32 SystemControlCheckFileDirectoryExist(C8 * ParameterName, C8 * ReturnValue, U8 Debug); +I32 SystemControlUploadFile(C8 * Path, C8 * FileSize, C8 * PacketSize, C8 * ReturnValue, U8 Debug); +I32 SystemControlReceiveRxData(I32 * sockfd, C8 * Path, C8 * FileSize, C8 * PacketSize, C8 * ReturnValue, + U8 Debug); +I32 SystemControlDeleteFileDirectory(C8 * Path, C8 * ReturnValue, U8 Debug); +I32 SystemControlBuildFileContentInfo(C8 * Path, C8 * ReturnValue, U8 Debug); +I32 SystemControlSendFileContent(I32 * sockfd, C8 * Path, C8 * PacketSize, C8 * ReturnValue, U8 Remove, + U8 Debug); +I32 SystemControlCreateDirectory(C8 * Path, C8 * ReturnValue, U8 Debug); +I32 SystemControlBuildRVSSTimeChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, TimeType * GPSTime, + U8 Debug); +I32 SystemControlBuildRVSSMaestroChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, GSDType * GSD, + U8 SysCtrlState, U8 Debug); +I32 SystemControlBuildRVSSAspChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, U8 Debug); +I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, C8 * MonrData, U8 Debug); +static C8 SystemControlVerifyHostAddress(char *ip); static void signalHandler(int signo); /*------------------------------------------------------------ @@ -184,1275 +202,1371 @@ static volatile int iExit = 0; -- Public functions ------------------------------------------------------------*/ -void systemcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -{ - - I32 ServerHandle; - I32 ClientSocket = 0; - I32 ClientResult = 0; - struct sockaddr_in RVSSChannelAddr; - struct in_addr ip_addr; - I32 RVSSChannelSocket; - - ServerState_t server_state = SERVER_STATE_UNDEFINED; - OBCState_t objectControlState = OBC_STATE_UNDEFINED; - SystemControlCommand_t SystemControlCommand = Idle_0; - SystemControlCommand_t PreviousSystemControlCommand = Idle_0; - - int CommandArgCount=0, /*CurrentCommandArgCounter=0,*/ CurrentInputArgCount=0; - C8 pcBuffer[IPC_BUFFER_SIZE]; - char inchr; - struct timeval tvTime; - - ObjectPosition OP; - int i,i1; - char *StartPtr, *StopPtr, *CmdPtr, *OpeningQuotationMarkPtr, *ClosingQuotationMarkPtr, *StringPos; - struct timespec tTime; - enum COMMAND iCommand; - char pcRecvBuffer[SC_RECV_MESSAGE_BUFFER]; - char ObjectIP[SMALL_BUFFER_SIZE_16]; - char ObjectPort[SMALL_BUFFER_SIZE_6]; - char TriggId[SMALL_BUFFER_SIZE_6]; - char TriggAction[SMALL_BUFFER_SIZE_6]; - char TriggDelay[SMALL_BUFFER_SIZE_20]; - U64 uiTime; - U32 DelayedStartU32; - U8 ModeU8 = 0; - C8 TextBufferC8[SMALL_BUFFER_SIZE_20]; - C8 ServerIPC8[SMALL_BUFFER_SIZE_20]; - C8 UsernameC8[SMALL_BUFFER_SIZE_20]; - C8 PasswordC8[SMALL_BUFFER_SIZE_20]; - U16 ServerPortU16; - I32 ServerSocketI32=0; - ServiceSessionType SessionData; - C8 RemoteServerRxData[1024]; - struct timespec sleep_time, ref_time; - const struct timespec mqEmptyPollPeriod = {SC_SLEEP_TIME_EMPTY_MQ_S, SC_SLEEP_TIME_EMPTY_MQ_NS}; - const struct timespec mqNonEmptyPollPeriod = {SC_SLEEP_TIME_NONEMPTY_MQ_S, SC_SLEEP_TIME_NONEMPTY_MQ_NS}; - struct timeval CurrentTimeStruct; - U64 CurrentTimeU64 = 0; - U64 TimeDiffU64 = 0; - U64 OldTimeU64 = 0; - U64 PollRateU64 = 0; - C8 ControlResponseBuffer[SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE]; - C8 TextBuffer20[SMALL_BUFFER_SIZE_20]; - C8 UserControlIPC8[SMALL_BUFFER_SIZE_20]; - struct timeval now; - U16 MilliU16 = 0, NowU16 = 0; - U64 GPSmsU64 = 0; - C8 ParameterListC8[SYSTEM_CONTROL_SERVER_PARAMETER_LIST_SIZE]; - U32 LengthU32 = 0; - C8 BinBuffer[SMALL_BUFFER_SIZE_1024]; - - C8 TxBuffer[SYSTEM_CONTROL_TX_PACKET_SIZE]; - - HTTPHeaderContent HTTPHeader; - - //C8 SIDSData[128][10000][8]; - - C8 RVSSData[SYSTEM_CONTROL_RVSS_DATA_BUFFER]; - U16 RVSSSendCounterU16 = 0; - U32 RVSSConfigU32; - U32 RVSSMessageLengthU32; - U16 PCDMessageCodeU16; - - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO,"System control task running with PID: %i",getpid()); - - // Set up signal handlers - if (signal(SIGINT, signalHandler) == SIG_ERR) - util_error("Unable to initialize signal handler"); - - if(iCommInit()) - util_error("Unable to connect to message bus"); - - DataDictionaryGetRVSSConfigU32(GSD, &RVSSConfigU32); - LogMessage(LOG_LEVEL_INFO,"RVSSConfigU32 = %d", RVSSConfigU32); - - U8 RVSSRateU8; - dbl RVSSRateDbl; - DataDictionaryGetRVSSRateU8(GSD, &RVSSRateU8); - RVSSRateDbl = RVSSRateU8; - RVSSRateDbl = (1/RVSSRateDbl)*1000; - LogMessage(LOG_LEVEL_INFO,"RVSSRateU8 = %d", RVSSRateU8); - - if(ModeU8 == 0) - { - - } - else if(ModeU8 == 1) - { - SessionData.SessionIdU32 = 0; - SessionData.UserIdU32 = 0; - SessionData.UserTypeU8 = 0; - - /* */ - PollRateU64 = SYSTEM_CONTROL_SERVICE_POLL_TIME_MS; - CurrentTimeU64 = (uint64_t)CurrentTimeStruct.tv_sec*1000 + (uint64_t)CurrentTimeStruct.tv_usec/1000; - OldTimeU64 = CurrentTimeU64; - - } - - - while(!iExit) - { - if (server_state == SERVER_STATE_ERROR) - { - iCommSend(COMM_ABORT, NULL, 0); - continue; - } - - if(ModeU8 == 0) - { - if(ClientSocket <= 0) - { - if(server_state == SERVER_STATE_UNDEFINED) - { - //Do some initialization - - //Send COMM_DATA_DICT to notify to update data from DataDictionary - iCommSend(COMM_DATA_DICT, ControlResponseBuffer, sizeof(ControlResponseBuffer)); - - server_state = SERVER_STATE_INITIALIZED; - } - - if(USE_LOCAL_USER_CONTROL == 0) - { - - ClientResult = SystemControlInitServer(&ClientSocket, &ServerHandle, &ip_addr); - bzero(UserControlIPC8, SMALL_BUFFER_SIZE_20); - sprintf(UserControlIPC8, "%s", inet_ntoa(ip_addr)); - LogMessage(LOG_LEVEL_INFO,"UserControl IP address is %s", inet_ntoa(ip_addr)); - SystemControlCreateProcessChannel(UserControlIPC8, SYSTEM_CONTROL_PROCESS_PORT, &RVSSChannelSocket, &RVSSChannelAddr); - - } - if(USE_LOCAL_USER_CONTROL == 1) - { - ClientResult = SystemControlConnectServer(&ClientSocket, LOCAL_USER_CONTROL_IP, LOCAL_USER_CONTROL_PORT); - SystemControlCreateProcessChannel(LOCAL_USER_CONTROL_IP, SYSTEM_CONTROL_PROCESS_PORT, &RVSSChannelSocket, &RVSSChannelAddr); - } - - server_state = SERVER_STATE_IDLE; - } - - PreviousSystemControlCommand = SystemControlCommand; - bzero(pcBuffer,IPC_BUFFER_SIZE); - - ClientResult = recv(ClientSocket, pcBuffer, IPC_BUFFER_SIZE, MSG_DONTWAIT); - - if (ClientResult <= -1) - { - if(errno != EAGAIN && errno != EWOULDBLOCK) - { - LogMessage(LOG_LEVEL_ERROR,"Failed to receive from command socket"); - LogMessage(LOG_LEVEL_ERROR,"Waiting 5 seconds before exiting"); - usleep(5000000); //Wait 5 sec before sending exit, just so ObjectControl can send abort in HEAB before exit - if(iCommSend(COMM_EXIT, NULL, 0) < 0) - util_error("Fatal communication fault when sending EXIT command"); - LogMessage(LOG_LEVEL_ERROR,"System control exiting"); - exit(EXIT_FAILURE); - } - } - else if(ClientResult == 0) - { - LogMessage(LOG_LEVEL_INFO,"Client closed connection"); - close(ClientSocket); - ClientSocket = -1; - if(USE_LOCAL_USER_CONTROL == 0) { close(ServerHandle); ServerHandle = -1;} - - SystemControlCommand = AbortScenario_0; //Oops no client is connected, go to AbortScenario_0 - server_state == SERVER_STATE_UNDEFINED; // TODO: Should this be an assignment? - } - else if(ClientResult > 0 && ClientResult < TCP_RECV_BUFFER_SIZE) - { - // TODO: Move this entire decoding process into a separate function - for(i = 0; i < SYSTEM_CONTROL_ARG_MAX_COUNT; i ++ ) - bzero(SystemControlArgument[i],SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH); - - CurrentInputArgCount = 0; - StartPtr = pcBuffer; - StopPtr = pcBuffer; - CmdPtr = NULL; - StringPos = pcBuffer; - - // Check so that all POST request mandatory content is contained in the message - for (i = 0; i < sizeof(POSTRequestMandatoryContent)/sizeof(POSTRequestMandatoryContent[0]); ++i) - { - - StringPos = strstr(StringPos,POSTRequestMandatoryContent[i]); - if (StringPos == NULL) - { - CmdPtr = NULL; - break; - } - else - { - CmdPtr = StringPos + strlen(POSTRequestMandatoryContent[i]); - } - } - - if (CmdPtr != NULL) - { - // It is now known that the request contains "POST" and "\r\n\r\n", so we can decode the header - UtilDecodeHTTPRequestHeader(pcBuffer, &HTTPHeader); - - if (HTTPHeader.Host[0] == '\0') - { - LogMessage(LOG_LEVEL_INFO, "Unspecified host in request <%s>",pcBuffer); - } - else if (SystemControlVerifyHostAddress(HTTPHeader.Host)) - { - // Find opening parenthesis - StartPtr = strchr(CmdPtr, '('); - // If there was no opening or closing parenthesis, the format is not correct - if (StartPtr == NULL || strchr(StartPtr,')') == NULL) - LogMessage(LOG_LEVEL_WARNING, "Received command not conforming to MSCP standards"); - else - { - StartPtr++; - while (StopPtr != NULL) - { - StopPtr = (char *)strchr(StartPtr, ','); - - // If there are no commas past this point, just copy the rest - if (StopPtr == NULL) - { - strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)strchr(StartPtr, ')') - (uint64_t)StartPtr); - } - // Otherwise, check if the comma we found was inside quotation marks - else - { - OpeningQuotationMarkPtr = (char *)strchr(StartPtr,'"'); - - if (OpeningQuotationMarkPtr == NULL) - { - // It was not within quotation marks: copy until the next comma - strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, (uint64_t)StopPtr - (uint64_t)StartPtr); - } - else if (OpeningQuotationMarkPtr != NULL && OpeningQuotationMarkPtr < StopPtr) - { - // A quotation mark was found and it was before the next comma: find the closing quotation mark - ClosingQuotationMarkPtr = (char *)strchr(OpeningQuotationMarkPtr+1,'"'); - - - if (ClosingQuotationMarkPtr == NULL) - { - CmdPtr = NULL; - StopPtr = NULL; - LogMessage(LOG_LEVEL_WARNING,"Received MSCP command with single quotation mark"); - break; - } - else - { - // Copy all arguments within quotation marks including the quotation marks - strncpy(SystemControlArgument[CurrentInputArgCount], OpeningQuotationMarkPtr+1, (uint64_t)(ClosingQuotationMarkPtr) - (uint64_t)(OpeningQuotationMarkPtr+1)); - // Find next comma after closing quotation mark - StopPtr = strchr(ClosingQuotationMarkPtr, ','); - } - } - } - StartPtr = StopPtr+1; - CurrentInputArgCount ++; - } - - if (CmdPtr != NULL) - SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); - else - LogMessage(LOG_LEVEL_WARNING, "Invalid MSCP command received"); - } - } - else { - LogMessage(LOG_LEVEL_INFO, "Request specified host <%s> not among known local addresses",HTTPHeader.Host); - } - } - else - { - LogMessage(LOG_LEVEL_WARNING,"Received badly formatted HTTP request: <%s>, must contain \"POST\" and \"\\r\\n\\r\\n\"",pcBuffer); - } - } - else - { - LogMessage(LOG_LEVEL_WARNING, "Ignored received TCP message which was too large to handle"); - } - - } - else if(ModeU8 == 1) - { /* use util.c function to call time - gettimeofday(&CurrentTimeStruct, NULL); - CurrentTimeU64 = (uint64_t)CurrentTimeStruct.tv_sec*1000 + (uint64_t)CurrentTimeStruct.tv_usec/1000; - */ - CurrentTimeU64 = UtilgetCurrentUTCtimeMS(); - TimeDiffU64 = CurrentTimeU64 - OldTimeU64; - } - - - objectControlState = DataDictionaryGetOBCStateU8(GSD); - - if(server_state == SERVER_STATE_INWORK) - { - if(SystemControlCommand == AbortScenario_0) - { - SystemControlCommand = SystemControlCommand; - } - else if(SystemControlCommand == GetServerStatus_0) - { - LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s, PreviousCommand: %s", SystemControlStatesArr[server_state], SystemControlOBCStatesArr[objectControlState], SystemControlCommandsArr[PreviousSystemControlCommand]); - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - ControlResponseBuffer[0] = server_state; - ControlResponseBuffer[1] = DataDictionaryGetOBCStateU8(GSD);//OBCStateU8; - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetServerStatus:", ControlResponseBuffer, 2, &ClientSocket, 0); - SystemControlCommand = PreviousSystemControlCommand; - } - else if(SystemControlCommand != PreviousSystemControlCommand) - { - LogMessage(LOG_LEVEL_WARNING,"Command not allowed, SystemControl is busy in state %s, PreviousCommand: %s", SystemControlStatesArr[server_state], SystemControlCommandsArr[PreviousSystemControlCommand]); - SystemControlSendLog("[SystemControl] Command not allowed, SystemControl is busy in state INWORK.\n", &ClientSocket, 0); - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlCommand = PreviousSystemControlCommand; - } - } - - bzero(pcRecvBuffer,SC_RECV_MESSAGE_BUFFER); - iCommRecv(&iCommand,pcRecvBuffer,SC_RECV_MESSAGE_BUFFER,NULL); - - switch (iCommand) - { - case COMM_OBC_STATE: - break; - case COMM_LOG: - // This creates a problem in GUC: disabled it for now - //SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); - break; - case COMM_MONR: - // TODO: Decode - break; - case COMM_MONI: - if(RVSSChannelSocket != 0) - { - //printf("Monr sys %s\n", pcRecvBuffer); - if(RVSSConfigU32 & RVSS_MONR_CHANNEL) - { - SystemControlBuildRVSSMONRChannelMessage(RVSSData, &RVSSMessageLengthU32, pcRecvBuffer, 0); - UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); - } - } - break; - case COMM_INV: - break; - default: - LogMessage(LOG_LEVEL_WARNING,"Unhandled message bus command: %u",iCommand); - } - - switch(SystemControlCommand) - { - // can you access GetServerParameterList_0, GetServerParameter_1, SetServerParameter_2 and DISarmScenario and Exit from the GUI - case Idle_0: - /*bzero(pcRecvBuffer,SC_RECV_MESSAGE_BUFFER); - iCommRecv(&iCommand,pcRecvBuffer,SC_RECV_MESSAGE_BUFFER,NULL); - - if(iCommand == COMM_TOM) - { - bzero(ObjectIP, SMALL_BUFFER_SIZE_16); - bzero(ObjectPort, SMALL_BUFFER_SIZE_6); - bzero(TriggId, SMALL_BUFFER_SIZE_6); - bzero(TriggAction, SMALL_BUFFER_SIZE_6); - bzero(TriggDelay, SMALL_BUFFER_SIZE_20); - - StartPtr = pcRecvBuffer; - StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(ObjectIP, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(ObjectPort, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(TriggId, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(TriggAction, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(TriggDelay, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - CurrentCommandArgCounter = 1; - strncpy(SystemControlArgument[CurrentCommandArgCounter], TriggDelay, strlen(TriggDelay)); - printf("[SystemControl] TOM recieved from %s, port=%s, TriggId=%s, TriggAction=%s, TriggDelay=%s\n", ObjectIP, ObjectPort, TriggId ,TriggAction, TriggDelay); - fflush(stdout); - - if((uint8_t)atoi(TriggAction) == TAA_ACTION_EXT_START) - { - SystemControlCommand = start_ext_trigg_1; - CommandArgCount = 1; - } - else if ((uint8_t)atoi(TriggAction) == TAA_ACTION_TEST_SIGNAL) - { - printf("[SystemControl] Trigg action TEST_SIGNAL not supported by server.\n"); - SystemControlCommand = Idle_0; - CurrentCommandArgCounter = 0; - CommandArgCount = 0; - } - else - { - printf("[SystemControl] Unknown trigg action %s.\n", TriggAction); - SystemControlCommand = Idle_0; - CurrentCommandArgCounter = 0; - CommandArgCount = 0; - } - } - else - { - SystemControlCommand = Idle_0; - CurrentCommandArgCounter = 0; - } - - if (iCommand == COMM_OBC_STATE) - { - OBCStateU8 = (U8)*pcRecvBuffer; - } - else if(iCommand == COMM_LOG) - { - SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); - } - */ - - break; - case GetServerStatus_0: - LogMessage(LOG_LEVEL_INFO,"State: %s, OBCState: %s, %d",SystemControlStatesArr[server_state], SystemControlOBCStatesArr[objectControlState], DataDictionaryGetOBCStateU8(GSD)); - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - ControlResponseBuffer[0] = server_state; - ControlResponseBuffer[1] = DataDictionaryGetOBCStateU8(GSD); //OBCStateU8; - LogMessage(LOG_LEVEL_DEBUG,"GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); // GPSTime just ticks from 0 up shouldent it be in the global GPStime? - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetServerStatus:", ControlResponseBuffer, 2, &ClientSocket, 0); - break; - case GetServerParameterList_0: - SystemControlCommand = Idle_0; - bzero(ParameterListC8, SYSTEM_CONTROL_SERVER_PARAMETER_LIST_SIZE); - SystemControlReadServerParameterList(ParameterListC8, 0); - SystemControlSendControlResponse(strlen(ParameterListC8) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetServerParameterList:", ParameterListC8, strlen(ParameterListC8), &ClientSocket, 0); - break; - case GetTestOrigin_0: - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - DataDictionaryGetOriginLatitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20); strcat(ControlResponseBuffer,TextBuffer20); strcat(ControlResponseBuffer,";"); - DataDictionaryGetOriginLongitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20);strcat(ControlResponseBuffer,TextBuffer20); strcat(ControlResponseBuffer,";"); - DataDictionaryGetOriginAltitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20);strcat(ControlResponseBuffer,TextBuffer20); strcat(ControlResponseBuffer,";"); - iCommSend(COMM_OSEM, ControlResponseBuffer, sizeof(ControlResponseBuffer)); - SystemControlSendControlResponse(strlen(ParameterListC8) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetTestOrigin:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); - break; - case GetServerParameter_1: - if(CurrentInputArgCount == CommandArgCount) - { - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlGetServerParameter(GSD, SystemControlArgument[0], ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE, 0); - SystemControlSendControlResponse(strlen(ControlResponseBuffer) > 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK: SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA , "GetServerParameter:", ControlResponseBuffer, strlen(ControlResponseBuffer), &ClientSocket, 0); - } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in GetServerParameter(Name)!"); SystemControlCommand = Idle_0;} - break; - case SetServerParameter_2: - if(CurrentInputArgCount == CommandArgCount) - { - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSetServerParameter(GSD, SystemControlArgument[0], SystemControlArgument[1], 1); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SetServerParameter:", ControlResponseBuffer, 0, &ClientSocket, 0); - //Send COMM_DATA_DICT to notify to update data from DataDictionary - iCommSend(COMM_DATA_DICT, ControlResponseBuffer, sizeof(ControlResponseBuffer)); - - } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in SetServerParameter(Name, Value)!"); SystemControlCommand = Idle_0;} - break; - case CheckFileDirectoryExist_1: - if(CurrentInputArgCount == CommandArgCount) - { - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlCheckFileDirectoryExist(SystemControlArgument[0], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "CheckFileDirectoryExist:", ControlResponseBuffer, 1, &ClientSocket, 0); - - } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in CheckFFExist(path)!"); SystemControlCommand = Idle_0;} - break; - case DeleteFileDirectory_1: - if(CurrentInputArgCount == CommandArgCount) - { - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlDeleteFileDirectory(SystemControlArgument[0], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DeleteFileDirectory:", ControlResponseBuffer, 1, &ClientSocket, 0); - - } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in DeleteFileDirectory(path)!"); SystemControlCommand = Idle_0;} - break; - case CreateDirectory_1: - if(CurrentInputArgCount == CommandArgCount) - { - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlCreateDirectory(SystemControlArgument[0], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "CreateDirectory:", ControlResponseBuffer, 1, &ClientSocket, 0); - - } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in CreateDirectory(path)!"); SystemControlCommand = Idle_0;} - break; - case GetDirectoryContent_1: - if(CurrentInputArgCount == CommandArgCount) - { - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlCheckFileDirectoryExist(SystemControlArgument[0], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetDirectoryContent:", ControlResponseBuffer, 1, &ClientSocket, 0); - if(ControlResponseBuffer[0] == FOLDER_EXIST) - { - UtilCreateDirContent(SystemControlArgument[0], "dir.info"); - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlBuildFileContentInfo("dir.info", ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetDirectoryContent:", ControlResponseBuffer, 4, &ClientSocket, 0); - SystemControlSendFileContent(&ClientSocket, "dir.info", STR_SYSTEM_CONTROL_TX_PACKET_SIZE, ControlResponseBuffer, REMOVE_FILE, 0); - } - - } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in GetDirectoryContent(path)!"); SystemControlCommand = Idle_0;} - break; - case DownloadFile_1: - if(CurrentInputArgCount == CommandArgCount) - { - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlCheckFileDirectoryExist(SystemControlArgument[0], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DownloadFile:", ControlResponseBuffer, 1, &ClientSocket, 0); - if(ControlResponseBuffer[0] == FILE_EXIST) - { - UtilCreateDirContent(SystemControlArgument[0], SystemControlArgument[0]); - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlBuildFileContentInfo(SystemControlArgument[0], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DownloadFile:", ControlResponseBuffer, 4, &ClientSocket, 0); - SystemControlSendFileContent(&ClientSocket, SystemControlArgument[0], STR_SYSTEM_CONTROL_TX_PACKET_SIZE, ControlResponseBuffer, KEEP_FILE, 0); - } - - } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in GetDirectoryContent(path)!"); SystemControlCommand = Idle_0;} - break; - case UploadFile_3: - if(CurrentInputArgCount == CommandArgCount) - { - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlUploadFile(SystemControlArgument[0], SystemControlArgument[1], SystemControlArgument[2], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK , "UploadFile:", ControlResponseBuffer, 1, &ClientSocket, 0); - LogMessage(LOG_LEVEL_DEBUG,"UploadFile filelength: %s", SystemControlArgument[1]); - if(ControlResponseBuffer[0] == SERVER_PREPARED_BIG_PACKET_SIZE) //Server is ready to receive data - { - LogMessage(LOG_LEVEL_INFO,"Receiving file: %s", SystemControlArgument[0]); - SystemControlReceiveRxData(&ClientSocket, SystemControlArgument[0], SystemControlArgument[1], STR_SYSTEM_CONTROL_RX_PACKET_SIZE, ControlResponseBuffer, 0); - } - else if (ControlResponseBuffer[0] == PATH_INVALID_MISSING) - { - LogMessage(LOG_LEVEL_INFO,"Failed receiving file: %s", SystemControlArgument[0]); - SystemControlReceiveRxData(&ClientSocket, "file.tmp", SystemControlArgument[1], STR_SYSTEM_CONTROL_RX_PACKET_SIZE, ControlResponseBuffer, 0); - SystemControlDeleteFileDirectory("file.tmp", ControlResponseBuffer, 0); - ControlResponseBuffer[0] = PATH_INVALID_MISSING; - } - else - { - LogMessage(LOG_LEVEL_INFO,"Receiving file: %s", SystemControlArgument[0]); - SystemControlReceiveRxData(&ClientSocket, SystemControlArgument[0], SystemControlArgument[1], SystemControlArgument[2], ControlResponseBuffer, 0); - } - - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "UploadFile:", ControlResponseBuffer, 1, &ClientSocket, 0); - - } else { LogMessage(LOG_LEVEL_ERROR,"Wrong parameter count in PrepFileRx(path, filesize, packetsize)!"); SystemControlCommand = Idle_0;} - break; - case InitializeScenario_0: - if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_IDLE) - { - if (iCommSend(COMM_INIT, pcBuffer, strlen(pcBuffer)+1) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending INIT command"); - server_state = SERVER_STATE_ERROR; - } - server_state = SERVER_STATE_INWORK; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "InitializeScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] Sending INIT.\n", &ClientSocket, 0); - } - else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_INITIALIZED) - { - SystemControlSendLog("[SystemControl] Simulate that all objects becomes successfully configured.\n", &ClientSocket, 0); - SystemControlCommand = Idle_0; - server_state = SERVER_STATE_IDLE; - } - else if(server_state == SERVER_STATE_IDLE) - { - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "InitializeScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] INIT received, state errors!\n", &ClientSocket, 0); - SystemControlCommand = PreviousSystemControlCommand; - } - break; - case ConnectObject_0: - if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_INITIALIZED) - { - if (iCommSend(COMM_CONNECT, pcBuffer, strlen(pcBuffer)+1) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending CONNECT command"); - server_state = SERVER_STATE_ERROR; - } - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "ConnectObject:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] Sending CONNECT.\n", &ClientSocket, 0); - } - else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_CONNECTED) - { - SystemControlSendLog("[SystemControl] Simulate that all objects are connected.\n", &ClientSocket, 0); - SystemControlCommand = Idle_0; - server_state = SERVER_STATE_IDLE; - } - else if(server_state == SERVER_STATE_IDLE) - { - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "ConnectObject:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] CONNECT received, state errors!\n", &ClientSocket, 0); - SystemControlCommand = PreviousSystemControlCommand; - } - break; - case DisconnectObject_0: - if(server_state == SERVER_STATE_IDLE) - { - if (iCommSend(COMM_DISCONNECT, pcBuffer, strlen(pcBuffer)+1) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending DISCONNECT command"); - server_state = SERVER_STATE_ERROR; - } - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DisconnectObject:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] Sending DISCONNECT.\n", &ClientSocket, 0); - } - else - { - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "ConnectObject:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] DISCONNECT received, state errors!\n", &ClientSocket, 0); - SystemControlCommand = PreviousSystemControlCommand; - } - break; - case ArmScenario_0: - if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_CONNECTED) - { - bzero(pcBuffer, IPC_BUFFER_SIZE); - server_state = SERVER_STATE_INWORK; - pcBuffer[0] = OSTM_OPT_SET_ARMED_STATE; - if (iCommSend(COMM_ARMD, pcBuffer, strlen(pcBuffer)+1) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ARMD command"); - server_state = SERVER_STATE_ERROR; - } - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "ArmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] Sending ARM.\n", &ClientSocket, 0); - } - else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_ARMED) - { - SystemControlSendLog("[SystemControl] Simulate that all objects become armed.\n", &ClientSocket, 0); - - SystemControlCommand = Idle_0; - server_state = SERVER_STATE_IDLE; - } - else if(server_state == SERVER_STATE_IDLE) - { - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] ARM received, state errors!\n", &ClientSocket, 0); - SystemControlCommand = PreviousSystemControlCommand; - } - break; - case DisarmScenario_0: - if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) - { - bzero(pcBuffer, IPC_BUFFER_SIZE); - server_state = SERVER_STATE_IDLE; - pcBuffer[0] = OSTM_OPT_SET_DISARMED_STATE; - if (iCommSend(COMM_ARMD, pcBuffer, strlen(pcBuffer)+1) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ARMD command"); - server_state = SERVER_STATE_ERROR; - } - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DisarmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] Sending DISARM.\n", &ClientSocket, 0); - } - else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_CONNECTED) - { - SystemControlSendLog("[SystemControl] Simulate that all objects becomes disarmed.\n", &ClientSocket, 0); - SystemControlCommand = Idle_0; - server_state = SERVER_STATE_IDLE; - } - else if(server_state == SERVER_STATE_IDLE) - { - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] DISARM received, state errors!\n", &ClientSocket, 0); - SystemControlCommand = PreviousSystemControlCommand; - } - break; - case StartScenario_1: - if(CurrentInputArgCount == CommandArgCount) - { - if(server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) //Temporary! - { - bzero(pcBuffer, IPC_BUFFER_SIZE); - /* Lest use UTC time everywhere instead of etsi and gps time - gettimeofday(&tvTime, NULL); - uiTime = (uint64_t)tvTime.tv_sec*1000 + (uint64_t)tvTime.tv_usec/1000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; - */ - uiTime = UtilgetCurrentUTCtimeMS(); - if(TIME_COMPENSATE_LAGING_VM) uiTime = uiTime - TIME_COMPENSATE_LAGING_VM_VAL; - - LogMessage(LOG_LEVEL_INFO,"Current timestamp (gtd): %lu",uiTime ); - - //clock_gettime(CLOCK_MONOTONIC_COARSE, &tTime); - //clock_gettime(CLOCK_REALTIME, &tTime); - //uiTime = (uint64_t)tTime.tv_sec*1000 + (uint64_t)tTime.tv_nsec/1000000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; - //printf("[SystemControl] Current timestamp (cgt): %lu\n",uiTime ); - //printf("[SystemControl] Current timestamp: %lu\n",uiTime ); - - //uiTime += atoi(SystemControlArgument[0]); - uiTime = atoi(SystemControlArgument[0]); - DelayedStartU32 = atoi(SystemControlArgument[1]); - sprintf ( pcBuffer,"%" PRIu8 ";%" PRIu64 ";%" PRIu32 ";", 0, uiTime, DelayedStartU32); - LogMessage(LOG_LEVEL_INFO,"Sending START <%s> (delayed +%s ms)",pcBuffer, SystemControlArgument[1]); - - if (iCommSend(COMM_STRT, pcBuffer, strlen(pcBuffer)+1) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending STRT command"); - server_state = SERVER_STATE_ERROR; - } - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - server_state = SERVER_STATE_INWORK; - //server_state = SERVER_STATE_IDLE; //Temporary! - //SystemControlCommand = Idle_0; //Temporary! - } - else if(server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_RUNNING) - { - - SystemControlCommand = Idle_0; - server_state = SERVER_STATE_IDLE; - } - else if(server_state == SERVER_STATE_IDLE) - { - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] START received, state errors!\n", &ClientSocket, 0); - SystemControlCommand = PreviousSystemControlCommand; - } - - } else LogMessage(LOG_LEVEL_WARNING,"START command parameter count error"); - break; - /* - case start_ext_trigg_1: - if(CurrentCommandArgCounter == CommandArgCount) - { - bzero(pcBuffer, IPC_BUFFER_SIZE); - uiTime = (uint64_t)atol(SystemControlArgument[CurrentCommandArgCounter]); - if(uiTime == 0) - { - gettimeofday(&tvTime, NULL); - uiTime = (uint64_t)tvTime.tv_sec*1000 + (uint64_t)tvTime.tv_usec/1000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; - } - - if(TIME_COMPENSATE_LAGING_VM) uiTime = uiTime - TIME_COMPENSATE_LAGING_VM_VAL; - - sprintf (pcBuffer,"%" PRIu8 ";%" PRIu64 ";",0,uiTime); - printf("[SystemControl] Sending START <%s> (externally trigged)\n", SystemControlArgument[CurrentCommandArgCounter]); - fflush(stdout); - - (void)iCommSend(COMM_STRT,pcBuffer); - server_state = SERVER_STATE_RUNNINGSERVER_STATE_RUNNING; - SystemControlCommand = Idle_0; - CurrentCommandArgCounter = 0; - } else CurrentCommandArgCounter ++; - break;*/ - case stop_0: - if (iCommSend(COMM_STOP, NULL, 0) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending STOP command"); - server_state = SERVER_STATE_ERROR; - } - else - { - server_state = SERVER_STATE_IDLE; - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "stop:", ControlResponseBuffer, 0, &ClientSocket, 0); - } - break; - case AbortScenario_0: - if(objectControlState == OBC_STATE_RUNNING - /* || strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL - * || strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL*/ ) // Abort should only be allowed in running state - { - if (iCommSend(COMM_ABORT, NULL, 0) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending ABORT command"); - server_state = SERVER_STATE_ERROR; - } - else - { - server_state = SERVER_STATE_IDLE; - SystemControlCommand = Idle_0; - if(ClientSocket >= 0) - { - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "AbortScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - } - } - } - else - { - if(ClientSocket >= 0) - { - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "AbortScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); - SystemControlSendLog("[SystemControl] ABORT received, state errors!\n", &ClientSocket, 0); - } - server_state = SERVER_STATE_IDLE; - SystemControlCommand = Idle_0; - } - break; - /* - case replay_1: - if(CurrentCommandArgCounter == CommandArgCount) - { - if(!strcmp(SystemControlArgument[CurrentCommandArgCounter],"-help")) - { - printf("[SystemControl] -----REPLAY-----\n"); - printf("[SystemControl] Syntax: replay [arg]\n"); - printf("[SystemControl] Ex: replay log/33/event.log\n"); - fflush(stdout); - } - else - { - (void)iCommSend(COMM_REPLAY, SystemControlArgument[CurrentCommandArgCounter]); - printf("[SystemControl] System control sending REPLAY on IPC <%s>\n", SystemControlArgument[CurrentCommandArgCounter]); - fflush(stdout); - } - SystemControlCommand = idle_0; - CurrentCommandArgCounter = 0; - } else CurrentCommandArgCounter ++; - break; - case control_0: - (void)iCommSend(COMM_CONTROL, NULL); - //printf("INF: System control sending CONTROL on IPC <%s>\n", pcBuffer); - fflush(stdout); - SystemControlCommand = idle_0; - CurrentCommandArgCounter = 0; - break;*/ - case Exit_0: - - if (iCommSend(COMM_EXIT, NULL, 0) < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending EXIT command"); - server_state = SERVER_STATE_ERROR; - } - else - { - iExit = 1; - GSD->ExitU8 = 1; - usleep(1000000); - SystemControlCommand = Idle_0; - bzero(ControlResponseBuffer,SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "Exit:", ControlResponseBuffer, 0, &ClientSocket, 0); - close(ClientSocket); ClientSocket = -1; - if(USE_LOCAL_USER_CONTROL == 0) { close(ServerHandle); ServerHandle = -1;} - LogMessage(LOG_LEVEL_INFO,"Server closing"); - } - break; - - default: - - break; - } - - - - sleep_time.tv_sec = 0; - sleep_time.tv_nsec = SYSTEM_CONTROL_TASK_PERIOD_MS*1000000; - ++ RVSSSendCounterU16; - if(RVSSSendCounterU16 >= ((U16)RVSSRateDbl)) - { - RVSSSendCounterU16 = 0; - DataDictionaryGetRVSSRateU8(GSD, &RVSSRateU8); - RVSSRateDbl = RVSSRateU8; - RVSSRateDbl = (1/RVSSRateDbl)*100; //This is strange!! Should be 1000, but if it is the RVSSData is sent to slow by a factor of 10. - - if(RVSSChannelSocket != 0 && RVSSSendCounterU16 == 0 && RVSSConfigU32 > 0) - { - bzero(RVSSData, SYSTEM_CONTROL_RVSS_DATA_BUFFER); - - if(RVSSConfigU32 & RVSS_TIME_CHANNEL) - { - SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 0); - UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); - } - - if(RVSSConfigU32 & RVSS_MAESTRO_CHANNEL) - { - SystemControlBuildRVSSMaestroChannelMessage(RVSSData, &RVSSMessageLengthU32, GSD, server_state, 0); - UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); - } - - if(RVSSConfigU32 & RVSS_ASP_CHANNEL) - { - SystemControlBuildRVSSAspChannelMessage(RVSSData, &RVSSMessageLengthU32, 0); - UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); - } - - } - - - } - - sleep_time = (iCommand == COMM_INV && server_state != SERVER_STATE_INWORK) ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; - nanosleep(&sleep_time,&ref_time); - } - - (void)iCommClose(); - - LogMessage(LOG_LEVEL_INFO,"Exiting"); +void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { + + I32 ServerHandle; + I32 ClientSocket = 0; + I32 ClientResult = 0; + struct sockaddr_in RVSSChannelAddr; + struct in_addr ip_addr; + I32 RVSSChannelSocket; + + ServerState_t server_state = SERVER_STATE_UNDEFINED; + OBCState_t objectControlState = OBC_STATE_UNDEFINED; + SystemControlCommand_t SystemControlCommand = Idle_0; + SystemControlCommand_t PreviousSystemControlCommand = Idle_0; + + int CommandArgCount = 0, /*CurrentCommandArgCounter=0, */ CurrentInputArgCount = 0; + C8 pcBuffer[IPC_BUFFER_SIZE]; + char inchr; + struct timeval tvTime; + + ObjectPosition OP; + int i, i1; + char *StartPtr, *StopPtr, *CmdPtr, *OpeningQuotationMarkPtr, *ClosingQuotationMarkPtr, *StringPos; + struct timespec tTime; + enum COMMAND iCommand; + char pcRecvBuffer[SC_RECV_MESSAGE_BUFFER]; + char ObjectIP[SMALL_BUFFER_SIZE_16]; + char ObjectPort[SMALL_BUFFER_SIZE_6]; + char TriggId[SMALL_BUFFER_SIZE_6]; + char TriggAction[SMALL_BUFFER_SIZE_6]; + char TriggDelay[SMALL_BUFFER_SIZE_20]; + U64 uiTime; + U32 DelayedStartU32; + U8 ModeU8 = 0; + C8 TextBufferC8[SMALL_BUFFER_SIZE_20]; + C8 ServerIPC8[SMALL_BUFFER_SIZE_20]; + C8 UsernameC8[SMALL_BUFFER_SIZE_20]; + C8 PasswordC8[SMALL_BUFFER_SIZE_20]; + U16 ServerPortU16; + I32 ServerSocketI32 = 0; + ServiceSessionType SessionData; + C8 RemoteServerRxData[1024]; + struct timespec sleep_time, ref_time; + const struct timespec mqEmptyPollPeriod = { SC_SLEEP_TIME_EMPTY_MQ_S, SC_SLEEP_TIME_EMPTY_MQ_NS }; + const struct timespec mqNonEmptyPollPeriod = + { SC_SLEEP_TIME_NONEMPTY_MQ_S, SC_SLEEP_TIME_NONEMPTY_MQ_NS }; + struct timeval CurrentTimeStruct; + U64 CurrentTimeU64 = 0; + U64 TimeDiffU64 = 0; + U64 OldTimeU64 = 0; + U64 PollRateU64 = 0; + C8 ControlResponseBuffer[SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE]; + C8 TextBuffer20[SMALL_BUFFER_SIZE_20]; + C8 UserControlIPC8[SMALL_BUFFER_SIZE_20]; + struct timeval now; + U16 MilliU16 = 0, NowU16 = 0; + U64 GPSmsU64 = 0; + C8 ParameterListC8[SYSTEM_CONTROL_SERVER_PARAMETER_LIST_SIZE]; + U32 LengthU32 = 0; + C8 BinBuffer[SMALL_BUFFER_SIZE_1024]; + + C8 TxBuffer[SYSTEM_CONTROL_TX_PACKET_SIZE]; + + HTTPHeaderContent HTTPHeader; + + //C8 SIDSData[128][10000][8]; + + C8 RVSSData[SYSTEM_CONTROL_RVSS_DATA_BUFFER]; + U16 RVSSSendCounterU16 = 0; + U32 RVSSConfigU32; + U32 RVSSMessageLengthU32; + U16 PCDMessageCodeU16; + + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "System control task running with PID: %i", getpid()); + + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + if (iCommInit()) + util_error("Unable to connect to message bus"); + + DataDictionaryGetRVSSConfigU32(GSD, &RVSSConfigU32); + LogMessage(LOG_LEVEL_INFO, "RVSSConfigU32 = %d", RVSSConfigU32); + + U8 RVSSRateU8; + dbl RVSSRateDbl; + + DataDictionaryGetRVSSRateU8(GSD, &RVSSRateU8); + RVSSRateDbl = RVSSRateU8; + RVSSRateDbl = (1 / RVSSRateDbl) * 1000; + LogMessage(LOG_LEVEL_INFO, "RVSSRateU8 = %d", RVSSRateU8); + + if (ModeU8 == 0) { + + } + else if (ModeU8 == 1) { + SessionData.SessionIdU32 = 0; + SessionData.UserIdU32 = 0; + SessionData.UserTypeU8 = 0; + + /* */ + PollRateU64 = SYSTEM_CONTROL_SERVICE_POLL_TIME_MS; + CurrentTimeU64 = + (uint64_t) CurrentTimeStruct.tv_sec * 1000 + (uint64_t) CurrentTimeStruct.tv_usec / 1000; + OldTimeU64 = CurrentTimeU64; + + } + + + while (!iExit) { + if (server_state == SERVER_STATE_ERROR) { + iCommSend(COMM_ABORT, NULL, 0); + continue; + } + + if (ModeU8 == 0) { + if (ClientSocket <= 0) { + if (server_state == SERVER_STATE_UNDEFINED) { + //Do some initialization + + //Send COMM_DATA_DICT to notify to update data from DataDictionary + iCommSend(COMM_DATA_DICT, ControlResponseBuffer, sizeof (ControlResponseBuffer)); + + server_state = SERVER_STATE_INITIALIZED; + } + + if (USE_LOCAL_USER_CONTROL == 0) { + + ClientResult = SystemControlInitServer(&ClientSocket, &ServerHandle, &ip_addr); + bzero(UserControlIPC8, SMALL_BUFFER_SIZE_20); + sprintf(UserControlIPC8, "%s", inet_ntoa(ip_addr)); + LogMessage(LOG_LEVEL_INFO, "UserControl IP address is %s", inet_ntoa(ip_addr)); + SystemControlCreateProcessChannel(UserControlIPC8, SYSTEM_CONTROL_PROCESS_PORT, + &RVSSChannelSocket, &RVSSChannelAddr); + + } + if (USE_LOCAL_USER_CONTROL == 1) { + ClientResult = + SystemControlConnectServer(&ClientSocket, LOCAL_USER_CONTROL_IP, + LOCAL_USER_CONTROL_PORT); + SystemControlCreateProcessChannel(LOCAL_USER_CONTROL_IP, SYSTEM_CONTROL_PROCESS_PORT, + &RVSSChannelSocket, &RVSSChannelAddr); + } + + server_state = SERVER_STATE_IDLE; + } + + PreviousSystemControlCommand = SystemControlCommand; + bzero(pcBuffer, IPC_BUFFER_SIZE); + + ClientResult = recv(ClientSocket, pcBuffer, IPC_BUFFER_SIZE, MSG_DONTWAIT); + + if (ClientResult <= -1) { + if (errno != EAGAIN && errno != EWOULDBLOCK) { + LogMessage(LOG_LEVEL_ERROR, "Failed to receive from command socket"); + LogMessage(LOG_LEVEL_ERROR, "Waiting 5 seconds before exiting"); + usleep(5000000); //Wait 5 sec before sending exit, just so ObjectControl can send abort in HEAB before exit + if (iCommSend(COMM_EXIT, NULL, 0) < 0) + util_error("Fatal communication fault when sending EXIT command"); + LogMessage(LOG_LEVEL_ERROR, "System control exiting"); + exit(EXIT_FAILURE); + } + } + else if (ClientResult == 0) { + LogMessage(LOG_LEVEL_INFO, "Client closed connection"); + close(ClientSocket); + ClientSocket = -1; + if (USE_LOCAL_USER_CONTROL == 0) { + close(ServerHandle); + ServerHandle = -1; + } + + SystemControlCommand = AbortScenario_0; //Oops no client is connected, go to AbortScenario_0 + server_state == SERVER_STATE_UNDEFINED; // TODO: Should this be an assignment? + } + else if (ClientResult > 0 && ClientResult < TCP_RECV_BUFFER_SIZE) { + // TODO: Move this entire decoding process into a separate function + for (i = 0; i < SYSTEM_CONTROL_ARG_MAX_COUNT; i++) + bzero(SystemControlArgument[i], SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH); + + CurrentInputArgCount = 0; + StartPtr = pcBuffer; + StopPtr = pcBuffer; + CmdPtr = NULL; + StringPos = pcBuffer; + + // Check so that all POST request mandatory content is contained in the message + for (i = 0; + i < sizeof (POSTRequestMandatoryContent) / sizeof (POSTRequestMandatoryContent[0]); + ++i) { + + StringPos = strstr(StringPos, POSTRequestMandatoryContent[i]); + if (StringPos == NULL) { + CmdPtr = NULL; + break; + } + else { + CmdPtr = StringPos + strlen(POSTRequestMandatoryContent[i]); + } + } + + if (CmdPtr != NULL) { + // It is now known that the request contains "POST" and "\r\n\r\n", so we can decode the header + UtilDecodeHTTPRequestHeader(pcBuffer, &HTTPHeader); + + if (HTTPHeader.Host[0] == '\0') { + LogMessage(LOG_LEVEL_INFO, "Unspecified host in request <%s>", pcBuffer); + } + else if (SystemControlVerifyHostAddress(HTTPHeader.Host)) { + // Find opening parenthesis + StartPtr = strchr(CmdPtr, '('); + // If there was no opening or closing parenthesis, the format is not correct + if (StartPtr == NULL || strchr(StartPtr, ')') == NULL) + LogMessage(LOG_LEVEL_WARNING, + "Received command not conforming to MSCP standards"); + else { + StartPtr++; + while (StopPtr != NULL) { + StopPtr = (char *)strchr(StartPtr, ','); + + // If there are no commas past this point, just copy the rest + if (StopPtr == NULL) { + strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, + (uint64_t) strchr(StartPtr, ')') - (uint64_t) StartPtr); + } + // Otherwise, check if the comma we found was inside quotation marks + else { + OpeningQuotationMarkPtr = (char *)strchr(StartPtr, '"'); + + if (OpeningQuotationMarkPtr == NULL) { + // It was not within quotation marks: copy until the next comma + strncpy(SystemControlArgument[CurrentInputArgCount], StartPtr, + (uint64_t) StopPtr - (uint64_t) StartPtr); + } + else if (OpeningQuotationMarkPtr != NULL + && OpeningQuotationMarkPtr < StopPtr) { + // A quotation mark was found and it was before the next comma: find the closing quotation mark + ClosingQuotationMarkPtr = + (char *)strchr(OpeningQuotationMarkPtr + 1, '"'); + + + if (ClosingQuotationMarkPtr == NULL) { + CmdPtr = NULL; + StopPtr = NULL; + LogMessage(LOG_LEVEL_WARNING, + "Received MSCP command with single quotation mark"); + break; + } + else { + // Copy all arguments within quotation marks including the quotation marks + strncpy(SystemControlArgument[CurrentInputArgCount], + OpeningQuotationMarkPtr + 1, + (uint64_t) (ClosingQuotationMarkPtr) - + (uint64_t) (OpeningQuotationMarkPtr + 1)); + // Find next comma after closing quotation mark + StopPtr = strchr(ClosingQuotationMarkPtr, ','); + } + } + } + StartPtr = StopPtr + 1; + CurrentInputArgCount++; + } + + if (CmdPtr != NULL) + SystemControlFindCommand(CmdPtr, &SystemControlCommand, &CommandArgCount); + else + LogMessage(LOG_LEVEL_WARNING, "Invalid MSCP command received"); + } + } + else { + LogMessage(LOG_LEVEL_INFO, + "Request specified host <%s> not among known local addresses", + HTTPHeader.Host); + } + } + else { + LogMessage(LOG_LEVEL_WARNING, + "Received badly formatted HTTP request: <%s>, must contain \"POST\" and \"\\r\\n\\r\\n\"", + pcBuffer); + } + } + else { + LogMessage(LOG_LEVEL_WARNING, "Ignored received TCP message which was too large to handle"); + } + + } + else if (ModeU8 == 1) { /* use util.c function to call time + gettimeofday(&CurrentTimeStruct, NULL); + CurrentTimeU64 = (uint64_t)CurrentTimeStruct.tv_sec*1000 + (uint64_t)CurrentTimeStruct.tv_usec/1000; + */ + CurrentTimeU64 = UtilgetCurrentUTCtimeMS(); + TimeDiffU64 = CurrentTimeU64 - OldTimeU64; + } + + + objectControlState = DataDictionaryGetOBCStateU8(GSD); + + if (server_state == SERVER_STATE_INWORK) { + if (SystemControlCommand == AbortScenario_0) { + SystemControlCommand = SystemControlCommand; + } + else if (SystemControlCommand == GetServerStatus_0) { + LogMessage(LOG_LEVEL_INFO, "State: %s, OBCState: %s, PreviousCommand: %s", + SystemControlStatesArr[server_state], + SystemControlOBCStatesArr[objectControlState], + SystemControlCommandsArr[PreviousSystemControlCommand]); + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + ControlResponseBuffer[0] = server_state; + ControlResponseBuffer[1] = DataDictionaryGetOBCStateU8(GSD); //OBCStateU8; + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetServerStatus:", + ControlResponseBuffer, 2, &ClientSocket, 0); + SystemControlCommand = PreviousSystemControlCommand; + } + else if (SystemControlCommand != PreviousSystemControlCommand) { + LogMessage(LOG_LEVEL_WARNING, + "Command not allowed, SystemControl is busy in state %s, PreviousCommand: %s", + SystemControlStatesArr[server_state], + SystemControlCommandsArr[PreviousSystemControlCommand]); + SystemControlSendLog + ("[SystemControl] Command not allowed, SystemControl is busy in state INWORK.\n", + &ClientSocket, 0); + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, "", + ControlResponseBuffer, 0, &ClientSocket, 0); + SystemControlCommand = PreviousSystemControlCommand; + } + } + + bzero(pcRecvBuffer, SC_RECV_MESSAGE_BUFFER); + iCommRecv(&iCommand, pcRecvBuffer, SC_RECV_MESSAGE_BUFFER, NULL); + + switch (iCommand) { + case COMM_OBC_STATE: + break; + case COMM_LOG: + // This creates a problem in GUC: disabled it for now + //SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); + break; + case COMM_MONR: + // TODO: Decode + break; + case COMM_MONI: + if (RVSSChannelSocket != 0) { + //printf("Monr sys %s\n", pcRecvBuffer); + if (RVSSConfigU32 & RVSS_MONR_CHANNEL) { + SystemControlBuildRVSSMONRChannelMessage(RVSSData, &RVSSMessageLengthU32, pcRecvBuffer, + 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, + RVSSMessageLengthU32, 0); + } + } + break; + case COMM_INV: + break; + default: + LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", iCommand); + } + + switch (SystemControlCommand) { + // can you access GetServerParameterList_0, GetServerParameter_1, SetServerParameter_2 and DISarmScenario and Exit from the GUI + case Idle_0: + /*bzero(pcRecvBuffer,SC_RECV_MESSAGE_BUFFER); + iCommRecv(&iCommand,pcRecvBuffer,SC_RECV_MESSAGE_BUFFER,NULL); + + if(iCommand == COMM_TOM) + { + bzero(ObjectIP, SMALL_BUFFER_SIZE_16); + bzero(ObjectPort, SMALL_BUFFER_SIZE_6); + bzero(TriggId, SMALL_BUFFER_SIZE_6); + bzero(TriggAction, SMALL_BUFFER_SIZE_6); + bzero(TriggDelay, SMALL_BUFFER_SIZE_20); + + StartPtr = pcRecvBuffer; + StopPtr = (char *)strchr(StartPtr, ';'); + strncpy(ObjectIP, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); + StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); + strncpy(ObjectPort, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); + StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); + strncpy(TriggId, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); + StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); + strncpy(TriggAction, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); + StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); + strncpy(TriggDelay, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); + CurrentCommandArgCounter = 1; + strncpy(SystemControlArgument[CurrentCommandArgCounter], TriggDelay, strlen(TriggDelay)); + printf("[SystemControl] TOM recieved from %s, port=%s, TriggId=%s, TriggAction=%s, TriggDelay=%s\n", ObjectIP, ObjectPort, TriggId ,TriggAction, TriggDelay); + fflush(stdout); + + if((uint8_t)atoi(TriggAction) == TAA_ACTION_EXT_START) + { + SystemControlCommand = start_ext_trigg_1; + CommandArgCount = 1; + } + else if ((uint8_t)atoi(TriggAction) == TAA_ACTION_TEST_SIGNAL) + { + printf("[SystemControl] Trigg action TEST_SIGNAL not supported by server.\n"); + SystemControlCommand = Idle_0; + CurrentCommandArgCounter = 0; + CommandArgCount = 0; + } + else + { + printf("[SystemControl] Unknown trigg action %s.\n", TriggAction); + SystemControlCommand = Idle_0; + CurrentCommandArgCounter = 0; + CommandArgCount = 0; + } + } + else + { + SystemControlCommand = Idle_0; + CurrentCommandArgCounter = 0; + } + + if (iCommand == COMM_OBC_STATE) + { + OBCStateU8 = (U8)*pcRecvBuffer; + } + else if(iCommand == COMM_LOG) + { + SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); + } + */ + + break; + case GetServerStatus_0: + LogMessage(LOG_LEVEL_INFO, "State: %s, OBCState: %s, %d", SystemControlStatesArr[server_state], + SystemControlOBCStatesArr[objectControlState], DataDictionaryGetOBCStateU8(GSD)); + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + ControlResponseBuffer[0] = server_state; + ControlResponseBuffer[1] = DataDictionaryGetOBCStateU8(GSD); //OBCStateU8; + LogMessage(LOG_LEVEL_DEBUG, "GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); // GPSTime just ticks from 0 up shouldent it be in the global GPStime? + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetServerStatus:", + ControlResponseBuffer, 2, &ClientSocket, 0); + break; + case GetServerParameterList_0: + SystemControlCommand = Idle_0; + bzero(ParameterListC8, SYSTEM_CONTROL_SERVER_PARAMETER_LIST_SIZE); + SystemControlReadServerParameterList(ParameterListC8, 0); + SystemControlSendControlResponse(strlen(ParameterListC8) > + 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : + SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetServerParameterList:", + ParameterListC8, strlen(ParameterListC8), &ClientSocket, 0); + break; + case GetTestOrigin_0: + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + DataDictionaryGetOriginLatitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20); + strcat(ControlResponseBuffer, TextBuffer20); + strcat(ControlResponseBuffer, ";"); + DataDictionaryGetOriginLongitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20); + strcat(ControlResponseBuffer, TextBuffer20); + strcat(ControlResponseBuffer, ";"); + DataDictionaryGetOriginAltitudeC8(GSD, TextBuffer20, SMALL_BUFFER_SIZE_20); + strcat(ControlResponseBuffer, TextBuffer20); + strcat(ControlResponseBuffer, ";"); + iCommSend(COMM_OSEM, ControlResponseBuffer, sizeof (ControlResponseBuffer)); + SystemControlSendControlResponse(strlen(ParameterListC8) > + 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : + SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetTestOrigin:", + ControlResponseBuffer, strlen(ControlResponseBuffer), + &ClientSocket, 0); + break; + case GetServerParameter_1: + if (CurrentInputArgCount == CommandArgCount) { + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlGetServerParameter(GSD, SystemControlArgument[0], ControlResponseBuffer, + SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE, 0); + SystemControlSendControlResponse(strlen(ControlResponseBuffer) > + 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : + SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetServerParameter:", + ControlResponseBuffer, strlen(ControlResponseBuffer), + &ClientSocket, 0); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in GetServerParameter(Name)!"); + SystemControlCommand = Idle_0; + } + break; + case SetServerParameter_2: + if (CurrentInputArgCount == CommandArgCount) { + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSetServerParameter(GSD, SystemControlArgument[0], SystemControlArgument[1], 1); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SetServerParameter:", + ControlResponseBuffer, 0, &ClientSocket, 0); + //Send COMM_DATA_DICT to notify to update data from DataDictionary + iCommSend(COMM_DATA_DICT, ControlResponseBuffer, sizeof (ControlResponseBuffer)); + + } + else { + LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in SetServerParameter(Name, Value)!"); + SystemControlCommand = Idle_0; + } + break; + case CheckFileDirectoryExist_1: + if (CurrentInputArgCount == CommandArgCount) { + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlCheckFileDirectoryExist(SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "CheckFileDirectoryExist:", + ControlResponseBuffer, 1, &ClientSocket, 0); + + } + else { + LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in CheckFFExist(path)!"); + SystemControlCommand = Idle_0; + } + break; + case DeleteFileDirectory_1: + if (CurrentInputArgCount == CommandArgCount) { + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlDeleteFileDirectory(SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DeleteFileDirectory:", + ControlResponseBuffer, 1, &ClientSocket, 0); + + } + else { + LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in DeleteFileDirectory(path)!"); + SystemControlCommand = Idle_0; + } + break; + case CreateDirectory_1: + if (CurrentInputArgCount == CommandArgCount) { + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlCreateDirectory(SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "CreateDirectory:", + ControlResponseBuffer, 1, &ClientSocket, 0); + + } + else { + LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in CreateDirectory(path)!"); + SystemControlCommand = Idle_0; + } + break; + case GetDirectoryContent_1: + if (CurrentInputArgCount == CommandArgCount) { + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlCheckFileDirectoryExist(SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetDirectoryContent:", + ControlResponseBuffer, 1, &ClientSocket, 0); + if (ControlResponseBuffer[0] == FOLDER_EXIST) { + UtilCreateDirContent(SystemControlArgument[0], "dir.info"); + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlBuildFileContentInfo("dir.info", ControlResponseBuffer, 0); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "GetDirectoryContent:", + ControlResponseBuffer, 4, &ClientSocket, 0); + SystemControlSendFileContent(&ClientSocket, "dir.info", STR_SYSTEM_CONTROL_TX_PACKET_SIZE, + ControlResponseBuffer, REMOVE_FILE, 0); + } + + } + else { + LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in GetDirectoryContent(path)!"); + SystemControlCommand = Idle_0; + } + break; + case DownloadFile_1: + if (CurrentInputArgCount == CommandArgCount) { + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlCheckFileDirectoryExist(SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DownloadFile:", + ControlResponseBuffer, 1, &ClientSocket, 0); + if (ControlResponseBuffer[0] == FILE_EXIST) { + UtilCreateDirContent(SystemControlArgument[0], SystemControlArgument[0]); + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlBuildFileContentInfo(SystemControlArgument[0], ControlResponseBuffer, 0); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DownloadFile:", + ControlResponseBuffer, 4, &ClientSocket, 0); + SystemControlSendFileContent(&ClientSocket, SystemControlArgument[0], + STR_SYSTEM_CONTROL_TX_PACKET_SIZE, ControlResponseBuffer, + KEEP_FILE, 0); + } + + } + else { + LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in GetDirectoryContent(path)!"); + SystemControlCommand = Idle_0; + } + break; + case UploadFile_3: + if (CurrentInputArgCount == CommandArgCount) { + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlUploadFile(SystemControlArgument[0], SystemControlArgument[1], + SystemControlArgument[2], ControlResponseBuffer, 0); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "UploadFile:", + ControlResponseBuffer, 1, &ClientSocket, 0); + LogMessage(LOG_LEVEL_DEBUG, "UploadFile filelength: %s", SystemControlArgument[1]); + if (ControlResponseBuffer[0] == SERVER_PREPARED_BIG_PACKET_SIZE) //Server is ready to receive data + { + LogMessage(LOG_LEVEL_INFO, "Receiving file: %s", SystemControlArgument[0]); + SystemControlReceiveRxData(&ClientSocket, SystemControlArgument[0], + SystemControlArgument[1], STR_SYSTEM_CONTROL_RX_PACKET_SIZE, + ControlResponseBuffer, 0); + } + else if (ControlResponseBuffer[0] == PATH_INVALID_MISSING) { + LogMessage(LOG_LEVEL_INFO, "Failed receiving file: %s", SystemControlArgument[0]); + SystemControlReceiveRxData(&ClientSocket, "file.tmp", SystemControlArgument[1], + STR_SYSTEM_CONTROL_RX_PACKET_SIZE, ControlResponseBuffer, 0); + SystemControlDeleteFileDirectory("file.tmp", ControlResponseBuffer, 0); + ControlResponseBuffer[0] = PATH_INVALID_MISSING; + } + else { + LogMessage(LOG_LEVEL_INFO, "Receiving file: %s", SystemControlArgument[0]); + SystemControlReceiveRxData(&ClientSocket, SystemControlArgument[0], + SystemControlArgument[1], SystemControlArgument[2], + ControlResponseBuffer, 0); + } + + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "UploadFile:", + ControlResponseBuffer, 1, &ClientSocket, 0); + + } + else { + LogMessage(LOG_LEVEL_ERROR, + "Wrong parameter count in PrepFileRx(path, filesize, packetsize)!"); + SystemControlCommand = Idle_0; + } + break; + case InitializeScenario_0: + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_IDLE) { + if (iCommSend(COMM_INIT, pcBuffer, strlen(pcBuffer) + 1) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending INIT command"); + server_state = SERVER_STATE_ERROR; + } + server_state = SERVER_STATE_INWORK; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "InitializeScenario:", + ControlResponseBuffer, 0, &ClientSocket, 0); + SystemControlSendLog("[SystemControl] Sending INIT.\n", &ClientSocket, 0); + } + else if (server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_INITIALIZED) { + SystemControlSendLog + ("[SystemControl] Simulate that all objects becomes successfully configured.\n", + &ClientSocket, 0); + SystemControlCommand = Idle_0; + server_state = SERVER_STATE_IDLE; + } + else if (server_state == SERVER_STATE_IDLE) { + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, + "InitializeScenario:", ControlResponseBuffer, 0, + &ClientSocket, 0); + SystemControlSendLog("[SystemControl] INIT received, state errors!\n", &ClientSocket, 0); + SystemControlCommand = PreviousSystemControlCommand; + } + break; + case ConnectObject_0: + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_INITIALIZED) { + if (iCommSend(COMM_CONNECT, pcBuffer, strlen(pcBuffer) + 1) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending CONNECT command"); + server_state = SERVER_STATE_ERROR; + } + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "ConnectObject:", + ControlResponseBuffer, 0, &ClientSocket, 0); + SystemControlSendLog("[SystemControl] Sending CONNECT.\n", &ClientSocket, 0); + } + else if (server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_CONNECTED) { + SystemControlSendLog("[SystemControl] Simulate that all objects are connected.\n", + &ClientSocket, 0); + SystemControlCommand = Idle_0; + server_state = SERVER_STATE_IDLE; + } + else if (server_state == SERVER_STATE_IDLE) { + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, + "ConnectObject:", ControlResponseBuffer, 0, &ClientSocket, + 0); + SystemControlSendLog("[SystemControl] CONNECT received, state errors!\n", &ClientSocket, 0); + SystemControlCommand = PreviousSystemControlCommand; + } + break; + case DisconnectObject_0: + if (server_state == SERVER_STATE_IDLE) { + if (iCommSend(COMM_DISCONNECT, pcBuffer, strlen(pcBuffer) + 1) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending DISCONNECT command"); + server_state = SERVER_STATE_ERROR; + } + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DisconnectObject:", + ControlResponseBuffer, 0, &ClientSocket, 0); + SystemControlSendLog("[SystemControl] Sending DISCONNECT.\n", &ClientSocket, 0); + } + else { + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, + "ConnectObject:", ControlResponseBuffer, 0, &ClientSocket, + 0); + SystemControlSendLog("[SystemControl] DISCONNECT received, state errors!\n", &ClientSocket, + 0); + SystemControlCommand = PreviousSystemControlCommand; + } + break; + case ArmScenario_0: + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_CONNECTED) { + bzero(pcBuffer, IPC_BUFFER_SIZE); + server_state = SERVER_STATE_INWORK; + pcBuffer[0] = OSTM_OPT_SET_ARMED_STATE; + if (iCommSend(COMM_ARMD, pcBuffer, strlen(pcBuffer) + 1) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ARMD command"); + server_state = SERVER_STATE_ERROR; + } + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "ArmScenario:", + ControlResponseBuffer, 0, &ClientSocket, 0); + SystemControlSendLog("[SystemControl] Sending ARM.\n", &ClientSocket, 0); + } + else if (server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_ARMED) { + SystemControlSendLog("[SystemControl] Simulate that all objects become armed.\n", + &ClientSocket, 0); + + SystemControlCommand = Idle_0; + server_state = SERVER_STATE_IDLE; + } + else if (server_state == SERVER_STATE_IDLE) { + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, + "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, + 0); + SystemControlSendLog("[SystemControl] ARM received, state errors!\n", &ClientSocket, 0); + SystemControlCommand = PreviousSystemControlCommand; + } + break; + case DisarmScenario_0: + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) { + bzero(pcBuffer, IPC_BUFFER_SIZE); + server_state = SERVER_STATE_IDLE; + pcBuffer[0] = OSTM_OPT_SET_DISARMED_STATE; + if (iCommSend(COMM_ARMD, pcBuffer, strlen(pcBuffer) + 1) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ARMD command"); + server_state = SERVER_STATE_ERROR; + } + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DisarmScenario:", + ControlResponseBuffer, 0, &ClientSocket, 0); + SystemControlSendLog("[SystemControl] Sending DISARM.\n", &ClientSocket, 0); + } + else if (server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_CONNECTED) { + SystemControlSendLog("[SystemControl] Simulate that all objects becomes disarmed.\n", + &ClientSocket, 0); + SystemControlCommand = Idle_0; + server_state = SERVER_STATE_IDLE; + } + else if (server_state == SERVER_STATE_IDLE) { + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, + "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, + 0); + SystemControlSendLog("[SystemControl] DISARM received, state errors!\n", &ClientSocket, 0); + SystemControlCommand = PreviousSystemControlCommand; + } + break; + case StartScenario_1: + if (CurrentInputArgCount == CommandArgCount) { + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) //Temporary! + { + bzero(pcBuffer, IPC_BUFFER_SIZE); + /* Lest use UTC time everywhere instead of etsi and gps time + gettimeofday(&tvTime, NULL); + uiTime = (uint64_t)tvTime.tv_sec*1000 + (uint64_t)tvTime.tv_usec/1000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; + */ + uiTime = UtilgetCurrentUTCtimeMS(); + if (TIME_COMPENSATE_LAGING_VM) + uiTime = uiTime - TIME_COMPENSATE_LAGING_VM_VAL; + + LogMessage(LOG_LEVEL_INFO, "Current timestamp (gtd): %lu", uiTime); + + //clock_gettime(CLOCK_MONOTONIC_COARSE, &tTime); + //clock_gettime(CLOCK_REALTIME, &tTime); + //uiTime = (uint64_t)tTime.tv_sec*1000 + (uint64_t)tTime.tv_nsec/1000000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; + //printf("[SystemControl] Current timestamp (cgt): %lu\n",uiTime ); + //printf("[SystemControl] Current timestamp: %lu\n",uiTime ); + + //uiTime += atoi(SystemControlArgument[0]); + uiTime = atoi(SystemControlArgument[0]); + DelayedStartU32 = atoi(SystemControlArgument[1]); + sprintf(pcBuffer, "%" PRIu8 ";%" PRIu64 ";%" PRIu32 ";", 0, uiTime, DelayedStartU32); + LogMessage(LOG_LEVEL_INFO, "Sending START <%s> (delayed +%s ms)", pcBuffer, + SystemControlArgument[1]); + + if (iCommSend(COMM_STRT, pcBuffer, strlen(pcBuffer) + 1) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending STRT command"); + server_state = SERVER_STATE_ERROR; + } + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "StartScenario:", + ControlResponseBuffer, 0, &ClientSocket, 0); + server_state = SERVER_STATE_INWORK; + //server_state = SERVER_STATE_IDLE; //Temporary! + //SystemControlCommand = Idle_0; //Temporary! + } + else if (server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_RUNNING) { + + SystemControlCommand = Idle_0; + server_state = SERVER_STATE_IDLE; + } + else if (server_state == SERVER_STATE_IDLE) { + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, + "StartScenario:", ControlResponseBuffer, 0, + &ClientSocket, 0); + SystemControlSendLog("[SystemControl] START received, state errors!\n", &ClientSocket, 0); + SystemControlCommand = PreviousSystemControlCommand; + } + + } + else + LogMessage(LOG_LEVEL_WARNING, "START command parameter count error"); + break; + /* + case start_ext_trigg_1: + if(CurrentCommandArgCounter == CommandArgCount) + { + bzero(pcBuffer, IPC_BUFFER_SIZE); + uiTime = (uint64_t)atol(SystemControlArgument[CurrentCommandArgCounter]); + if(uiTime == 0) + { + gettimeofday(&tvTime, NULL); + uiTime = (uint64_t)tvTime.tv_sec*1000 + (uint64_t)tvTime.tv_usec/1000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; + } + + if(TIME_COMPENSATE_LAGING_VM) uiTime = uiTime - TIME_COMPENSATE_LAGING_VM_VAL; + + sprintf (pcBuffer,"%" PRIu8 ";%" PRIu64 ";",0,uiTime); + printf("[SystemControl] Sending START <%s> (externally trigged)\n", SystemControlArgument[CurrentCommandArgCounter]); + fflush(stdout); + + (void)iCommSend(COMM_STRT,pcBuffer); + server_state = SERVER_STATE_RUNNINGSERVER_STATE_RUNNING; + SystemControlCommand = Idle_0; + CurrentCommandArgCounter = 0; + } else CurrentCommandArgCounter ++; + break; */ + case stop_0: + if (iCommSend(COMM_STOP, NULL, 0) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending STOP command"); + server_state = SERVER_STATE_ERROR; + } + else { + server_state = SERVER_STATE_IDLE; + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "stop:", + ControlResponseBuffer, 0, &ClientSocket, 0); + } + break; + case AbortScenario_0: + if (objectControlState == OBC_STATE_RUNNING + /* || strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL + * || strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL*/ ) + // Abort should only be allowed in running state + { + if (iCommSend(COMM_ABORT, NULL, 0) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ABORT command"); + server_state = SERVER_STATE_ERROR; + } + else { + server_state = SERVER_STATE_IDLE; + SystemControlCommand = Idle_0; + if (ClientSocket >= 0) { + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "AbortScenario:", + ControlResponseBuffer, 0, &ClientSocket, 0); + } + } + } + else { + if (ClientSocket >= 0) { + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, + "AbortScenario:", ControlResponseBuffer, 0, + &ClientSocket, 0); + SystemControlSendLog("[SystemControl] ABORT received, state errors!\n", &ClientSocket, 0); + } + server_state = SERVER_STATE_IDLE; + SystemControlCommand = Idle_0; + } + break; + /* + case replay_1: + if(CurrentCommandArgCounter == CommandArgCount) + { + if(!strcmp(SystemControlArgument[CurrentCommandArgCounter],"-help")) + { + printf("[SystemControl] -----REPLAY-----\n"); + printf("[SystemControl] Syntax: replay [arg]\n"); + printf("[SystemControl] Ex: replay log/33/event.log\n"); + fflush(stdout); + } + else + { + (void)iCommSend(COMM_REPLAY, SystemControlArgument[CurrentCommandArgCounter]); + printf("[SystemControl] System control sending REPLAY on IPC <%s>\n", SystemControlArgument[CurrentCommandArgCounter]); + fflush(stdout); + } + SystemControlCommand = idle_0; + CurrentCommandArgCounter = 0; + } else CurrentCommandArgCounter ++; + break; + case control_0: + (void)iCommSend(COMM_CONTROL, NULL); + //printf("INF: System control sending CONTROL on IPC <%s>\n", pcBuffer); + fflush(stdout); + SystemControlCommand = idle_0; + CurrentCommandArgCounter = 0; + break; */ + case Exit_0: + + if (iCommSend(COMM_EXIT, NULL, 0) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending EXIT command"); + server_state = SERVER_STATE_ERROR; + } + else { + iExit = 1; + GSD->ExitU8 = 1; + usleep(1000000); + SystemControlCommand = Idle_0; + bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "Exit:", + ControlResponseBuffer, 0, &ClientSocket, 0); + close(ClientSocket); + ClientSocket = -1; + if (USE_LOCAL_USER_CONTROL == 0) { + close(ServerHandle); + ServerHandle = -1; + } + LogMessage(LOG_LEVEL_INFO, "Server closing"); + } + break; + + default: + + break; + } + + + + sleep_time.tv_sec = 0; + sleep_time.tv_nsec = SYSTEM_CONTROL_TASK_PERIOD_MS * 1000000; + ++RVSSSendCounterU16; + if (RVSSSendCounterU16 >= ((U16) RVSSRateDbl)) { + RVSSSendCounterU16 = 0; + DataDictionaryGetRVSSRateU8(GSD, &RVSSRateU8); + RVSSRateDbl = RVSSRateU8; + RVSSRateDbl = (1 / RVSSRateDbl) * 100; //This is strange!! Should be 1000, but if it is the RVSSData is sent to slow by a factor of 10. + + if (RVSSChannelSocket != 0 && RVSSSendCounterU16 == 0 && RVSSConfigU32 > 0) { + bzero(RVSSData, SYSTEM_CONTROL_RVSS_DATA_BUFFER); + + if (RVSSConfigU32 & RVSS_TIME_CHANNEL) { + SystemControlBuildRVSSTimeChannelMessage(RVSSData, &RVSSMessageLengthU32, GPSTime, 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, + RVSSMessageLengthU32, 0); + } + + if (RVSSConfigU32 & RVSS_MAESTRO_CHANNEL) { + SystemControlBuildRVSSMaestroChannelMessage(RVSSData, &RVSSMessageLengthU32, GSD, + server_state, 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, + RVSSMessageLengthU32, 0); + } + + if (RVSSConfigU32 & RVSS_ASP_CHANNEL) { + SystemControlBuildRVSSAspChannelMessage(RVSSData, &RVSSMessageLengthU32, 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, + RVSSMessageLengthU32, 0); + } + + } + + + } + + sleep_time = (iCommand == COMM_INV + && server_state != SERVER_STATE_INWORK) ? mqEmptyPollPeriod : mqNonEmptyPollPeriod; + nanosleep(&sleep_time, &ref_time); + } + + (void)iCommClose(); + + LogMessage(LOG_LEVEL_INFO, "Exiting"); } /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -void signalHandler(int signo) -{ - if (signo == SIGINT) - { - LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); - iExit = 1; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); - } +void signalHandler(int signo) { + if (signo == SIGINT) { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } } -SystemControlCommand_t SystemControlFindCommand(const char* CommandBuffer, SystemControlCommand_t *CurrentCommand, int *CommandArgCount) -{ - - SystemControlCommand_t command; - char StrippedCommandBuffer[SYSTEM_CONTROL_COMMAND_MAX_LENGTH]; - bzero(StrippedCommandBuffer, SYSTEM_CONTROL_COMMAND_MAX_LENGTH); - //printf("CommandBuffer: %s\n", CommandBuffer); - strncpy(StrippedCommandBuffer, CommandBuffer, (uint64_t)strchr(CommandBuffer, '(') - (uint64_t)CommandBuffer ); - //printf("StrippedCommandBuffer: %s\n", StrippedCommandBuffer); - - for (command = Idle_0; command != nocommand; command++) - { - bzero(SystemControlCommandArgCnt, SYSTEM_CONTROL_ARG_CHAR_COUNT); - bzero(SystemControlStrippedCommand, SYSTEM_CONTROL_COMMAND_MAX_LENGTH); - strncpy(SystemControlStrippedCommand, SystemControlCommandsArr[(int)command], (uint64_t)strchr(SystemControlCommandsArr[(int)command],'_') - (uint64_t)SystemControlCommandsArr[(int)command] ); - strncpy(SystemControlCommandArgCnt, strchr(SystemControlCommandsArr[(int)command],'_')+1, strlen(SystemControlCommandsArr[(int)command]) - ((uint64_t)strchr(SystemControlCommandsArr[(int)command],'_') - (uint64_t)SystemControlCommandsArr[(int)command] + 1)); - - if (!strcmp(SystemControlStrippedCommand, StrippedCommandBuffer)) - { - { - *CommandArgCount = atoi(SystemControlCommandArgCnt); - *CurrentCommand = command; - return command; - } - } - } - return nocommand; +SystemControlCommand_t SystemControlFindCommand(const char *CommandBuffer, + SystemControlCommand_t * CurrentCommand, + int *CommandArgCount) { + + SystemControlCommand_t command; + char StrippedCommandBuffer[SYSTEM_CONTROL_COMMAND_MAX_LENGTH]; + + bzero(StrippedCommandBuffer, SYSTEM_CONTROL_COMMAND_MAX_LENGTH); + //printf("CommandBuffer: %s\n", CommandBuffer); + strncpy(StrippedCommandBuffer, CommandBuffer, + (uint64_t) strchr(CommandBuffer, '(') - (uint64_t) CommandBuffer); + //printf("StrippedCommandBuffer: %s\n", StrippedCommandBuffer); + + for (command = Idle_0; command != nocommand; command++) { + bzero(SystemControlCommandArgCnt, SYSTEM_CONTROL_ARG_CHAR_COUNT); + bzero(SystemControlStrippedCommand, SYSTEM_CONTROL_COMMAND_MAX_LENGTH); + strncpy(SystemControlStrippedCommand, SystemControlCommandsArr[(int)command], + (uint64_t) strchr(SystemControlCommandsArr[(int)command], + '_') - (uint64_t) SystemControlCommandsArr[(int)command]); + strncpy(SystemControlCommandArgCnt, strchr(SystemControlCommandsArr[(int)command], '_') + 1, + strlen(SystemControlCommandsArr[(int)command]) - + ((uint64_t) strchr(SystemControlCommandsArr[(int)command], '_') - + (uint64_t) SystemControlCommandsArr[(int)command] + 1)); + + if (!strcmp(SystemControlStrippedCommand, StrippedCommandBuffer)) { + { + *CommandArgCount = atoi(SystemControlCommandArgCnt); + *CurrentCommand = command; + return command; + } + } + } + return nocommand; } -void SystemControlSendMONR(C8* MONRStr, I32* Sockfd, U8 Debug){ - int i, n, j, t; - C8 Length[4]; - C8 Header[2] = {0 ,2}; - C8 Data[SYSTEM_CONTROL_SEND_BUFFER_SIZE]; - - bzero(Data, SYSTEM_CONTROL_SEND_BUFFER_SIZE); - n = 2 + strlen(MONRStr); - Length[0] = (C8)(n >> 24); Length[1] = (C8)(n >> 16); Length[2] = (C8)(n >> 8); Length[3] = (C8)n; - - - if(n + 4 < SYSTEM_CONTROL_SEND_BUFFER_SIZE) - { - for(i = 0, j = 0; i < 4; i++, j++) Data[j] = Length[i]; - for(i = 0; i < 2; i++, j++) Data[j] = Header[i]; - t = strlen(MONRStr); - for(i = 0; i < t; i++, j++) Data[j] = *(MONRStr+i); - //SystemControlSendBytes(Data, n + 4, Sockfd, 0); - UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); - } else LogMessage(LOG_LEVEL_ERROR,"MONR string longer than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); +void SystemControlSendMONR(C8 * MONRStr, I32 * Sockfd, U8 Debug) { + int i, n, j, t; + C8 Length[4]; + C8 Header[2] = { 0, 2 }; + C8 Data[SYSTEM_CONTROL_SEND_BUFFER_SIZE]; + + bzero(Data, SYSTEM_CONTROL_SEND_BUFFER_SIZE); + n = 2 + strlen(MONRStr); + Length[0] = (C8) (n >> 24); + Length[1] = (C8) (n >> 16); + Length[2] = (C8) (n >> 8); + Length[3] = (C8) n; + + + if (n + 4 < SYSTEM_CONTROL_SEND_BUFFER_SIZE) { + for (i = 0, j = 0; i < 4; i++, j++) + Data[j] = Length[i]; + for (i = 0; i < 2; i++, j++) + Data[j] = Header[i]; + t = strlen(MONRStr); + for (i = 0; i < t; i++, j++) + Data[j] = *(MONRStr + i); + //SystemControlSendBytes(Data, n + 4, Sockfd, 0); + UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); + } + else + LogMessage(LOG_LEVEL_ERROR, "MONR string longer than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); } -void SystemControlSendLog(C8* LogString, I32* Sockfd, U8 Debug) -{ - int i, n, j, t; - C8 Length[4]; - C8 Header[2] = {0,2}; - C8 Data[SYSTEM_CONTROL_SEND_BUFFER_SIZE]; - - bzero(Data, SYSTEM_CONTROL_SEND_BUFFER_SIZE); - n = 2 + strlen(LogString); - Length[0] = (C8)(n >> 24); Length[1] = (C8)(n >> 16); Length[2] = (C8)(n >> 8); Length[3] = (C8)n; - - //SystemControlSendBytes(Length, 4, Sockfd, 0); - //SystemControlSendBytes(Header, 5, Sockfd, 0); - //SystemControlSendBytes(LogString, strlen(LogString), Sockfd, 0); - - - if(n + 4 < SYSTEM_CONTROL_SEND_BUFFER_SIZE) - { - for(i = 0, j = 0; i < 4; i++, j++) Data[j] = Length[i]; - for(i = 0; i < 2; i++, j++) Data[j] = Header[i]; - t = strlen(LogString); - for(i = 0; i < t; i++, j++) Data[j] = *(LogString+i); - //SystemControlSendBytes(Data, n + 4, Sockfd, 0); - UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); - } else LogMessage(LOG_LEVEL_ERROR,"Log string longer than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); +void SystemControlSendLog(C8 * LogString, I32 * Sockfd, U8 Debug) { + int i, n, j, t; + C8 Length[4]; + C8 Header[2] = { 0, 2 }; + C8 Data[SYSTEM_CONTROL_SEND_BUFFER_SIZE]; + + bzero(Data, SYSTEM_CONTROL_SEND_BUFFER_SIZE); + n = 2 + strlen(LogString); + Length[0] = (C8) (n >> 24); + Length[1] = (C8) (n >> 16); + Length[2] = (C8) (n >> 8); + Length[3] = (C8) n; + + //SystemControlSendBytes(Length, 4, Sockfd, 0); + //SystemControlSendBytes(Header, 5, Sockfd, 0); + //SystemControlSendBytes(LogString, strlen(LogString), Sockfd, 0); + + + if (n + 4 < SYSTEM_CONTROL_SEND_BUFFER_SIZE) { + for (i = 0, j = 0; i < 4; i++, j++) + Data[j] = Length[i]; + for (i = 0; i < 2; i++, j++) + Data[j] = Header[i]; + t = strlen(LogString); + for (i = 0; i < t; i++, j++) + Data[j] = *(LogString + i); + //SystemControlSendBytes(Data, n + 4, Sockfd, 0); + UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); + } + else + LogMessage(LOG_LEVEL_ERROR, "Log string longer than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); } -void SystemControlSendControlResponse(U16 ResponseStatus, C8* ResponseString, C8* ResponseData, I32 ResponseDataLength, I32* Sockfd, U8 Debug) -{ - int i, n, j, t; - C8 Length[4]; - C8 Status[2]; - C8 Data[SYSTEM_CONTROL_SEND_BUFFER_SIZE]; - - bzero(Data, SYSTEM_CONTROL_SEND_BUFFER_SIZE); - n = 2 + strlen(ResponseString) + ResponseDataLength; - Length[0] = (C8)(n >> 24); Length[1] = (C8)(n >> 16); Length[2] = (C8)(n >> 8); Length[3] = (C8)n; - Status[0] = (C8)(ResponseStatus >> 8); Status[1] = (C8)ResponseStatus; - - if(n + 4 < SYSTEM_CONTROL_SEND_BUFFER_SIZE) - { - for(i = 0, j = 0; i < 4; i++, j++) Data[j] = Length[i]; - for(i = 0; i < 2; i++, j++) Data[j] = Status[i]; - t = strlen(ResponseString); - for(i = 0; i < t; i++, j++) Data[j] = *(ResponseString+i); - for(i = 0; i < ResponseDataLength; i++, j++) Data[j] = ResponseData[i]; - - if(Debug) { for(i = 0; i < n + 4; i++) printf("%x-", Data[i]); printf("\n"); } - - //SystemControlSendBytes(Data, n + 4, Sockfd, 0); - UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); - } else LogMessage(LOG_LEVEL_ERROR,"Response data more than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); +void SystemControlSendControlResponse(U16 ResponseStatus, C8 * ResponseString, C8 * ResponseData, + I32 ResponseDataLength, I32 * Sockfd, U8 Debug) { + int i, n, j, t; + C8 Length[4]; + C8 Status[2]; + C8 Data[SYSTEM_CONTROL_SEND_BUFFER_SIZE]; + + bzero(Data, SYSTEM_CONTROL_SEND_BUFFER_SIZE); + n = 2 + strlen(ResponseString) + ResponseDataLength; + Length[0] = (C8) (n >> 24); + Length[1] = (C8) (n >> 16); + Length[2] = (C8) (n >> 8); + Length[3] = (C8) n; + Status[0] = (C8) (ResponseStatus >> 8); + Status[1] = (C8) ResponseStatus; + + if (n + 4 < SYSTEM_CONTROL_SEND_BUFFER_SIZE) { + for (i = 0, j = 0; i < 4; i++, j++) + Data[j] = Length[i]; + for (i = 0; i < 2; i++, j++) + Data[j] = Status[i]; + t = strlen(ResponseString); + for (i = 0; i < t; i++, j++) + Data[j] = *(ResponseString + i); + for (i = 0; i < ResponseDataLength; i++, j++) + Data[j] = ResponseData[i]; + + if (Debug) { + for (i = 0; i < n + 4; i++) + printf("%x-", Data[i]); + printf("\n"); + } + + //SystemControlSendBytes(Data, n + 4, Sockfd, 0); + UtilSendTCPData("System Control", Data, n + 4, Sockfd, 0); + } + else + LogMessage(LOG_LEVEL_ERROR, "Response data more than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); } -I32 SystemControlBuildControlResponse(U16 ResponseStatus, C8* ResponseString, C8* ResponseData, I32 ResponseDataLength, U8 Debug) -{ - int i=0, n=0, j=0, t=0; - C8 Length[4]; - C8 Status[2]; - C8 Data[SYSTEM_CONTROL_SEND_BUFFER_SIZE]; +I32 SystemControlBuildControlResponse(U16 ResponseStatus, C8 * ResponseString, C8 * ResponseData, + I32 ResponseDataLength, U8 Debug) { + int i = 0, n = 0, j = 0, t = 0; + C8 Length[4]; + C8 Status[2]; + C8 Data[SYSTEM_CONTROL_SEND_BUFFER_SIZE]; - bzero(Data, SYSTEM_CONTROL_SEND_BUFFER_SIZE); - n = 2 + strlen(ResponseString) + ResponseDataLength; - Length[0] = (C8)(n >> 24); Length[1] = (C8)(n >> 16); Length[2] = (C8)(n >> 8); Length[3] = (C8)n; - Status[0] = (C8)(ResponseStatus >> 8); Status[1] = (C8)ResponseStatus; + bzero(Data, SYSTEM_CONTROL_SEND_BUFFER_SIZE); + n = 2 + strlen(ResponseString) + ResponseDataLength; + Length[0] = (C8) (n >> 24); + Length[1] = (C8) (n >> 16); + Length[2] = (C8) (n >> 8); + Length[3] = (C8) n; + Status[0] = (C8) (ResponseStatus >> 8); + Status[1] = (C8) ResponseStatus; - if(n + 4 < SYSTEM_CONTROL_SEND_BUFFER_SIZE) - { - for(i = 0, j = 0; i < 4; i++, j++) Data[j] = Length[i]; - for(i = 0; i < 2; i++, j++) Data[j] = Status[i]; - t = strlen(ResponseString); - for(i = 0; i < t; i++, j++) Data[j] = *(ResponseString+i); - for(i = 0; i < ResponseDataLength; i++, j++) Data[j] = ResponseData[i]; + if (n + 4 < SYSTEM_CONTROL_SEND_BUFFER_SIZE) { + for (i = 0, j = 0; i < 4; i++, j++) + Data[j] = Length[i]; + for (i = 0; i < 2; i++, j++) + Data[j] = Status[i]; + t = strlen(ResponseString); + for (i = 0; i < t; i++, j++) + Data[j] = *(ResponseString + i); + for (i = 0; i < ResponseDataLength; i++, j++) + Data[j] = ResponseData[i]; - for(i = 0; i < n; i++) *(ResponseData + i) = Data[i]; //Copy back + for (i = 0; i < n; i++) + *(ResponseData + i) = Data[i]; //Copy back - if(Debug) { for(i = 0; i < n + 4; i++) printf("%x-", Data[i]); printf("\n"); } + if (Debug) { + for (i = 0; i < n + 4; i++) + printf("%x-", Data[i]); + printf("\n"); + } - } else LogMessage(LOG_LEVEL_ERROR,"Response data more than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); + } + else + LogMessage(LOG_LEVEL_ERROR, "Response data more than %d bytes!", SYSTEM_CONTROL_SEND_BUFFER_SIZE); - return n; + return n; } -static void SystemControlSendBytes(const char* data, int length, int* sockfd, int debug) -{ - int i, n; +static void SystemControlSendBytes(const char *data, int length, int *sockfd, int debug) { + int i, n; - if(debug == 1){ printf("Bytes sent: "); int i = 0; for(i = 0; i < length; i++) printf("%d ", (C8)*(data+i)); printf("\n");} + if (debug == 1) { + printf("Bytes sent: "); + int i = 0; - n = write(*sockfd, data, length); - if (n < 0) - { - util_error("[SystemControl] ERR: Failed to send on control socket"); - } + for (i = 0; i < length; i++) + printf("%d ", (C8) * (data + i)); + printf("\n"); + } + + n = write(*sockfd, data, length); + if (n < 0) { + util_error("[SystemControl] ERR: Failed to send on control socket"); + } } -static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct in_addr *ip_addr) -{ +static I32 SystemControlInitServer(int *ClientSocket, int *ServerHandle, struct in_addr *ip_addr) { - struct sockaddr_in command_server_addr; - struct sockaddr_in cli_addr; - socklen_t cli_length; - unsigned int control_port = SYSTEM_CONTROL_CONTROL_PORT; - int optval = 1; - int result = 0; - int sockFlags = 0; + struct sockaddr_in command_server_addr; + struct sockaddr_in cli_addr; + socklen_t cli_length; + unsigned int control_port = SYSTEM_CONTROL_CONTROL_PORT; + int optval = 1; + int result = 0; + int sockFlags = 0; - /* Init user control socket */ - LogMessage(LOG_LEVEL_INFO,"Init control socket"); + /* Init user control socket */ + LogMessage(LOG_LEVEL_INFO, "Init control socket"); - *ServerHandle = socket(AF_INET, SOCK_STREAM, 0); - if (*ServerHandle < 0) - { - perror("[SystemControl] ERR: Failed to create control socket"); - exit(1); - } + *ServerHandle = socket(AF_INET, SOCK_STREAM, 0); + if (*ServerHandle < 0) { + perror("[SystemControl] ERR: Failed to create control socket"); + exit(1); + } - bzero((char *) &command_server_addr, sizeof(command_server_addr)); + bzero((char *)&command_server_addr, sizeof (command_server_addr)); - command_server_addr.sin_family = AF_INET; - command_server_addr.sin_addr.s_addr = INADDR_ANY; - command_server_addr.sin_port = htons(control_port); + command_server_addr.sin_family = AF_INET; + command_server_addr.sin_addr.s_addr = INADDR_ANY; + command_server_addr.sin_port = htons(control_port); - optval = 1; - result = setsockopt(*ServerHandle, SOL_SOCKET, SO_REUSEADDR, &optval, sizeof optval); + optval = 1; + result = setsockopt(*ServerHandle, SOL_SOCKET, SO_REUSEADDR, &optval, sizeof optval); - if (result < 0) - { - perror("[SystemControl] ERR: Failed to call setsockopt"); - exit(1); - } + if (result < 0) { + perror("[SystemControl] ERR: Failed to call setsockopt"); + exit(1); + } - if (bind(*ServerHandle, (struct sockaddr *) &command_server_addr, sizeof(command_server_addr)) < 0) - { - perror("[SystemControl] ERR: Failed to bind to control socket"); - exit(1); - } + if (bind(*ServerHandle, (struct sockaddr *)&command_server_addr, sizeof (command_server_addr)) < 0) { + perror("[SystemControl] ERR: Failed to bind to control socket"); + exit(1); + } - /* Monitor and control sockets up. Wait for central to connect to control socket to get server address*/ - LogMessage(LOG_LEVEL_INFO,"Listening for connection from client..."); + /* Monitor and control sockets up. Wait for central to connect to control socket to get server address */ + LogMessage(LOG_LEVEL_INFO, "Listening for connection from client..."); - listen(*ServerHandle, 1); - cli_length = sizeof(cli_addr); + listen(*ServerHandle, 1); + cli_length = sizeof (cli_addr); - /* Set socket to nonblocking */ - sockFlags = fcntl(*ServerHandle, F_GETFL, 0); - if (sockFlags == -1) - util_error("Error calling fcntl"); + /* Set socket to nonblocking */ + sockFlags = fcntl(*ServerHandle, F_GETFL, 0); + if (sockFlags == -1) + util_error("Error calling fcntl"); - sockFlags = sockFlags | O_NONBLOCK; - if(fcntl(*ServerHandle, F_SETFL, sockFlags)) - util_error("Error calling fcntl"); + sockFlags = sockFlags | O_NONBLOCK; + if (fcntl(*ServerHandle, F_SETFL, sockFlags)) + util_error("Error calling fcntl"); - do - { - *ClientSocket = accept(*ServerHandle, (struct sockaddr *) &cli_addr, &cli_length); - if ((*ClientSocket == -1 && errno != EAGAIN && errno != EWOULDBLOCK) || iExit) - util_error("Failed to establish connection"); - } while(*ClientSocket == -1); + do { + *ClientSocket = accept(*ServerHandle, (struct sockaddr *)&cli_addr, &cli_length); + if ((*ClientSocket == -1 && errno != EAGAIN && errno != EWOULDBLOCK) || iExit) + util_error("Failed to establish connection"); + } while (*ClientSocket == -1); - LogMessage(LOG_LEVEL_INFO, "Connection established: %s:%i", inet_ntoa(cli_addr.sin_addr), htons(command_server_addr.sin_port)); + LogMessage(LOG_LEVEL_INFO, "Connection established: %s:%i", inet_ntoa(cli_addr.sin_addr), + htons(command_server_addr.sin_port)); - ip_addr->s_addr = cli_addr.sin_addr.s_addr; //Set IP-address of Usercontrol + ip_addr->s_addr = cli_addr.sin_addr.s_addr; //Set IP-address of Usercontrol - if (*ClientSocket < 0) - { - perror("[SystemControl] ERR: Failed to accept from central"); - exit(1); - } + if (*ClientSocket < 0) { + perror("[SystemControl] ERR: Failed to accept from central"); + exit(1); + } - return result; + return result; } -static I32 SystemControlConnectServer(int* sockfd, const char* name, const uint32_t port) -{ - struct sockaddr_in serv_addr; - struct hostent *server; +static I32 SystemControlConnectServer(int *sockfd, const char *name, const uint32_t port) { + struct sockaddr_in serv_addr; + struct hostent *server; - char buffer[256]; - int iResult; + char buffer[256]; + int iResult; - *sockfd = socket(AF_INET, SOCK_STREAM, 0); + *sockfd = socket(AF_INET, SOCK_STREAM, 0); - if (*sockfd < 0) - { - util_error("[SystemControl] ERR: Failed to open control socket"); - } + if (*sockfd < 0) { + util_error("[SystemControl] ERR: Failed to open control socket"); + } - server = gethostbyname(name); - if (server == NULL) - { - util_error("[SystemControl] ERR: Unknown host "); - } + server = gethostbyname(name); + if (server == NULL) { + util_error("[SystemControl] ERR: Unknown host "); + } - bzero((char *) &serv_addr, sizeof(serv_addr)); - serv_addr.sin_family = AF_INET; + bzero((char *)&serv_addr, sizeof (serv_addr)); + serv_addr.sin_family = AF_INET; - bcopy((char *) server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); - serv_addr.sin_port = htons(port); + bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); + serv_addr.sin_port = htons(port); - LogMessage(LOG_LEVEL_INFO,"Attempting to connect to control socket: %s:%i",name,port); + LogMessage(LOG_LEVEL_INFO, "Attempting to connect to control socket: %s:%i", name, port); - do - { - iResult = connect(*sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)); + do { + iResult = connect(*sockfd, (struct sockaddr *)&serv_addr, sizeof (serv_addr)); - if ( iResult < 0) - { - if(errno == ECONNREFUSED) - { - LogMessage(LOG_LEVEL_WARNING,"Unable to connect to UserControl, retrying in 3 sec..."); - (void)sleep(3); - } - else - { - util_error("[SystemControl] ERR: Failed to connect to control socket"); - } - } - } while(iResult < 0); + if (iResult < 0) { + if (errno == ECONNREFUSED) { + LogMessage(LOG_LEVEL_WARNING, "Unable to connect to UserControl, retrying in 3 sec..."); + (void)sleep(3); + } + else { + util_error("[SystemControl] ERR: Failed to connect to control socket"); + } + } + } while (iResult < 0); - iResult = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); + iResult = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); - LogMessage(LOG_LEVEL_DEBUG,"Maestro connected to UserControl: %s:%i",name,port); - return iResult; + LogMessage(LOG_LEVEL_DEBUG, "Maestro connected to UserControl: %s:%i", name, port); + return iResult; } -static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I32 *sockfd, struct sockaddr_in* addr) -{ - int result; - struct hostent *object; +static void SystemControlCreateProcessChannel(const C8 * name, const U32 port, I32 * sockfd, + struct sockaddr_in *addr) { + int result; + struct hostent *object; - /* Connect to object safety socket */ + /* Connect to object safety socket */ - LogMessage(LOG_LEVEL_DEBUG,"Creating process channel socket"); + LogMessage(LOG_LEVEL_DEBUG, "Creating process channel socket"); - *sockfd= socket(AF_INET, SOCK_DGRAM, 0); - if (*sockfd < 0) - { - util_error("[SystemControl] ERR: Failed to connect to process channel socket"); - } + *sockfd = socket(AF_INET, SOCK_DGRAM, 0); + if (*sockfd < 0) { + util_error("[SystemControl] ERR: Failed to connect to process channel socket"); + } - /* Set address to object */ - object = gethostbyname(name); + /* Set address to object */ + object = gethostbyname(name); - if (object==0) - { - util_error("[SystemControl] ERR: Unknown host"); - } + if (object == 0) { + util_error("[SystemControl] ERR: Unknown host"); + } - bcopy((char *) object->h_addr, (char *)&addr->sin_addr.s_addr, object->h_length); - addr->sin_family = AF_INET; - addr->sin_port = htons(port); + bcopy((char *)object->h_addr, (char *)&addr->sin_addr.s_addr, object->h_length); + addr->sin_family = AF_INET; + addr->sin_port = htons(port); - /* set socket to non-blocking */ - result = fcntl(*sockfd, F_SETFL, - fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); - if (result < 0) - { - util_error("[SystemControl] ERR: calling fcntl"); - } + /* set socket to non-blocking */ + result = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); + if (result < 0) { + util_error("[SystemControl] ERR: calling fcntl"); + } - LogMessage(LOG_LEVEL_INFO,"Created process channel socket and address: %s:%d",name,port); + LogMessage(LOG_LEVEL_INFO, "Created process channel socket and address: %s:%d", name, port); } /*! @@ -1460,55 +1574,46 @@ static void SystemControlCreateProcessChannel(const C8* name, const U32 port, I3 * \param addr IP address to match against own IPs * \return true if match, false if not */ -C8 SystemControlVerifyHostAddress(char* addr) -{ - struct ifaddrs *ifaddr, *ifa; - int family, s, n; - char host[NI_MAXHOST]; - - if (getifaddrs(&ifaddr) == -1) - { - LogMessage(LOG_LEVEL_ERROR,"Could not get interface data"); - freeifaddrs(ifaddr); - return 0; - } - - // Iterate over linked list using ifa - for (ifa = ifaddr, n = 0; ifa != NULL; ifa = ifa->ifa_next, n++) - { - if (ifa->ifa_addr == NULL) - { - // Interface had no addresses, skip to next - continue; - } - - family = ifa->ifa_addr->sa_family; - if (family == AF_INET || family == AF_INET6) - { - s = getnameinfo(ifa->ifa_addr, - (family == AF_INET) ? sizeof(struct sockaddr_in) : - sizeof(struct sockaddr_in6), - host, NI_MAXHOST, - NULL, 0, NI_NUMERICHOST); - if (s != 0) - { - LogMessage(LOG_LEVEL_ERROR,"getnameinfo() failed: %s", gai_strerror(s)); - continue; - } - - if (strcmp(host,addr) == 0) - return 1; - else - continue; - } - else - { - continue; - } - } - - freeifaddrs(ifaddr); - return 0; +C8 SystemControlVerifyHostAddress(char *addr) { + struct ifaddrs *ifaddr, *ifa; + int family, s, n; + char host[NI_MAXHOST]; + + if (getifaddrs(&ifaddr) == -1) { + LogMessage(LOG_LEVEL_ERROR, "Could not get interface data"); + freeifaddrs(ifaddr); + return 0; + } + + // Iterate over linked list using ifa + for (ifa = ifaddr, n = 0; ifa != NULL; ifa = ifa->ifa_next, n++) { + if (ifa->ifa_addr == NULL) { + // Interface had no addresses, skip to next + continue; + } + + family = ifa->ifa_addr->sa_family; + if (family == AF_INET || family == AF_INET6) { + s = getnameinfo(ifa->ifa_addr, + (family == AF_INET) ? sizeof (struct sockaddr_in) : + sizeof (struct sockaddr_in6), host, NI_MAXHOST, NULL, 0, NI_NUMERICHOST); + if (s != 0) { + LogMessage(LOG_LEVEL_ERROR, "getnameinfo() failed: %s", gai_strerror(s)); + continue; + } + + if (strcmp(host, addr) == 0) + return 1; + else + continue; + } + else { + continue; + } + } + + freeifaddrs(ifaddr); + return 0; } /* @@ -1527,684 +1632,654 @@ I32 SystemControlSendUDPData(I32 *sockfd, struct sockaddr_in* addr, C8 *SendData } */ -I32 SystemControlGetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *ReturnValue, U32 BufferLength, U8 Debug) -{ - bzero(ReturnValue, 20); - dbl ValueDbl = 0; - U32 ValueU32 = 0; - U16 ValueU16 = 0; - U8 ValueU8 = 0; - - if(strcmp("OrigoLatitude", ParameterName) == 0) - { - DataDictionaryGetOriginLatitudeDbl(GSD, &ValueDbl); - sprintf(ReturnValue, "%3.12f", ValueDbl); - } - else if(strcmp("OrigoLongitude", ParameterName) == 0) - { - DataDictionaryGetOriginLongitudeDbl(GSD, &ValueDbl); - sprintf(ReturnValue, "%3.12f", ValueDbl); - } - else if(strcmp("OrigoAltitude", ParameterName) == 0) - { - DataDictionaryGetOriginAltitudeDbl(GSD, &ValueDbl); - sprintf(ReturnValue, "%3.12f", ValueDbl); - } - else if(strcmp("VisualizationServerName", ParameterName) == 0) - { - DataDictionaryGetVisualizationServerC8(GSD, ReturnValue, BufferLength); - } - else if(strcmp("ForceObjectToLocalhost", ParameterName) == 0) - { - DataDictionaryGetForceToLocalhostU8(GSD, &ValueU8); - sprintf(ReturnValue, "%" PRIu8, ValueU8); - } - else if(strcmp("ASPMaxTimeDiff", ParameterName) == 0) - { - DataDictionaryGetASPMaxTimeDiffDbl(GSD, &ValueDbl); - sprintf(ReturnValue, "%3.3f" , ValueDbl); - } - else if(strcmp("ASPMaxTrajDiff", ParameterName) == 0) - { - DataDictionaryGetASPMaxTrajDiffDbl(GSD, &ValueDbl); - sprintf(ReturnValue, "%3.3f" , ValueDbl); - } - else if(strcmp("ASPStepBackCount", ParameterName) == 0) - { - DataDictionaryGetASPStepBackCountU32(GSD, &ValueU32); - sprintf(ReturnValue, "%" PRIu32 , ValueU32); - } - else if(strcmp("ASPFilterLevel", ParameterName) == 0) - { - DataDictionaryGetASPFilterLevelDbl(GSD, &ValueDbl); - sprintf(ReturnValue, "%3.3f" , ValueDbl); - } - else if(strcmp("ASPMaxDeltaTime", ParameterName) == 0) - { - DataDictionaryGetASPMaxDeltaTimeDbl(GSD, &ValueDbl); - sprintf(ReturnValue, "%3.3f" , ValueDbl); - } - else if(strcmp("TimeServerIP", ParameterName) == 0) - { - DataDictionaryGetTimeServerIPC8(GSD, ReturnValue, BufferLength); - } - else if(strcmp("TimeServerPort", ParameterName) == 0) - { - DataDictionaryGetTimeServerPortU16(GSD, &ValueU16); - sprintf(ReturnValue, "%" PRIu16 , ValueU16); - } - else if(strcmp("SimulatorIP", ParameterName) == 0) - { - DataDictionaryGetSimulatorIPC8(GSD, ReturnValue, BufferLength); - } - else if(strcmp("SimulatorTCPPort", ParameterName) == 0) - { - DataDictionaryGetSimulatorTCPPortU16(GSD, &ValueU16); - sprintf(ReturnValue, "%" PRIu16 , ValueU16); - } - else if(strcmp("SimulatorUDPPort", ParameterName) == 0) - { - DataDictionaryGetSimulatorUDPPortU16(GSD, &ValueU16); - sprintf(ReturnValue, "%" PRIu16 , ValueU16); - } - else if(strcmp("SimulatorMode", ParameterName) == 0) - { - DataDictionaryGetSimulatorModeU8(GSD, &ValueU8); - sprintf(ReturnValue, "%" PRIu8 , ValueU8); - } - else if(strcmp("VOILReceivers", ParameterName) == 0) - { - DataDictionaryGetVOILReceiversC8(GSD, ReturnValue, BufferLength); - } - else if(strcmp("DTMReceivers", ParameterName) == 0) - { - DataDictionaryGetDTMReceiversC8(GSD, ReturnValue, BufferLength); - } - else if(strcmp("SupervisorIP", ParameterName) == 0) - { - DataDictionaryGetExternalSupervisorIPC8(GSD, ReturnValue, BufferLength); - } - else if(strcmp("SupervisorTCPPort", ParameterName) == 0) - { - DataDictionaryGetSupervisorTCPPortU16(GSD, &ValueU16); - sprintf(ReturnValue, "%" PRIu16 , ValueU16); - } - else if(strcmp("MiscData", ParameterName) == 0) - { - DataDictionaryGetMiscDataC8(GSD, ReturnValue, BufferLength); - } - else if(strcmp("RVSSConfig", ParameterName) == 0) - { - DataDictionaryGetRVSSConfigU32(GSD, &ValueU32); - sprintf(ReturnValue, "%" PRIu32, ValueU32); - } - else if(strcmp("RVSSRate", ParameterName) == 0) - { - DataDictionaryGetRVSSRateU8(GSD, &ValueU8); - sprintf(ReturnValue, "%" PRIu8, ValueU8); - } +I32 SystemControlGetServerParameter(GSDType * GSD, C8 * ParameterName, C8 * ReturnValue, U32 BufferLength, + U8 Debug) { + bzero(ReturnValue, 20); + dbl ValueDbl = 0; + U32 ValueU32 = 0; + U16 ValueU16 = 0; + U8 ValueU8 = 0; + + if (strcmp("OrigoLatitude", ParameterName) == 0) { + DataDictionaryGetOriginLatitudeDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.12f", ValueDbl); + } + else if (strcmp("OrigoLongitude", ParameterName) == 0) { + DataDictionaryGetOriginLongitudeDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.12f", ValueDbl); + } + else if (strcmp("OrigoAltitude", ParameterName) == 0) { + DataDictionaryGetOriginAltitudeDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.12f", ValueDbl); + } + else if (strcmp("VisualizationServerName", ParameterName) == 0) { + DataDictionaryGetVisualizationServerC8(GSD, ReturnValue, BufferLength); + } + else if (strcmp("ForceObjectToLocalhost", ParameterName) == 0) { + DataDictionaryGetForceToLocalhostU8(GSD, &ValueU8); + sprintf(ReturnValue, "%" PRIu8, ValueU8); + } + else if (strcmp("ASPMaxTimeDiff", ParameterName) == 0) { + DataDictionaryGetASPMaxTimeDiffDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.3f", ValueDbl); + } + else if (strcmp("ASPMaxTrajDiff", ParameterName) == 0) { + DataDictionaryGetASPMaxTrajDiffDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.3f", ValueDbl); + } + else if (strcmp("ASPStepBackCount", ParameterName) == 0) { + DataDictionaryGetASPStepBackCountU32(GSD, &ValueU32); + sprintf(ReturnValue, "%" PRIu32, ValueU32); + } + else if (strcmp("ASPFilterLevel", ParameterName) == 0) { + DataDictionaryGetASPFilterLevelDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.3f", ValueDbl); + } + else if (strcmp("ASPMaxDeltaTime", ParameterName) == 0) { + DataDictionaryGetASPMaxDeltaTimeDbl(GSD, &ValueDbl); + sprintf(ReturnValue, "%3.3f", ValueDbl); + } + else if (strcmp("TimeServerIP", ParameterName) == 0) { + DataDictionaryGetTimeServerIPC8(GSD, ReturnValue, BufferLength); + } + else if (strcmp("TimeServerPort", ParameterName) == 0) { + DataDictionaryGetTimeServerPortU16(GSD, &ValueU16); + sprintf(ReturnValue, "%" PRIu16, ValueU16); + } + else if (strcmp("SimulatorIP", ParameterName) == 0) { + DataDictionaryGetSimulatorIPC8(GSD, ReturnValue, BufferLength); + } + else if (strcmp("SimulatorTCPPort", ParameterName) == 0) { + DataDictionaryGetSimulatorTCPPortU16(GSD, &ValueU16); + sprintf(ReturnValue, "%" PRIu16, ValueU16); + } + else if (strcmp("SimulatorUDPPort", ParameterName) == 0) { + DataDictionaryGetSimulatorUDPPortU16(GSD, &ValueU16); + sprintf(ReturnValue, "%" PRIu16, ValueU16); + } + else if (strcmp("SimulatorMode", ParameterName) == 0) { + DataDictionaryGetSimulatorModeU8(GSD, &ValueU8); + sprintf(ReturnValue, "%" PRIu8, ValueU8); + } + else if (strcmp("VOILReceivers", ParameterName) == 0) { + DataDictionaryGetVOILReceiversC8(GSD, ReturnValue, BufferLength); + } + else if (strcmp("DTMReceivers", ParameterName) == 0) { + DataDictionaryGetDTMReceiversC8(GSD, ReturnValue, BufferLength); + } + else if (strcmp("SupervisorIP", ParameterName) == 0) { + DataDictionaryGetExternalSupervisorIPC8(GSD, ReturnValue, BufferLength); + } + else if (strcmp("SupervisorTCPPort", ParameterName) == 0) { + DataDictionaryGetSupervisorTCPPortU16(GSD, &ValueU16); + sprintf(ReturnValue, "%" PRIu16, ValueU16); + } + else if (strcmp("MiscData", ParameterName) == 0) { + DataDictionaryGetMiscDataC8(GSD, ReturnValue, BufferLength); + } + else if (strcmp("RVSSConfig", ParameterName) == 0) { + DataDictionaryGetRVSSConfigU32(GSD, &ValueU32); + sprintf(ReturnValue, "%" PRIu32, ValueU32); + } + else if (strcmp("RVSSRate", ParameterName) == 0) { + DataDictionaryGetRVSSRateU8(GSD, &ValueU8); + sprintf(ReturnValue, "%" PRIu8, ValueU8); + } } -I32 SystemControlSetServerParameter(GSDType *GSD, C8 *ParameterName, C8 *NewValue, U8 Debug) -{ - if(Debug) printf("[SystemControl] SetServerParameter: %s = %s\n", ParameterName, NewValue); - if(strcmp("OrigoLatitude", ParameterName) == 0) DataDictionarySetOriginLatitudeDbl(GSD, NewValue); - else if(strcmp("OrigoLongitude", ParameterName) == 0) DataDictionarySetOriginLongitudeDbl(GSD, NewValue); - else if(strcmp("OrigoAltitude", ParameterName) == 0) DataDictionarySetOriginAltitudeDbl(GSD, NewValue); - else if(strcmp("VisualizationServerName", ParameterName) == 0) DataDictionarySetVisualizationServerU32(GSD, NewValue); - else if(strcmp("ForceObjectToLocalhost", ParameterName) == 0) DataDictionarySetForceToLocalhostU8(GSD, NewValue); - else if(strcmp("ASPMaxTimeDiff", ParameterName) == 0) DataDictionarySetASPMaxTimeDiffDbl(GSD, NewValue); - else if(strcmp("ASPMaxTrajDiff", ParameterName) == 0) DataDictionarySetASPMaxTrajDiffDbl(GSD, NewValue); - else if(strcmp("ASPStepBackCount", ParameterName) == 0) DataDictionarySetASPStepBackCountU32(GSD, NewValue); - else if(strcmp("ASPFilterLevel", ParameterName) == 0) DataDictionarySetASPFilterLevelDbl(GSD, NewValue); - else if(strcmp("ASPMaxDeltaTime", ParameterName) == 0) DataDictionarySetASPMaxDeltaTimeDbl(GSD, NewValue); - else if(strcmp("TimeServerIP", ParameterName) == 0) DataDictionarySetTimeServerIPU32(GSD, NewValue); - else if(strcmp("TimeServerPort", ParameterName) == 0) DataDictionarySetTimeServerPortU16(GSD, NewValue); - else if(strcmp("SimulatorIP", ParameterName) == 0) DataDictionarySetSimulatorIPU32(GSD, NewValue); - else if(strcmp("SimulatorTCPPort", ParameterName) == 0) DataDictionarySetSimulatorTCPPortU16(GSD, NewValue); - else if(strcmp("SimulatorUDPPort", ParameterName) == 0) DataDictionarySetSimulatorUDPPortU16(GSD, NewValue); - else if(strcmp("SimulatorMode", ParameterName) == 0) DataDictionarySetSimulatorModeU8(GSD, NewValue); - else if(strcmp("VOILReceivers", ParameterName) == 0) DataDictionarySetVOILReceiversC8(GSD, NewValue); - else if(strcmp("DTMReceivers", ParameterName) == 0) DataDictionarySetDTMReceiversC8(GSD, NewValue); - else if(strcmp("SupervisorIP", ParameterName) == 0) DataDictionarySetExternalSupervisorIPU32(GSD, NewValue); - else if(strcmp("SupervisorTCPPort", ParameterName) == 0) DataDictionarySetSupervisorTCPPortU16(GSD, NewValue); - else if(strcmp("MiscData", ParameterName) == 0) DataDictionarySetMiscDataC8(GSD, NewValue); - else if(strcmp("RVSSConfig", ParameterName) == 0) DataDictionarySetRVSSConfigU32(GSD, (U32)atoi(NewValue)); - else if(strcmp("RVSSRate", ParameterName) == 0) DataDictionarySetRVSSRateU8(GSD, (U32)atoi(NewValue)); +I32 SystemControlSetServerParameter(GSDType * GSD, C8 * ParameterName, C8 * NewValue, U8 Debug) { + if (Debug) + printf("[SystemControl] SetServerParameter: %s = %s\n", ParameterName, NewValue); + if (strcmp("OrigoLatitude", ParameterName) == 0) + DataDictionarySetOriginLatitudeDbl(GSD, NewValue); + else if (strcmp("OrigoLongitude", ParameterName) == 0) + DataDictionarySetOriginLongitudeDbl(GSD, NewValue); + else if (strcmp("OrigoAltitude", ParameterName) == 0) + DataDictionarySetOriginAltitudeDbl(GSD, NewValue); + else if (strcmp("VisualizationServerName", ParameterName) == 0) + DataDictionarySetVisualizationServerU32(GSD, NewValue); + else if (strcmp("ForceObjectToLocalhost", ParameterName) == 0) + DataDictionarySetForceToLocalhostU8(GSD, NewValue); + else if (strcmp("ASPMaxTimeDiff", ParameterName) == 0) + DataDictionarySetASPMaxTimeDiffDbl(GSD, NewValue); + else if (strcmp("ASPMaxTrajDiff", ParameterName) == 0) + DataDictionarySetASPMaxTrajDiffDbl(GSD, NewValue); + else if (strcmp("ASPStepBackCount", ParameterName) == 0) + DataDictionarySetASPStepBackCountU32(GSD, NewValue); + else if (strcmp("ASPFilterLevel", ParameterName) == 0) + DataDictionarySetASPFilterLevelDbl(GSD, NewValue); + else if (strcmp("ASPMaxDeltaTime", ParameterName) == 0) + DataDictionarySetASPMaxDeltaTimeDbl(GSD, NewValue); + else if (strcmp("TimeServerIP", ParameterName) == 0) + DataDictionarySetTimeServerIPU32(GSD, NewValue); + else if (strcmp("TimeServerPort", ParameterName) == 0) + DataDictionarySetTimeServerPortU16(GSD, NewValue); + else if (strcmp("SimulatorIP", ParameterName) == 0) + DataDictionarySetSimulatorIPU32(GSD, NewValue); + else if (strcmp("SimulatorTCPPort", ParameterName) == 0) + DataDictionarySetSimulatorTCPPortU16(GSD, NewValue); + else if (strcmp("SimulatorUDPPort", ParameterName) == 0) + DataDictionarySetSimulatorUDPPortU16(GSD, NewValue); + else if (strcmp("SimulatorMode", ParameterName) == 0) + DataDictionarySetSimulatorModeU8(GSD, NewValue); + else if (strcmp("VOILReceivers", ParameterName) == 0) + DataDictionarySetVOILReceiversC8(GSD, NewValue); + else if (strcmp("DTMReceivers", ParameterName) == 0) + DataDictionarySetDTMReceiversC8(GSD, NewValue); + else if (strcmp("SupervisorIP", ParameterName) == 0) + DataDictionarySetExternalSupervisorIPU32(GSD, NewValue); + else if (strcmp("SupervisorTCPPort", ParameterName) == 0) + DataDictionarySetSupervisorTCPPortU16(GSD, NewValue); + else if (strcmp("MiscData", ParameterName) == 0) + DataDictionarySetMiscDataC8(GSD, NewValue); + else if (strcmp("RVSSConfig", ParameterName) == 0) + DataDictionarySetRVSSConfigU32(GSD, (U32) atoi(NewValue)); + else if (strcmp("RVSSRate", ParameterName) == 0) + DataDictionarySetRVSSRateU8(GSD, (U32) atoi(NewValue)); } -I32 SystemControlWriteServerParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) -{ +I32 SystemControlWriteServerParameter(C8 * ParameterName, C8 * NewValue, U8 Debug) { + + I32 RowCount, i; + C8 Parameter[SMALL_BUFFER_SIZE_64]; + C8 Row[SMALL_BUFFER_SIZE_128]; + C8 NewRow[SMALL_BUFFER_SIZE_128]; + FILE *fd, *TempFd; + C8 *ptr1, *ptr2; + U8 ParameterFound = 0; + char confPathFileDir[MAX_FILE_PATH]; + char tempConfPathFileDir[MAX_FILE_PATH]; + const char TEMP_FILE_NAME[] = "temp-" MODULE_NAME ".conf"; + + UtilGetConfDirectoryPath(confPathFileDir, sizeof (confPathFileDir)); + strcpy(tempConfPathFileDir, confPathFileDir); + strcat(confPathFileDir, CONF_FILE_NAME); + strcat(tempConfPathFileDir, TEMP_FILE_NAME); + + bzero(Parameter, SMALL_BUFFER_SIZE_64); + + strcat(Parameter, ParameterName); + strcat(Parameter, "="); + + //Remove temporary file + remove(tempConfPathFileDir); + + //Create temporary file + TempFd = fopen(tempConfPathFileDir, "w+"); + + //Open configuration file + fd = fopen(confPathFileDir, "r"); + + if (fd > 0) { + RowCount = UtilCountFileRows(fd); + fclose(fd); + fd = fopen(confPathFileDir, "r"); + + for (i = 0; i < RowCount; i++) { + bzero(Row, SMALL_BUFFER_SIZE_128); + UtilReadLine(fd, Row); + + ptr1 = strstr(Row, Parameter); + ptr2 = strstr(Row, "//"); + if (ptr2 == NULL) + ptr2 = ptr1; //No comment found + if (ptr1 != NULL && (U64) ptr2 >= (U64) ptr1 && ParameterFound == 0) { + ParameterFound = 1; + bzero(NewRow, SMALL_BUFFER_SIZE_128); + strncpy(NewRow, Row, (U64) ptr1 - (U64) Row + strlen(Parameter)); + strcat(NewRow, NewValue); + if ((U64) ptr2 > (U64) ptr1) { + strcat(NewRow, " "); // Add space + strcat(NewRow, ptr2); // Add the comment + } + + if (Debug) { + LogMessage(LOG_LEVEL_DEBUG, "Changed parameter: %s", NewRow); + } + + strcat(NewRow, "\n"); + (void)fwrite(NewRow, 1, strlen(NewRow), TempFd); + + } + else { + strcat(Row, "\n"); + (void)fwrite(Row, 1, strlen(Row), TempFd); + } + } + fclose(TempFd); + fclose(fd); + + //Remove test.conf + remove(confPathFileDir); + + //Rename temp.conf to test.conf + rename(tempConfPathFileDir, confPathFileDir); + + //Remove temporary file + remove(tempConfPathFileDir); + } + + return 0; +} - I32 RowCount, i; - C8 Parameter[SMALL_BUFFER_SIZE_64]; - C8 Row[SMALL_BUFFER_SIZE_128]; - C8 NewRow[SMALL_BUFFER_SIZE_128]; - FILE *fd, *TempFd; - C8 *ptr1, *ptr2; - U8 ParameterFound = 0; - char confPathFileDir[MAX_FILE_PATH]; - char tempConfPathFileDir[MAX_FILE_PATH]; - const char TEMP_FILE_NAME[] = "temp-" MODULE_NAME ".conf"; - UtilGetConfDirectoryPath(confPathFileDir, sizeof(confPathFileDir)); - strcpy(tempConfPathFileDir,confPathFileDir); - strcat(confPathFileDir, CONF_FILE_NAME); - strcat(tempConfPathFileDir, TEMP_FILE_NAME); - bzero(Parameter, SMALL_BUFFER_SIZE_64); +I32 SystemControlReadServerParameter(C8 * ParameterName, C8 * ReturnValue, U8 Debug) { - strcat(Parameter, ParameterName); - strcat(Parameter, "="); + I32 RowCount, i; + C8 TextBuffer[SMALL_BUFFER_SIZE_128]; + char confPathDir[MAX_FILE_PATH]; - //Remove temporary file - remove(tempConfPathFileDir); + UtilGetConfDirectoryPath(confPathDir, sizeof (confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); - //Create temporary file - TempFd = fopen (tempConfPathFileDir, "w+"); + bzero(TextBuffer, SMALL_BUFFER_SIZE_128); - //Open configuration file - fd = fopen (confPathFileDir, "r"); + strcat(TextBuffer, ParameterName); + strcat(TextBuffer, "="); - if(fd > 0) - { - RowCount = UtilCountFileRows(fd); - fclose(fd); - fd = fopen (confPathFileDir, "r"); - - for(i = 0; i < RowCount; i++) - { - bzero(Row, SMALL_BUFFER_SIZE_128); - UtilReadLine(fd, Row); - - ptr1 = strstr(Row, Parameter); - ptr2 = strstr(Row, "//"); - if (ptr2 == NULL) ptr2 = ptr1; //No comment found - if(ptr1 != NULL && (U64)ptr2 >= (U64)ptr1 && ParameterFound == 0) - { - ParameterFound = 1; - bzero(NewRow, SMALL_BUFFER_SIZE_128); - strncpy(NewRow, Row, (U64)ptr1 - (U64)Row + strlen(Parameter)); - strcat(NewRow, NewValue); - if((U64)ptr2 > (U64)ptr1) - { - strcat(NewRow, " "); // Add space - strcat(NewRow, ptr2); // Add the comment - } - - if(Debug) - { - LogMessage(LOG_LEVEL_DEBUG,"Changed parameter: %s", NewRow); - } - - strcat(NewRow, "\n"); - (void)fwrite(NewRow,1,strlen(NewRow),TempFd); - - } - else - { - strcat(Row, "\n"); - (void)fwrite(Row,1,strlen(Row),TempFd); - } - } - fclose(TempFd); - fclose(fd); - - //Remove test.conf - remove(confPathFileDir); - - //Rename temp.conf to test.conf - rename(tempConfPathFileDir, confPathFileDir); - - //Remove temporary file - remove(tempConfPathFileDir); - } + UtilSearchTextFile(confPathDir, TextBuffer, "", ReturnValue); - return 0; + if (Debug) { + LogMessage(LOG_LEVEL_DEBUG, "%s = %s\n", ParameterName, ReturnValue); + } + + return strlen(ReturnValue); } +I32 SystemControlReadServerParameterList(C8 * ParameterList, U8 Debug) { -I32 SystemControlReadServerParameter(C8 *ParameterName, C8 *ReturnValue, U8 Debug) -{ + I32 RowCount, i; + C8 TextBuffer[SMALL_BUFFER_SIZE_128]; + FILE *fd; + char confPathDir[MAX_FILE_PATH]; - I32 RowCount, i; - C8 TextBuffer[SMALL_BUFFER_SIZE_128]; - char confPathDir[MAX_FILE_PATH]; - UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); - strcat(confPathDir, CONF_FILE_NAME); + UtilGetConfDirectoryPath(confPathDir, sizeof (confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); - bzero(TextBuffer, SMALL_BUFFER_SIZE_128); + fd = fopen(confPathDir, "r"); + if (fd > 0) { + RowCount = UtilCountFileRows(fd); + fclose(fd); + fd = fopen(confPathDir, "r"); - strcat(TextBuffer, ParameterName); - strcat(TextBuffer, "="); + for (i = 0; i < RowCount; i++) { + bzero(TextBuffer, SMALL_BUFFER_SIZE_128); + UtilReadLineCntSpecChars(fd, TextBuffer); + if (strlen(TextBuffer) > 0) { + strcat(ParameterList, TextBuffer); + strcat(ParameterList, ";"); + } + } - UtilSearchTextFile(confPathDir, TextBuffer, "", ReturnValue); + fclose(fd); + } - if(Debug) - { - LogMessage(LOG_LEVEL_DEBUG,"%s = %s\n", ParameterName, ReturnValue); - } + if (Debug) { + LogMessage(LOG_LEVEL_DEBUG, "ParameterList = %s\n", ParameterList); + } - return strlen(ReturnValue); + return strlen(ParameterList); } +I32 SystemControlBuildFileContentInfo(C8 * Path, C8 * ReturnValue, U8 Debug) { -I32 SystemControlReadServerParameterList(C8 *ParameterList, U8 Debug) -{ - - I32 RowCount, i; - C8 TextBuffer[SMALL_BUFFER_SIZE_128]; - FILE *fd; - char confPathDir[MAX_FILE_PATH]; - UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); - strcat(confPathDir, CONF_FILE_NAME); - - fd = fopen (confPathDir, "r"); - if(fd > 0) - { - RowCount = UtilCountFileRows(fd); - fclose(fd); - fd = fopen (confPathDir, "r"); - - for(i = 0; i < RowCount; i++) - { - bzero(TextBuffer, SMALL_BUFFER_SIZE_128); - UtilReadLineCntSpecChars(fd, TextBuffer); - if(strlen(TextBuffer) > 0) - { - strcat(ParameterList, TextBuffer); - strcat(ParameterList, ";"); - } - } - - fclose(fd); - } + struct stat st; + C8 CompletePath[MAX_FILE_PATH]; - if(Debug) - { - LogMessage(LOG_LEVEL_DEBUG,"ParameterList = %s\n", ParameterList); - } + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, Path); - return strlen(ParameterList); -} + stat(CompletePath, &st); + *(ReturnValue + 0) = (U8) (st.st_size >> 24); + *(ReturnValue + 1) = (U8) (st.st_size >> 16); + *(ReturnValue + 2) = (U8) (st.st_size >> 8); + *(ReturnValue + 3) = (U8) st.st_size; -I32 SystemControlBuildFileContentInfo(C8 *Path, C8 *ReturnValue, U8 Debug) -{ - struct stat st; - C8 CompletePath[MAX_FILE_PATH]; - bzero(CompletePath, MAX_FILE_PATH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, Path); + if (Debug) + LogMessage(LOG_LEVEL_DEBUG, "Filesize %d of %s", (I32) st.st_size, CompletePath); - stat(CompletePath, &st); - *(ReturnValue+0) = (U8)(st.st_size >> 24); - *(ReturnValue+1) = (U8)(st.st_size >> 16); - *(ReturnValue+2) = (U8)(st.st_size >> 8); - *(ReturnValue+3) = (U8)st.st_size; + return 0; +} +I32 SystemControlCheckFileDirectoryExist(C8 * ParameterName, C8 * ReturnValue, U8 Debug) { - if(Debug) LogMessage(LOG_LEVEL_DEBUG,"Filesize %d of %s", (I32)st.st_size, CompletePath); + DIR *pDir; + FILE *fd; + C8 CompletePath[MAX_FILE_PATH]; - return 0; -} + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, ParameterName); -I32 SystemControlCheckFileDirectoryExist(C8 *ParameterName, C8 *ReturnValue, U8 Debug) -{ + *ReturnValue = PATH_INVALID_MISSING; - DIR *pDir; - FILE *fd; - C8 CompletePath[MAX_FILE_PATH]; - bzero(CompletePath, MAX_FILE_PATH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, ParameterName); + pDir = opendir(CompletePath); + if (pDir == NULL) { + fd = fopen(CompletePath, "r"); + if (fd != NULL) { + *ReturnValue = FILE_EXIST; //File exist + fclose(fd); + } + } + else { + *ReturnValue = FOLDER_EXIST; //Directory exist + closedir(pDir); + } - *ReturnValue = PATH_INVALID_MISSING; - pDir = opendir(CompletePath); - if(pDir == NULL) - { - fd = fopen(CompletePath, "r"); - if(fd != NULL) - { - *ReturnValue = FILE_EXIST; //File exist - fclose(fd); - } - } - else - { - *ReturnValue = FOLDER_EXIST; //Directory exist - closedir(pDir); - } + if (Debug) + LogMessage(LOG_LEVEL_DEBUG, "%d %s", *ReturnValue, CompletePath); - if(Debug) LogMessage(LOG_LEVEL_DEBUG,"%d %s", *ReturnValue, CompletePath); + return 0; +} - return 0; +I32 SystemControlDeleteFileDirectory(C8 * Path, C8 * ReturnValue, U8 Debug) { + + DIR *pDir; + FILE *fd; + C8 CompletePath[MAX_FILE_PATH]; + + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, Path); + + *ReturnValue = PATH_INVALID_MISSING; + + pDir = opendir(CompletePath); + if (pDir == NULL) { + fd = fopen(CompletePath, "r"); + if (fd == NULL) { + *ReturnValue = PATH_INVALID_MISSING; //Missing file + } + else { + if (0 == remove(CompletePath)) //Delete file + { + *ReturnValue = SUCCEDED_DELETE; + } + else { + *ReturnValue = FAILED_DELETE; + } + } + } + else { + if (0 == remove(CompletePath)) //Delete directory + { + *ReturnValue = SUCCEDED_DELETE; + } + else { + *ReturnValue = FAILED_DELETE; + } + } + + if (*ReturnValue == SUCCEDED_DELETE) + LogMessage(LOG_LEVEL_INFO, "Deleted %s", CompletePath); + else if (*ReturnValue == FAILED_DELETE) + LogMessage(LOG_LEVEL_INFO, "Failed to delete %s", CompletePath); + + return 0; } -I32 SystemControlDeleteFileDirectory(C8 *Path, C8 *ReturnValue, U8 Debug) -{ - - DIR *pDir; - FILE *fd; - C8 CompletePath[MAX_FILE_PATH]; - bzero(CompletePath, MAX_FILE_PATH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, Path); +I32 SystemControlCreateDirectory(C8 * Path, C8 * ReturnValue, U8 Debug) { + + DIR *pDir; + FILE *fd; + C8 CompletePath[MAX_FILE_PATH]; + + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, Path); + + *ReturnValue = PATH_INVALID_MISSING; + + pDir = opendir(CompletePath); + if (pDir == NULL) { + fd = fopen(CompletePath, "r"); + if (fd != NULL) { + *ReturnValue = FILE_EXIST; //This is a file! + fclose(fd); + } + else { + if (0 == mkdir(CompletePath, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH)) //Make the new directory + { + *ReturnValue = SUCCEDED_CREATE_FOLDER; + } + else { + *ReturnValue = FAILED_CREATE_FOLDER; + } + } + } + else { + *ReturnValue = FOLDER_EXIST; //Directory exist + closedir(pDir); + } + + if (Debug) + LogMessage(LOG_LEVEL_DEBUG, "%d %s", *(ReturnValue), CompletePath); + + if (*ReturnValue == SUCCEDED_CREATE_FOLDER) + LogMessage(LOG_LEVEL_INFO, "Directory created: %s", CompletePath); + + return 0; +} - *ReturnValue = PATH_INVALID_MISSING; - pDir = opendir(CompletePath); - if(pDir == NULL) - { - fd = fopen(CompletePath, "r"); - if(fd == NULL) - { - *ReturnValue = PATH_INVALID_MISSING; //Missing file - } - else - { - if(0 == remove(CompletePath)) //Delete file - { - *ReturnValue = SUCCEDED_DELETE; - } - else - { - *ReturnValue = FAILED_DELETE; - } - } - } - else - { - if(0 == remove(CompletePath)) //Delete directory - { - *ReturnValue = SUCCEDED_DELETE; - } - else - { - *ReturnValue = FAILED_DELETE; - } - } - if(*ReturnValue == SUCCEDED_DELETE) LogMessage(LOG_LEVEL_INFO,"Deleted %s", CompletePath); - else if(*ReturnValue == FAILED_DELETE) LogMessage(LOG_LEVEL_INFO,"Failed to delete %s", CompletePath); - return 0; +I32 SystemControlUploadFile(C8 * Path, C8 * FileSize, C8 * PacketSize, C8 * ReturnValue, U8 Debug) { + + FILE *fd; + C8 CompletePath[MAX_FILE_PATH]; + + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, Path); + + if (Debug) { + LogMessage(LOG_LEVEL_DEBUG, "Upload file:"); + LogMessage(LOG_LEVEL_DEBUG, "%s", Path); + LogMessage(LOG_LEVEL_DEBUG, "%s", FileSize); + LogMessage(LOG_LEVEL_DEBUG, "%s", PacketSize); + LogMessage(LOG_LEVEL_DEBUG, "%s", CompletePath); + } + + if (atoi(PacketSize) > SYSTEM_CONTROL_RX_PACKET_SIZE) //Check packet size + { + *ReturnValue = SERVER_PREPARED_BIG_PACKET_SIZE; + return 0; + } + + fd = fopen(CompletePath, "r"); + if (fd != NULL) { + fclose(fd); + remove(CompletePath); //Remove file if exist + } + + fd = fopen(CompletePath, "w+"); //Create the file + if (fd != NULL) { + *ReturnValue = SERVER_PREPARED; //Server prepared + fclose(fd); + return 0; + } + else { + //ok, path invalid create temporary file + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, "file.tmp"); + fd = fopen(CompletePath, "r"); + if (fd != NULL) { + fclose(fd); + remove(CompletePath); //Remove file if exist + } + fd = fopen(CompletePath, "w+"); //Create the temporary file + + *ReturnValue = PATH_INVALID_MISSING; + + return 0; + } + + return 0; } +I32 SystemControlReceiveRxData(I32 * sockfd, C8 * Path, C8 * FileSize, C8 * PacketSize, C8 * ReturnValue, + U8 Debug) { -I32 SystemControlCreateDirectory(C8 *Path, C8 *ReturnValue, U8 Debug) -{ + FILE *fd; + C8 CompletePath[MAX_FILE_PATH]; - DIR *pDir; - FILE *fd; - C8 CompletePath[MAX_FILE_PATH]; - bzero(CompletePath, MAX_FILE_PATH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, Path); + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, Path); + U32 FileSizeU32 = atoi(FileSize); + U16 PacketSizeU16 = atoi(PacketSize); + I32 ClientStatus = 0, Time1 = 0, Time2 = 0, TimeDiff = 0, i = 0, j = 0; + C8 RxBuffer[SYSTEM_CONTROL_RX_PACKET_SIZE]; + U32 TotalRxCount = 0, TransmissionCount = (U32) (FileSizeU32 / PacketSizeU16), RestCount = + FileSizeU32 % PacketSizeU16; + struct timeval CurTime; - *ReturnValue = PATH_INVALID_MISSING; - pDir = opendir(CompletePath); - if(pDir == NULL) - { - fd = fopen(CompletePath, "r"); - if(fd != NULL) - { - *ReturnValue = FILE_EXIST; //This is a file! - fclose(fd); - } - else - { - if(0 == mkdir(CompletePath, S_IRWXU|S_IRWXG|S_IROTH|S_IXOTH)) //Make the new directory - { - *ReturnValue = SUCCEDED_CREATE_FOLDER; - } - else - { - *ReturnValue = FAILED_CREATE_FOLDER; - } - } - } - else - { - *ReturnValue = FOLDER_EXIST; //Directory exist - closedir(pDir); - } + if (Debug) { + LogMessage(LOG_LEVEL_DEBUG, "Receive Rx data:"); + LogMessage(LOG_LEVEL_DEBUG, "%s", Path); + LogMessage(LOG_LEVEL_DEBUG, "%s", FileSize); + LogMessage(LOG_LEVEL_DEBUG, "%s", PacketSize); + LogMessage(LOG_LEVEL_DEBUG, "%s", CompletePath); + } - if(Debug) LogMessage(LOG_LEVEL_DEBUG,"%d %s", *(ReturnValue), CompletePath); - if(*ReturnValue == SUCCEDED_CREATE_FOLDER) LogMessage(LOG_LEVEL_INFO,"Directory created: %s", CompletePath); - return 0; -} + fd = fopen(CompletePath, "w+"); + if (fd != NULL) { + gettimeofday(&CurTime, NULL); + Time1 = CurTime.tv_sec * 1000 + CurTime.tv_usec / 1000; + while (TotalRxCount < FileSizeU32 && TimeDiff < 3000) { + gettimeofday(&CurTime, NULL); + Time2 = CurTime.tv_sec * 1000 + CurTime.tv_usec / 1000; -I32 SystemControlUploadFile(C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnValue, U8 Debug) -{ + if (i == TransmissionCount) { + PacketSizeU16 = RestCount; + } - FILE *fd; - C8 CompletePath[MAX_FILE_PATH]; - bzero(CompletePath, MAX_FILE_PATH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, Path); + bzero(RxBuffer, PacketSizeU16); + ClientStatus = recv(*sockfd, RxBuffer, PacketSizeU16, MSG_WAITALL); - if(Debug) - { - LogMessage(LOG_LEVEL_DEBUG,"Upload file:"); - LogMessage(LOG_LEVEL_DEBUG,"%s", Path); - LogMessage(LOG_LEVEL_DEBUG,"%s", FileSize); - LogMessage(LOG_LEVEL_DEBUG,"%s", PacketSize); - LogMessage(LOG_LEVEL_DEBUG,"%s", CompletePath); - } - if(atoi(PacketSize) > SYSTEM_CONTROL_RX_PACKET_SIZE) //Check packet size - { - *ReturnValue = SERVER_PREPARED_BIG_PACKET_SIZE; - return 0; - } + if (ClientStatus > 0) { + i++; + fwrite(RxBuffer, 1, ClientStatus, fd); + fflush(fd); + if (Debug) { + printf("%d, %d, %d, %d, %d, %d :", i, ClientStatus, TotalRxCount, TimeDiff, PacketSizeU16, + FileSizeU32); + for (j = 0; j < 10; j++) + printf("%x-", RxBuffer[j]); + printf("...\n"); + } + TotalRxCount = TotalRxCount + ClientStatus; + gettimeofday(&CurTime, NULL); + Time1 = CurTime.tv_sec * 1000 + CurTime.tv_usec / 1000; + } - fd = fopen(CompletePath, "r"); - if(fd != NULL) - { - fclose(fd); - remove(CompletePath); //Remove file if exist - } - fd = fopen(CompletePath, "w+"); //Create the file - if(fd != NULL) - { - *ReturnValue = SERVER_PREPARED;//Server prepared - fclose(fd); - return 0; - } - else - { - //ok, path invalid create temporary file - bzero(CompletePath, MAX_FILE_PATH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, "file.tmp"); - fd = fopen(CompletePath, "r"); - if(fd != NULL) - { - fclose(fd); - remove(CompletePath); //Remove file if exist - } - fd = fopen(CompletePath, "w+"); //Create the temporary file - - *ReturnValue = PATH_INVALID_MISSING; - - return 0; - } + TimeDiff = abs(Time1 - Time2); + } - return 0; -} + fclose(fd); -I32 SystemControlReceiveRxData(I32 *sockfd, C8 *Path, C8 *FileSize, C8 *PacketSize, C8 *ReturnValue, U8 Debug) -{ + if (TotalRxCount == FileSizeU32) { + *ReturnValue = FILE_UPLOADED; + } + else if (TotalRxCount > FileSizeU32) { + *ReturnValue = FILE_TO_MUCH_DATA; + remove(CompletePath); + LogMessage(LOG_LEVEL_INFO, "CORRUPT FILE, REMOVING..."); + } + else { + *ReturnValue = TIME_OUT; + remove(CompletePath); + LogMessage(LOG_LEVEL_INFO, "CORRUPT FILE, REMOVING..."); + } - FILE *fd; - C8 CompletePath[MAX_FILE_PATH]; - bzero(CompletePath, MAX_FILE_PATH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, Path); - U32 FileSizeU32 = atoi(FileSize); - U16 PacketSizeU16 = atoi(PacketSize); - I32 ClientStatus = 0, Time1 = 0, Time2 = 0, TimeDiff = 0, i = 0, j = 0; - C8 RxBuffer[SYSTEM_CONTROL_RX_PACKET_SIZE]; - U32 TotalRxCount = 0, TransmissionCount = (U32)(FileSizeU32/PacketSizeU16), RestCount = FileSizeU32%PacketSizeU16; - struct timeval CurTime; + LogMessage(LOG_LEVEL_DEBUG, "Rec count = %d, Req count = %d", TotalRxCount, FileSizeU32); + } - if(Debug) - { - LogMessage(LOG_LEVEL_DEBUG,"Receive Rx data:"); - LogMessage(LOG_LEVEL_DEBUG,"%s", Path); - LogMessage(LOG_LEVEL_DEBUG,"%s", FileSize); - LogMessage(LOG_LEVEL_DEBUG,"%s", PacketSize); - LogMessage(LOG_LEVEL_DEBUG,"%s", CompletePath); - } + return 0; +} +I32 SystemControlSendFileContent(I32 * sockfd, C8 * Path, C8 * PacketSize, C8 * ReturnValue, U8 Remove, + U8 Debug) { + FILE *fd; + C8 CompletePath[MAX_FILE_PATH]; - fd = fopen(CompletePath, "w+"); - if(fd != NULL) - { + bzero(CompletePath, MAX_FILE_PATH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, Path); + U32 FileSizeU32 = 0; + U16 PacketSizeU16 = atoi(PacketSize); + I32 ClientStatus = 0, Time1 = 0, Time2 = 0, TimeDiff = 0, i = 0, j = 0; + C8 TxBuffer[SYSTEM_CONTROL_TX_PACKET_SIZE]; + U32 TotalRxCount = 0, TransmissionCount = 0, RestCount = 0; + struct timeval CurTime; + struct stat st; - gettimeofday(&CurTime, NULL); - Time1 = CurTime.tv_sec*1000 + CurTime.tv_usec/1000; - - while (TotalRxCount < FileSizeU32 && TimeDiff < 3000) - { - gettimeofday(&CurTime, NULL); - Time2 = CurTime.tv_sec*1000 + CurTime.tv_usec/1000; - - - if(i == TransmissionCount) - { - PacketSizeU16 = RestCount; - } - - bzero(RxBuffer,PacketSizeU16); - ClientStatus = recv(*sockfd, RxBuffer, PacketSizeU16, MSG_WAITALL); - - - if (ClientStatus > 0) - { - i ++; - fwrite(RxBuffer, 1, ClientStatus, fd); - fflush(fd); - if(Debug) - { - printf("%d, %d, %d, %d, %d, %d :", i, ClientStatus, TotalRxCount, TimeDiff, PacketSizeU16, FileSizeU32); - for(j = 0; j < 10; j ++ ) printf("%x-", RxBuffer[j]); - printf("...\n"); - } - TotalRxCount = TotalRxCount + ClientStatus; - gettimeofday(&CurTime, NULL); - Time1 = CurTime.tv_sec*1000 + CurTime.tv_usec/1000; - } - - - TimeDiff = abs(Time1 - Time2); - } - - fclose(fd); - - if(TotalRxCount == FileSizeU32) - { - *ReturnValue = FILE_UPLOADED; - } - else if(TotalRxCount > FileSizeU32) - { - *ReturnValue = FILE_TO_MUCH_DATA; - remove(CompletePath); - LogMessage(LOG_LEVEL_INFO, "CORRUPT FILE, REMOVING..."); - } - else - { - *ReturnValue = TIME_OUT; - remove(CompletePath); - LogMessage(LOG_LEVEL_INFO,"CORRUPT FILE, REMOVING..."); - } - - LogMessage(LOG_LEVEL_DEBUG,"Rec count = %d, Req count = %d", TotalRxCount, FileSizeU32); + stat(CompletePath, &st); + TransmissionCount = (U32) (st.st_size) / PacketSizeU16; + RestCount = (U32) (st.st_size) % PacketSizeU16; - } + if (Debug) { + LogMessage(LOG_LEVEL_DEBUG, "Send file content:"); + LogMessage(LOG_LEVEL_DEBUG, "%s", Path); + //printf("%s\n", FileSize); + LogMessage(LOG_LEVEL_DEBUG, "%s", PacketSize); + LogMessage(LOG_LEVEL_DEBUG, "%s", CompletePath); + } - return 0; -} + fd = fopen(CompletePath, "r"); + if (fd != NULL) { -I32 SystemControlSendFileContent(I32 *sockfd, C8 *Path, C8 *PacketSize, C8 *ReturnValue, U8 Remove, U8 Debug) -{ - FILE *fd; - C8 CompletePath[MAX_FILE_PATH]; - bzero(CompletePath, MAX_FILE_PATH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, Path); - U32 FileSizeU32 = 0; - U16 PacketSizeU16 = atoi(PacketSize); - I32 ClientStatus = 0, Time1 = 0, Time2 = 0, TimeDiff = 0, i = 0, j = 0; - C8 TxBuffer[SYSTEM_CONTROL_TX_PACKET_SIZE]; - U32 TotalRxCount = 0, TransmissionCount = 0, RestCount = 0; - struct timeval CurTime; - struct stat st; - - stat(CompletePath, &st); - TransmissionCount = (U32)(st.st_size) / PacketSizeU16; - RestCount = (U32)(st.st_size) % PacketSizeU16; - - if(Debug) - { - LogMessage(LOG_LEVEL_DEBUG,"Send file content:"); - LogMessage(LOG_LEVEL_DEBUG,"%s", Path); - //printf("%s\n", FileSize); - LogMessage(LOG_LEVEL_DEBUG,"%s", PacketSize); - LogMessage(LOG_LEVEL_DEBUG,"%s", CompletePath); - } + for (i = 0; i < TransmissionCount; i++) { + bzero(TxBuffer, PacketSizeU16); + fread(TxBuffer, 1, PacketSizeU16, fd); + //SystemControlSendBytes(TxBuffer, PacketSizeU16, sockfd, 0); //Send a packet + UtilSendTCPData("System Control", TxBuffer, PacketSizeU16, sockfd, 0); + } - fd = fopen(CompletePath, "r"); + if (RestCount > 0) { + bzero(TxBuffer, PacketSizeU16); + fread(TxBuffer, 1, RestCount, fd); + //SystemControlSendBytes(TxBuffer, RestCount, sockfd, 0); //Send the rest + UtilSendTCPData("System Control", TxBuffer, RestCount, sockfd, 0); + } - if(fd != NULL) - { + fclose(fd); - for(i = 0; i < TransmissionCount; i++) - { - bzero(TxBuffer, PacketSizeU16); - fread(TxBuffer,1,PacketSizeU16,fd); - //SystemControlSendBytes(TxBuffer, PacketSizeU16, sockfd, 0); //Send a packet - UtilSendTCPData("System Control", TxBuffer, PacketSizeU16, sockfd, 0); - } + if (Remove) + remove(CompletePath); - if(RestCount > 0) - { - bzero(TxBuffer, PacketSizeU16); - fread(TxBuffer,1,RestCount,fd); - //SystemControlSendBytes(TxBuffer, RestCount, sockfd, 0); //Send the rest - UtilSendTCPData("System Control", TxBuffer, RestCount, sockfd, 0); - } + LogMessage(LOG_LEVEL_INFO, "Sent file: %s, total size = %d, transmissions = %d", CompletePath, + (PacketSizeU16 * TransmissionCount + RestCount), i + 1); - fclose(fd); + } - if(Remove) remove(CompletePath); - - LogMessage(LOG_LEVEL_INFO,"Sent file: %s, total size = %d, transmissions = %d", CompletePath, (PacketSizeU16*TransmissionCount+RestCount), i + 1); - - } - - return 0; + return 0; } @@ -2217,40 +2292,42 @@ See the architecture document for the protocol of RVSS. - *GPSTime current time data - Debug enable(1)/disable(0) debug printouts (Not used) */ -I32 SystemControlBuildRVSSTimeChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, TimeType *GPSTime, U8 Debug) -{ - I32 MessageIndex = 0, i; - C8 *p; - - RVSSTimeType RVSSTimeData; - RVSSTimeData.MessageLengthU32 = SwapU32((U32)sizeof(RVSSTimeType)-4); - RVSSTimeData.ChannelCodeU32 = SwapU32((U32)RVSS_TIME_CHANNEL); - RVSSTimeData.YearU16 = SwapU16(GPSTime->YearU16); - RVSSTimeData.MonthU8 = GPSTime->MonthU8; - RVSSTimeData.DayU8 = GPSTime->DayU8; - RVSSTimeData.HourU8 = GPSTime->HourU8; - RVSSTimeData.MinuteU8 = GPSTime->MinuteU8; - RVSSTimeData.SecondU8 = GPSTime->SecondU8; - RVSSTimeData.MillisecondU16 = SwapU16(TimeControlGetMillisecond(GPSTime)); - RVSSTimeData.SecondCounterU32 = SwapU32(GPSTime->SecondCounterU32); - RVSSTimeData.GPSMillisecondsU64 = SwapU64(GPSTime->GPSMillisecondsU64 + (U64)TimeControlGetMillisecond(GPSTime)); - RVSSTimeData.GPSMinutesU32 = SwapU32(GPSTime->GPSMinutesU32); - RVSSTimeData.GPSWeekU16 = SwapU16(GPSTime->GPSWeekU16); - RVSSTimeData.GPSSecondsOfWeekU32 = SwapU32(GPSTime->GPSSecondsOfWeekU32); - RVSSTimeData.GPSSecondsOfDayU32 = SwapU32(GPSTime->GPSSecondsOfDayU32); - RVSSTimeData.FixQualityU8 = GPSTime->FixQualityU8; - RVSSTimeData.NSatellitesU8 = GPSTime->NSatellitesU8; - - p=(C8 *)&RVSSTimeData; - for(i=0; iYearU16); + RVSSTimeData.MonthU8 = GPSTime->MonthU8; + RVSSTimeData.DayU8 = GPSTime->DayU8; + RVSSTimeData.HourU8 = GPSTime->HourU8; + RVSSTimeData.MinuteU8 = GPSTime->MinuteU8; + RVSSTimeData.SecondU8 = GPSTime->SecondU8; + RVSSTimeData.MillisecondU16 = SwapU16(TimeControlGetMillisecond(GPSTime)); + RVSSTimeData.SecondCounterU32 = SwapU32(GPSTime->SecondCounterU32); + RVSSTimeData.GPSMillisecondsU64 = + SwapU64(GPSTime->GPSMillisecondsU64 + (U64) TimeControlGetMillisecond(GPSTime)); + RVSSTimeData.GPSMinutesU32 = SwapU32(GPSTime->GPSMinutesU32); + RVSSTimeData.GPSWeekU16 = SwapU16(GPSTime->GPSWeekU16); + RVSSTimeData.GPSSecondsOfWeekU32 = SwapU32(GPSTime->GPSSecondsOfWeekU32); + RVSSTimeData.GPSSecondsOfDayU32 = SwapU32(GPSTime->GPSSecondsOfDayU32); + RVSSTimeData.FixQualityU8 = GPSTime->FixQualityU8; + RVSSTimeData.NSatellitesU8 = GPSTime->NSatellitesU8; + + p = (C8 *) & RVSSTimeData; + for (i = 0; i < sizeof (RVSSTimeType); i++) + *(RVSSData + i) = *p++; + *RVSSDataLengthU32 = i; + + if (Debug) { + + } + + return 0; } @@ -2264,28 +2341,29 @@ See the architecture document for the protocol of RVSS. - U8 SysCtrlState the SystemControl state (server_state) - Debug enable(1)/disable(0) debug printouts (Not used) */ -I32 SystemControlBuildRVSSMaestroChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, GSDType *GSD, U8 SysCtrlState, U8 Debug) -{ - I32 MessageIndex = 0, i; - C8 *p; - - - RVSSMaestroType RVSSMaestroData; - RVSSMaestroData.MessageLengthU32 = SwapU32((U32)sizeof(RVSSMaestroType)-4); - RVSSMaestroData.ChannelCodeU32 = SwapU32((U32)RVSS_MAESTRO_CHANNEL); - RVSSMaestroData.OBCStateU8 = DataDictionaryGetOBCStateU8(GSD); - RVSSMaestroData.SysCtrlStateU8 = SysCtrlState; - - p=(C8 *)&RVSSMaestroData; - for(i=0; i> 24); - *(RVSSData+1) = (C8)(MessageLength >> 16); - *(RVSSData+2) = (C8)(MessageLength >> 8); - *(RVSSData+3) = (C8)(MessageLength); - *(RVSSData+7) = (C8)(RVSS_MONR_CHANNEL); - strcat(RVSSData+8, MonrData); + *(RVSSData + 0) = (C8) (MessageLength >> 24); + *(RVSSData + 1) = (C8) (MessageLength >> 16); + *(RVSSData + 2) = (C8) (MessageLength >> 8); + *(RVSSData + 3) = (C8) (MessageLength); + *(RVSSData + 7) = (C8) (RVSS_MONR_CHANNEL); + strcat(RVSSData + 8, MonrData); - if(Debug) - { - - } + if (Debug) { - return 0; + } + + return 0; } @@ -2335,12 +2411,11 @@ See the architecture document for the protocol of RVSS. - Debug enable(1)/disable(0) debug printouts (Not used) */ -I32 SystemControlBuildRVSSAspChannelMessage(C8 *RVSSData, U32 *RVSSDataLengthU32, U8 Debug) -{ - RVSSTimeType RVSSTimeData; +I32 SystemControlBuildRVSSAspChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, U8 Debug) { + RVSSTimeType RVSSTimeData; - return 0; + return 0; } diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index c27afb450..5dec0eddb 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -56,13 +56,15 @@ -- Function declarations. ------------------------------------------------------------*/ -static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr); -static int TimeControlSendUDPData(int* sockfd, struct sockaddr_in* addr, C8* SendData, int Length, char debug); +static int TimeControlCreateTimeChannel(const char *name, const uint32_t port, int *sockfd, + struct sockaddr_in *addr); +static int TimeControlSendUDPData(int *sockfd, struct sockaddr_in *addr, C8 * SendData, int Length, + char debug); //static void TimeControlRecvTime(int* sockfd, char* buffer, int length, int* recievedNewData); -static void TimeControlRecvTime(int* sockfd, C8* buffer, int length, int* recievedNewData); -U32 TimeControlIPStringToInt(C8 *IP); -U16 TimeControlGetMillisecond(TimeType *GPSTime); -static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 debug); +static void TimeControlRecvTime(int *sockfd, C8 * buffer, int length, int *recievedNewData); +U32 TimeControlIPStringToInt(C8 * IP); +U16 TimeControlGetMillisecond(TimeType * GPSTime); +static void TimeControlDecodeTimeBuffer(TimeType * GPSTime, C8 * TimeBuffer, C8 debug); static void signalHandler(int signo); /*------------------------------------------------------------ @@ -74,469 +76,468 @@ static volatile int iExit = 0; /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -void timecontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel) -{ - - C8 TextBufferC8[TIME_CONTROL_HOSTNAME_BUFFER_SIZE]; - C8 ServerIPC8[TIME_CONTROL_HOSTNAME_BUFFER_SIZE]; - U16 ServerPortU16; - I32 SocketfdI32=-1; - struct sockaddr_in time_addr; - - I32 result; - C8 TimeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; - C8 LogBuffer[LOG_BUFFER_LENGTH]; - I32 ReceivedNewData, i; - C8 SendData[TIME_INTERVAL_NUMBER_BYTES] = {0, 0, 3, 0xe8}; - //C8 SendData[4] = {0, 0, 0, 1}; - struct timespec sleep_time, ref_time; - C8 MqRecvBuffer[MBUS_MAX_DATALEN]; - struct timeval tv, ExecTime; - struct tm *tm; - - U32 IpU32; - U8 PrevSecondU8; - U16 CurrentMilliSecondU16, PrevMilliSecondU16; - U8 CycleCount = 0; - - enum COMMAND command; - char busReceiveBuffer[MBUS_MAX_DATALEN]; - - // Create log - LogInit(MODULE_NAME,logLevel); - LogMessage(LOG_LEVEL_INFO,"Time control task running with PID: %i",getpid()); - - // Set up signal handlers - if (signal(SIGINT, signalHandler) == SIG_ERR) - util_error("Unable to initialize signal handler"); - - // Set up message bus connection - if(iCommInit()) - util_error("Unable to initialize message bus connection"); - - GPSTime->isGPSenabled = 0; - - gettimeofday(&ExecTime, NULL); - CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); - PrevMilliSecondU16 = CurrentMilliSecondU16; - // Set time server IP - DataDictionaryGetTimeServerIPC8(GSD, ServerIPC8, TIME_CONTROL_HOSTNAME_BUFFER_SIZE); - DataDictionaryGetTimeServerIPU32(GSD, &IpU32); - - // Set time server port - DataDictionaryGetTimeServerPortU16(GSD, &ServerPortU16); - - // If time server is specified, connect to it - if(IpU32 != 0) - { - LogMessage(LOG_LEVEL_INFO,"Connecting to time server..."); - - if (TimeControlCreateTimeChannel(ServerIPC8, ServerPortU16, &SocketfdI32, &time_addr)) - { - LogMessage(LOG_LEVEL_INFO, "Using time server reference"); - TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); - GPSTime->isGPSenabled = 1; - } - else - { - LogMessage(LOG_LEVEL_INFO, "Defaulting to system time"); - - // Send warning over MQ - LOG_SEND(LogBuffer, "Unable to connect to time server"); - } - - } - - if (!GPSTime->isGPSenabled) { - LogMessage(LOG_LEVEL_INFO,"Initializing with system time"); - - gettimeofday(&tv, NULL); - - GPSTime->MicroSecondU16 = 0; - GPSTime->GPSMillisecondsU64 = tv.tv_sec*1000 + tv.tv_usec/1000 - MS_TIME_DIFF_UTC_GPS + MS_LEAP_SEC_DIFF_UTC_GPS; - GPSTime->GPSWeekU16 = (U16)(GPSTime->GPSMillisecondsU64 / WEEK_TIME_MS); - GPSTime->GPSSecondsOfWeekU32 = (U32)((GPSTime->GPSMillisecondsU64 - (U64)(GPSTime->GPSWeekU16) * WEEK_TIME_MS) / 1000); - GPSTime->GPSSecondsOfDayU32 = (GPSTime->GPSMillisecondsU64 % DAY_TIME_MS) / 1000; - GPSTime->GPSMinutesU32 = (GPSTime->GPSMillisecondsU64 / 1000) / 60; - GPSTime->isTimeInitializedU8 = 1; - } - - while(!iExit) - { - - // Ignore any commands received, just empty the bus - iCommRecv(&command, busReceiveBuffer, sizeof(busReceiveBuffer), NULL); - - gettimeofday(&ExecTime, NULL); - CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); - if(CurrentMilliSecondU16 < PrevMilliSecondU16) - { - GSD->TimeControlExecTimeU16 = CurrentMilliSecondU16 + (1000 - PrevMilliSecondU16); - //printf("%d\n", GSD->TimeControlExecTimeU16); - } - else - { - GSD->TimeControlExecTimeU16 = abs(PrevMilliSecondU16 - CurrentMilliSecondU16); - //printf("%d\n", GSD->TimeControlExecTimeU16); - } - PrevMilliSecondU16 = CurrentMilliSecondU16; - - if(GPSTime->isGPSenabled) - { - bzero(TimeBuffer,TIME_CONTROL_RECEIVE_BUFFER_SIZE); - TimeControlRecvTime(&SocketfdI32, TimeBuffer, TIME_CONTROL_RECEIVE_BUFFER_SIZE, &ReceivedNewData); - - if(ReceivedNewData) TimeControlDecodeTimeBuffer(GPSTime, TimeBuffer, 0); - } - else if(!GPSTime->isGPSenabled) - { - gettimeofday(&tv, NULL); - - tm = localtime(&tv.tv_sec); - - // Add 1900 to get the right year value - GPSTime->YearU16 = (U16)tm->tm_year + 1900; - // Months are 0 based in struct tm - GPSTime->MonthU8 = (U8)tm->tm_mon + 1; - GPSTime->DayU8 = (U8)tm->tm_mday; - GPSTime->HourU8 = (U8)tm->tm_hour; - GPSTime->MinuteU8 = (U8)tm->tm_min; - GPSTime->SecondU8 = (U8)tm->tm_sec; - GPSTime->MillisecondU16 = (U16) (tv.tv_usec / 1000); - - GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); - - GPSTime->GPSMillisecondsU64 = GPSTime->GPSMillisecondsU64 + 1000; - - if(GPSTime->SecondU8 != PrevSecondU8) - { - PrevSecondU8 = GPSTime->SecondU8; - GPSTime->SecondCounterU32 ++; - if(GPSTime->GPSSecondsOfDayU32 >= 86400) GPSTime->GPSSecondsOfDayU32 = 0; - else GPSTime->GPSSecondsOfDayU32 ++; - - if(GPSTime->GPSSecondsOfWeekU32 >= 604800) - { - GPSTime->GPSSecondsOfWeekU32 = 0; - GPSTime->GPSWeekU16 ++; - } else GPSTime->GPSSecondsOfWeekU32 ++; - - if(GPSTime->SecondU8 == 0) GPSTime->GPSMinutesU32 ++; - } - } - - if(GSD->ExitU8 == 1) - { - if(GPSTime->isGPSenabled) - { - SendData[0] = 0; - SendData[1] = 0; - SendData[2] = 0; - SendData[3] = 0; - TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); - } - iExit = 1; - (void)iCommClose(); - } - - if(ReceivedNewData && GPSTime->isGPSenabled) - { - /* Make call periodic */ - sleep_time.tv_sec = SLEEP_TIME_GPS_CONNECTED_S; - sleep_time.tv_nsec = SLEEP_TIME_GPS_CONNECTED_NS; - nanosleep(&sleep_time,&ref_time); - } - else if (!GPSTime->isGPSenabled) - { - sleep_time.tv_sec = SLEEP_TIME_NO_GPS_CONNECTED_S; - sleep_time.tv_nsec = SLEEP_TIME_NO_GPS_CONNECTED_NS; - nanosleep(&sleep_time,&ref_time); - } - } - - LogMessage(LOG_LEVEL_INFO,"Time control exiting"); +void timecontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { + + C8 TextBufferC8[TIME_CONTROL_HOSTNAME_BUFFER_SIZE]; + C8 ServerIPC8[TIME_CONTROL_HOSTNAME_BUFFER_SIZE]; + U16 ServerPortU16; + I32 SocketfdI32 = -1; + struct sockaddr_in time_addr; + + I32 result; + C8 TimeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; + C8 LogBuffer[LOG_BUFFER_LENGTH]; + I32 ReceivedNewData, i; + C8 SendData[TIME_INTERVAL_NUMBER_BYTES] = { 0, 0, 3, 0xe8 }; + //C8 SendData[4] = {0, 0, 0, 1}; + struct timespec sleep_time, ref_time; + C8 MqRecvBuffer[MBUS_MAX_DATALEN]; + struct timeval tv, ExecTime; + struct tm *tm; + + U32 IpU32; + U8 PrevSecondU8; + U16 CurrentMilliSecondU16, PrevMilliSecondU16; + U8 CycleCount = 0; + + enum COMMAND command; + char busReceiveBuffer[MBUS_MAX_DATALEN]; + + // Create log + LogInit(MODULE_NAME, logLevel); + LogMessage(LOG_LEVEL_INFO, "Time control task running with PID: %i", getpid()); + + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + // Set up message bus connection + if (iCommInit()) + util_error("Unable to initialize message bus connection"); + + GPSTime->isGPSenabled = 0; + + gettimeofday(&ExecTime, NULL); + CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); + PrevMilliSecondU16 = CurrentMilliSecondU16; + // Set time server IP + DataDictionaryGetTimeServerIPC8(GSD, ServerIPC8, TIME_CONTROL_HOSTNAME_BUFFER_SIZE); + DataDictionaryGetTimeServerIPU32(GSD, &IpU32); + + // Set time server port + DataDictionaryGetTimeServerPortU16(GSD, &ServerPortU16); + + // If time server is specified, connect to it + if (IpU32 != 0) { + LogMessage(LOG_LEVEL_INFO, "Connecting to time server..."); + + if (TimeControlCreateTimeChannel(ServerIPC8, ServerPortU16, &SocketfdI32, &time_addr)) { + LogMessage(LOG_LEVEL_INFO, "Using time server reference"); + TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); + GPSTime->isGPSenabled = 1; + } + else { + LogMessage(LOG_LEVEL_INFO, "Defaulting to system time"); + + // Send warning over MQ + LOG_SEND(LogBuffer, "Unable to connect to time server"); + } + + } + + if (!GPSTime->isGPSenabled) { + LogMessage(LOG_LEVEL_INFO, "Initializing with system time"); + + gettimeofday(&tv, NULL); + + GPSTime->MicroSecondU16 = 0; + GPSTime->GPSMillisecondsU64 = + tv.tv_sec * 1000 + tv.tv_usec / 1000 - MS_TIME_DIFF_UTC_GPS + MS_LEAP_SEC_DIFF_UTC_GPS; + GPSTime->GPSWeekU16 = (U16) (GPSTime->GPSMillisecondsU64 / WEEK_TIME_MS); + GPSTime->GPSSecondsOfWeekU32 = + (U32) ((GPSTime->GPSMillisecondsU64 - (U64) (GPSTime->GPSWeekU16) * WEEK_TIME_MS) / 1000); + GPSTime->GPSSecondsOfDayU32 = (GPSTime->GPSMillisecondsU64 % DAY_TIME_MS) / 1000; + GPSTime->GPSMinutesU32 = (GPSTime->GPSMillisecondsU64 / 1000) / 60; + GPSTime->isTimeInitializedU8 = 1; + } + + while (!iExit) { + + // Ignore any commands received, just empty the bus + iCommRecv(&command, busReceiveBuffer, sizeof (busReceiveBuffer), NULL); + + gettimeofday(&ExecTime, NULL); + CurrentMilliSecondU16 = (U16) (ExecTime.tv_usec / 1000); + if (CurrentMilliSecondU16 < PrevMilliSecondU16) { + GSD->TimeControlExecTimeU16 = CurrentMilliSecondU16 + (1000 - PrevMilliSecondU16); + //printf("%d\n", GSD->TimeControlExecTimeU16); + } + else { + GSD->TimeControlExecTimeU16 = abs(PrevMilliSecondU16 - CurrentMilliSecondU16); + //printf("%d\n", GSD->TimeControlExecTimeU16); + } + PrevMilliSecondU16 = CurrentMilliSecondU16; + + if (GPSTime->isGPSenabled) { + bzero(TimeBuffer, TIME_CONTROL_RECEIVE_BUFFER_SIZE); + TimeControlRecvTime(&SocketfdI32, TimeBuffer, TIME_CONTROL_RECEIVE_BUFFER_SIZE, &ReceivedNewData); + + if (ReceivedNewData) + TimeControlDecodeTimeBuffer(GPSTime, TimeBuffer, 0); + } + else if (!GPSTime->isGPSenabled) { + gettimeofday(&tv, NULL); + + tm = localtime(&tv.tv_sec); + + // Add 1900 to get the right year value + GPSTime->YearU16 = (U16) tm->tm_year + 1900; + // Months are 0 based in struct tm + GPSTime->MonthU8 = (U8) tm->tm_mon + 1; + GPSTime->DayU8 = (U8) tm->tm_mday; + GPSTime->HourU8 = (U8) tm->tm_hour; + GPSTime->MinuteU8 = (U8) tm->tm_min; + GPSTime->SecondU8 = (U8) tm->tm_sec; + GPSTime->MillisecondU16 = (U16) (tv.tv_usec / 1000); + + GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); + + GPSTime->GPSMillisecondsU64 = GPSTime->GPSMillisecondsU64 + 1000; + + if (GPSTime->SecondU8 != PrevSecondU8) { + PrevSecondU8 = GPSTime->SecondU8; + GPSTime->SecondCounterU32++; + if (GPSTime->GPSSecondsOfDayU32 >= 86400) + GPSTime->GPSSecondsOfDayU32 = 0; + else + GPSTime->GPSSecondsOfDayU32++; + + if (GPSTime->GPSSecondsOfWeekU32 >= 604800) { + GPSTime->GPSSecondsOfWeekU32 = 0; + GPSTime->GPSWeekU16++; + } + else + GPSTime->GPSSecondsOfWeekU32++; + + if (GPSTime->SecondU8 == 0) + GPSTime->GPSMinutesU32++; + } + } + + if (GSD->ExitU8 == 1) { + if (GPSTime->isGPSenabled) { + SendData[0] = 0; + SendData[1] = 0; + SendData[2] = 0; + SendData[3] = 0; + TimeControlSendUDPData(&SocketfdI32, &time_addr, SendData, TIME_INTERVAL_NUMBER_BYTES, 0); + } + iExit = 1; + (void)iCommClose(); + } + + if (ReceivedNewData && GPSTime->isGPSenabled) { + /* Make call periodic */ + sleep_time.tv_sec = SLEEP_TIME_GPS_CONNECTED_S; + sleep_time.tv_nsec = SLEEP_TIME_GPS_CONNECTED_NS; + nanosleep(&sleep_time, &ref_time); + } + else if (!GPSTime->isGPSenabled) { + sleep_time.tv_sec = SLEEP_TIME_NO_GPS_CONNECTED_S; + sleep_time.tv_nsec = SLEEP_TIME_NO_GPS_CONNECTED_NS; + nanosleep(&sleep_time, &ref_time); + } + } + + LogMessage(LOG_LEVEL_INFO, "Time control exiting"); } -void signalHandler(int signo) - { - if (signo == SIGINT) - { - LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); - iExit = 1; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); - } +void signalHandler(int signo) { + if (signo == SIGINT) { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + iExit = 1; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } } -U16 TimeControlGetMillisecond(TimeType *GPSTime) -{ - struct timeval now; - U16 MilliU16 = 0, NowU16 = 0; - gettimeofday(&now, NULL); - NowU16 = (U16)(now.tv_usec / 1000); - //if(NowU16 >= GPSTime->LocalMillisecondU16) MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; - //else if(NowU16 < GPSTime->LocalMillisecondU16) MilliU16 = 1000 + ((I16)NowU16 - (I16)GPSTime->LocalMillisecondU16); +U16 TimeControlGetMillisecond(TimeType * GPSTime) { + struct timeval now; + U16 MilliU16 = 0, NowU16 = 0; - if(NowU16 >= GPSTime->LocalMillisecondU16) MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; - else if(NowU16 < GPSTime->LocalMillisecondU16) MilliU16 = 1000 - GPSTime->LocalMillisecondU16 + NowU16; + gettimeofday(&now, NULL); + NowU16 = (U16) (now.tv_usec / 1000); + //if(NowU16 >= GPSTime->LocalMillisecondU16) MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; + //else if(NowU16 < GPSTime->LocalMillisecondU16) MilliU16 = 1000 + ((I16)NowU16 - (I16)GPSTime->LocalMillisecondU16); - //printf("Result= %d, now= %d, local= %d \n", MilliU16, NowU16, GPSTime->LocalMillisecondU16); - return MilliU16; + if (NowU16 >= GPSTime->LocalMillisecondU16) + MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; + else if (NowU16 < GPSTime->LocalMillisecondU16) + MilliU16 = 1000 - GPSTime->LocalMillisecondU16 + NowU16; + + //printf("Result= %d, now= %d, local= %d \n", MilliU16, NowU16, GPSTime->LocalMillisecondU16); + return MilliU16; } -static int TimeControlCreateTimeChannel(const char* name,const uint32_t port, int* sockfd, struct sockaddr_in* addr) -{ - int result; - struct hostent *object; - C8 packetIntervalMs[TIME_INTERVAL_NUMBER_BYTES] = {0,0,0,100}; // Make server send with this interval while waiting for first reply - C8 timeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; - int receivedNewData = 0; - struct timeval timeout = {REPLY_TIMEOUT_S, 0}; - struct timeval tEnd,tCurr; - TimeType tempGPSTime; - - LogMessage(LOG_LEVEL_INFO,"Specified time server address: %s:%d",name,port); - /* Connect to object safety socket */ - - *sockfd= socket(AF_INET, SOCK_DGRAM, 0); - if (*sockfd < 0) - { - util_error("Failed to connect to time socket"); - } - - /* Set address to object */ - object = gethostbyname(name); - - if (object==NULL) - { - util_error("Unknown host"); - } - - bcopy((char *) object->h_addr, - (char *)&addr->sin_addr.s_addr, object->h_length); - addr->sin_family = AF_INET; - addr->sin_port = htons(port); - - - if (setsockopt (*sockfd, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)) < 0) util_error("Setsockopt failed"); - - - - /* set socket to non-blocking */ - result = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); - if (result < 0) - { - util_error("Error calling fcntl"); - } - LogMessage(LOG_LEVEL_INFO,"Created socket and time address: %s:%d", name, port); - - // Check for existence of remote server - LogMessage(LOG_LEVEL_INFO,"Awaiting reply from time server..."); - // Set send interval to be as short as possible to minimise wait for reply - TimeControlSendUDPData(sockfd, addr, packetIntervalMs, TIME_INTERVAL_NUMBER_BYTES, 0); - - // Set time to stop waiting for reply - gettimeofday(&tEnd, NULL); - timeradd(&tEnd,&timeout,&tEnd); - - do - { - gettimeofday(&tCurr, NULL); - TimeControlRecvTime(sockfd, timeBuffer, TIME_CONTROL_RECEIVE_BUFFER_SIZE, &receivedNewData); - if (receivedNewData) - { - TimeControlDecodeTimeBuffer(&tempGPSTime, timeBuffer, 0); - switch (tempGPSTime.FixQualityU8) - { - case FIX_QUALITY_NONE: - LogMessage(LOG_LEVEL_WARNING, "Received reply from time server: no satellite fix"); - return 0; - case FIX_QUALITY_BASIC: - LogMessage(LOG_LEVEL_INFO, "Received reply from time server: non-differential fix on %d satellite(s)", - tempGPSTime.NSatellitesU8); - return 1; - case FIX_QUALITY_DIFFERENTIAL: - LogMessage(LOG_LEVEL_INFO, "Received reply from time server: differential fix on %d satellite(s)", - tempGPSTime.NSatellitesU8); - return 1; - default: - LogMessage(LOG_LEVEL_ERROR, "Received reply from time server: unexpected fix quality parameter"); - return 0; - } - } - } while (timercmp(&tCurr, &tEnd, <)); - - LogMessage(LOG_LEVEL_WARNING, "Unable to connect to specified time server: %s:%d", name, port); - return 0; +static int TimeControlCreateTimeChannel(const char *name, const uint32_t port, int *sockfd, + struct sockaddr_in *addr) { + int result; + struct hostent *object; + C8 packetIntervalMs[TIME_INTERVAL_NUMBER_BYTES] = { 0, 0, 0, 100 }; // Make server send with this interval while waiting for first reply + C8 timeBuffer[TIME_CONTROL_RECEIVE_BUFFER_SIZE]; + int receivedNewData = 0; + struct timeval timeout = { REPLY_TIMEOUT_S, 0 }; + struct timeval tEnd, tCurr; + TimeType tempGPSTime; + + LogMessage(LOG_LEVEL_INFO, "Specified time server address: %s:%d", name, port); + /* Connect to object safety socket */ + + *sockfd = socket(AF_INET, SOCK_DGRAM, 0); + if (*sockfd < 0) { + util_error("Failed to connect to time socket"); + } + + /* Set address to object */ + object = gethostbyname(name); + + if (object == NULL) { + util_error("Unknown host"); + } + + bcopy((char *)object->h_addr, (char *)&addr->sin_addr.s_addr, object->h_length); + addr->sin_family = AF_INET; + addr->sin_port = htons(port); + + + if (setsockopt(*sockfd, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof (timeout)) < 0) + util_error("Setsockopt failed"); + + + + /* set socket to non-blocking */ + result = fcntl(*sockfd, F_SETFL, fcntl(*sockfd, F_GETFL, 0) | O_NONBLOCK); + if (result < 0) { + util_error("Error calling fcntl"); + } + LogMessage(LOG_LEVEL_INFO, "Created socket and time address: %s:%d", name, port); + + // Check for existence of remote server + LogMessage(LOG_LEVEL_INFO, "Awaiting reply from time server..."); + // Set send interval to be as short as possible to minimise wait for reply + TimeControlSendUDPData(sockfd, addr, packetIntervalMs, TIME_INTERVAL_NUMBER_BYTES, 0); + + // Set time to stop waiting for reply + gettimeofday(&tEnd, NULL); + timeradd(&tEnd, &timeout, &tEnd); + + do { + gettimeofday(&tCurr, NULL); + TimeControlRecvTime(sockfd, timeBuffer, TIME_CONTROL_RECEIVE_BUFFER_SIZE, &receivedNewData); + if (receivedNewData) { + TimeControlDecodeTimeBuffer(&tempGPSTime, timeBuffer, 0); + switch (tempGPSTime.FixQualityU8) { + case FIX_QUALITY_NONE: + LogMessage(LOG_LEVEL_WARNING, "Received reply from time server: no satellite fix"); + return 0; + case FIX_QUALITY_BASIC: + LogMessage(LOG_LEVEL_INFO, + "Received reply from time server: non-differential fix on %d satellite(s)", + tempGPSTime.NSatellitesU8); + return 1; + case FIX_QUALITY_DIFFERENTIAL: + LogMessage(LOG_LEVEL_INFO, + "Received reply from time server: differential fix on %d satellite(s)", + tempGPSTime.NSatellitesU8); + return 1; + default: + LogMessage(LOG_LEVEL_ERROR, + "Received reply from time server: unexpected fix quality parameter"); + return 0; + } + } + } while (timercmp(&tCurr, &tEnd, <)); + + LogMessage(LOG_LEVEL_WARNING, "Unable to connect to specified time server: %s:%d", name, port); + return 0; } -U32 TimeControlIPStringToInt(C8 *IP) -{ - C8 *p, *ps; - C8 Buffer[3]; - U32 IpU32 = 0; +U32 TimeControlIPStringToInt(C8 * IP) { + C8 *p, *ps; + C8 Buffer[3]; + U32 IpU32 = 0; - ps = IP; - p = strchr(IP,'.'); - if(p != NULL) - { - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; + ps = IP; + p = strchr(IP, '.'); + if (p != NULL) { + bzero(Buffer, 3); + strncpy(Buffer, ps, (U64) p - (U64) ps); + IpU32 = (IpU32 | (U32) atoi(Buffer)) << 8; - ps = p + 1; - p = strchr(ps,'.'); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + ps = p + 1; + p = strchr(ps, '.'); + bzero(Buffer, 3); + strncpy(Buffer, ps, (U64) p - (U64) ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; + IpU32 = (IpU32 | (U32) atoi(Buffer)) << 8; - ps = p + 1; - p = strchr(ps,'.'); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + ps = p + 1; + p = strchr(ps, '.'); + bzero(Buffer, 3); + strncpy(Buffer, ps, (U64) p - (U64) ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; + IpU32 = (IpU32 | (U32) atoi(Buffer)) << 8; - ps = p + 1; - p = strchr(ps, 0); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + ps = p + 1; + p = strchr(ps, 0); + bzero(Buffer, 3); + strncpy(Buffer, ps, (U64) p - (U64) ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)); + IpU32 = (IpU32 | (U32) atoi(Buffer)); - //printf("IpU32 = %x\n", IpU32); - } + //printf("IpU32 = %x\n", IpU32); + } - return IpU32; + return IpU32; } -static int TimeControlSendUDPData(int* sockfd, struct sockaddr_in* addr, C8* SendData, int Length, char debug) -{ - int result, i; +static int TimeControlSendUDPData(int *sockfd, struct sockaddr_in *addr, C8 * SendData, int Length, + char debug) { + int result, i; - result = sendto(*sockfd, SendData, Length, 0, (const struct sockaddr *) addr, sizeof(struct sockaddr_in)); + result = sendto(*sockfd, SendData, Length, 0, (const struct sockaddr *)addr, sizeof (struct sockaddr_in)); - if(debug) - { - // TODO: Change to log write when bytes thingy has been implemented - for(i = 0;i < Length; i ++) printf("[%d]=%x ", i, (C8)*(SendData+i)); - printf("\n"); - } + if (debug) { + // TODO: Change to log write when bytes thingy has been implemented + for (i = 0; i < Length; i++) + printf("[%d]=%x ", i, (C8) * (SendData + i)); + printf("\n"); + } - if (result < 0) - { - util_error("Failed to send on time socket"); - } + if (result < 0) { + util_error("Failed to send on time socket"); + } - return 0; + return 0; } -static void TimeControlRecvTime(int* sockfd, C8* buffer, int length, int* receivedNewData) -{ - int result; - *receivedNewData = 0; - do - { - result = recv(*sockfd, buffer, length, 0); - - if (result < 0) - { - // If we received a _real_ error, report it. Otherwise, nothing was received - if(errno != EAGAIN && errno != EWOULDBLOCK) - util_error("Failed to receive from time socket"); - else - return; - } - else if (result == 0) - { - // EOF received - LogMessage(LOG_LEVEL_ERROR,"Time server disconnected"); - *receivedNewData = 0; - return; - } - else - { - // If message size is equal to what is expected according to the format, keep reading until the newest has been read - if (result == length) - { - *receivedNewData = 1; - LogMessage(LOG_LEVEL_DEBUG,"Received data: <%s>, result=%d", buffer, result); - } - else - { - *receivedNewData = 0; - LogMessage(LOG_LEVEL_ERROR,"Received badly formatted message from time server"); - } - - } - } while (result > 0); - return; +static void TimeControlRecvTime(int *sockfd, C8 * buffer, int length, int *receivedNewData) { + int result; + + *receivedNewData = 0; + do { + result = recv(*sockfd, buffer, length, 0); + + if (result < 0) { + // If we received a _real_ error, report it. Otherwise, nothing was received + if (errno != EAGAIN && errno != EWOULDBLOCK) + util_error("Failed to receive from time socket"); + else + return; + } + else if (result == 0) { + // EOF received + LogMessage(LOG_LEVEL_ERROR, "Time server disconnected"); + *receivedNewData = 0; + return; + } + else { + // If message size is equal to what is expected according to the format, keep reading until the newest has been read + if (result == length) { + *receivedNewData = 1; + LogMessage(LOG_LEVEL_DEBUG, "Received data: <%s>, result=%d", buffer, result); + } + else { + *receivedNewData = 0; + LogMessage(LOG_LEVEL_ERROR, "Received badly formatted message from time server"); + } + + } + } while (result > 0); + return; } -static void TimeControlDecodeTimeBuffer(TimeType* GPSTime, C8* TimeBuffer, C8 debug) -{ - struct timeval tv; - gettimeofday(&tv, NULL); - - GPSTime->ProtocolVersionU8 = TimeBuffer[0]; - GPSTime->YearU16 = ((U16)TimeBuffer[1]) << 8 | TimeBuffer[2]; - GPSTime->MonthU8 = TimeBuffer[3]; - GPSTime->DayU8 = TimeBuffer[4]; - GPSTime->HourU8 = TimeBuffer[5]; - GPSTime->MinuteU8 = TimeBuffer[6]; - GPSTime->SecondU8 = TimeBuffer[7]; - GPSTime->MillisecondU16 = ((U16)TimeBuffer[8]) << 8 | TimeBuffer[9]; - GPSTime->MicroSecondU16 = 0; - GPSTime->SecondCounterU32 = ((U32)TimeBuffer[10]) << 24 | ((U32)TimeBuffer[11]) << 16 | ((U32)TimeBuffer[12]) << 8 | TimeBuffer[13]; - GPSTime->GPSMillisecondsU64 = ((U64)TimeBuffer[14]) << 56 | ((U64)TimeBuffer[15]) << 48 | ((U64)TimeBuffer[16]) << 40 | ((U64)TimeBuffer[17]) << 32 | - ((U64)TimeBuffer[18]) << 24 | ((U64)TimeBuffer[19]) << 16 | ((U64)TimeBuffer[20]) << 8 | TimeBuffer[21]; - GPSTime->GPSMinutesU32 = ((U32)TimeBuffer[22]) << 24 | ((U32)TimeBuffer[23]) << 16 | ((U32)TimeBuffer[24]) << 8 | TimeBuffer[25]; - GPSTime->GPSWeekU16 = ((U16)TimeBuffer[26]) << 8 | TimeBuffer[27]; - GPSTime->GPSSecondsOfWeekU32 = ((U32)TimeBuffer[28]) << 24 | ((U32)TimeBuffer[29]) << 16 | ((U32)TimeBuffer[30]) << 8 | TimeBuffer[31] + MS_LEAP_SEC_DIFF_UTC_GPS/1000; - GPSTime->GPSSecondsOfDayU32 = ((U32)TimeBuffer[32]) << 24 | ((U32)TimeBuffer[33]) << 16 | ((U32)TimeBuffer[34]) << 8 | TimeBuffer[35]; - GPSTime->ETSIMillisecondsU64 = ((U64)TimeBuffer[36]) << 56 | ((U64)TimeBuffer[37]) << 48 | ((U64)TimeBuffer[38]) << 40 | ((U64)TimeBuffer[39]) << 32 | - ((U64)TimeBuffer[40]) << 24 | ((U64)TimeBuffer[41]) << 16 | ((U64)TimeBuffer[42]) << 8 | TimeBuffer[43]; - GPSTime->LatitudeU32 = ((U32)TimeBuffer[44]) << 24 | ((U32)TimeBuffer[45]) << 16 | ((U32)TimeBuffer[46]) << 8 | TimeBuffer[47]; - GPSTime->LongitudeU32 = ((U32)TimeBuffer[48]) << 24 | ((U32)TimeBuffer[49]) << 16 | ((U32)TimeBuffer[50]) << 8 | TimeBuffer[51]; - GPSTime->FixQualityU8 = TimeBuffer[52]; - GPSTime->NSatellitesU8 = TimeBuffer[53]; - - gettimeofday(&tv, NULL); - - GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); - - GPSTime->isTimeInitializedU8 = 1; - - if (debug) - { - //TimeControlGetMillisecond(GPSTime); - //LogPrintBytes(TimeBuffer,0,TIME_CONTROL_RECEIVE_BUFFER_SIZE); - //LogPrint("ProtocolVersionU8: %d", GPSTime->ProtocolVersionU8); - //LogPrint("YearU16: %d", GPSTime->YearU16); - //LogPrint("MonthU8: %d", GPSTime->MonthU8); - //LogPrint("DayU8: %d", GPSTime->DayU8); - LogPrint("Time: %d:%d:%d", GPSTime->HourU8, GPSTime->MinuteU8, GPSTime->SecondU8); - //LogPrint("MinuteU8: %d", GPSTime->MinuteU8); - //LogPrint("SecondU8: %d", GPSTime->SecondU8); - //LogPrint("MillisecondU16: %d", GPSTime->MillisecondU16); - //LogPrint("SecondCounterU32: %d", GPSTime->SecondCounterU32); - //LogPrint("GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); - //LogPrint("GPSMinutesU32: %d", GPSTime->GPSMinutesU32); - //LogPrint("GPSWeekU16: %d", GPSTime->GPSWeekU16); - //LogPrint("GPSSecondsOfWeekU32: %d", GPSTime->GPSSecondsOfWeekU32); - //LogPrint("GPSSecondsOfDayU32: %d", GPSTime->GPSSecondsOfDayU32); - //LogPrint("ETSIMillisecondsU64: %ld", GPSTime->ETSIMillisecondsU64); - //LogPrint("LatitudeU32: %d", GPSTime->LatitudeU32); - //LogPrint("LongitudeU32: %d", GPSTime->LongitudeU32); - //LogPrint("LocalMillisecondU16: %d", GPSTime->LocalMillisecondU16); - //LogPrint("FixQualityU8: %d", GPSTime->FixQualityU8); - //LogPrint("NSatellitesU8: %d", GPSTime->NSatellitesU8); - } +static void TimeControlDecodeTimeBuffer(TimeType * GPSTime, C8 * TimeBuffer, C8 debug) { + struct timeval tv; + + gettimeofday(&tv, NULL); + + GPSTime->ProtocolVersionU8 = TimeBuffer[0]; + GPSTime->YearU16 = ((U16) TimeBuffer[1]) << 8 | TimeBuffer[2]; + GPSTime->MonthU8 = TimeBuffer[3]; + GPSTime->DayU8 = TimeBuffer[4]; + GPSTime->HourU8 = TimeBuffer[5]; + GPSTime->MinuteU8 = TimeBuffer[6]; + GPSTime->SecondU8 = TimeBuffer[7]; + GPSTime->MillisecondU16 = ((U16) TimeBuffer[8]) << 8 | TimeBuffer[9]; + GPSTime->MicroSecondU16 = 0; + GPSTime->SecondCounterU32 = + ((U32) TimeBuffer[10]) << 24 | ((U32) TimeBuffer[11]) << 16 | ((U32) TimeBuffer[12]) << 8 | + TimeBuffer[13]; + GPSTime->GPSMillisecondsU64 = + ((U64) TimeBuffer[14]) << 56 | ((U64) TimeBuffer[15]) << 48 | ((U64) TimeBuffer[16]) << 40 | ((U64) + TimeBuffer + [17]) << + 32 | ((U64) TimeBuffer[18]) << 24 | ((U64) TimeBuffer[19]) << 16 | ((U64) TimeBuffer[20]) << 8 | + TimeBuffer[21]; + GPSTime->GPSMinutesU32 = + ((U32) TimeBuffer[22]) << 24 | ((U32) TimeBuffer[23]) << 16 | ((U32) TimeBuffer[24]) << 8 | + TimeBuffer[25]; + GPSTime->GPSWeekU16 = ((U16) TimeBuffer[26]) << 8 | TimeBuffer[27]; + GPSTime->GPSSecondsOfWeekU32 = + ((U32) TimeBuffer[28]) << 24 | ((U32) TimeBuffer[29]) << 16 | ((U32) TimeBuffer[30]) << 8 | + TimeBuffer[31] + MS_LEAP_SEC_DIFF_UTC_GPS / 1000; + GPSTime->GPSSecondsOfDayU32 = + ((U32) TimeBuffer[32]) << 24 | ((U32) TimeBuffer[33]) << 16 | ((U32) TimeBuffer[34]) << 8 | + TimeBuffer[35]; + GPSTime->ETSIMillisecondsU64 = + ((U64) TimeBuffer[36]) << 56 | ((U64) TimeBuffer[37]) << 48 | ((U64) TimeBuffer[38]) << 40 | ((U64) + TimeBuffer + [39]) << + 32 | ((U64) TimeBuffer[40]) << 24 | ((U64) TimeBuffer[41]) << 16 | ((U64) TimeBuffer[42]) << 8 | + TimeBuffer[43]; + GPSTime->LatitudeU32 = + ((U32) TimeBuffer[44]) << 24 | ((U32) TimeBuffer[45]) << 16 | ((U32) TimeBuffer[46]) << 8 | + TimeBuffer[47]; + GPSTime->LongitudeU32 = + ((U32) TimeBuffer[48]) << 24 | ((U32) TimeBuffer[49]) << 16 | ((U32) TimeBuffer[50]) << 8 | + TimeBuffer[51]; + GPSTime->FixQualityU8 = TimeBuffer[52]; + GPSTime->NSatellitesU8 = TimeBuffer[53]; + + gettimeofday(&tv, NULL); + + GPSTime->LocalMillisecondU16 = (U16) (tv.tv_usec / 1000); + + GPSTime->isTimeInitializedU8 = 1; + + if (debug) { + //TimeControlGetMillisecond(GPSTime); + //LogPrintBytes(TimeBuffer,0,TIME_CONTROL_RECEIVE_BUFFER_SIZE); + //LogPrint("ProtocolVersionU8: %d", GPSTime->ProtocolVersionU8); + //LogPrint("YearU16: %d", GPSTime->YearU16); + //LogPrint("MonthU8: %d", GPSTime->MonthU8); + //LogPrint("DayU8: %d", GPSTime->DayU8); + LogPrint("Time: %d:%d:%d", GPSTime->HourU8, GPSTime->MinuteU8, GPSTime->SecondU8); + //LogPrint("MinuteU8: %d", GPSTime->MinuteU8); + //LogPrint("SecondU8: %d", GPSTime->SecondU8); + //LogPrint("MillisecondU16: %d", GPSTime->MillisecondU16); + //LogPrint("SecondCounterU32: %d", GPSTime->SecondCounterU32); + //LogPrint("GPSMillisecondsU64: %ld", GPSTime->GPSMillisecondsU64); + //LogPrint("GPSMinutesU32: %d", GPSTime->GPSMinutesU32); + //LogPrint("GPSWeekU16: %d", GPSTime->GPSWeekU16); + //LogPrint("GPSSecondsOfWeekU32: %d", GPSTime->GPSSecondsOfWeekU32); + //LogPrint("GPSSecondsOfDayU32: %d", GPSTime->GPSSecondsOfDayU32); + //LogPrint("ETSIMillisecondsU64: %ld", GPSTime->ETSIMillisecondsU64); + //LogPrint("LatitudeU32: %d", GPSTime->LatitudeU32); + //LogPrint("LongitudeU32: %d", GPSTime->LongitudeU32); + //LogPrint("LocalMillisecondU16: %d", GPSTime->LocalMillisecondU16); + //LogPrint("FixQualityU8: %d", GPSTime->FixQualityU8); + //LogPrint("NSatellitesU8: %d", GPSTime->NSatellitesU8); + } } diff --git a/server/src/usercontrol.c b/server/src/usercontrol.c index 36551e531..43023bafe 100755 --- a/server/src/usercontrol.c +++ b/server/src/usercontrol.c @@ -60,39 +60,43 @@ typedef enum { - idle_0, status_0, arm_0, start_1, stop_0, abort_0, replay_1, control_0, exit_0, cx_0, cc_0, - cp_0, sb_0, cb_0, tp_0, tsp_1, sx_0, sc_0, help_0, tosem_0, tstrt_0, tdopm_0, - tmonr_0, disarm_0, tt_0, nocommand + idle_0, status_0, arm_0, start_1, stop_0, abort_0, replay_1, control_0, exit_0, cx_0, cc_0, + cp_0, sb_0, cb_0, tp_0, tsp_1, sx_0, sc_0, help_0, tosem_0, tstrt_0, tdopm_0, + tmonr_0, disarm_0, tt_0, nocommand } UserControlCommand_t; -const char* UserControlCommandsArr[] = { - "idle_0", "status_0", "arm_0", "start_1", "stop_0", "abort_0", "replay_1", "control_0", "exit_0", "cx_0", "cc_0", - "cp_0", "sb_0", "cb_0", "tp_0", "tsp_1", "sx_0", "sc_0", "help_0", "tosem_0", "tstrt_0", "tdopm_0", - "tmonr_0", "disarm_0", "tt_0"}; + +const char *UserControlCommandsArr[] = { + "idle_0", "status_0", "arm_0", "start_1", "stop_0", "abort_0", "replay_1", "control_0", "exit_0", "cx_0", + "cc_0", + "cp_0", "sb_0", "cb_0", "tp_0", "tsp_1", "sx_0", "sc_0", "help_0", "tosem_0", "tstrt_0", "tdopm_0", + "tmonr_0", "disarm_0", "tt_0" +}; + UserControlCommand_t PreviousUserControlCommand = nocommand; char UserControlCommandArgCnt[USER_CONTROL_ARG_COUNT]; char UserControlStrippedCommand[USER_CONTROL_COMMAND_MAX_LENGTH]; UserControlCommand_t UserControlCommand = idle_0; -int CommandArgCount=0, CurrentCommandArgCount=0; -char SendBuffer[IPC_BUFFER_SIZE*2]; -char RecordBuffer[IPC_BUFFER_SIZE*2]; +int CommandArgCount = 0, CurrentCommandArgCount = 0; +char SendBuffer[IPC_BUFFER_SIZE * 2]; +char RecordBuffer[IPC_BUFFER_SIZE * 2]; char *SendBufferPtr; /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -UserControlCommand_t UserControlFindCommand(const char* CommandBuffer, UserControlCommand_t *CurrentCommand, int *ArgCount); +UserControlCommand_t UserControlFindCommand(const char *CommandBuffer, UserControlCommand_t * CurrentCommand, + int *ArgCount); void UserControlResetInputVariables(); -static void UserControlConnectServer(int* sockfd, const char* name, const uint32_t port); -static void UserControlSendString(const char* command, int* sockfd); -static void UserControlDisconnectObject(int* sockfd); +static void UserControlConnectServer(int *sockfd, const char *name, const uint32_t port); +static void UserControlSendString(const char *command, int *sockfd); +static void UserControlDisconnectObject(int *sockfd); /*------------------------------------------------------------ -- The main function. ------------------------------------------------------------*/ -int main(int argc, char *argv[]) -{ +int main(int argc, char *argv[]) { char pcBuffer[IPC_BUFFER_SIZE]; char inchr; @@ -101,8 +105,9 @@ int main(int argc, char *argv[]) int iExit = 0; ObjectPosition OP; + SendBufferPtr = SendBuffer; - bzero(SendBuffer,IPC_BUFFER_SIZE*2); + bzero(SendBuffer, IPC_BUFFER_SIZE * 2); char Id[2]; char Timestamp[20]; @@ -115,507 +120,503 @@ int main(int argc, char *argv[]) char StatusFlag[2]; char Buffer[100]; - unsigned char TestBuffer[] = {7,200,65,36,135,231,3,111,230,191,0,190,10,254,0,0,86,195,44,236,1,104,0,6}; + unsigned char TestBuffer[] = + { 7, 200, 65, 36, 135, 231, 3, 111, 230, 191, 0, 190, 10, 254, 0, 0, 86, 195, 44, 236, 1, 104, 0, 6 }; char MessageBuffer[100]; - int MessageLength,j; + int MessageLength, j; int RowCount, i, Rest; - char TrajBuffer[COMMAND_DOTM_ROWS_IN_TRANSMISSION*COMMAND_DOTM_ROW_MESSAGE_LENGTH + COMMAND_MESSAGE_HEADER_LENGTH]; + char TrajBuffer[COMMAND_DOTM_ROWS_IN_TRANSMISSION * COMMAND_DOTM_ROW_MESSAGE_LENGTH + + COMMAND_MESSAGE_HEADER_LENGTH]; FILE *fd; - int socketfd=-1; + int socketfd = -1; char object_address_name[50]; - bzero(object_address_name,50); + + bzero(object_address_name, 50); uint32_t object_tcp_port = USER_CONTROL_SYSTEM_CONTROL_PORT; OSEMType OSEMData; MONRType MONRData; - if (argc > 1) - { + if (argc > 1) { strcat(object_address_name, argv[1]); - } - else - { + } + else { strcat(object_address_name, USER_CONTROL_SYSTEM_CONTROL_IP); } - if (argc > 2) - { - object_tcp_port = atoi(argv[2]); - } + if (argc > 2) { + object_tcp_port = atoi(argv[2]); + } - printf("Connecting to server... %s %d \n",object_address_name,object_tcp_port); + printf("Connecting to server... %s %d \n", object_address_name, object_tcp_port); - j = 0; + j = 0; UserControlConnectServer(&socketfd, object_address_name, object_tcp_port); - if (socketfd >= 0) - { - printf("Client is connected.\n"); - while(!iExit) - { - bzero(pcBuffer,IPC_BUFFER_SIZE); - scanf("%49s",pcBuffer); - - if( strcmp(pcBuffer, "cc") != 0 && + if (socketfd >= 0) { + printf("Client is connected.\n"); + while (!iExit) { + bzero(pcBuffer, IPC_BUFFER_SIZE); + scanf("%49s", pcBuffer); + + if (strcmp(pcBuffer, "cc") != 0 && strcmp(pcBuffer, "cx") != 0 && strcmp(pcBuffer, "cp") != 0 && strcmp(pcBuffer, "sb") != 0 && strcmp(pcBuffer, "help") != 0 && - strcmp(pcBuffer, "cb") != 0 && - strcmp(pcBuffer, "sx") != 0 && - strcmp(pcBuffer, "sc") != 0) - { + strcmp(pcBuffer, "cb") != 0 && strcmp(pcBuffer, "sx") != 0 && strcmp(pcBuffer, "sc") != 0) { strncat(SendBufferPtr, pcBuffer, strlen(pcBuffer)); SendBuffer[strlen(SendBuffer)] = 32; SendBufferPtr = SendBuffer + strlen(SendBuffer); - bzero(RecordBuffer, IPC_BUFFER_SIZE*2); + bzero(RecordBuffer, IPC_BUFFER_SIZE * 2); strncpy(RecordBuffer, SendBuffer, strlen(SendBuffer)); } UserControlFindCommand(pcBuffer, &UserControlCommand, &CommandArgCount); - switch(UserControlCommand) - { - case idle_0: - CurrentCommandArgCount = 0; - break; - case status_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); + switch (UserControlCommand) { + case idle_0: + CurrentCommandArgCount = 0; break; - case arm_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); + case status_0: + UserControlSendString(SendBuffer, &socketfd); + UserControlResetInputVariables(); break; - case disarm_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); + case arm_0: + UserControlSendString(SendBuffer, &socketfd); + UserControlResetInputVariables(); break; - case start_1: - if(CurrentCommandArgCount == CommandArgCount) - { - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - } else CurrentCommandArgCount ++; + case disarm_0: + UserControlSendString(SendBuffer, &socketfd); + UserControlResetInputVariables(); break; - case stop_0: + case start_1: + if (CurrentCommandArgCount == CommandArgCount) { UserControlSendString(SendBuffer, &socketfd); UserControlResetInputVariables(); + } + else + CurrentCommandArgCount++; break; - case abort_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case replay_1: - if(CurrentCommandArgCount == CommandArgCount) - { - if(!strcmp(pcBuffer,"-help")) - { - UserControlSendString(SendBuffer, &socketfd); - } - else - { - UserControlSendString(SendBuffer, &socketfd); - } - UserControlResetInputVariables(); - } else CurrentCommandArgCount ++; + case stop_0: + UserControlSendString(SendBuffer, &socketfd); + UserControlResetInputVariables(); break; - case control_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); + case abort_0: + UserControlSendString(SendBuffer, &socketfd); + UserControlResetInputVariables(); break; - case exit_0: - iExit = 1; - UserControlSendString(SendBuffer, &socketfd); + case replay_1: + if (CurrentCommandArgCount == CommandArgCount) { + if (!strcmp(pcBuffer, "-help")) { + UserControlSendString(SendBuffer, &socketfd); + } + else { + UserControlSendString(SendBuffer, &socketfd); + } UserControlResetInputVariables(); + } + else + CurrentCommandArgCount++; break; - case cx_0: - UserControlSendString("cx", &socketfd); - UserControlResetInputVariables(); + case control_0: + UserControlSendString(SendBuffer, &socketfd); + UserControlResetInputVariables(); break; - case cc_0: - UserControlSendString("cc", &socketfd); - printf("Sendbuffer: %s\n", SendBuffer); - printf("Recordbuffer: %s\n", RecordBuffer); - UserControlCommand = PreviousUserControlCommand; + case exit_0: + iExit = 1; + UserControlSendString(SendBuffer, &socketfd); + UserControlResetInputVariables(); break; - case cp_0: - UserControlResetInputVariables(); - strncpy(SendBuffer, RecordBuffer, strlen(RecordBuffer)); - printf("Copy recorded buffer to send buffer\n"); + case cx_0: + UserControlSendString("cx", &socketfd); + UserControlResetInputVariables(); break; - case sb_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); + case cc_0: + UserControlSendString("cc", &socketfd); + printf("Sendbuffer: %s\n", SendBuffer); + printf("Recordbuffer: %s\n", RecordBuffer); + UserControlCommand = PreviousUserControlCommand; break; - case tt_0: - gettimeofday(&tvTime, NULL); - uint64_t uiTime = (uint64_t)tvTime.tv_sec*1000 + (uint64_t)tvTime.tv_usec/1000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; - printf("Time: %lx\n",uiTime ); - printf("Time: %ld\n",uiTime ); - - clock_gettime(CLOCK_MONOTONIC_RAW, &tTime); - uiTime = (uint64_t)tTime.tv_sec*1000L + (uint64_t)tTime.tv_nsec/1000000L - (uint64_t)MS_FROM_1970_TO_2004_NO_LEAP_SECS + (uint64_t)DIFF_LEAP_SECONDS_UTC_ETSI*1000; - printf("Time: %lx\n",uiTime ); - printf("Time: %ld\n",uiTime ); + case cp_0: + UserControlResetInputVariables(); + strncpy(SendBuffer, RecordBuffer, strlen(RecordBuffer)); + printf("Copy recorded buffer to send buffer\n"); + break; + case sb_0: + UserControlSendString(SendBuffer, &socketfd); + UserControlResetInputVariables(); + break; + case tt_0: + gettimeofday(&tvTime, NULL); + uint64_t uiTime = + (uint64_t) tvTime.tv_sec * 1000 + (uint64_t) tvTime.tv_usec / 1000 - + MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI * 1000; + printf("Time: %lx\n", uiTime); + printf("Time: %ld\n", uiTime); + + clock_gettime(CLOCK_MONOTONIC_RAW, &tTime); + uiTime = + (uint64_t) tTime.tv_sec * 1000L + (uint64_t) tTime.tv_nsec / 1000000L - + (uint64_t) MS_FROM_1970_TO_2004_NO_LEAP_SECS + + (uint64_t) DIFF_LEAP_SECONDS_UTC_ETSI *1000; + printf("Time: %lx\n", uiTime); + printf("Time: %ld\n", uiTime); + + UserControlResetInputVariables(); + break; + case tp_0: + //UserControlCommand = idle_0; + // UtilCalcPositionDelta(57.6626302333,12.1056869167,57.6626269972, 12.1057250694, &OP); + //‭429.4967295‬ + //57,7773716 + UtilCalcPositionDelta(57.7773716086, 12.7804629583, 57.7773716000, 12.7804629000, &OP); + //UtilCalcPositionDelta(57.7773716086, 12.7804629583 ,57.7782802000, 12.7807861000, &OP); + //UtilCalcPositionDelta(57.7773298066,12.7818834416,57.777329775, 12.7818832583, &OP); + //UtilCalcPositionDelta(57.7771230833333,12.78156473, 57.777711,12.780829, &OP); + //UtilCalcPositionDelta(57.777360,12.780472, 57.777711,12.780829, &OP); + + // UtilCalcPositionDelta(57.7773716086,12.7804629583,57.7773717086, 12.7804630583, &OP); + printf + ("(57.7773716086, 12.7804629583 ,57.7773716000, 12.7804629000) => Calc d = %4.4f m, iterations = %d\n", + OP.OrigoDistance, OP.CalcIterations); + printf("Latitude = %3.10f \n", OP.Latitude); + printf("Longitude = %3.10f\n", OP.Longitude); + printf("ForwardAzimuth1 = %3.10f \n", OP.ForwardAzimuth1); + printf("ForwardAzimuth2 = %3.10f\n", OP.ForwardAzimuth2); + printf("DeltaForwardAzimuth = %3.15f \n", OP.ForwardAzimuth1 - OP.ForwardAzimuth2); + printf("x = %4.15lf\n", OP.x); + printf("y = %4.15lf\n", OP.y); + + //printf("d = 0.590 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626340000,12.1056979028,57.6626332417, 12.1057076556)); + //printf("d = 2.643 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626378750,12.1056752083,57.6626339472, 12.1057190472)); + //printf("d = 1.901 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626295889,12.1056851083,57.6626267528, 12.1057165278)); + //printf("d = 1.453 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626295444,12.1056859139,57.6626273222, 12.1057100556)); + UserControlResetInputVariables(); - UserControlResetInputVariables(); break; - case tp_0: - //UserControlCommand = idle_0; - // UtilCalcPositionDelta(57.6626302333,12.1056869167,57.6626269972, 12.1057250694, &OP); - //‭429.4967295‬ - //57,7773716 - UtilCalcPositionDelta(57.7773716086, 12.7804629583 ,57.7773716000, 12.7804629000, &OP); - //UtilCalcPositionDelta(57.7773716086, 12.7804629583 ,57.7782802000, 12.7807861000, &OP); - //UtilCalcPositionDelta(57.7773298066,12.7818834416,57.777329775, 12.7818832583, &OP); - //UtilCalcPositionDelta(57.7771230833333,12.78156473, 57.777711,12.780829, &OP); - //UtilCalcPositionDelta(57.777360,12.780472, 57.777711,12.780829, &OP); - - // UtilCalcPositionDelta(57.7773716086,12.7804629583,57.7773717086, 12.7804630583, &OP); - printf("(57.7773716086, 12.7804629583 ,57.7773716000, 12.7804629000) => Calc d = %4.4f m, iterations = %d\n", OP.OrigoDistance, OP.CalcIterations); + case tsp_1: + if (CurrentCommandArgCount == 1) { + if (!strcmp(pcBuffer, "-help")) { + //printf("-----TEST SYNCHRONIZATION POINT FUNCTIONS-----\n"); + //printf("The function returns the time until reaching a specific position in the trajectory.\n"); + //printf("Arguments: 1\n"); + //printf("Syntax: tsp something\n"); + //printf("Ex: ftp traj/traj.txt 45.568 -80.445 0\n"); + //printf("Ex: tsp \n"); + } + } + + if (CurrentCommandArgCount == CommandArgCount) { + FILE *Trajfd; + + Trajfd = fopen("traj/192.168.0.119", "r"); + + OP.TrajectoryPositionCount = UtilCountFileRows(Trajfd) - 2; + float SpaceArr[OP.TrajectoryPositionCount]; + float TimeArr[OP.TrajectoryPositionCount]; + SpaceTime SpaceTimeArr[OP.TrajectoryPositionCount]; + + fclose(Trajfd); + OP.SpaceArr = SpaceArr; + OP.TimeArr = TimeArr; + OP.SpaceTimeArr = SpaceTimeArr; + + //15.293, 57.7773600000, 12.7804720000 ,57.7776729000, 12.7809877000 + //26.191, 57.7773600000, 12.7804720000 ,57.7774683000, 12.7818468000 + //26.168, 57.7773600000, 12.7804720000 ,57.7774671000, 12.7818475000 + //2.599, 57.7773600, 12.7804720 ,57.7776768, 12.7808503 + //2.577, 57.7773600, 12.7804720 ,57.7776776, 12.7808498 + //2.551, 57.7773600, 12.7804720 ,57.7776784, 12.7808493 + //5.602, 57.7773600, 12.7804720 ,57.7775458, 12.7809363 + //35.220, 57.7773600, 12.7804720 ,57.7778226, 12.7814385 + //25.505, 57.7773600, 12.7804720 ,57.7774398, 12.7817521 + //21.389, 57.7773600, 12.7804720 ,57.7772277, 12.7819276 + //19.2, 57.7773600, 12.7804720 ,57.7771761, 12.7817484 + //19.464, 57.7773600, 12.7804720 ,57.7771804, 12.7817730 + //19.273, 57.7773600, 12.7804720 ,57.7771772, 12.7817548 + + double CurrentTime = 19.273; + + UtilCalcPositionDelta(57.7773600, 12.7804720, 57.7771772, 12.7817548, &OP); //2 + + printf("Calc d = %4.4f m, iterations = %d\n", OP.OrigoDistance, OP.CalcIterations); printf("Latitude = %3.10f \n", OP.Latitude); printf("Longitude = %3.10f\n", OP.Longitude); printf("ForwardAzimuth1 = %3.10f \n", OP.ForwardAzimuth1); printf("ForwardAzimuth2 = %3.10f\n", OP.ForwardAzimuth2); - printf("DeltaForwardAzimuth = %3.15f \n", OP.ForwardAzimuth1-OP.ForwardAzimuth2); + printf("DeltaForwardAzimuth = %3.15f \n", OP.ForwardAzimuth1 - OP.ForwardAzimuth2); printf("x = %4.15lf\n", OP.x); printf("y = %4.15lf\n", OP.y); - //printf("d = 0.590 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626340000,12.1056979028,57.6626332417, 12.1057076556)); - //printf("d = 2.643 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626378750,12.1056752083,57.6626339472, 12.1057190472)); - //printf("d = 1.901 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626295889,12.1056851083,57.6626267528, 12.1057165278)); - //printf("d = 1.453 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626295444,12.1056859139,57.6626273222, 12.1057100556)); - UserControlResetInputVariables(); + if (OP.OrigoDistance > -1) { + + UtilPopulateSpaceTimeArr(&OP, "traj/192.168.0.119"); + UtilSetSyncPoint(&OP, 0, 0, 0, 36.5); + if (OP.SyncIndex > -1) { + printf("Sync point found=%4.3f, Time=%4.3f, Index=%d\n", + OP.SpaceArr[OP.SyncIndex], OP.TimeArr[OP.SyncIndex], OP.SyncIndex); + UtilFindCurrentTrajectoryPosition(&OP, 0, CurrentTime, 1.75, 2.5, 2); //2 + + if (OP.BestFoundTrajectoryIndex > -1 && OP.SyncIndex > -1) { + printf("\nCurrent origo distance=%4.3f m\n", OP.OrigoDistance); + printf("Matched origo distance=%4.3f m\n", + OP.SpaceArr[OP.BestFoundTrajectoryIndex]); + printf("Distance error=%4.3f m\n", + OP.OrigoDistance - OP.SpaceArr[OP.BestFoundTrajectoryIndex]); + printf("Current time=%4.3f s\n", CurrentTime); + printf("Expected time=%4.3f s (index=%d)\n", + OP.TimeArr[OP.BestFoundTrajectoryIndex], OP.BestFoundTrajectoryIndex); + printf("Time error=%4.3f s\n", + CurrentTime - OP.TimeArr[OP.BestFoundTrajectoryIndex]); + //printf("Time to sync point = %4.3f s\n", fabs(UtilCalculateTimeToSync(&OP) - (CurrentTime - OP.TimeArr[OP.BestFoundTrajectoryIndex]))); + printf("Time to sync point = %4.3f\n", UtilCalculateTimeToSync(&OP)); + printf("x=%4.3f m\n", OP.x); + printf("y=%4.3f m\n", OP.y); + } + else if (OP.BestFoundTrajectoryIndex == -1) { + printf("No trajectory position found.\n"); + } + else if (OP.BestFoundTrajectoryIndex == -2) { + printf("Master not in time\n"); + } - break; - case tsp_1: - if(CurrentCommandArgCount == 1) - { - if(!strcmp(pcBuffer,"-help")) - { - //printf("-----TEST SYNCHRONIZATION POINT FUNCTIONS-----\n"); - //printf("The function returns the time until reaching a specific position in the trajectory.\n"); - //printf("Arguments: 1\n"); - //printf("Syntax: tsp something\n"); - //printf("Ex: ftp traj/traj.txt 45.568 -80.445 0\n"); - //printf("Ex: tsp \n"); } + else + printf("Failed to find sync point!\n"); } - - if(CurrentCommandArgCount == CommandArgCount) - { - FILE *Trajfd; - - Trajfd = fopen ("traj/192.168.0.119", "r"); - - OP.TrajectoryPositionCount = UtilCountFileRows(Trajfd) - 2; - float SpaceArr[OP.TrajectoryPositionCount]; - float TimeArr[OP.TrajectoryPositionCount]; - SpaceTime SpaceTimeArr[OP.TrajectoryPositionCount]; - fclose(Trajfd); - OP.SpaceArr = SpaceArr; - OP.TimeArr = TimeArr; - OP.SpaceTimeArr = SpaceTimeArr; - - //15.293, 57.7773600000, 12.7804720000 ,57.7776729000, 12.7809877000 - //26.191, 57.7773600000, 12.7804720000 ,57.7774683000, 12.7818468000 - //26.168, 57.7773600000, 12.7804720000 ,57.7774671000, 12.7818475000 - //2.599, 57.7773600, 12.7804720 ,57.7776768, 12.7808503 - //2.577, 57.7773600, 12.7804720 ,57.7776776, 12.7808498 - //2.551, 57.7773600, 12.7804720 ,57.7776784, 12.7808493 - //5.602, 57.7773600, 12.7804720 ,57.7775458, 12.7809363 - //35.220, 57.7773600, 12.7804720 ,57.7778226, 12.7814385 - //25.505, 57.7773600, 12.7804720 ,57.7774398, 12.7817521 - //21.389, 57.7773600, 12.7804720 ,57.7772277, 12.7819276 - //19.2, 57.7773600, 12.7804720 ,57.7771761, 12.7817484 - //19.464, 57.7773600, 12.7804720 ,57.7771804, 12.7817730 - //19.273, 57.7773600, 12.7804720 ,57.7771772, 12.7817548 - - double CurrentTime = 19.273; - UtilCalcPositionDelta(57.7773600, 12.7804720 ,57.7771772, 12.7817548, &OP); //2 - - printf("Calc d = %4.4f m, iterations = %d\n", OP.OrigoDistance, OP.CalcIterations); - printf("Latitude = %3.10f \n", OP.Latitude); - printf("Longitude = %3.10f\n", OP.Longitude); - printf("ForwardAzimuth1 = %3.10f \n", OP.ForwardAzimuth1); - printf("ForwardAzimuth2 = %3.10f\n", OP.ForwardAzimuth2); - printf("DeltaForwardAzimuth = %3.15f \n", OP.ForwardAzimuth1-OP.ForwardAzimuth2); - printf("x = %4.15lf\n", OP.x); - printf("y = %4.15lf\n", OP.y); - - if(OP.OrigoDistance > -1) - { - - UtilPopulateSpaceTimeArr(&OP, "traj/192.168.0.119"); - UtilSetSyncPoint(&OP, 0, 0, 0, 36.5); - if (OP.SyncIndex > -1) - { - printf("Sync point found=%4.3f, Time=%4.3f, Index=%d\n", OP.SpaceArr[OP.SyncIndex], OP.TimeArr[OP.SyncIndex], OP.SyncIndex); - UtilFindCurrentTrajectoryPosition(&OP, 0, CurrentTime, 1.75, 2.5, 2); //2 - - if(OP.BestFoundTrajectoryIndex > -1 && OP.SyncIndex > -1) - { - printf("\nCurrent origo distance=%4.3f m\n", OP.OrigoDistance); - printf("Matched origo distance=%4.3f m\n", OP.SpaceArr[OP.BestFoundTrajectoryIndex]); - printf("Distance error=%4.3f m\n", OP.OrigoDistance - OP.SpaceArr[OP.BestFoundTrajectoryIndex]); - printf("Current time=%4.3f s\n", CurrentTime); - printf("Expected time=%4.3f s (index=%d)\n", OP.TimeArr[OP.BestFoundTrajectoryIndex], OP.BestFoundTrajectoryIndex); - printf("Time error=%4.3f s\n", CurrentTime - OP.TimeArr[OP.BestFoundTrajectoryIndex]); - //printf("Time to sync point = %4.3f s\n", fabs(UtilCalculateTimeToSync(&OP) - (CurrentTime - OP.TimeArr[OP.BestFoundTrajectoryIndex]))); - printf("Time to sync point = %4.3f\n", UtilCalculateTimeToSync(&OP)); - printf("x=%4.3f m\n", OP.x); - printf("y=%4.3f m\n", OP.y); - } - else if(OP.BestFoundTrajectoryIndex == -1) - { - printf("No trajectory position found.\n"); - } - else if(OP.BestFoundTrajectoryIndex == -2) - { - printf("Master not in time\n"); - } - - } else printf("Failed to find sync point!\n"); - } else printf("Distance calculation to origo failed to converge.\n"); - UserControlResetInputVariables(); - } else CurrentCommandArgCount ++; - break; - case sc_0: - UserControlConnectServer(&socketfd, object_address_name, object_tcp_port); + else + printf("Distance calculation to origo failed to converge.\n"); UserControlResetInputVariables(); + } + else + CurrentCommandArgCount++; break; - case sx_0: - UserControlDisconnectObject(&socketfd); - close(socketfd); - socketfd = -1; - UserControlResetInputVariables(); + case sc_0: + UserControlConnectServer(&socketfd, object_address_name, object_tcp_port); + UserControlResetInputVariables(); break; - case tosem_0: - /*MessageLength = ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, - UtilSearchTextFile("conf/test.conf", "OrigoLatitude=", "", Latitude), - UtilSearchTextFile("conf/test.conf", "OrigoLongitude=", "", Longitude), - UtilSearchTextFile("conf/test.conf", "OrigoAltitude=", "", Altitude), - UtilSearchTextFile("conf/test.conf", "OrigoHeading=", "", Heading), - 1); - */ - UserControlResetInputVariables(); + case sx_0: + UserControlDisconnectObject(&socketfd); + close(socketfd); + socketfd = -1; + UserControlResetInputVariables(); break; - case tstrt_0: - //MessageLength = ObjectControlBuildSTRTMessage(MessageBuffer, 1, 1024, 1); - UserControlResetInputVariables(); + case tosem_0: + /*MessageLength = ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, + UtilSearchTextFile("conf/test.conf", "OrigoLatitude=", "", Latitude), + UtilSearchTextFile("conf/test.conf", "OrigoLongitude=", "", Longitude), + UtilSearchTextFile("conf/test.conf", "OrigoAltitude=", "", Altitude), + UtilSearchTextFile("conf/test.conf", "OrigoHeading=", "", Heading), + 1); + */ + UserControlResetInputVariables(); break; - case tdopm_0: - fd = fopen ("traj/195.0.0.10", "r"); - RowCount = UtilCountFileRows(fd) - 1; - fclose (fd); - - //MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount-1, 1); - //MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, 2, 1); - /*Send DOTM header*/ - - fd = fopen ("traj/195.0.0.10", "r"); - UtilReadLineCntSpecChars(fd, TrajBuffer);//Read first line - Rest = 0, i = 0; - do - { - Rest = RowCount - COMMAND_DOTM_ROWS_IN_TRANSMISSION; - RowCount = RowCount - COMMAND_DOTM_ROWS_IN_TRANSMISSION; - if(Rest >= COMMAND_DOTM_ROWS_IN_TRANSMISSION) - { - //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, COMMAND_DOTM_ROWS_IN_TRANSMISSION, 0); - //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, 2, 1); - } - else - { - //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, Rest, 0); - } - printf("Transmission %d: %d bytes left to send.\n", ++i, Rest*COMMAND_DOTM_ROW_MESSAGE_LENGTH); + case tstrt_0: + //MessageLength = ObjectControlBuildSTRTMessage(MessageBuffer, 1, 1024, 1); + UserControlResetInputVariables(); + break; + case tdopm_0: + fd = fopen("traj/195.0.0.10", "r"); + RowCount = UtilCountFileRows(fd) - 1; + fclose(fd); + + //MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount-1, 1); + //MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, 2, 1); + /*Send DOTM header */ + + fd = fopen("traj/195.0.0.10", "r"); + UtilReadLineCntSpecChars(fd, TrajBuffer); //Read first line + Rest = 0, i = 0; + do { + Rest = RowCount - COMMAND_DOTM_ROWS_IN_TRANSMISSION; + RowCount = RowCount - COMMAND_DOTM_ROWS_IN_TRANSMISSION; + if (Rest >= COMMAND_DOTM_ROWS_IN_TRANSMISSION) { + //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, COMMAND_DOTM_ROWS_IN_TRANSMISSION, 0); + //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, 2, 1); + } + else { + //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, Rest, 0); + } + printf("Transmission %d: %d bytes left to send.\n", ++i, + Rest * COMMAND_DOTM_ROW_MESSAGE_LENGTH); - /*Send DOTM data*/ + /*Send DOTM data */ - } while (Rest >= COMMAND_DOTM_ROWS_IN_TRANSMISSION /*i < 2*/); + } while (Rest >= COMMAND_DOTM_ROWS_IN_TRANSMISSION /*i < 2 */ ); - fclose (fd); - UserControlResetInputVariables(); + fclose(fd); + UserControlResetInputVariables(); break; - case tmonr_0: - //ObjectControlMONRToASCII(TestBuffer, 1, Id, Timestamp, Latitude, Longitude, Altitude, Speed, Heading, DriveDirection, StatusFlag, 1); - bzero(Buffer,100); - strcat(Buffer,Timestamp); - strcat(Buffer,";"); - strcat(Buffer,Latitude); - strcat(Buffer,";"); - strcat(Buffer,Longitude); - strcat(Buffer,";"); - strcat(Buffer,Altitude); - strcat(Buffer,";"); - strcat(Buffer,Speed); - strcat(Buffer,";"); - strcat(Buffer,Heading); - strcat(Buffer,";"); - strcat(Buffer,DriveDirection); - strcat(Buffer,";"); - //strcat(Buffer,StatusFlag); - //strcat(Buffer,";"); - printf("MONR message: %s\n", Buffer); - UserControlResetInputVariables(); - break; - case cb_0: - bzero(RecordBuffer, IPC_BUFFER_SIZE*2); + case tmonr_0: + //ObjectControlMONRToASCII(TestBuffer, 1, Id, Timestamp, Latitude, Longitude, Altitude, Speed, Heading, DriveDirection, StatusFlag, 1); + bzero(Buffer, 100); + strcat(Buffer, Timestamp); + strcat(Buffer, ";"); + strcat(Buffer, Latitude); + strcat(Buffer, ";"); + strcat(Buffer, Longitude); + strcat(Buffer, ";"); + strcat(Buffer, Altitude); + strcat(Buffer, ";"); + strcat(Buffer, Speed); + strcat(Buffer, ";"); + strcat(Buffer, Heading); + strcat(Buffer, ";"); + strcat(Buffer, DriveDirection); + strcat(Buffer, ";"); + //strcat(Buffer,StatusFlag); + //strcat(Buffer,";"); + printf("MONR message: %s\n", Buffer); + UserControlResetInputVariables(); break; - case help_0: - printf("cc - Echo Current Command.\n"); - printf("cp - Copy recorded buffer to send buffer.\n"); - printf("sb - Send content in send buffer.\n"); - printf("cx - Reset input commands.\n"); - printf("cb - Reset recorded buffer.\n"); - printf("status - Query server status.\n"); - printf("arm - Tell server to send \"ARM\".\n"); - printf("disarm - Tell server to send \"DISARM\".\n"); - printf("start - Tell server to send \"START\".\n"); - printf("stop - Tell server to send \"STOP\".\n"); - printf("abort - Tell server to send \"ABORT\".\n"); - printf("replay - Tell server to send \"REPLAY\". Write \"replay -help\" for more info.\n"); - printf("exit - Tell server to send \"EXIT\" and quit this client.\n"); - printf("sx - Close connection to server.\n"); - printf("sc - Open connection to server.\n"); - printf("tosem - Test to build OSEM message.\n"); - printf("tstrt - Test to build STRT message.\n"); - printf("tdopm - Test to build DOTM message.\n"); - printf("tmonr - Test to build MONR message.\n"); + case cb_0: + bzero(RecordBuffer, IPC_BUFFER_SIZE * 2); + break; + case help_0: + printf("cc - Echo Current Command.\n"); + printf("cp - Copy recorded buffer to send buffer.\n"); + printf("sb - Send content in send buffer.\n"); + printf("cx - Reset input commands.\n"); + printf("cb - Reset recorded buffer.\n"); + printf("status - Query server status.\n"); + printf("arm - Tell server to send \"ARM\".\n"); + printf("disarm - Tell server to send \"DISARM\".\n"); + printf("start - Tell server to send \"START\".\n"); + printf("stop - Tell server to send \"STOP\".\n"); + printf("abort - Tell server to send \"ABORT\".\n"); + printf("replay - Tell server to send \"REPLAY\". Write \"replay -help\" for more info.\n"); + printf("exit - Tell server to send \"EXIT\" and quit this client.\n"); + printf("sx - Close connection to server.\n"); + printf("sc - Open connection to server.\n"); + printf("tosem - Test to build OSEM message.\n"); + printf("tstrt - Test to build STRT message.\n"); + printf("tdopm - Test to build DOTM message.\n"); + printf("tmonr - Test to build MONR message.\n"); break; - default: + default: break; } usleep(1000); - } - } else printf("Failed to start UserControl client!\n"); + } + } + else + printf("Failed to start UserControl client!\n"); } /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -UserControlCommand_t UserControlFindCommand(const char* CommandBuffer, UserControlCommand_t *CurrentCommand, int *CommandArgCount) -{ +UserControlCommand_t UserControlFindCommand(const char *CommandBuffer, UserControlCommand_t * CurrentCommand, + int *CommandArgCount) { UserControlCommand_t command; - for (command = idle_0; command != nocommand; command++) - { + for (command = idle_0; command != nocommand; command++) { bzero(UserControlCommandArgCnt, USER_CONTROL_ARG_COUNT); - bzero(UserControlStrippedCommand, USER_CONTROL_COMMAND_MAX_LENGTH); - strncpy(UserControlStrippedCommand, UserControlCommandsArr[(int)command], (uint64_t)strchr(UserControlCommandsArr[(int)command],'_') - (uint64_t)UserControlCommandsArr[(int)command] ); - strncpy(UserControlCommandArgCnt, strchr(UserControlCommandsArr[(int)command],'_')+1, strlen(UserControlCommandsArr[(int)command]) - ((uint64_t)strchr(UserControlCommandsArr[(int)command],'_') - (uint64_t)UserControlCommandsArr[(int)command] + 1)); - - if (!strcmp(UserControlStrippedCommand, CommandBuffer)) - { - if(command != cc_0) - { + bzero(UserControlStrippedCommand, USER_CONTROL_COMMAND_MAX_LENGTH); + strncpy(UserControlStrippedCommand, UserControlCommandsArr[(int)command], + (uint64_t) strchr(UserControlCommandsArr[(int)command], + '_') - (uint64_t) UserControlCommandsArr[(int)command]); + strncpy(UserControlCommandArgCnt, strchr(UserControlCommandsArr[(int)command], '_') + 1, + strlen(UserControlCommandsArr[(int)command]) - + ((uint64_t) strchr(UserControlCommandsArr[(int)command], '_') - + (uint64_t) UserControlCommandsArr[(int)command] + 1)); + + if (!strcmp(UserControlStrippedCommand, CommandBuffer)) { + if (command != cc_0) { *CommandArgCount = atoi(UserControlCommandArgCnt); *CurrentCommand = command; return command; } - else - { + else { PreviousUserControlCommand = *CurrentCommand; *CurrentCommand = command; return command; } - } - } - return nocommand; + } + } + return nocommand; } -void UserControlResetInputVariables() -{ +void UserControlResetInputVariables() { SendBufferPtr = SendBuffer; - bzero(SendBuffer,IPC_BUFFER_SIZE*2); + bzero(SendBuffer, IPC_BUFFER_SIZE * 2); UserControlCommand = idle_0; CurrentCommandArgCount = 0; CommandArgCount = 0; } -static void UserControlConnectServer(int* sockfd, const char* name, const uint32_t port) -{ - struct sockaddr_in serv_addr; - struct hostent *server; - - char buffer[256]; - int iResult; - - *sockfd = socket(AF_INET, SOCK_STREAM, 0); - - if (*sockfd < 0) - { - util_error("ERR: Failed to open control socket"); - } - - server = gethostbyname(name); - if (server == NULL) - { - util_error("ERR: Unknown host "); - } - - bzero((char *) &serv_addr, sizeof(serv_addr)); - serv_addr.sin_family = AF_INET; - - bcopy((char *) server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); - serv_addr.sin_port = htons(port); - - #ifdef DEBUG - printf("Try to connect to control socket: %s %i\n",name,port); - fflush(stdout); - #endif - - do - { - iResult = connect(*sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)); - - if ( iResult < 0) - { - if(errno == ECONNREFUSED) - { - printf("WAR: Was not able to connect to object, retry in 3 sec...\n"); - fflush(stdout); - (void)sleep(3); - } - else - { - util_error("ERR: Failed to connect to control socket"); - } - } - } while(iResult < 0); - - //#ifdef DEBUG - printf("Client connected to server: %s %i\n",name,port); - fflush(stdout); - //#endif +static void UserControlConnectServer(int *sockfd, const char *name, const uint32_t port) { + struct sockaddr_in serv_addr; + struct hostent *server; + + char buffer[256]; + int iResult; + + *sockfd = socket(AF_INET, SOCK_STREAM, 0); + + if (*sockfd < 0) { + util_error("ERR: Failed to open control socket"); + } + + server = gethostbyname(name); + if (server == NULL) { + util_error("ERR: Unknown host "); + } + + bzero((char *)&serv_addr, sizeof (serv_addr)); + serv_addr.sin_family = AF_INET; + + bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); + serv_addr.sin_port = htons(port); + +#ifdef DEBUG + printf("Try to connect to control socket: %s %i\n", name, port); + fflush(stdout); +#endif + + do { + iResult = connect(*sockfd, (struct sockaddr *)&serv_addr, sizeof (serv_addr)); + + if (iResult < 0) { + if (errno == ECONNREFUSED) { + printf("WAR: Was not able to connect to object, retry in 3 sec...\n"); + fflush(stdout); + (void)sleep(3); + } + else { + util_error("ERR: Failed to connect to control socket"); + } + } + } while (iResult < 0); + + //#ifdef DEBUG + printf("Client connected to server: %s %i\n", name, port); + fflush(stdout); + //#endif } -static void UserControlSendString(const char *command, int *sockfd) -{ - int n; +static void UserControlSendString(const char *command, int *sockfd) { + int n; - printf("Sending: %s\n",command); - fflush(stdout); + printf("Sending: %s\n", command); + fflush(stdout); - n = write(*sockfd, command, strlen(command)); - if (n < 0) - { - util_error("[UserControl] ERR: Failed to send on control socket"); - } + n = write(*sockfd, command, strlen(command)); + if (n < 0) { + util_error("[UserControl] ERR: Failed to send on control socket"); + } } -static void UserControlDisconnectObject(int *sockfd) -{ - close(*sockfd); +static void UserControlDisconnectObject(int *sockfd) { + close(*sockfd); } diff --git a/server/src/util.c b/server/src/util.c index 2f1c497fd..074b840b8 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -36,8 +36,8 @@ -- Defines ------------------------------------------------------------*/ -#define FE_WGS84 (1.0/298.257223563) // earth flattening (WGS84) -#define RE_WGS84 6378137.0 // earth semimajor axis (WGS84) (m) +#define FE_WGS84 (1.0/298.257223563) // earth flattening (WGS84) +#define RE_WGS84 6378137.0 // earth semimajor axis (WGS84) (m) #define SMALL_BUFFER_SIZE_128 128 #define SMALL_BUFFER_SIZE_64 64 @@ -91,79 +91,71 @@ /*---------------------------------------------s--------------- -- Private functions ------------------------------------------------------------*/ -static void CopyHTTPHeaderField(char* request, char* targetContainer, size_t targetContainerSize, const char* fieldName); -static char rayFromPointIntersectsLine(double pointX, double pointY, double polyPointAX, double polyPointAY, double polyPointBX, double polyPointBY); +static void CopyHTTPHeaderField(char *request, char *targetContainer, size_t targetContainerSize, + const char *fieldName); +static char rayFromPointIntersectsLine(double pointX, double pointY, double polyPointAX, double polyPointAY, + double polyPointBX, double polyPointBY); -void CopyHTTPHeaderField(char* request, char* targetContainer, size_t targetContainerSize, const char* fieldName) -{ - char *firstPos, *lastPos; - char *matchPos = strstr(request, fieldName); - unsigned long fieldLength = 0; - - if (matchPos == NULL) - { - targetContainer[0] = '\0'; - return; - } - - matchPos += strlen(fieldName); - if (matchPos[0] == ':' || matchPos[0] == ';') - matchPos++; - else { - targetContainer[0] = '\0'; - return; - } - - while (1) - { - if (matchPos[0] == ' ' || matchPos[0] == '\t') - { - // Skip white space - matchPos++; - } - else if (matchPos[0] == '\r' || matchPos[0] == '\n' || matchPos[0] == '\0') - { - // Empty field? Return empty string - targetContainer[0] = '\0'; - return; - } - else - { - break; - } - } - - firstPos = matchPos; - - // Find end of field - while (1) - { - if (matchPos[0] == '\r' || matchPos[0] == '\n' || matchPos[0] == '\0') - { - lastPos = matchPos; - break; - } - else - { - matchPos++; - } - } - - // Check length - fieldLength = lastPos - firstPos; - if (fieldLength >= targetContainerSize) - { - LogMessage(LOG_LEVEL_WARNING, "Received too long HTTP header field: %s", fieldName); - targetContainer[0] = '\0'; - return; - } - else - { - // Strings in the request may not be null terminated: make them so after copying them - strncpy(targetContainer, firstPos, fieldLength); - targetContainer[fieldLength] = '\0'; - } +void CopyHTTPHeaderField(char *request, char *targetContainer, size_t targetContainerSize, + const char *fieldName) { + char *firstPos, *lastPos; + char *matchPos = strstr(request, fieldName); + unsigned long fieldLength = 0; + + if (matchPos == NULL) { + targetContainer[0] = '\0'; + return; + } + + matchPos += strlen(fieldName); + if (matchPos[0] == ':' || matchPos[0] == ';') + matchPos++; + else { + targetContainer[0] = '\0'; + return; + } + + while (1) { + if (matchPos[0] == ' ' || matchPos[0] == '\t') { + // Skip white space + matchPos++; + } + else if (matchPos[0] == '\r' || matchPos[0] == '\n' || matchPos[0] == '\0') { + // Empty field? Return empty string + targetContainer[0] = '\0'; + return; + } + else { + break; + } + } + + firstPos = matchPos; + + // Find end of field + while (1) { + if (matchPos[0] == '\r' || matchPos[0] == '\n' || matchPos[0] == '\0') { + lastPos = matchPos; + break; + } + else { + matchPos++; + } + } + + // Check length + fieldLength = lastPos - firstPos; + if (fieldLength >= targetContainerSize) { + LogMessage(LOG_LEVEL_WARNING, "Received too long HTTP header field: %s", fieldName); + targetContainer[0] = '\0'; + return; + } + else { + // Strings in the request may not be null terminated: make them so after copying them + strncpy(targetContainer, firstPos, fieldLength); + targetContainer[fieldLength] = '\0'; + } } @@ -173,55 +165,62 @@ void CopyHTTPHeaderField(char* request, char* targetContainer, size_t targetCont ------------------------------------------------------------*/ static const HTTPHeaderContent headerFieldNames = { - "Accept-Charset", "Accept-Encoding", "Accept-Language", - "Authorization", "Expect", "From", "Host", "If-Match", "If-Modified-Since", - "If-None-Match", "If-Range", "If-Unmodified-Since", "Max-Forwards", - "Proxy-Authorization", "Range", "Referer", "TE", "User-Agent" + "Accept-Charset", "Accept-Encoding", "Accept-Language", + "Authorization", "Expect", "From", "Host", "If-Match", "If-Modified-Since", + "If-None-Match", "If-Range", "If-Unmodified-Since", "Max-Forwards", + "Proxy-Authorization", "Range", "Referer", "TE", "User-Agent" }; + // HTTP header decoder -void UtilDecodeHTTPRequestHeader(char* request, HTTPHeaderContent* header) -{ - CopyHTTPHeaderField(request, header->AcceptCharset, HTTP_HEADER_MAX_LENGTH, headerFieldNames.AcceptCharset); - CopyHTTPHeaderField(request, header->AcceptEncoding, HTTP_HEADER_MAX_LENGTH, headerFieldNames.AcceptEncoding); - CopyHTTPHeaderField(request, header->AcceptLanguage, HTTP_HEADER_MAX_LENGTH, headerFieldNames.AcceptLanguage); - CopyHTTPHeaderField(request, header->Authorization, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Authorization); - CopyHTTPHeaderField(request, header->Expect, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Expect); - CopyHTTPHeaderField(request, header->From, HTTP_HEADER_MAX_LENGTH, headerFieldNames.From); - CopyHTTPHeaderField(request, header->Host, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Host); - CopyHTTPHeaderField(request, header->IfMatch, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfMatch); - CopyHTTPHeaderField(request, header->IfModifiedSince, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfModifiedSince); - CopyHTTPHeaderField(request, header->IfRange, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfRange); - CopyHTTPHeaderField(request, header->IfNoneMatch, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfNoneMatch); - CopyHTTPHeaderField(request, header->IfUnmodifiedSince, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfUnmodifiedSince); - CopyHTTPHeaderField(request, header->MaxForwards, HTTP_HEADER_MAX_LENGTH, headerFieldNames.MaxForwards); - CopyHTTPHeaderField(request, header->ProxyAuthorization, HTTP_HEADER_MAX_LENGTH, headerFieldNames.ProxyAuthorization); - CopyHTTPHeaderField(request, header->Range, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Range); - CopyHTTPHeaderField(request, header->Referer, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Referer); - CopyHTTPHeaderField(request, header->TE, HTTP_HEADER_MAX_LENGTH, headerFieldNames.TE); - CopyHTTPHeaderField(request, header->UserAgent, HTTP_HEADER_MAX_LENGTH, headerFieldNames.UserAgent); +void UtilDecodeHTTPRequestHeader(char *request, HTTPHeaderContent * header) { + CopyHTTPHeaderField(request, header->AcceptCharset, HTTP_HEADER_MAX_LENGTH, + headerFieldNames.AcceptCharset); + CopyHTTPHeaderField(request, header->AcceptEncoding, HTTP_HEADER_MAX_LENGTH, + headerFieldNames.AcceptEncoding); + CopyHTTPHeaderField(request, header->AcceptLanguage, HTTP_HEADER_MAX_LENGTH, + headerFieldNames.AcceptLanguage); + CopyHTTPHeaderField(request, header->Authorization, HTTP_HEADER_MAX_LENGTH, + headerFieldNames.Authorization); + CopyHTTPHeaderField(request, header->Expect, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Expect); + CopyHTTPHeaderField(request, header->From, HTTP_HEADER_MAX_LENGTH, headerFieldNames.From); + CopyHTTPHeaderField(request, header->Host, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Host); + CopyHTTPHeaderField(request, header->IfMatch, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfMatch); + CopyHTTPHeaderField(request, header->IfModifiedSince, HTTP_HEADER_MAX_LENGTH, + headerFieldNames.IfModifiedSince); + CopyHTTPHeaderField(request, header->IfRange, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfRange); + CopyHTTPHeaderField(request, header->IfNoneMatch, HTTP_HEADER_MAX_LENGTH, headerFieldNames.IfNoneMatch); + CopyHTTPHeaderField(request, header->IfUnmodifiedSince, HTTP_HEADER_MAX_LENGTH, + headerFieldNames.IfUnmodifiedSince); + CopyHTTPHeaderField(request, header->MaxForwards, HTTP_HEADER_MAX_LENGTH, headerFieldNames.MaxForwards); + CopyHTTPHeaderField(request, header->ProxyAuthorization, HTTP_HEADER_MAX_LENGTH, + headerFieldNames.ProxyAuthorization); + CopyHTTPHeaderField(request, header->Range, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Range); + CopyHTTPHeaderField(request, header->Referer, HTTP_HEADER_MAX_LENGTH, headerFieldNames.Referer); + CopyHTTPHeaderField(request, header->TE, HTTP_HEADER_MAX_LENGTH, headerFieldNames.TE); + CopyHTTPHeaderField(request, header->UserAgent, HTTP_HEADER_MAX_LENGTH, headerFieldNames.UserAgent); } // GPS TIME FUNCTIONS -uint64_t UtilgetGPSmsFromUTCms(uint64_t UTCms) -{ - return UTCms - MS_TIME_DIFF_UTC_GPS + MS_LEAP_SEC_DIFF_UTC_GPS; +uint64_t UtilgetGPSmsFromUTCms(uint64_t UTCms) { + return UTCms - MS_TIME_DIFF_UTC_GPS + MS_LEAP_SEC_DIFF_UTC_GPS; } -uint64_t UtilgetUTCmsFromGPSms(uint64_t GPSms) -{ - return GPSms + MS_TIME_DIFF_UTC_GPS - MS_LEAP_SEC_DIFF_UTC_GPS; +uint64_t UtilgetUTCmsFromGPSms(uint64_t GPSms) { + return GPSms + MS_TIME_DIFF_UTC_GPS - MS_LEAP_SEC_DIFF_UTC_GPS; } -uint64_t UtilgetMSfromGPStime(uint16_t GPSweek,uint32_t GPSquarterMSofWeek) -{ - return (uint64_t)GPSweek * WEEK_TIME_MS + (uint64_t)(GPSquarterMSofWeek >> 2); +uint64_t UtilgetMSfromGPStime(uint16_t GPSweek, uint32_t GPSquarterMSofWeek) { + return (uint64_t) GPSweek *WEEK_TIME_MS + (uint64_t) (GPSquarterMSofWeek >> 2); } -void UtilgetGPStimeFromMS(uint64_t GPSms, uint16_t *GPSweek, uint32_t *GPSquarterMSofWeek) -{ - uint16_t tempGPSweek = (uint16_t)(GPSms / WEEK_TIME_MS); - if (GPSweek) *GPSweek = tempGPSweek; - uint64_t remainder = GPSms - (uint64_t)tempGPSweek * WEEK_TIME_MS; - if (GPSquarterMSofWeek) *GPSquarterMSofWeek = (uint32_t)(remainder << 2); +void UtilgetGPStimeFromMS(uint64_t GPSms, uint16_t * GPSweek, uint32_t * GPSquarterMSofWeek) { + uint16_t tempGPSweek = (uint16_t) (GPSms / WEEK_TIME_MS); + + if (GPSweek) + *GPSweek = tempGPSweek; + uint64_t remainder = GPSms - (uint64_t) tempGPSweek * WEEK_TIME_MS; + + if (GPSquarterMSofWeek) + *GPSquarterMSofWeek = (uint32_t) (remainder << 2); /* uint16_t GPSday = remainder / DAY_TIME_MS; remainder -= (uint64_t)GPSday * DAY_TIME_MS; @@ -243,354 +242,335 @@ void UtilgetGPStimeFromMS(uint64_t GPSms, uint16_t *GPSweek, uint32_t *GPSquarte "\nGPS MINUTE:" << GPSminute;*/ } -void UtilgetGPStimeFromUTCms(uint64_t UTCms,uint16_t *GPSweek, uint32_t *GPSquarterMSofWeek) -{ - UtilgetGPStimeFromMS(UtilgetGPSmsFromUTCms(UTCms), - GPSweek, - GPSquarterMSofWeek); +void UtilgetGPStimeFromUTCms(uint64_t UTCms, uint16_t * GPSweek, uint32_t * GPSquarterMSofWeek) { + UtilgetGPStimeFromMS(UtilgetGPSmsFromUTCms(UTCms), GPSweek, GPSquarterMSofWeek); } -uint64_t UtilgetUTCmsFromGPStime(uint16_t GPSweek,uint32_t GPSquarterMSofWeek) -{ - return UtilgetUTCmsFromGPSms(UtilgetMSfromGPStime(GPSweek,GPSquarterMSofWeek)); +uint64_t UtilgetUTCmsFromGPStime(uint16_t GPSweek, uint32_t GPSquarterMSofWeek) { + return UtilgetUTCmsFromGPSms(UtilgetMSfromGPStime(GPSweek, GPSquarterMSofWeek)); } -void UtilgetCurrentGPStime(uint16_t *GPSweek, uint32_t *GPSquarterMSofWeek) -{ - UtilgetGPStimeFromUTCms(UtilgetCurrentUTCtimeMS(),GPSweek,GPSquarterMSofWeek); +void UtilgetCurrentGPStime(uint16_t * GPSweek, uint32_t * GPSquarterMSofWeek) { + UtilgetGPStimeFromUTCms(UtilgetCurrentUTCtimeMS(), GPSweek, GPSquarterMSofWeek); } -uint64_t UtilgetCurrentUTCtimeMS() -{ - struct timeval CurrentTimeStruct; - gettimeofday(&CurrentTimeStruct, 0); - return (uint64_t)CurrentTimeStruct.tv_sec*1000 + - (uint64_t)CurrentTimeStruct.tv_usec/1000; +uint64_t UtilgetCurrentUTCtimeMS() { + struct timeval CurrentTimeStruct; + + gettimeofday(&CurrentTimeStruct, 0); + return (uint64_t) CurrentTimeStruct.tv_sec * 1000 + (uint64_t) CurrentTimeStruct.tv_usec / 1000; } -uint32_t UtilgetIntDateFromMS(uint64_t ms) -{ - struct tm date_time; - time_t seconds = (time_t)(ms / 1000); - localtime_r(&seconds,&date_time); - return (uint32_t)((date_time.tm_year+1900)*10000 + (date_time.tm_mon+1)*100 + date_time.tm_mday); +uint32_t UtilgetIntDateFromMS(uint64_t ms) { + struct tm date_time; + time_t seconds = (time_t) (ms / 1000); + + localtime_r(&seconds, &date_time); + return (uint32_t) ((date_time.tm_year + 1900) * 10000 + (date_time.tm_mon + 1) * 100 + date_time.tm_mday); } -uint64_t UtilgetETSIfromUTCMS(uint64_t utc_sec, uint64_t utc_usec) -{ - return utc_sec*1000 + utc_usec/1000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; +uint64_t UtilgetETSIfromUTCMS(uint64_t utc_sec, uint64_t utc_usec) { + return utc_sec * 1000 + utc_usec / 1000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + + DIFF_LEAP_SECONDS_UTC_ETSI * 1000; } -void UtilgetDateTimeFromUTCtime(int64_t utc_ms, char *buffer, int size_t) -{ - time_t time_seconds = utc_ms / 1000; - if (size_t < 26) return; - strcpy(buffer,ctime(&time_seconds)); +void UtilgetDateTimeFromUTCtime(int64_t utc_ms, char *buffer, int size_t) { + time_t time_seconds = utc_ms / 1000; + + if (size_t < 26) + return; + strcpy(buffer, ctime(&time_seconds)); } -void UtilgetDateTimefromUTCCSVformat(int64_t utc_ms, char *buffer, int size_t) -{ - struct tm date_time; - char tmp_buffer_ms[10]; - int64_t ms; - double tmp_ms; - time_t time_seconds = (time_t) (utc_ms/1000); - localtime_r(&time_seconds,&date_time); - tmp_ms = (double) (utc_ms)/1000; - tmp_ms = tmp_ms -utc_ms/1000; - - ms = round(tmp_ms*1000); - strftime(buffer, size_t, "%Y;%m;%d;%H;%M;%S;",&date_time); - sprintf(tmp_buffer_ms,"%" PRIi64,ms); - strcat(buffer,tmp_buffer_ms); -} -void UtilgetDateTimeFromUTCForMapNameCreation(int64_t utc_ms, char *buffer, int size_t) -{ - struct tm date_time; - char tmp_buffer_ms[10]; - int64_t ms; - double tmp_ms; - time_t time_seconds = (time_t) (utc_ms/1000); - localtime_r(&time_seconds,&date_time); - tmp_ms = (double) (utc_ms)/1000; - tmp_ms = tmp_ms -utc_ms/1000; - - ms = round(tmp_ms*1000); - strftime(buffer, size_t, "%Y-%m-%d_%H:%M:%S:",&date_time); - sprintf(tmp_buffer_ms,"%" PRIi64,ms); - strcat(buffer,tmp_buffer_ms); -} -void util_error(const char* message) -{ - LogMessage(LOG_LEVEL_ERROR,message); - exit(EXIT_FAILURE); +void UtilgetDateTimefromUTCCSVformat(int64_t utc_ms, char *buffer, int size_t) { + struct tm date_time; + char tmp_buffer_ms[10]; + int64_t ms; + double tmp_ms; + time_t time_seconds = (time_t) (utc_ms / 1000); + + localtime_r(&time_seconds, &date_time); + tmp_ms = (double)(utc_ms) / 1000; + tmp_ms = tmp_ms - utc_ms / 1000; + + ms = round(tmp_ms * 1000); + strftime(buffer, size_t, "%Y;%m;%d;%H;%M;%S;", &date_time); + sprintf(tmp_buffer_ms, "%" PRIi64, ms); + strcat(buffer, tmp_buffer_ms); } +void UtilgetDateTimeFromUTCForMapNameCreation(int64_t utc_ms, char *buffer, int size_t) { + struct tm date_time; + char tmp_buffer_ms[10]; + int64_t ms; + double tmp_ms; + time_t time_seconds = (time_t) (utc_ms / 1000); -void xyzToLlh(double x, double y, double z, double *lat, double *lon, double *height) -{ - double e2 = FE_WGS84 * (2.0 - FE_WGS84); - double r2 = x * x + y * y; - double za = z; - double zk = 0.0; - double sinp = 0.0; - double v = RE_WGS84; - - while (fabs(za - zk) >= 1E-4) { - zk = za; - sinp = za / sqrt(r2 + za * za); - v = RE_WGS84 / sqrt(1.0 - e2 * sinp * sinp); - za = z + v * e2 * sinp; - } - - *lat = (r2 > 1E-12 ? atan(za / sqrt(r2)) : (z > 0.0 ? M_PI / 2.0 : -M_PI / 2.0)) * 180.0 / M_PI; - *lon = (r2 > 1E-12 ? atan2(y, x) : 0.0) * 180.0 / M_PI; - *height = sqrt(r2 + za * za) - v; -} - -void llhToXyz(double lat, double lon, double height, double *x, double *y, double *z) -{ - double sinp = sin(lat * M_PI / 180.0); - double cosp = cos(lat * M_PI / 180.0); - double sinl = sin(lon * M_PI / 180.0); - double cosl = cos(lon * M_PI / 180.0); - double e2 = FE_WGS84 * (2.0 - FE_WGS84); - double v = RE_WGS84 / sqrt(1.0 - e2 * sinp * sinp); + localtime_r(&time_seconds, &date_time); + tmp_ms = (double)(utc_ms) / 1000; + tmp_ms = tmp_ms - utc_ms / 1000; - *x = (v + height) * cosp * cosl; - *y = (v + height) * cosp * sinl; - *z = (v * (1.0 - e2) + height) * sinp; + ms = round(tmp_ms * 1000); + strftime(buffer, size_t, "%Y-%m-%d_%H:%M:%S:", &date_time); + sprintf(tmp_buffer_ms, "%" PRIi64, ms); + strcat(buffer, tmp_buffer_ms); +} +void util_error(const char *message) { + LogMessage(LOG_LEVEL_ERROR, message); + exit(EXIT_FAILURE); } -void llhToEnu(const double *iLlh, const double *llh, double *xyz) -{ - double ix, iy, iz; - llhToXyz(iLlh[0], iLlh[1], iLlh[2], &ix, &iy, &iz); +void xyzToLlh(double x, double y, double z, double *lat, double *lon, double *height) { + double e2 = FE_WGS84 * (2.0 - FE_WGS84); + double r2 = x * x + y * y; + double za = z; + double zk = 0.0; + double sinp = 0.0; + double v = RE_WGS84; - double x, y, z; - llhToXyz(llh[0], llh[1], llh[2], &x, &y, &z); + while (fabs(za - zk) >= 1E-4) { + zk = za; + sinp = za / sqrt(r2 + za * za); + v = RE_WGS84 / sqrt(1.0 - e2 * sinp * sinp); + za = z + v * e2 * sinp; + } - double enuMat[9]; - createEnuMatrix(iLlh[0], iLlh[1], enuMat); + *lat = (r2 > 1E-12 ? atan(za / sqrt(r2)) : (z > 0.0 ? M_PI / 2.0 : -M_PI / 2.0)) * 180.0 / M_PI; + *lon = (r2 > 1E-12 ? atan2(y, x) : 0.0) * 180.0 / M_PI; + *height = sqrt(r2 + za * za) - v; +} - double dx = x - ix; - double dy = y - iy; - double dz = z - iz; +void llhToXyz(double lat, double lon, double height, double *x, double *y, double *z) { + double sinp = sin(lat * M_PI / 180.0); + double cosp = cos(lat * M_PI / 180.0); + double sinl = sin(lon * M_PI / 180.0); + double cosl = cos(lon * M_PI / 180.0); + double e2 = FE_WGS84 * (2.0 - FE_WGS84); + double v = RE_WGS84 / sqrt(1.0 - e2 * sinp * sinp); - xyz[0] = enuMat[0] * dx + enuMat[1] * dy + enuMat[2] * dz; - xyz[1] = enuMat[3] * dx + enuMat[4] * dy + enuMat[5] * dz; - xyz[2] = enuMat[6] * dx + enuMat[7] * dy + enuMat[8] * dz; + *x = (v + height) * cosp * cosl; + *y = (v + height) * cosp * sinl; + *z = (v * (1.0 - e2) + height) * sinp; } +void llhToEnu(const double *iLlh, const double *llh, double *xyz) { + double ix, iy, iz; -void enuToLlh(const double *iLlh, const double *xyz, double *llh) -{ - double ix, iy, iz; - llhToXyz(iLlh[0], iLlh[1], iLlh[2], &ix, &iy, &iz); + llhToXyz(iLlh[0], iLlh[1], iLlh[2], &ix, &iy, &iz); + + double x, y, z; - double enuMat[9]; - createEnuMatrix(iLlh[0], iLlh[1], enuMat); + llhToXyz(llh[0], llh[1], llh[2], &x, &y, &z); - double x = enuMat[0] * xyz[0] + enuMat[3] * xyz[1] + enuMat[6] * xyz[2] + ix; - double y = enuMat[1] * xyz[0] + enuMat[4] * xyz[1] + enuMat[7] * xyz[2] + iy; - double z = enuMat[2] * xyz[0] + enuMat[5] * xyz[1] + enuMat[8] * xyz[2] + iz; + double enuMat[9]; - xyzToLlh(x, y, z, &llh[0], &llh[1], &llh[2]); + createEnuMatrix(iLlh[0], iLlh[1], enuMat); + + double dx = x - ix; + double dy = y - iy; + double dz = z - iz; + + xyz[0] = enuMat[0] * dx + enuMat[1] * dy + enuMat[2] * dz; + xyz[1] = enuMat[3] * dx + enuMat[4] * dy + enuMat[5] * dz; + xyz[2] = enuMat[6] * dx + enuMat[7] * dy + enuMat[8] * dz; } -void createEnuMatrix(double lat, double lon, double *enuMat) -{ - double so = sin(lon * M_PI / 180.0); - double co = cos(lon * M_PI / 180.0); - double sa = sin(lat * M_PI / 180.0); - double ca = cos(lat * M_PI / 180.0); - // ENU - enuMat[0] = -so; - enuMat[1] = co; - enuMat[2] = 0.0; +void enuToLlh(const double *iLlh, const double *xyz, double *llh) { + double ix, iy, iz; - enuMat[3] = -sa * co; - enuMat[4] = -sa * so; - enuMat[5] = ca; + llhToXyz(iLlh[0], iLlh[1], iLlh[2], &ix, &iy, &iz); - enuMat[6] = ca * co; - enuMat[7] = ca * so; - enuMat[8] = sa; + double enuMat[9]; + + createEnuMatrix(iLlh[0], iLlh[1], enuMat); + + double x = enuMat[0] * xyz[0] + enuMat[3] * xyz[1] + enuMat[6] * xyz[2] + ix; + double y = enuMat[1] * xyz[0] + enuMat[4] * xyz[1] + enuMat[7] * xyz[2] + iy; + double z = enuMat[2] * xyz[0] + enuMat[5] * xyz[1] + enuMat[8] * xyz[2] + iz; + + xyzToLlh(x, y, z, &llh[0], &llh[1], &llh[2]); } +void createEnuMatrix(double lat, double lon, double *enuMat) { + double so = sin(lon * M_PI / 180.0); + double co = cos(lon * M_PI / 180.0); + double sa = sin(lat * M_PI / 180.0); + double ca = cos(lat * M_PI / 180.0); + // ENU + enuMat[0] = -so; + enuMat[1] = co; + enuMat[2] = 0.0; -int UtilAddEightBytesMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned long Data) -{ + enuMat[3] = -sa * co; + enuMat[4] = -sa * so; + enuMat[5] = ca; - int i; - for(i = 0; i < 8; i++) - { - *(MessageBuffer+StartIndex+i) = (char) (Data >> (7-i)*8); - //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); - } + enuMat[6] = ca * co; + enuMat[7] = ca * so; + enuMat[8] = sa; +} + + + +int UtilAddEightBytesMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned long Data) { + + int i; + + for (i = 0; i < 8; i++) { + *(MessageBuffer + StartIndex + i) = (char)(Data >> (7 - i) * 8); + //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); + } - return (StartIndex+i); + return (StartIndex + i); } -int UtilAddSixBytesMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned long Data) -{ +int UtilAddSixBytesMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned long Data) { - int i; - for(i = 0; i < 6; i++) - { - *(MessageBuffer+StartIndex+i) = (char) (Data >> (5-i)*8); - //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); - } + int i; - return (StartIndex+i); + for (i = 0; i < 6; i++) { + *(MessageBuffer + StartIndex + i) = (char)(Data >> (5 - i) * 8); + //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); + } + + return (StartIndex + i); } -int UtilAddFourBytesMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned int Data) -{ - int i; - for(i = 0; i < 4; i++) - { - *(MessageBuffer+StartIndex+i) = (unsigned char) (Data >> (3-i)*8); - //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); - } +int UtilAddFourBytesMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned int Data) { + int i; + + for (i = 0; i < 4; i++) { + *(MessageBuffer + StartIndex + i) = (unsigned char)(Data >> (3 - i) * 8); + //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); + } - return StartIndex+i; + return StartIndex + i; } -int UtilAddTwoBytesMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned short Data) -{ - int i; - for(i = 0; i < 2; i++) - { - *(MessageBuffer+StartIndex+i) = (unsigned char) (Data >> (1-i)*8); - //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); - } +int UtilAddTwoBytesMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned short Data) { + int i; - return StartIndex+i; + for (i = 0; i < 2; i++) { + *(MessageBuffer + StartIndex + i) = (unsigned char)(Data >> (1 - i) * 8); + //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); + } + + return StartIndex + i; } -int UtilAddOneByteMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned char Data) -{ +int UtilAddOneByteMessageData(unsigned char *MessageBuffer, int StartIndex, unsigned char Data) { - *(MessageBuffer+StartIndex) = Data; - //printf("[%d]=%x\n", (StartIndex), *(MessageBuffer+StartIndex)); - return StartIndex+1; + *(MessageBuffer + StartIndex) = Data; + //printf("[%d]=%x\n", (StartIndex), *(MessageBuffer+StartIndex)); + return StartIndex + 1; } -int UtilAddNBytesMessageData(unsigned char *MessageBuffer, int StartIndex, int Length, unsigned char *Data) -{ - int i; - for(i = 0; i < Length; i++) - { - *(MessageBuffer+StartIndex+i) = *(Data+i); - //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); - } +int UtilAddNBytesMessageData(unsigned char *MessageBuffer, int StartIndex, int Length, unsigned char *Data) { + int i; - return StartIndex+i; + for (i = 0; i < Length; i++) { + *(MessageBuffer + StartIndex + i) = *(Data + i); + //printf("[%d]=%x\n", (StartIndex+i), *(MessageBuffer+StartIndex+i)); + } + + return StartIndex + i; } -int iUtilGetParaConfFile(char* pcParameter, char* pcValue) -{ - FILE *filefd; - int iFindResult; - char pcTemp[512]; - char confPathDir[MAX_FILE_PATH]; - UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); - strcat(confPathDir, CONF_FILE_NAME); +int iUtilGetParaConfFile(char *pcParameter, char *pcValue) { + FILE *filefd; + int iFindResult; + char pcTemp[512]; + char confPathDir[MAX_FILE_PATH]; - iFindResult = 0; + UtilGetConfDirectoryPath(confPathDir, sizeof (confPathDir)); + strcat(confPathDir, CONF_FILE_NAME); - filefd = fopen (confPathDir, "rb"); + iFindResult = 0; - if (filefd == NULL) - { - return 0; - } + filefd = fopen(confPathDir, "rb"); - while(fgets(pcTemp, 512, filefd) != NULL) - { - if((strstr(pcTemp, pcParameter)) != NULL) - { - - /* Does contain any value? */ - if(strlen(pcTemp) > (strlen(pcParameter)+1)) - { - /* replace new line */ - if(pcTemp[strlen(pcTemp)-1] == '\n') - { - pcTemp[strlen(pcTemp)-1] = 0; - } - strcpy(pcValue,&pcTemp[strlen(pcParameter)+1]); - } - iFindResult = 1; - } - } + if (filefd == NULL) { + return 0; + } - if(filefd) - { - fclose(filefd); - } + while (fgets(pcTemp, 512, filefd) != NULL) { + if ((strstr(pcTemp, pcParameter)) != NULL) { + + /* Does contain any value? */ + if (strlen(pcTemp) > (strlen(pcParameter) + 1)) { + /* replace new line */ + if (pcTemp[strlen(pcTemp) - 1] == '\n') { + pcTemp[strlen(pcTemp) - 1] = 0; + } + strcpy(pcValue, &pcTemp[strlen(pcParameter) + 1]); + } + iFindResult = 1; + } + } + + if (filefd) { + fclose(filefd); + } - return 1; + return 1; } -int UtilSetAdaptiveSyncPoint(AdaptiveSyncPoint *ASP, FILE *filefd, char debug) -{ +int UtilSetAdaptiveSyncPoint(AdaptiveSyncPoint * ASP, FILE * filefd, char debug) { - char DataBuffer[MAX_FILE_PATH]; - char RowBuffer[MAX_FILE_PATH]; - char *ptr, *ptr1; - bzero(DataBuffer,MAX_FILE_PATH); - bzero(RowBuffer,MAX_FILE_PATH); + char DataBuffer[MAX_FILE_PATH]; + char RowBuffer[MAX_FILE_PATH]; + char *ptr, *ptr1; - bzero(RowBuffer, MAX_FILE_PATH); - UtilReadLineCntSpecChars(filefd, RowBuffer); - ptr = strchr(RowBuffer, ';'); - strncpy(DataBuffer, RowBuffer, (uint64_t)ptr - (uint64_t)RowBuffer); - strncpy(ASP->MasterIP, DataBuffer, strlen(DataBuffer)); - //if(USE_TEST_HOST == 1) strncpy(ASP->MasterIP, TESTHOST_IP, sizeof(TESTHOST_IP)); + bzero(DataBuffer, MAX_FILE_PATH); + bzero(RowBuffer, MAX_FILE_PATH); - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, ';'); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - strncpy(ASP->SlaveIP, DataBuffer, strlen(DataBuffer)); - //if(USE_TEST_HOST == 1) strncpy(ASP->SlaveIP, TESTHOST_IP, sizeof(TESTHOST_IP)); + bzero(RowBuffer, MAX_FILE_PATH); + UtilReadLineCntSpecChars(filefd, RowBuffer); + ptr = strchr(RowBuffer, ';'); + strncpy(DataBuffer, RowBuffer, (uint64_t) ptr - (uint64_t) RowBuffer); + strncpy(ASP->MasterIP, DataBuffer, strlen(DataBuffer)); + //if(USE_TEST_HOST == 1) strncpy(ASP->MasterIP, TESTHOST_IP, sizeof(TESTHOST_IP)); - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, ';'); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - ASP->MasterTrajSyncTime = atof(DataBuffer); + bzero(DataBuffer, strlen(DataBuffer)); + ptr1 = ptr + 1; + ptr = strchr(ptr + 2, ';'); + strncpy(DataBuffer, ptr1, (uint64_t) ptr - (uint64_t) ptr1); + strncpy(ASP->SlaveIP, DataBuffer, strlen(DataBuffer)); + //if(USE_TEST_HOST == 1) strncpy(ASP->SlaveIP, TESTHOST_IP, sizeof(TESTHOST_IP)); - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, ';'); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - ASP->SlaveTrajSyncTime = atof(DataBuffer); + bzero(DataBuffer, strlen(DataBuffer)); + ptr1 = ptr + 1; + ptr = strchr(ptr + 2, ';'); + strncpy(DataBuffer, ptr1, (uint64_t) ptr - (uint64_t) ptr1); + ASP->MasterTrajSyncTime = atof(DataBuffer); - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, ';'); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - ASP->SlaveSyncStopTime = atof(DataBuffer); + bzero(DataBuffer, strlen(DataBuffer)); + ptr1 = ptr + 1; + ptr = strchr(ptr + 2, ';'); + strncpy(DataBuffer, ptr1, (uint64_t) ptr - (uint64_t) ptr1); + ASP->SlaveTrajSyncTime = atof(DataBuffer); - ASP->TestPort = 0; + bzero(DataBuffer, strlen(DataBuffer)); + ptr1 = ptr + 1; + ptr = strchr(ptr + 2, ';'); + strncpy(DataBuffer, ptr1, (uint64_t) ptr - (uint64_t) ptr1); + ASP->SlaveSyncStopTime = atof(DataBuffer); - if(debug) - { - LogPrint("MasterIP: %s", ASP->MasterIP); - LogPrint("SlaveIP: %s", ASP->SlaveIP); - LogPrint("MasterTrajSyncTime %3.2f", ASP->MasterTrajSyncTime); - LogPrint("SlaveTrajSyncTime %3.2f", ASP->SlaveTrajSyncTime); - LogPrint("SlaveSyncStopTime %3.2f", ASP->SlaveSyncStopTime); - } + ASP->TestPort = 0; - return 0; + if (debug) { + LogPrint("MasterIP: %s", ASP->MasterIP); + LogPrint("SlaveIP: %s", ASP->SlaveIP); + LogPrint("MasterTrajSyncTime %3.2f", ASP->MasterTrajSyncTime); + LogPrint("SlaveTrajSyncTime %3.2f", ASP->SlaveTrajSyncTime); + LogPrint("SlaveSyncStopTime %3.2f", ASP->SlaveSyncStopTime); + } + + return 0; } /* TODO: DELETE @@ -673,69 +653,72 @@ int UtilSetTriggActions(TriggActionType *TAA, FILE *filefd, char debug) */ -void UtilSetObjectPositionIP(ObjectPosition *OP, char *IP) { strncpy(OP->IP, IP, strlen(IP));} +void UtilSetObjectPositionIP(ObjectPosition * OP, char *IP) { + strncpy(OP->IP, IP, strlen(IP)); +} -int UtilSetMasterObject(ObjectPosition *OP, char *Filename, char debug) -{ +int UtilSetMasterObject(ObjectPosition * OP, char *Filename, char debug) { - FILE *filefd; - char FilenameBuffer[MAX_FILE_PATH]; - char DataBuffer[20]; - double Time; - bzero(FilenameBuffer,MAX_FILE_PATH); - bzero(DataBuffer,20); - strcat(FilenameBuffer,Filename); - strcat(FilenameBuffer, MASTER_FILE_EXTENSION); - filefd = fopen (FilenameBuffer, "r"); - - if(filefd) - { - UtilReadLineCntSpecChars(filefd, DataBuffer); - Time = atof(DataBuffer); - OP->Type = 'm'; - OP->SyncTime = Time; - OP->SyncStopTime = 0; - fclose(filefd); - - if(debug) LogPrint("Master object set: %s, SyncTime: %3.4f", FilenameBuffer, Time); - - } else { - OP->Type = 'u'; - OP->SyncTime = 0; - } + FILE *filefd; + char FilenameBuffer[MAX_FILE_PATH]; + char DataBuffer[20]; + double Time; + bzero(FilenameBuffer, MAX_FILE_PATH); + bzero(DataBuffer, 20); + strcat(FilenameBuffer, Filename); + strcat(FilenameBuffer, MASTER_FILE_EXTENSION); + filefd = fopen(FilenameBuffer, "r"); - return 0; + if (filefd) { + UtilReadLineCntSpecChars(filefd, DataBuffer); + Time = atof(DataBuffer); + OP->Type = 'm'; + OP->SyncTime = Time; + OP->SyncStopTime = 0; + fclose(filefd); + + if (debug) + LogPrint("Master object set: %s, SyncTime: %3.4f", FilenameBuffer, Time); + + } + else { + OP->Type = 'u'; + OP->SyncTime = 0; + } + + + return 0; } -int UtilSetSlaveObject(ObjectPosition *OP, char *Filename, char debug) -{ - FILE *filefd; - char FilenameBuffer[MAX_FILE_PATH]; - char DataBuffer[20]; - double Time; - bzero(FilenameBuffer,MAX_FILE_PATH); - bzero(DataBuffer,20); - strcat(FilenameBuffer,Filename); - strcat(FilenameBuffer, SLAVE_FILE_EXTENSION); - filefd = fopen (FilenameBuffer, "r"); - - if(filefd) - { - UtilReadLineCntSpecChars(filefd, DataBuffer); - Time = atof(DataBuffer); - OP->Type = 's'; - OP->SyncTime = Time; - UtilReadLineCntSpecChars(filefd, DataBuffer); - Time = atof(DataBuffer); - OP->SyncStopTime = Time; - fclose(filefd); - if(debug) LogPrint("Slave object set: %s, SyncTime: %3.4f", FilenameBuffer, Time); - } +int UtilSetSlaveObject(ObjectPosition * OP, char *Filename, char debug) { + FILE *filefd; + char FilenameBuffer[MAX_FILE_PATH]; + char DataBuffer[20]; + double Time; + bzero(FilenameBuffer, MAX_FILE_PATH); + bzero(DataBuffer, 20); + strcat(FilenameBuffer, Filename); + strcat(FilenameBuffer, SLAVE_FILE_EXTENSION); + filefd = fopen(FilenameBuffer, "r"); - return 0; + if (filefd) { + UtilReadLineCntSpecChars(filefd, DataBuffer); + Time = atof(DataBuffer); + OP->Type = 's'; + OP->SyncTime = Time; + UtilReadLineCntSpecChars(filefd, DataBuffer); + Time = atof(DataBuffer); + OP->SyncStopTime = Time; + fclose(filefd); + if (debug) + LogPrint("Slave object set: %s, SyncTime: %3.4f", FilenameBuffer, Time); + } + + + return 0; } @@ -747,311 +730,311 @@ int UtilSetSlaveObject(ObjectPosition *OP, char *Filename, char debug) * \param tolerance_m Radius around target position defining "near" * \return true if position is within tolerance_m of target, false otherwise */ -char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m) -{ - double distance = 0; - distance = sqrt( pow(position.xCoord_m-target.xCoord_m, 2) - + pow(position.yCoord_m-target.yCoord_m, 2) - + pow(position.zCoord_m-target.zCoord_m, 2) ); - return distance <= tolerance_m; +char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m) { + double distance = 0; + + distance = sqrt(pow(position.xCoord_m - target.xCoord_m, 2) + + pow(position.yCoord_m - target.yCoord_m, 2) + + pow(position.zCoord_m - target.zCoord_m, 2)); + return distance <= tolerance_m; } -double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP) -{ +double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition * OP) { - double f, d, P1LatRad, P1LongRad, P2LatRad, P2LongRad, U1, U2, L, lambda, sins, coss, sigma, sinalpha, cosalpha2, cossm, C, lambdaprim, u2, A, B, dsigma, s, alpha1, alpha2, cosU2, sinlambda, cosU1, sinU1, sinU2, coslambda; + double f, d, P1LatRad, P1LongRad, P2LatRad, P2LongRad, U1, U2, L, lambda, sins, coss, sigma, sinalpha, + cosalpha2, cossm, C, lambdaprim, u2, A, B, dsigma, s, alpha1, alpha2, cosU2, sinlambda, cosU1, sinU1, + sinU2, coslambda; - double iLlh[3] = { P1Lat , P1Long , 202.934115075}; - double xyz[3] = {0, 0, 0}; - double Llh[3] = {P2Lat, P2Long, 202.934115075}; + double iLlh[3] = { P1Lat, P1Long, 202.934115075 }; + double xyz[3] = { 0, 0, 0 }; + double Llh[3] = { P2Lat, P2Long, 202.934115075 }; - OP->Latitude = P2Lat; + OP->Latitude = P2Lat; OP->Longitude = P2Long; P1LatRad = UtilDegToRad(P1Lat); P1LongRad = UtilDegToRad(P1Long); P2LatRad = UtilDegToRad(P2Lat); P2LongRad = UtilDegToRad(P2Long); - f = 1/k; - U1 = atan((1-f)*tan(P1LatRad)); - U2 = atan((1-f)*tan(P2LatRad)); + f = 1 / k; + U1 = atan((1 - f) * tan(P1LatRad)); + U2 = atan((1 - f) * tan(P2LatRad)); L = P2LongRad - P1LongRad; lambda = L; lambdaprim = lambda; //printf("Lambdadiff: %1.15f\n", fabs(lambda-lambdaprim)); int i = ORIGO_DISTANCE_CALC_ITERATIONS; + OP->CalcIterations = 0; /* - do - { - sins = sqrt( pow((cos(U2)*sin(lambda)),2) + pow((cos(U1)*sin(U2) - sin(U1)*cos(U2)*cos(lambda)),2) ); - if (sins==0) return 0; //co-incident points - coss = sin(U1)*sin(U2) + cos(U1)*cos(U2)*cos(lambda); - sigma = atan(sins/coss); - sinalpha = (cos(U1)*cos(U2)*sin(lambda))/sins; - cosalpha2 = 1 - pow(sinalpha,2); - cossm = coss - (2*sin(U1)*sin(U2) / cosalpha2); - C = (f/16) * cosalpha2 * ( 4 + f*(4 - 3 * cosalpha2) ); - lambdaprim = lambda; - lambda = L + (1-C)*f*sinalpha*(sigma+C*sins*(cossm + C*coss*(-1+ 2*pow(cossm,2)))); - OP->CalcIterations ++; - //printf("Lambdadiff: %1.15f\n", fabs(lambda-lambdaprim)); - - } while(fabs(lambda-lambdaprim) > l && --i > 0); - - if (i == 0) - { - //printf("Failed to converge!\n"); - OP->OrigoDistance = -1; - } - else - {*/ - //u2 = cosalpha2*((pow(a,2) - pow(b,2))/pow(b,2)); - //A = 1 +(u2/16384)*(4096+u2*(-768+u2*(320-175*u2))); - //B = (u2/1024)*(256 + u2*(-128*u2*(74-47*u2))); - //dsigma = B*sins*(cossm+0.25*B*(coss*(-1+2*pow(cossm,2)) - (1/6)*B*cossm*(-3+4*pow(sins,2))*(-3+4*pow(cossm,2)))); - //s = b*A*(sigma-dsigma); - s = sqrt(pow(OP->x,2) + pow(OP->y,2)); - OP->DeltaOrigoDistance = s - OP->OrigoDistance; - OP->OrigoDistance = s; + do + { + sins = sqrt( pow((cos(U2)*sin(lambda)),2) + pow((cos(U1)*sin(U2) - sin(U1)*cos(U2)*cos(lambda)),2) ); + if (sins==0) return 0; //co-incident points + coss = sin(U1)*sin(U2) + cos(U1)*cos(U2)*cos(lambda); + sigma = atan(sins/coss); + sinalpha = (cos(U1)*cos(U2)*sin(lambda))/sins; + cosalpha2 = 1 - pow(sinalpha,2); + cossm = coss - (2*sin(U1)*sin(U2) / cosalpha2); + C = (f/16) * cosalpha2 * ( 4 + f*(4 - 3 * cosalpha2) ); + lambdaprim = lambda; + lambda = L + (1-C)*f*sinalpha*(sigma+C*sins*(cossm + C*coss*(-1+ 2*pow(cossm,2)))); + OP->CalcIterations ++; + //printf("Lambdadiff: %1.15f\n", fabs(lambda-lambdaprim)); + + } while(fabs(lambda-lambdaprim) > l && --i > 0); + + if (i == 0) + { + //printf("Failed to converge!\n"); + OP->OrigoDistance = -1; + } + else + { */ + //u2 = cosalpha2*((pow(a,2) - pow(b,2))/pow(b,2)); + //A = 1 +(u2/16384)*(4096+u2*(-768+u2*(320-175*u2))); + //B = (u2/1024)*(256 + u2*(-128*u2*(74-47*u2))); + //dsigma = B*sins*(cossm+0.25*B*(coss*(-1+2*pow(cossm,2)) - (1/6)*B*cossm*(-3+4*pow(sins,2))*(-3+4*pow(cossm,2)))); + //s = b*A*(sigma-dsigma); + s = sqrt(pow(OP->x, 2) + pow(OP->y, 2)); + OP->DeltaOrigoDistance = s - OP->OrigoDistance; + OP->OrigoDistance = s; - /* - cosU2 = cos(U2); - sinU2 = sin(U2); - cosU1 = cos(U1); - sinU1 = sin(U1); - sinlambda = sin(lambda); - coslambda = cos(lambda); - */ + /* + cosU2 = cos(U2); + sinU2 = sin(U2); + cosU1 = cos(U1); + sinU1 = sin(U1); + sinlambda = sin(lambda); + coslambda = cos(lambda); + */ - //OP->ForwardAzimuth1 = atan2(cosU2*sinlambda,(cosU1*sinU2-sinU1*cosU2*coslambda)); - //OP->ForwardAzimuth2 = atan2(cosU1*sinlambda,(sinU1*cosU2*-1+cosU1*sinU2*coslambda)); + //OP->ForwardAzimuth1 = atan2(cosU2*sinlambda,(cosU1*sinU2-sinU1*cosU2*coslambda)); + //OP->ForwardAzimuth2 = atan2(cosU1*sinlambda,(sinU1*cosU2*-1+cosU1*sinU2*coslambda)); - //llhToEnu(iLlh, Llh, xyz); + //llhToEnu(iLlh, Llh, xyz); - //OP->x = xyz[0]; - //OP->y = xyz[1]; + //OP->x = xyz[0]; + //OP->y = xyz[1]; //} return s; } -int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, double *resLat, double *resLon, double *a2) -{ - /* Algorithm based on 07032018 website https://en.wikipedia.org/wiki/Vincenty%27s_formulae */ +int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, double *resLat, + double *resLon, double *a2) { + /* Algorithm based on 07032018 website https://en.wikipedia.org/wiki/Vincenty%27s_formulae */ + + + // Variables only calculated once + double U1, f = 1 / k, sigma1, sina, pow2cosa, pow2u, A, B, C, L, lambda; + // Iterative variables + double sigma, deltaSigma, sigma2m; - // Variables only calculated once - double U1, f = 1/k, sigma1, sina, pow2cosa, pow2u, A, B, C, L, lambda; - // Iterative variables - double sigma, deltaSigma, sigma2m; - // Temporary iterative variables - double prev_sigma; + // Temporary iterative variables + double prev_sigma; - U1 = atan((1-f)*tan(UtilDegToRad(refLat))); - sigma1 = atan2(tan(U1),cos(a1)); + U1 = atan((1 - f) * tan(UtilDegToRad(refLat))); + sigma1 = atan2(tan(U1), cos(a1)); - sina = cos(U1)*sin(a1); + sina = cos(U1) * sin(a1); - pow2cosa = 1-pow(sina,2); - pow2u = pow2cosa * (pow(a,2)-pow(b,2))/pow(b,2); + pow2cosa = 1 - pow(sina, 2); + pow2u = pow2cosa * (pow(a, 2) - pow(b, 2)) / pow(b, 2); - A = 1 + pow2u/16384.0*(4096.0 + pow2u*(-768.0 + pow2u*(320.0-175.0*pow2u))); - B = pow2u / 1024.0 * (256.0 + pow2u*(-128.0 + pow2u*(74.0 - 47.0*pow2u))); + A = 1 + pow2u / 16384.0 * (4096.0 + pow2u * (-768.0 + pow2u * (320.0 - 175.0 * pow2u))); + B = pow2u / 1024.0 * (256.0 + pow2u * (-128.0 + pow2u * (74.0 - 47.0 * pow2u))); - int iterations = 0; - double init_sigma = distance / (b*A); - sigma = init_sigma; - do - { - if (++iterations > 100) { - return -1; - } - prev_sigma = sigma; + int iterations = 0; + double init_sigma = distance / (b * A); - sigma2m = 2*sigma1 + sigma; - deltaSigma = B*sin(sigma) * ( - cos(sigma2m) + 0.25 * B * ( - cos(sigma) * (-1.0 + 2.0*pow(cos(sigma2m),2)) - - B/6*cos(sigma2m) * (-3.0 + 4.0*pow(sin(sigma),2.0)) * (-3.0 + 4.0*pow(cos(sigma2m),2)) - ) - ); - sigma = init_sigma + deltaSigma; - } while(fabs(sigma-prev_sigma) > l); + sigma = init_sigma; + do { + if (++iterations > 100) { + return -1; + } + prev_sigma = sigma; + sigma2m = 2 * sigma1 + sigma; + deltaSigma = + B * sin(sigma) * (cos(sigma2m) + + 0.25 * B * (cos(sigma) * (-1.0 + 2.0 * pow(cos(sigma2m), 2)) - + B / 6 * cos(sigma2m) * (-3.0 + 4.0 * pow(sin(sigma), 2.0)) * (-3.0 + + 4.0 * + pow + (cos + (sigma2m), + 2)) + ) + ); + sigma = init_sigma + deltaSigma; + } while (fabs(sigma - prev_sigma) > l); - *resLat = UtilRadToDeg(atan2( - sin(U1) * cos(sigma) + cos(U1) * sin(sigma) * cos(a1), - (1-f)*sqrt(pow(sina,2) + pow(sin(U1)*sin(sigma) - cos(U1)*cos(sigma)*cos(a1),2)) - )); - lambda = atan2( - sin(sigma) * sin(a1), - cos(U1)*cos(sigma) - sin(U1)*sin(sigma)*cos(a1) - ); + *resLat = UtilRadToDeg(atan2(sin(U1) * cos(sigma) + cos(U1) * sin(sigma) * cos(a1), + (1 - f) * sqrt(pow(sina, 2) + + pow(sin(U1) * sin(sigma) - cos(U1) * cos(sigma) * cos(a1), 2)) + )); - C = f/16*pow2cosa*(4 + f*(4-3*pow2cosa)); + lambda = atan2(sin(sigma) * sin(a1), cos(U1) * cos(sigma) - sin(U1) * sin(sigma) * cos(a1) + ); - L = lambda - (1 - C)*f*sina*( - sigma + C*sin(sigma)*( - cos(sigma2m) + C*cos(sigma)*(-1 + 2*pow(cos(sigma2m),2)) - ) - ); + C = f / 16 * pow2cosa * (4 + f * (4 - 3 * pow2cosa)); - *resLon = UtilRadToDeg(L) + refLon; + L = lambda - (1 - C) * f * sina * (sigma + + C * sin(sigma) * (cos(sigma2m) + + C * cos(sigma) * (-1 + 2 * pow(cos(sigma2m), 2)) + ) + ); - *a2 = atan2( - sina, - -sin(U1)*sin(sigma) + cos(U1)*cos(sigma)*cos(a1) - ); + *resLon = UtilRadToDeg(L) + refLon; - return 0; + *a2 = atan2(sina, -sin(U1) * sin(sigma) + cos(U1) * cos(sigma) * cos(a1) + ); + + return 0; } -double UtilDegToRad(double Deg){return (PI*Deg/180);} -double UtilRadToDeg(double Rad){return (180*Rad/PI);} +double UtilDegToRad(double Deg) { + return (PI * Deg / 180); +} +double UtilRadToDeg(double Rad) { + return (180 * Rad / PI); +} -int UtilPopulateSpaceTimeArr(ObjectPosition *OP, char* TrajFile) -{ +int UtilPopulateSpaceTimeArr(ObjectPosition * OP, char *TrajFile) { - FILE *Trajfd; - int Rows, j = 0; - char TrajRow[TRAJECTORY_LINE_LENGTH]; + FILE *Trajfd; + int Rows, j = 0; + char TrajRow[TRAJECTORY_LINE_LENGTH]; - Trajfd = fopen (TrajFile, "r"); - if(Trajfd) - { - Rows = OP->TrajectoryPositionCount; - //printf("Rows = %d\n", Rows); - double x, y, z; - float t; - char ValueStr[NUMBER_CHAR_LENGTH]; - char* src1; char* src2; - do - { - bzero(TrajRow,TRAJECTORY_LINE_LENGTH); - if( UtilReadLineCntSpecChars(Trajfd, TrajRow) >= 10) - { - bzero(ValueStr, NUMBER_CHAR_LENGTH); - src1 = strchr(TrajRow, ';'); - src2 = strchr(src1+1, ';'); - strncpy(ValueStr, src1+1, (uint64_t)src2 - (uint64_t)src1); - t = atof(ValueStr); - //printf("%d :t = %3.3f\n", j, t); - bzero(ValueStr, NUMBER_CHAR_LENGTH); - src1 = strchr(src2, ';'); - src2 = strchr(src1+1, ';'); - strncpy(ValueStr, src1+1, (uint64_t)src2 - (uint64_t)src1); - x = atof(ValueStr); - - bzero(ValueStr, NUMBER_CHAR_LENGTH); - src1 = strchr(src2, ';'); - src2 = strchr(src1+1, ';'); - strncpy(ValueStr, src1+1, (uint64_t)src2 - (uint64_t)src1); - y = atof(ValueStr); - - /* - bzero(ValueStr, NUMBER_CHAR_LENGTH); - src1 = strchr(src2, ';'); - src2 = strchr(src1+1, ';'); - strncpy(ValueStr, src1+1, (uint64_t)src2 - (uint64_t)src1); - z = atof(ValueStr); - */ - - OP->SpaceArr[j]= (float)sqrt(pow(x,2) + pow(y,2)); - OP->TimeArr[j]= (float)t; - - OP->SpaceTimeArr[j].Index = j; - OP->SpaceTimeArr[j].Time = (float)t; - OP->SpaceTimeArr[j].OrigoDistance = (float)sqrt(pow(x,2) + pow(y,2) + pow(z,2)); - OP->SpaceTimeArr[j].Bearing = tan(y/x); - OP->SpaceTimeArr[j].x = x; - OP->SpaceTimeArr[j].y = y; - //printf("t = %5.3f\n", OP->TimeArr[j]); - //printf("t = %5.3f\n", OP->TimeArr[j]); - j ++; - } - - - } while (--Rows >= 0 /*j < 10*/); - - //UtilSortSpaceTimeAscending(OP); - - //for(int g=0; g < OP->TrajectoryPositionCount; g ++) - //{ - // printf("OrigoDistance=%4.3f, Time=%4.3f, Index=%d\n", OP->SpaceTimeArr[g].OrigoDistance, OP->SpaceTimeArr[g].Time, OP->SpaceTimeArr[g].Index); - //} - - - fclose(Trajfd); - } - else - { - LogMessage(LOG_LEVEL_ERROR,"Failed to open file:%s", TrajFile); - } + Trajfd = fopen(TrajFile, "r"); + if (Trajfd) { + Rows = OP->TrajectoryPositionCount; + //printf("Rows = %d\n", Rows); + double x, y, z; + float t; + char ValueStr[NUMBER_CHAR_LENGTH]; + char *src1; + char *src2; - return 0; + do { + bzero(TrajRow, TRAJECTORY_LINE_LENGTH); + if (UtilReadLineCntSpecChars(Trajfd, TrajRow) >= 10) { + bzero(ValueStr, NUMBER_CHAR_LENGTH); + src1 = strchr(TrajRow, ';'); + src2 = strchr(src1 + 1, ';'); + strncpy(ValueStr, src1 + 1, (uint64_t) src2 - (uint64_t) src1); + t = atof(ValueStr); + //printf("%d :t = %3.3f\n", j, t); + bzero(ValueStr, NUMBER_CHAR_LENGTH); + src1 = strchr(src2, ';'); + src2 = strchr(src1 + 1, ';'); + strncpy(ValueStr, src1 + 1, (uint64_t) src2 - (uint64_t) src1); + x = atof(ValueStr); + + bzero(ValueStr, NUMBER_CHAR_LENGTH); + src1 = strchr(src2, ';'); + src2 = strchr(src1 + 1, ';'); + strncpy(ValueStr, src1 + 1, (uint64_t) src2 - (uint64_t) src1); + y = atof(ValueStr); + + /* + bzero(ValueStr, NUMBER_CHAR_LENGTH); + src1 = strchr(src2, ';'); + src2 = strchr(src1+1, ';'); + strncpy(ValueStr, src1+1, (uint64_t)src2 - (uint64_t)src1); + z = atof(ValueStr); + */ + + OP->SpaceArr[j] = (float)sqrt(pow(x, 2) + pow(y, 2)); + OP->TimeArr[j] = (float)t; + + OP->SpaceTimeArr[j].Index = j; + OP->SpaceTimeArr[j].Time = (float)t; + OP->SpaceTimeArr[j].OrigoDistance = (float)sqrt(pow(x, 2) + pow(y, 2) + pow(z, 2)); + OP->SpaceTimeArr[j].Bearing = tan(y / x); + OP->SpaceTimeArr[j].x = x; + OP->SpaceTimeArr[j].y = y; + //printf("t = %5.3f\n", OP->TimeArr[j]); + //printf("t = %5.3f\n", OP->TimeArr[j]); + j++; + } + + + } while (--Rows >= 0 /*j < 10 */ ); + + //UtilSortSpaceTimeAscending(OP); + + //for(int g=0; g < OP->TrajectoryPositionCount; g ++) + //{ + // printf("OrigoDistance=%4.3f, Time=%4.3f, Index=%d\n", OP->SpaceTimeArr[g].OrigoDistance, OP->SpaceTimeArr[g].Time, OP->SpaceTimeArr[g].Index); + //} + + + fclose(Trajfd); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Failed to open file:%s", TrajFile); + } + + return 0; } -int UtilSetSyncPoint(ObjectPosition *OP, double x, double y, double z, double Time) -{ +int UtilSetSyncPoint(ObjectPosition * OP, double x, double y, double z, double Time) { - int i = 0; - int Gate1Reached = 0, Gate2Reached = 0; + int i = 0; + int Gate1Reached = 0, Gate2Reached = 0; - if(Time == 0) - { - float R = (float)sqrt(pow(x,2) + pow(y,2)); - while(i < (OP->TrajectoryPositionCount-1) && Gate1Reached == 0) - { - if( OP->SpaceArr[i] == R) - { - Gate1Reached = 1; - OP->SyncIndex = i; - //printf("Sync point found=%4.3f, Time=%4.3f, Index=%d\n", OP->SpaceArr[i], OP->TimeArr[i], i); - } - else - { - OP->SyncIndex = -1; - } - i ++; - } - } else { - - while(i < (OP->TrajectoryPositionCount-1) && Gate1Reached == 0) - { - //printf("%4.3f, %4.3f\n", OP->TimeArr[i], OP->TimeArr[i+1]); - - if(Time >= OP->TimeArr[i] && Time <= OP->TimeArr[i+1] ) - { - Gate1Reached = 1; - OP->SyncIndex = i; - // printf("Sync point found=%4.3f, Time=%4.3f, Index=%d\n", OP->SpaceArr[i], OP->TimeArr[i], i); - } - else - { - OP->SyncIndex = -1; - } - i ++; - } + if (Time == 0) { + float R = (float)sqrt(pow(x, 2) + pow(y, 2)); - } + while (i < (OP->TrajectoryPositionCount - 1) && Gate1Reached == 0) { + if (OP->SpaceArr[i] == R) { + Gate1Reached = 1; + OP->SyncIndex = i; + //printf("Sync point found=%4.3f, Time=%4.3f, Index=%d\n", OP->SpaceArr[i], OP->TimeArr[i], i); + } + else { + OP->SyncIndex = -1; + } + i++; + } + } + else { + + while (i < (OP->TrajectoryPositionCount - 1) && Gate1Reached == 0) { + //printf("%4.3f, %4.3f\n", OP->TimeArr[i], OP->TimeArr[i+1]); + + if (Time >= OP->TimeArr[i] && Time <= OP->TimeArr[i + 1]) { + Gate1Reached = 1; + OP->SyncIndex = i; + // printf("Sync point found=%4.3f, Time=%4.3f, Index=%d\n", OP->SpaceArr[i], OP->TimeArr[i], i); + } + else { + OP->SyncIndex = -1; + } + i++; + } + + } } -float UtilCalculateTimeToSync(ObjectPosition *OP) -{ +float UtilCalculateTimeToSync(ObjectPosition * OP) { - float t = OP->SpaceTimeArr[OP->SyncIndex].Time - OP->SpaceTimeArr[OP->BestFoundTrajectoryIndex].Time; - OP->TimeToSyncPoint = t; - //printf("%3.3f %d %d\n", t , OP->SyncIndex, OP->BestFoundTrajectoryIndex); - return t; + float t = OP->SpaceTimeArr[OP->SyncIndex].Time - OP->SpaceTimeArr[OP->BestFoundTrajectoryIndex].Time; + + OP->TimeToSyncPoint = t; + //printf("%3.3f %d %d\n", t , OP->SyncIndex, OP->BestFoundTrajectoryIndex); + return t; } @@ -1065,41 +1048,37 @@ float UtilCalculateTimeToSync(ObjectPosition *OP) * \param nPtsInPolygon length of the vertex array * \return true if the point lies within the polygon, false otherwise */ -char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition *vertices, unsigned int nPtsInPolygon) -{ - int nIntersects = 0; - - if (nPtsInPolygon == 0) - { - return -1; - } - - // Count the number of intersections with the polygon - for (unsigned int i = 0; i < nPtsInPolygon-1; ++i) - { - if (rayFromPointIntersectsLine(point.xCoord_m, point.yCoord_m, vertices[i].xCoord_m, vertices[i].yCoord_m, - vertices[i+1].xCoord_m, vertices[i+1].yCoord_m)) - { - nIntersects++; - } - } - // If the first and last points are different, the polygon segment between them must also be included - if (fabs(vertices[0].xCoord_m - vertices[nPtsInPolygon-1].xCoord_m) > (double)(2*FLT_EPSILON) - || fabs(vertices[0].yCoord_m - vertices[nPtsInPolygon-1].yCoord_m) > (double)(2*FLT_EPSILON) ) - { - if (rayFromPointIntersectsLine(point.xCoord_m, point.yCoord_m, - vertices[0].xCoord_m, vertices[0].yCoord_m, - vertices[nPtsInPolygon-1].xCoord_m, vertices[nPtsInPolygon-1].yCoord_m)) - { - nIntersects++; - } - } - - // If the number of ray intersections with the polygon is even, the point must be outside the polygon - if (nIntersects % 2 == 0) - return 0; - else - return 1; +char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition * vertices, unsigned int nPtsInPolygon) { + int nIntersects = 0; + + if (nPtsInPolygon == 0) { + return -1; + } + + // Count the number of intersections with the polygon + for (unsigned int i = 0; i < nPtsInPolygon - 1; ++i) { + if (rayFromPointIntersectsLine + (point.xCoord_m, point.yCoord_m, vertices[i].xCoord_m, vertices[i].yCoord_m, + vertices[i + 1].xCoord_m, vertices[i + 1].yCoord_m)) { + nIntersects++; + } + } + // If the first and last points are different, the polygon segment between them must also be included + if (fabs(vertices[0].xCoord_m - vertices[nPtsInPolygon - 1].xCoord_m) > (double)(2 * FLT_EPSILON) + || fabs(vertices[0].yCoord_m - vertices[nPtsInPolygon - 1].yCoord_m) > (double)(2 * FLT_EPSILON)) { + if (rayFromPointIntersectsLine(point.xCoord_m, point.yCoord_m, + vertices[0].xCoord_m, vertices[0].yCoord_m, + vertices[nPtsInPolygon - 1].xCoord_m, + vertices[nPtsInPolygon - 1].yCoord_m)) { + nIntersects++; + } + } + + // If the number of ray intersections with the polygon is even, the point must be outside the polygon + if (nIntersects % 2 == 0) + return 0; + else + return 1; } /*! @@ -1114,632 +1093,636 @@ char UtilIsPointInPolygon(CartesianPosition point, CartesianPosition *vertices, * \return true if ray intersects line AB, false otherwise */ static char rayFromPointIntersectsLine(double pointX, double pointY, - double linePointAX, double linePointAY, double linePointBX, double linePointBY) -{ - double tmp, maxVal, minVal, slopeAB, slopeAP; - - // Need 2x eps because machine epsilon is too small - // Need to use float epsilon in case the double points are just promoted floats - const double algorithmEpsilon = (double)(2*FLT_EPSILON); - - // The algorithm assumes the Y coordinate of A is smaller than that of B - // -> if this is not the case, swap the points - if (linePointBY < linePointAY) - { - tmp = linePointAX; - linePointAX = linePointBX; - linePointBX = tmp; - - tmp = linePointAY; - linePointAY = linePointBY; - linePointBY = tmp; - } - - // If the ray casting would cause intersection with a vertex the result is undefined, - // so we perform a heuristic to avoid this situation: - if (pointY == linePointAY || pointY == linePointBY) - { - pointY += algorithmEpsilon; - } - - // A ray in X axis direction will not intersect if Y coordinates are outside of the range - // spanned by the line AB - if (pointY < linePointAY || pointY > linePointBY) - return 0; - - // A ray in X axis direction will not intersect if it starts at a larger X coordinate than - // any in the range of the line AB - maxVal = linePointAX > linePointBX ? linePointAX : linePointBX; - if (pointX >= maxVal) - return 0; - - // A ray in X axis direction will intersect if it starts at a smaller X coordinate than - // any in the range of the line AB - minVal = linePointAX < linePointBX ? linePointAX : linePointBX; - if (pointX < minVal) - return 1; - - // Having filtered away all the situations where the point lies outside the rectangle - // defined by the two points A and B, it is necessary to do some more costly processing - - // Compare the slopes of the lines AB and AP - if the slope of AB is larger than that of AP - // then a ray in X axis direction will not intersect AB - if (linePointAX != linePointBX) - slopeAB = (linePointBY - linePointAY) / (linePointBX - linePointAX); - else - slopeAB = (double)INFINITY; - if (linePointAX != pointX) - slopeAP = (pointY - linePointAY) / (pointX - linePointAX); - else - slopeAP = (double)INFINITY; - - if (slopeAP >= slopeAB) - return 1; - else - return 0; -} - - -int UtilSortSpaceTimeAscending(ObjectPosition *OP) -{ - int i, j, index; - float r,t; - for (i = 0; i < OP->TrajectoryPositionCount; ++i) - { - for (j = i + 1; j < OP->TrajectoryPositionCount; ++j) - { - if (OP->SpaceTimeArr[i].OrigoDistance > OP->SpaceTimeArr[j].OrigoDistance) - { - index = OP->SpaceTimeArr[i].Index; - r = OP->SpaceTimeArr[i].OrigoDistance; - t = OP->SpaceTimeArr[i].Time; - OP->SpaceTimeArr[i].Index = OP->SpaceTimeArr[j].Index; - OP->SpaceTimeArr[i].OrigoDistance = OP->SpaceTimeArr[j].OrigoDistance; - OP->SpaceTimeArr[i].Time = OP->SpaceTimeArr[j].Time; - OP->SpaceTimeArr[j].Index = index; - OP->SpaceTimeArr[j].OrigoDistance = r; - OP->SpaceTimeArr[j].Time = t; - } - } - } -} - - -int UtilFindCurrentTrajectoryPosition(ObjectPosition *OP, int StartIndex, double CurrentTime, double MaxTrajDiff, double MaxTimeDiff, char debug) -{ + double linePointAX, double linePointAY, double linePointBX, + double linePointBY) { + double tmp, maxVal, minVal, slopeAB, slopeAP; + + // Need 2x eps because machine epsilon is too small + // Need to use float epsilon in case the double points are just promoted floats + const double algorithmEpsilon = (double)(2 * FLT_EPSILON); + + // The algorithm assumes the Y coordinate of A is smaller than that of B + // -> if this is not the case, swap the points + if (linePointBY < linePointAY) { + tmp = linePointAX; + linePointAX = linePointBX; + linePointBX = tmp; + + tmp = linePointAY; + linePointAY = linePointBY; + linePointBY = tmp; + } - int i = StartIndex, j=0, ErrorDecreasing = 1, PositionFound=-1, Init, Q1, Q2; - double Angle1, Angle2, R1, R2, RDiff, AngleDiff, PrevAngleDiff; + // If the ray casting would cause intersection with a vertex the result is undefined, + // so we perform a heuristic to avoid this situation: + if (pointY == linePointAY || pointY == linePointBY) { + pointY += algorithmEpsilon; + } - if(i <= -1) i = 0; - //OP->BestFoundTrajectoryIndex = 0; - if(debug) LogPrint("OPOrigoDistance=%4.3f, x=%4.3f, y=%4.3f, SyncIndex=%d", OP->OrigoDistance, OP->x, OP->y, OP->SyncIndex); + // A ray in X axis direction will not intersect if Y coordinates are outside of the range + // spanned by the line AB + if (pointY < linePointAY || pointY > linePointBY) + return 0; + + // A ray in X axis direction will not intersect if it starts at a larger X coordinate than + // any in the range of the line AB + maxVal = linePointAX > linePointBX ? linePointAX : linePointBX; + if (pointX >= maxVal) + return 0; + + // A ray in X axis direction will intersect if it starts at a smaller X coordinate than + // any in the range of the line AB + minVal = linePointAX < linePointBX ? linePointAX : linePointBX; + if (pointX < minVal) + return 1; + + // Having filtered away all the situations where the point lies outside the rectangle + // defined by the two points A and B, it is necessary to do some more costly processing + + // Compare the slopes of the lines AB and AP - if the slope of AB is larger than that of AP + // then a ray in X axis direction will not intersect AB + if (linePointAX != linePointBX) + slopeAB = (linePointBY - linePointAY) / (linePointBX - linePointAX); + else + slopeAB = (double)INFINITY; + if (linePointAX != pointX) + slopeAP = (pointY - linePointAY) / (pointX - linePointAX); + else + slopeAP = (double)INFINITY; - Init = 1; - while(i < (OP->TrajectoryPositionCount-1) && i <= OP->SyncIndex) - { + if (slopeAP >= slopeAB) + return 1; + else + return 0; +} + + +int UtilSortSpaceTimeAscending(ObjectPosition * OP) { + int i, j, index; + float r, t; + + for (i = 0; i < OP->TrajectoryPositionCount; ++i) { + for (j = i + 1; j < OP->TrajectoryPositionCount; ++j) { + if (OP->SpaceTimeArr[i].OrigoDistance > OP->SpaceTimeArr[j].OrigoDistance) { + index = OP->SpaceTimeArr[i].Index; + r = OP->SpaceTimeArr[i].OrigoDistance; + t = OP->SpaceTimeArr[i].Time; + OP->SpaceTimeArr[i].Index = OP->SpaceTimeArr[j].Index; + OP->SpaceTimeArr[i].OrigoDistance = OP->SpaceTimeArr[j].OrigoDistance; + OP->SpaceTimeArr[i].Time = OP->SpaceTimeArr[j].Time; + OP->SpaceTimeArr[j].Index = index; + OP->SpaceTimeArr[j].OrigoDistance = r; + OP->SpaceTimeArr[j].Time = t; + } + } + } +} - Angle1 = PI/2 - atan(fabs(OP->SpaceTimeArr[i].y)/fabs(OP->SpaceTimeArr[i].x)); - Q1 = 0; - if(OP->SpaceTimeArr[i].y >= 0 && OP->SpaceTimeArr[i].x >= 0) Q1 = 1; - else if(OP->SpaceTimeArr[i].y > 0 && OP->SpaceTimeArr[i].x < 0) Q1 = 2; - else if(OP->SpaceTimeArr[i].y < 0 && OP->SpaceTimeArr[i].x < 0) Q1 = 3; - else if(OP->SpaceTimeArr[i].y < 0 && OP->SpaceTimeArr[i].x > 0) Q1 = 4; - - Angle2 = PI/2 - atan(fabs(OP->y)/fabs(OP->x)); - Q2 = 0; - if(OP->y >= 0 && OP->x >= 0) Q2 = 1; - else if(OP->y > 0 && OP->x < 0) Q2 = 2; - else if(OP->y < 0 && OP->x < 0) Q2 = 3; - else if(OP->y < 0 && OP->x > 0) Q2 = 4; - - if(debug == 2) - { - R1 = sqrt(pow(OP->SpaceTimeArr[i].x,2)+pow(OP->SpaceTimeArr[i].y,2)); - R2 = sqrt(pow(OP->x,2) + pow(OP->y,2)); - LogPrint("%d, %3.5f, %3.5f, %3.5f, %d, %d, %3.6f", i, fabs(R1-R2), fabs(R1-OP->OrigoDistance) ,fabs(Angle1-Angle2), Q1, Q2, fabs(Angle1 - OP->ForwardAzimuth1)); - } - - - if(Q1 == Q2) - { - R1 = sqrt(pow(OP->SpaceTimeArr[i].x,2)+pow(OP->SpaceTimeArr[i].y,2)); - R2 = sqrt(pow(OP->x,2) + pow(OP->y,2)); - //RDiff = fabs(R1-R2); - RDiff = fabs(R1-OP->OrigoDistance); - AngleDiff = fabs(Angle1 - Angle2); - if(Init == 0) - { - if((AngleDiff < PrevAngleDiff) && (i > OP->BestFoundTrajectoryIndex) && RDiff <= MaxTrajDiff) - { - PositionFound = i; - if(debug == 2) LogPrint("Minimum: %d, %3.6f, %3.6f", i, AngleDiff, RDiff); - PrevAngleDiff = AngleDiff; - } - } - else - { - PrevAngleDiff = AngleDiff; - } - Init = 0; - } - i ++; - } - if(debug) LogPrint("Selected time: %3.3f", OP->SpaceTimeArr[PositionFound].Time); +int UtilFindCurrentTrajectoryPosition(ObjectPosition * OP, int StartIndex, double CurrentTime, + double MaxTrajDiff, double MaxTimeDiff, char debug) { + + int i = StartIndex, j = 0, ErrorDecreasing = 1, PositionFound = -1, Init, Q1, Q2; + double Angle1, Angle2, R1, R2, RDiff, AngleDiff, PrevAngleDiff; + + if (i <= -1) + i = 0; + //OP->BestFoundTrajectoryIndex = 0; + if (debug) + LogPrint("OPOrigoDistance=%4.3f, x=%4.3f, y=%4.3f, SyncIndex=%d", OP->OrigoDistance, OP->x, OP->y, + OP->SyncIndex); + + Init = 1; + while (i < (OP->TrajectoryPositionCount - 1) && i <= OP->SyncIndex) { + + Angle1 = PI / 2 - atan(fabs(OP->SpaceTimeArr[i].y) / fabs(OP->SpaceTimeArr[i].x)); + Q1 = 0; + if (OP->SpaceTimeArr[i].y >= 0 && OP->SpaceTimeArr[i].x >= 0) + Q1 = 1; + else if (OP->SpaceTimeArr[i].y > 0 && OP->SpaceTimeArr[i].x < 0) + Q1 = 2; + else if (OP->SpaceTimeArr[i].y < 0 && OP->SpaceTimeArr[i].x < 0) + Q1 = 3; + else if (OP->SpaceTimeArr[i].y < 0 && OP->SpaceTimeArr[i].x > 0) + Q1 = 4; + + Angle2 = PI / 2 - atan(fabs(OP->y) / fabs(OP->x)); + Q2 = 0; + if (OP->y >= 0 && OP->x >= 0) + Q2 = 1; + else if (OP->y > 0 && OP->x < 0) + Q2 = 2; + else if (OP->y < 0 && OP->x < 0) + Q2 = 3; + else if (OP->y < 0 && OP->x > 0) + Q2 = 4; + + if (debug == 2) { + R1 = sqrt(pow(OP->SpaceTimeArr[i].x, 2) + pow(OP->SpaceTimeArr[i].y, 2)); + R2 = sqrt(pow(OP->x, 2) + pow(OP->y, 2)); + LogPrint("%d, %3.5f, %3.5f, %3.5f, %d, %d, %3.6f", i, fabs(R1 - R2), fabs(R1 - OP->OrigoDistance), + fabs(Angle1 - Angle2), Q1, Q2, fabs(Angle1 - OP->ForwardAzimuth1)); + } + + + if (Q1 == Q2) { + R1 = sqrt(pow(OP->SpaceTimeArr[i].x, 2) + pow(OP->SpaceTimeArr[i].y, 2)); + R2 = sqrt(pow(OP->x, 2) + pow(OP->y, 2)); + //RDiff = fabs(R1-R2); + RDiff = fabs(R1 - OP->OrigoDistance); + AngleDiff = fabs(Angle1 - Angle2); + if (Init == 0) { + if ((AngleDiff < PrevAngleDiff) && (i > OP->BestFoundTrajectoryIndex) && RDiff <= MaxTrajDiff) { + PositionFound = i; + if (debug == 2) + LogPrint("Minimum: %d, %3.6f, %3.6f", i, AngleDiff, RDiff); + PrevAngleDiff = AngleDiff; + } + } + else { + PrevAngleDiff = AngleDiff; + } + Init = 0; + } + i++; + } - if(PositionFound == -1) OP->BestFoundTrajectoryIndex = TRAJ_POSITION_NOT_FOUND; - else if(PositionFound > TRAJ_POSITION_NOT_FOUND) - { - OP->BestFoundTrajectoryIndex = PositionFound; - OP->SpaceTimeFoundIndex = PositionFound; - } + if (debug) + LogPrint("Selected time: %3.3f", OP->SpaceTimeArr[PositionFound].Time); - if(debug == 2) - { - LogPrint("BestFoundTrajectoryIndex=%d", OP->BestFoundTrajectoryIndex); - LogPrint("Current origo distance=%4.3f m", OP->OrigoDistance); - LogPrint("Current time=%4.3f s", CurrentTime); - LogPrint("Matched origo distance=%4.3f m", OP->SpaceTimeArr[PositionFound].OrigoDistance); - LogPrint("Distance error=%4.3f m", OP->OrigoDistance - OP->SpaceTimeArr[PositionFound].OrigoDistance); - LogPrint("Expected time=%4.3f s (index=%d)", OP->SpaceTimeArr[PositionFound].Time, OP->SpaceTimeArr[PositionFound].Index); - LogPrint("Time error=%4.3f s", CurrentTime - OP->SpaceTimeArr[PositionFound].Time); - } + if (PositionFound == -1) + OP->BestFoundTrajectoryIndex = TRAJ_POSITION_NOT_FOUND; + else if (PositionFound > TRAJ_POSITION_NOT_FOUND) { + OP->BestFoundTrajectoryIndex = PositionFound; + OP->SpaceTimeFoundIndex = PositionFound; + } - return PositionFound; -} + if (debug == 2) { + LogPrint("BestFoundTrajectoryIndex=%d", OP->BestFoundTrajectoryIndex); + LogPrint("Current origo distance=%4.3f m", OP->OrigoDistance); + LogPrint("Current time=%4.3f s", CurrentTime); + LogPrint("Matched origo distance=%4.3f m", OP->SpaceTimeArr[PositionFound].OrigoDistance); + LogPrint("Distance error=%4.3f m", OP->OrigoDistance - OP->SpaceTimeArr[PositionFound].OrigoDistance); + LogPrint("Expected time=%4.3f s (index=%d)", OP->SpaceTimeArr[PositionFound].Time, + OP->SpaceTimeArr[PositionFound].Index); + LogPrint("Time error=%4.3f s", CurrentTime - OP->SpaceTimeArr[PositionFound].Time); + } + return PositionFound; +} + + +int UtilFindCurrentTrajectoryPositionNew(ObjectPosition * OP, int StartIndex, double CurrentTime, + double MaxTrajDiff, double MaxTimeDiff, char debug) { + + int i = StartIndex, j = 0, ErrorDecreasing = 1, PositionFound = -1, Init, Q1, Q2; + int Gate1Reached = 0, Gate2Reached = 0, SampledSpaceIndex[SYNC_POINT_BUFFER]; + double Diff, PrevDiff, FutDiff, MinDiff = + -1, BearingDiff, MinBearingDiff, Angle1, Angle2, R1, R2, RDiff, AngleDiff, PrevRDiff, PrevAngleDiff; + + if (i <= -1) + i = 0; + OP->BestFoundTrajectoryIndex = 0; + LogMessage(LOG_LEVEL_DEBUG, "OPOrigoDistance=%4.3f, x=%4.3f, y=%4.3f, SyncIndex=%d", OP->OrigoDistance, + OP->x, OP->y, OP->SyncIndex); + + Init = 1; + while (i < (OP->TrajectoryPositionCount - 1) && i <= OP->SyncIndex) { + + PrevDiff = (fabs(OP->SpaceTimeArr[i - 2].OrigoDistance - OP->OrigoDistance)); + Diff = (fabs(OP->SpaceTimeArr[i].OrigoDistance - OP->OrigoDistance)); + FutDiff = (fabs(OP->SpaceTimeArr[i + 2].OrigoDistance - OP->OrigoDistance)); + BearingDiff = fabs(OP->SpaceTimeArr[i].Bearing - OP->ForwardAzimuth2); + + Angle1 = PI / 2 - atan(fabs(OP->SpaceTimeArr[i].y) / fabs(OP->SpaceTimeArr[i].x)); + Q1 = 0; + if (OP->SpaceTimeArr[i].y >= 0 && OP->SpaceTimeArr[i].x >= 0) + Q1 = 1; + else if (OP->SpaceTimeArr[i].y > 0 && OP->SpaceTimeArr[i].x < 0) + Q1 = 2; + else if (OP->SpaceTimeArr[i].y < 0 && OP->SpaceTimeArr[i].x < 0) + Q1 = 3; + else if (OP->SpaceTimeArr[i].y < 0 && OP->SpaceTimeArr[i].x > 0) + Q1 = 4; + + Angle2 = PI / 2 - atan(fabs(OP->y) / fabs(OP->x)); + Q2 = 0; + if (OP->y >= 0 && OP->x >= 0) + Q2 = 1; + else if (OP->y > 0 && OP->x < 0) + Q2 = 2; + else if (OP->y < 0 && OP->x < 0) + Q2 = 3; + else if (OP->y < 0 && OP->x > 0) + Q2 = 4; + + R1 = sqrt(pow(OP->SpaceTimeArr[i].x, 2) + pow(OP->SpaceTimeArr[i].y, 2)); + R2 = sqrt(pow(OP->x, 2) + pow(OP->y, 2)); + if (debug == 2) + LogPrint("%d, %3.5f, %3.5f, %3.5f, %d, %d, %3.6f", i, fabs(R1 - R2), fabs(R1 - OP->OrigoDistance), + fabs(Angle1 - Angle2), Q1, Q2, fabs(Angle1 - OP->ForwardAzimuth1)); + + if (Q1 == Q2) { + R1 = sqrt(pow(OP->SpaceTimeArr[i].x, 2) + pow(OP->SpaceTimeArr[i].y, 2)); + R2 = sqrt(pow(OP->x, 2) + pow(OP->y, 2)); + RDiff = fabs(R1 - R2); + AngleDiff = fabs(Angle1 - Angle2); + if (Init == 0) { + if ((AngleDiff < PrevAngleDiff) && (i > OP->BestFoundTrajectoryIndex)) { + PositionFound = i; + //SampledSpaceIndex[j] = i; + //j++ ; + if (debug == 2) + LogPrint("Minimum: %d, %3.6f, %3.6f", i, AngleDiff, RDiff); + PrevAngleDiff = AngleDiff; + } + + } + else { + PrevAngleDiff = AngleDiff; + } + Init = 0; + } + i++; + } -int UtilFindCurrentTrajectoryPositionNew(ObjectPosition *OP, int StartIndex, double CurrentTime, double MaxTrajDiff, double MaxTimeDiff, char debug) -{ + if (debug) + LogPrint("Selected time: %3.3f", OP->SpaceTimeArr[PositionFound].Time); - int i = StartIndex, j=0, ErrorDecreasing = 1, PositionFound=-1, Init, Q1, Q2; - int Gate1Reached = 0, Gate2Reached = 0, SampledSpaceIndex[SYNC_POINT_BUFFER]; - double Diff, PrevDiff, FutDiff, MinDiff=-1, BearingDiff, MinBearingDiff, Angle1, Angle2, R1, R2, RDiff, AngleDiff, PrevRDiff, PrevAngleDiff; + if (PositionFound == -1) + OP->BestFoundTrajectoryIndex = TRAJ_POSITION_NOT_FOUND; + else if (PositionFound > TRAJ_POSITION_NOT_FOUND) { + OP->BestFoundTrajectoryIndex = PositionFound; + OP->SpaceTimeFoundIndex = PositionFound; - if(i <= -1) i = 0; - OP->BestFoundTrajectoryIndex = 0; - LogMessage(LOG_LEVEL_DEBUG,"OPOrigoDistance=%4.3f, x=%4.3f, y=%4.3f, SyncIndex=%d", OP->OrigoDistance, OP->x, OP->y, OP->SyncIndex); + /* + printf("BestFoundTrajectoryIndex=%d\n", OP->BestFoundTrajectoryIndex); + printf("Current origo distance=%4.3f m\n", OP->OrigoDistance); + printf("Current time=%4.3f s\n", CurrentTime); + printf("Matched origo distance=%4.3f m\n", OP->SpaceTimeArr[PositionFound].OrigoDistance); + printf("Distance error=%4.3f m\n", OP->OrigoDistance - OP->SpaceTimeArr[PositionFound].OrigoDistance); + printf("Expected time=%4.3f s (index=%d)\n", OP->SpaceTimeArr[PositionFound].Time, OP->SpaceTimeArr[PositionFound].Index); + printf("Time error=%4.3f s\n", CurrentTime - OP->SpaceTimeArr[PositionFound].Time); + */ + } - Init = 1; - while(i < (OP->TrajectoryPositionCount-1) && i <= OP->SyncIndex) - { + return PositionFound; +} - PrevDiff = (fabs(OP->SpaceTimeArr[i-2].OrigoDistance - OP->OrigoDistance)); - Diff = (fabs(OP->SpaceTimeArr[i].OrigoDistance - OP->OrigoDistance)); - FutDiff = (fabs(OP->SpaceTimeArr[i+2].OrigoDistance - OP->OrigoDistance)); - BearingDiff = fabs(OP->SpaceTimeArr[i].Bearing - OP->ForwardAzimuth2); - - Angle1 = PI/2 - atan(fabs(OP->SpaceTimeArr[i].y)/fabs(OP->SpaceTimeArr[i].x)); - Q1 = 0; - if(OP->SpaceTimeArr[i].y >= 0 && OP->SpaceTimeArr[i].x >= 0) Q1 = 1; - else if(OP->SpaceTimeArr[i].y > 0 && OP->SpaceTimeArr[i].x < 0) Q1 = 2; - else if(OP->SpaceTimeArr[i].y < 0 && OP->SpaceTimeArr[i].x < 0) Q1 = 3; - else if(OP->SpaceTimeArr[i].y < 0 && OP->SpaceTimeArr[i].x > 0) Q1 = 4; - - Angle2 = PI/2 - atan(fabs(OP->y)/fabs(OP->x)); - Q2 = 0; - if(OP->y >= 0 && OP->x >= 0) Q2 = 1; - else if(OP->y > 0 && OP->x < 0) Q2 = 2; - else if(OP->y < 0 && OP->x < 0) Q2 = 3; - else if(OP->y < 0 && OP->x > 0) Q2 = 4; - - R1 = sqrt(pow(OP->SpaceTimeArr[i].x,2)+pow(OP->SpaceTimeArr[i].y,2)); - R2 = sqrt(pow(OP->x,2) + pow(OP->y,2)); - if(debug == 2) LogPrint("%d, %3.5f, %3.5f, %3.5f, %d, %d, %3.6f", i, fabs(R1-R2), fabs(R1-OP->OrigoDistance) ,fabs(Angle1-Angle2), Q1, Q2, fabs(Angle1 - OP->ForwardAzimuth1)); - - if(Q1 == Q2) - { - R1 = sqrt(pow(OP->SpaceTimeArr[i].x,2)+pow(OP->SpaceTimeArr[i].y,2)); - R2 = sqrt(pow(OP->x,2) + pow(OP->y,2)); - RDiff = fabs(R1-R2); - AngleDiff = fabs(Angle1 - Angle2); - if(Init == 0) - { - if((AngleDiff < PrevAngleDiff) && (i > OP->BestFoundTrajectoryIndex)) - { - PositionFound = i; - //SampledSpaceIndex[j] = i; - //j++ ; - if(debug == 2) LogPrint("Minimum: %d, %3.6f, %3.6f", i, AngleDiff, RDiff); - PrevAngleDiff = AngleDiff; - } - - } - else - { - PrevAngleDiff = AngleDiff; - } - Init = 0; - } - i ++; - } - if(debug) LogPrint("Selected time: %3.3f", OP->SpaceTimeArr[PositionFound].Time); - if(PositionFound == -1) OP->BestFoundTrajectoryIndex = TRAJ_POSITION_NOT_FOUND; - else if(PositionFound > TRAJ_POSITION_NOT_FOUND) - { - OP->BestFoundTrajectoryIndex = PositionFound; - OP->SpaceTimeFoundIndex = PositionFound; - - /* - printf("BestFoundTrajectoryIndex=%d\n", OP->BestFoundTrajectoryIndex); - printf("Current origo distance=%4.3f m\n", OP->OrigoDistance); - printf("Current time=%4.3f s\n", CurrentTime); - printf("Matched origo distance=%4.3f m\n", OP->SpaceTimeArr[PositionFound].OrigoDistance); - printf("Distance error=%4.3f m\n", OP->OrigoDistance - OP->SpaceTimeArr[PositionFound].OrigoDistance); - printf("Expected time=%4.3f s (index=%d)\n", OP->SpaceTimeArr[PositionFound].Time, OP->SpaceTimeArr[PositionFound].Index); - printf("Time error=%4.3f s\n", CurrentTime - OP->SpaceTimeArr[PositionFound].Time); - */ - } +int UtilFindCurrentTrajectoryPositionPrev(ObjectPosition * OP, int StartIndex, double CurrentTime, + double MaxTrajDiff, double MaxTimeDiff, char debug) { - return PositionFound; -} + int i = StartIndex, j = 0, ErrorDecreasing = 1, PositionFound = -1, Init; + int Gate1Reached = 0, Gate2Reached = 0, SampledSpaceIndex[SYNC_POINT_BUFFER]; + double Diff, PrevDiff, FutDiff, MinDiff = -1, BearingDiff, MinBearingDiff; + if (i <= -1) + i = 2; + OP->BestFoundTrajectoryIndex = 0; + LogMessage(LOG_LEVEL_DEBUG, "OPOrigoDistance=%4.3f, x=%4.3f, y=%4.3f, SyncIndex=%d", OP->OrigoDistance, + OP->x, OP->y, OP->SyncIndex); + Init = 1; + while (i < (OP->TrajectoryPositionCount - 1) && i <= OP->SyncIndex) { -int UtilFindCurrentTrajectoryPositionPrev(ObjectPosition *OP, int StartIndex, double CurrentTime, double MaxTrajDiff, double MaxTimeDiff, char debug) -{ + PrevDiff = (fabs(OP->SpaceTimeArr[i - 2].OrigoDistance - OP->OrigoDistance)); + Diff = (fabs(OP->SpaceTimeArr[i].OrigoDistance - OP->OrigoDistance)); + FutDiff = (fabs(OP->SpaceTimeArr[i + 2].OrigoDistance - OP->OrigoDistance)); + BearingDiff = fabs(OP->SpaceTimeArr[i].Bearing - OP->ForwardAzimuth2); - int i = StartIndex, j=0, ErrorDecreasing = 1, PositionFound=-1, Init; - int Gate1Reached = 0, Gate2Reached = 0, SampledSpaceIndex[SYNC_POINT_BUFFER]; - double Diff, PrevDiff, FutDiff, MinDiff=-1, BearingDiff, MinBearingDiff; + if (debug == 2) + LogPrint("%d, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.6f", i, PrevDiff, Diff, FutDiff, + OP->SpaceTimeArr[i].x, OP->x, OP->SpaceTimeArr[i].y, OP->y, + fabs(OP->SpaceTimeArr[i].Bearing - tan(OP->y / OP->x))); - if(i <= -1) i = 2; - OP->BestFoundTrajectoryIndex = 0; - LogMessage(LOG_LEVEL_DEBUG,"OPOrigoDistance=%4.3f, x=%4.3f, y=%4.3f, SyncIndex=%d", OP->OrigoDistance, OP->x, OP->y, OP->SyncIndex); + if (Init == 0) { + if ((Diff <= PrevDiff) && (Diff <= FutDiff) && (i > OP->BestFoundTrajectoryIndex)) { + MinDiff = Diff; + MinBearingDiff = BearingDiff; + PositionFound = i; + SampledSpaceIndex[j] = i; + j++; + if (debug == 1) + LogPrint("Minimum: %d, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.6f", i, + PrevDiff, Diff, FutDiff, OP->SpaceTimeArr[i].x, OP->x, OP->SpaceTimeArr[i].y, + OP->y, fabs(OP->SpaceTimeArr[i].Bearing - tan(OP->y / OP->x))); + } + } - Init = 1; - while(i < (OP->TrajectoryPositionCount-1) && i <= OP->SyncIndex) - { + Init = 0; + i++; + } - PrevDiff = (fabs(OP->SpaceTimeArr[i-2].OrigoDistance - OP->OrigoDistance)); - Diff = (fabs(OP->SpaceTimeArr[i].OrigoDistance - OP->OrigoDistance)); - FutDiff = (fabs(OP->SpaceTimeArr[i+2].OrigoDistance - OP->OrigoDistance)); - BearingDiff = fabs(OP->SpaceTimeArr[i].Bearing - OP->ForwardAzimuth2); - - if(debug == 2) LogPrint("%d, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.6f", i, PrevDiff,Diff, FutDiff, OP->SpaceTimeArr[i].x, OP->x, OP->SpaceTimeArr[i].y, OP->y, fabs(OP->SpaceTimeArr[i].Bearing - tan(OP->y/OP->x))); - - if(Init == 0) - { - if((Diff <= PrevDiff) && (Diff <= FutDiff) && (i > OP->BestFoundTrajectoryIndex)) - { - MinDiff = Diff; - MinBearingDiff = BearingDiff; - PositionFound = i; - SampledSpaceIndex[j] = i; - j++ ; - if(debug == 1) LogPrint("Minimum: %d, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.6f", i, PrevDiff,Diff, FutDiff, OP->SpaceTimeArr[i].x, OP->x, OP->SpaceTimeArr[i].y, OP->y, fabs(OP->SpaceTimeArr[i].Bearing - tan(OP->y/OP->x))); - } - } - - Init = 0; - i ++; - } + Init = 1; + PositionFound = -1; + for (i = 0; i < j; i++) { + Diff = fabs(CurrentTime - OP->SpaceTimeArr[SampledSpaceIndex[i]].Time); + if (Init == 0) { + if (Diff < MinDiff) { + PositionFound = SampledSpaceIndex[i]; + } + } + Init = 0; + MinDiff = Diff; + } - Init = 1; - PositionFound = -1; - for(i = 0; i < j; i++) - { - Diff = fabs(CurrentTime - OP->SpaceTimeArr[SampledSpaceIndex[i]].Time); - if(Init == 0) - { - if(Diff < MinDiff) - { - PositionFound = SampledSpaceIndex[i]; - } - } - Init = 0; - MinDiff = Diff; - } + if (debug) + LogPrint("Selected time: %3.3f", OP->SpaceTimeArr[PositionFound].Time); - if(debug) LogPrint("Selected time: %3.3f", OP->SpaceTimeArr[PositionFound].Time); + if (PositionFound == -1) + OP->BestFoundTrajectoryIndex = TRAJ_POSITION_NOT_FOUND; + else if (PositionFound > TRAJ_POSITION_NOT_FOUND) { + OP->BestFoundTrajectoryIndex = PositionFound; + OP->SpaceTimeFoundIndex = PositionFound; - if(PositionFound == -1) OP->BestFoundTrajectoryIndex = TRAJ_POSITION_NOT_FOUND; - else if(PositionFound > TRAJ_POSITION_NOT_FOUND) - { - OP->BestFoundTrajectoryIndex = PositionFound; - OP->SpaceTimeFoundIndex = PositionFound; - - /* - printf("BestFoundTrajectoryIndex=%d\n", OP->BestFoundTrajectoryIndex); - printf("Current origo distance=%4.3f m\n", OP->OrigoDistance); - printf("Current time=%4.3f s\n", CurrentTime); - printf("Matched origo distance=%4.3f m\n", OP->SpaceTimeArr[PositionFound].OrigoDistance); - printf("Distance error=%4.3f m\n", OP->OrigoDistance - OP->SpaceTimeArr[PositionFound].OrigoDistance); - printf("Expected time=%4.3f s (index=%d)\n", OP->SpaceTimeArr[PositionFound].Time, OP->SpaceTimeArr[PositionFound].Index); - printf("Time error=%4.3f s\n", CurrentTime - OP->SpaceTimeArr[PositionFound].Time); - */ - } + /* + printf("BestFoundTrajectoryIndex=%d\n", OP->BestFoundTrajectoryIndex); + printf("Current origo distance=%4.3f m\n", OP->OrigoDistance); + printf("Current time=%4.3f s\n", CurrentTime); + printf("Matched origo distance=%4.3f m\n", OP->SpaceTimeArr[PositionFound].OrigoDistance); + printf("Distance error=%4.3f m\n", OP->OrigoDistance - OP->SpaceTimeArr[PositionFound].OrigoDistance); + printf("Expected time=%4.3f s (index=%d)\n", OP->SpaceTimeArr[PositionFound].Time, OP->SpaceTimeArr[PositionFound].Index); + printf("Time error=%4.3f s\n", CurrentTime - OP->SpaceTimeArr[PositionFound].Time); + */ + } - return PositionFound; + return PositionFound; } //TODO THIS IS UNUSED - DELETE? -int UtilFindCurrentTrajectoryPositionOld(ObjectPosition *OP, int StartIndex, double CurrentTime, double MaxTrajDiff, double MaxTimeDiff, char debug) -{ - - int i = StartIndex, j=0; - int Gate1Reached = 0, Gate2Reached = 0, SampledSpaceIndex[SYNC_POINT_BUFFER]; - double Diff; +int UtilFindCurrentTrajectoryPositionOld(ObjectPosition * OP, int StartIndex, double CurrentTime, + double MaxTrajDiff, double MaxTimeDiff, char debug) { + + int i = StartIndex, j = 0; + int Gate1Reached = 0, Gate2Reached = 0, SampledSpaceIndex[SYNC_POINT_BUFFER]; + double Diff; + + if (i <= -1) + i = 0; + OP->BestFoundTrajectoryIndex = 0; + if (debug) + printf("OPOrigoDistance=%4.3f, x=%4.3f, y=%4.3f\n", OP->OrigoDistance, OP->x, OP->y); + + while (i < (OP->TrajectoryPositionCount - 1) && Gate2Reached == 0) { + + Diff = fabs(OP->SpaceTimeArr[i].OrigoDistance - OP->OrigoDistance); + //printf("%4.3f, %4.3f, %4.3f\n ", Diff,OP->SpaceTimeArr[i].OrigoDistance,OP->OrigoDistance); + + if (Diff < MaxTrajDiff && Gate1Reached == 0) { + Gate1Reached = 1; + } + + if (Diff > MaxTrajDiff && Gate1Reached == 1) { + Gate2Reached = 1; + } + + if (Gate1Reached == 1) { + if (j < SYNC_POINT_BUFFER - 1 && OP->SpaceTimeArr[i].Index <= OP->SyncIndex + && OP->SpaceTimeArr[i].Index > OP->BestFoundTrajectoryIndex) { + SampledSpaceIndex[j] = i; + j++; + if (debug) + printf + ("i=%d, j=%d ,ArrOrigoDistance=%4.3f, Diff=%4.3f, ArrTime=%4.3f, Index=%d, CurrentTime=%4.3f \n", + i, j, OP->SpaceTimeArr[i].OrigoDistance, Diff, OP->SpaceTimeArr[i].Time, + OP->SpaceTimeArr[i].Index, CurrentTime); + } + else if (j >= SYNC_POINT_BUFFER) { + printf("Sync point buffer overrun j=%d\n", j); + } + } + + i++; + } - if(i <= -1) i = 0; - OP->BestFoundTrajectoryIndex = 0; - if(debug) printf("OPOrigoDistance=%4.3f, x=%4.3f, y=%4.3f\n", OP->OrigoDistance, OP->x, OP->y); + if (j == 0) + OP->BestFoundTrajectoryIndex = TRAJ_POSITION_NOT_FOUND; //No trajectory position found + + int PositionFound = -1, kc = 0; + + if (OP->BestFoundTrajectoryIndex > TRAJ_POSITION_NOT_FOUND) { + i = 0; + int SampledTimeIndex[SYNC_POINT_BUFFER]; + + if (MaxTimeDiff > 0) { + while (i < j) { + Diff = fabs(OP->SpaceTimeArr[SampledSpaceIndex[i]].Time - CurrentTime); + if (debug) + printf("%4.3f, ", Diff); + if (Diff < MaxTimeDiff) + //if(OP->SpaceTimeArr[SampledSpaceIndex[i]].Time > OP->SpaceTimeArr[OP->BestFoundTrajectoryIndex].Time) + { + SampledTimeIndex[kc] = SampledSpaceIndex[i]; + kc++; + } + i++; + } + } + else + for (i = 0; i < j; i++) + SampledTimeIndex[i] = SampledSpaceIndex[i]; + + if (debug) + printf("\n"); + + i = 0; + int Init = 1; + double PrevDiff = 0; + + while (i < kc) { + if (Init == 1) + PositionFound = SampledTimeIndex[i]; + Diff = fabs(OP->SpaceTimeArr[SampledTimeIndex[i]].OrigoDistance - OP->OrigoDistance); //+ fabs(OP->SpaceTimeArr[SampledSpaceIndex[i]].Time - CurrentTime); + if (debug) + printf("%4.3f, ", Diff); + if (Diff < PrevDiff && Init == 0) { + PositionFound = SampledTimeIndex[i]; + } + Init = 0; + PrevDiff = Diff; + i++; + } + if (debug) + printf("\n"); + + if (PositionFound > TRAJ_POSITION_NOT_FOUND) { + OP->BestFoundTrajectoryIndex = OP->SpaceTimeArr[PositionFound].Index; + OP->SpaceTimeFoundIndex = PositionFound; + + /* + printf("BestFoundTrajectoryIndex=%d\n", OP->BestFoundTrajectoryIndex); + printf("Current origo distance=%4.3f m\n", OP->OrigoDistance); + printf("Current time=%4.3f s\n", CurrentTime); + printf("Matched origo distance=%4.3f m\n", OP->SpaceTimeArr[PositionFound].OrigoDistance); + printf("Distance error=%4.3f m\n", OP->OrigoDistance - OP->SpaceTimeArr[PositionFound].OrigoDistance); + printf("Expected time=%4.3f s (index=%d)\n", OP->SpaceTimeArr[PositionFound].Time, OP->SpaceTimeArr[PositionFound].Index); + printf("Time error=%4.3f s\n", CurrentTime - OP->SpaceTimeArr[PositionFound].Time); + */ + } + else { + //OP->BestFoundTrajectoryIndex = TRAJ_MASTER_LATE; + //printf("Not in time\n"); + } + } + return PositionFound; +} - while(i < (OP->TrajectoryPositionCount-1) && Gate2Reached == 0) - { +int UtilCountFileRows(FILE * fd) { + int c = 0; + int rows = 0; - Diff = fabs(OP->SpaceTimeArr[i].OrigoDistance - OP->OrigoDistance); - //printf("%4.3f, %4.3f, %4.3f\n ", Diff,OP->SpaceTimeArr[i].OrigoDistance,OP->OrigoDistance); - - if( Diff < MaxTrajDiff && Gate1Reached == 0) - { - Gate1Reached = 1; - } - - if(Diff > MaxTrajDiff && Gate1Reached == 1) - { - Gate2Reached = 1; - } - - if(Gate1Reached == 1) - { - if(j < SYNC_POINT_BUFFER-1 && OP->SpaceTimeArr[i].Index <= OP->SyncIndex && OP->SpaceTimeArr[i].Index > OP->BestFoundTrajectoryIndex) - { - SampledSpaceIndex[j] = i; - j++; - if(debug) printf("i=%d, j=%d ,ArrOrigoDistance=%4.3f, Diff=%4.3f, ArrTime=%4.3f, Index=%d, CurrentTime=%4.3f \n",i , j, OP->SpaceTimeArr[i].OrigoDistance, Diff, OP->SpaceTimeArr[i].Time, OP->SpaceTimeArr[i].Index, CurrentTime); - } - else if(j >= SYNC_POINT_BUFFER) - { - printf("Sync point buffer overrun j=%d\n", j); - } - } - - i ++; - } + while (c != EOF) { - if(j == 0) OP->BestFoundTrajectoryIndex = TRAJ_POSITION_NOT_FOUND; //No trajectory position found + c = fgetc(fd); + //printf("%x-", c); + if (c == '\n') + rows++; + } - int PositionFound = -1, kc = 0; - if(OP->BestFoundTrajectoryIndex > TRAJ_POSITION_NOT_FOUND) - { - i = 0; - int SampledTimeIndex[SYNC_POINT_BUFFER]; - if(MaxTimeDiff > 0) - { - while(i < j) - { - Diff = fabs(OP->SpaceTimeArr[SampledSpaceIndex[i]].Time - CurrentTime); - if(debug) printf("%4.3f, ", Diff); - if(Diff < MaxTimeDiff) - //if(OP->SpaceTimeArr[SampledSpaceIndex[i]].Time > OP->SpaceTimeArr[OP->BestFoundTrajectoryIndex].Time) - { - SampledTimeIndex[kc] = SampledSpaceIndex[i]; - kc ++; - } - i ++; - } - } else for(i = 0; i < j; i++) SampledTimeIndex[i] = SampledSpaceIndex[i]; - - if(debug) printf("\n"); - - i = 0; - int Init = 1; - double PrevDiff = 0; - while(i < kc) - { - if(Init == 1) PositionFound = SampledTimeIndex[i]; - Diff = fabs(OP->SpaceTimeArr[SampledTimeIndex[i]].OrigoDistance - OP->OrigoDistance); //+ fabs(OP->SpaceTimeArr[SampledSpaceIndex[i]].Time - CurrentTime); - if(debug) printf("%4.3f, ", Diff); - if(Diff < PrevDiff && Init == 0) - { - PositionFound = SampledTimeIndex[i]; - } - Init = 0; - PrevDiff = Diff; - i ++; - } - if(debug) printf("\n"); - - if(PositionFound > TRAJ_POSITION_NOT_FOUND) - { - OP->BestFoundTrajectoryIndex = OP->SpaceTimeArr[PositionFound].Index; - OP->SpaceTimeFoundIndex = PositionFound; - - /* - printf("BestFoundTrajectoryIndex=%d\n", OP->BestFoundTrajectoryIndex); - printf("Current origo distance=%4.3f m\n", OP->OrigoDistance); - printf("Current time=%4.3f s\n", CurrentTime); - printf("Matched origo distance=%4.3f m\n", OP->SpaceTimeArr[PositionFound].OrigoDistance); - printf("Distance error=%4.3f m\n", OP->OrigoDistance - OP->SpaceTimeArr[PositionFound].OrigoDistance); - printf("Expected time=%4.3f s (index=%d)\n", OP->SpaceTimeArr[PositionFound].Time, OP->SpaceTimeArr[PositionFound].Index); - printf("Time error=%4.3f s\n", CurrentTime - OP->SpaceTimeArr[PositionFound].Time); - */ - } - else - { - //OP->BestFoundTrajectoryIndex = TRAJ_MASTER_LATE; - //printf("Not in time\n"); - } - } - return PositionFound; + return rows; +} + +int UtilReadLineCntSpecChars(FILE * fd, char *Buffer) { + int c = 0; + int d = 0; + int SpecChars = 0; + int comment = 0; + + while ((c != EOF) && (c != '\n')) { + c = fgetc(fd); + //printf("%x-", c); + if (c != '\n') { + if (c == '/') { + comment++; + d = c; + } + + if (comment == 0) { + *Buffer = (char)c; + Buffer++; + if (c == ';' || c == ':') + SpecChars++; + } + else if (comment == 1 && c != '/') { + *Buffer = (char)d; + Buffer++; + if (d == ';' || d == ':') + SpecChars++; + *Buffer = (char)c; + Buffer++; + if (c == ';' || c == ':') + SpecChars++; + comment = 0; + } + else if (comment == 2 && c == '\n') { + c = 1; + comment = 0; + } + else if (comment == 2 && c != '\n') { + //just continue + } + + } + } + return SpecChars; } -int UtilCountFileRows(FILE *fd) -{ - int c = 0; - int rows = 0; - while(c != EOF) - { +int UtilReadLine(FILE * fd, char *Buffer) { + int c = 0; + int d = 0; + int SpecChars = 0; + int comment = 0; - c = fgetc(fd); - //printf("%x-", c); - if(c == '\n') rows++; - } - - return rows; + while ((c != EOF) && (c != '\n')) { + c = fgetc(fd); + //printf("%x-", c); + if (c != '\n') { + *Buffer = (char)c; + Buffer++; + d++; + } + } + return d; } -int UtilReadLineCntSpecChars(FILE *fd, char *Buffer) -{ - int c = 0; - int d = 0; - int SpecChars = 0; - int comment = 0; - while( (c != EOF) && (c != '\n') ) - { - c = fgetc(fd); - //printf("%x-", c); - if(c != '\n') - { - if(c == '/') - { - comment++; - d = c; - } - - if(comment == 0) - { - *Buffer = (char)c; - Buffer++; - if(c == ';' || c == ':') SpecChars++; - } - else if (comment == 1 && c != '/') - { - *Buffer = (char)d; - Buffer++; - if(d == ';' || d == ':') SpecChars++; - *Buffer = (char)c; - Buffer++; - if(c == ';' || c == ':') SpecChars++; - comment = 0; - } - else if(comment == 2 && c == '\n') - { - c = 1; - comment = 0; - } - else if(comment == 2 && c != '\n') - { - //just continue - } - - } - } - return SpecChars; -} +C8 *UtilSearchTextFile(C8 * Filename, C8 * Text1, C8 * Text2, C8 * Result) { -int UtilReadLine(FILE *fd, char *Buffer) -{ - int c = 0; - int d = 0; - int SpecChars = 0; - int comment = 0; + FILE *fd; - while( (c != EOF) && (c != '\n') ) - { - c = fgetc(fd); - //printf("%x-", c); - if(c != '\n') - { - *Buffer = (char)c; - Buffer++; - d++; - } - } - return d; -} + char RowBuffer[MAX_ROW_SIZE]; + char DataBuffer[MAX_ROW_SIZE]; + char *PtrText1; + char *PtrText2; + int Length; + U8 Found = 0; + int RowCount = 0; + fd = fopen(Filename, "r"); + if (fd == NULL) { + sprintf(RowBuffer, "Unable to open file <%s>", Filename); + util_error(RowBuffer); + } -C8 * UtilSearchTextFile(C8 *Filename, C8 *Text1, C8 *Text2, C8 *Result) -{ + RowCount = UtilCountFileRows(fd); + fclose(fd); + + fd = fopen(Filename, "r"); + if (fd != NULL) { + do { + bzero(RowBuffer, MAX_ROW_SIZE); + UtilReadLineCntSpecChars(fd, RowBuffer); + bzero(DataBuffer, MAX_ROW_SIZE); + PtrText1 = strstr(RowBuffer, (const char *)Text1); + if (PtrText1 != NULL) { + if (strlen(Text2) > 0) { + PtrText2 = strstr((const char *)(PtrText1 + 1), (const char *)Text2); + if (PtrText2 != NULL) { + strncpy(Result, PtrText1 + strlen(Text1), + strlen(RowBuffer) - strlen(Text1) - strlen(Text2)); + } + } + else { + strncpy(Result, PtrText1 + strlen(Text1), strlen(RowBuffer) - strlen(Text1)); + } + Found = 1; + } + RowCount--; + + } while (Found == 0 && RowCount >= 0); + + fclose(fd); + } + else { + sprintf(RowBuffer, "Unable to open file <%s>", Filename); + util_error(RowBuffer); + } - FILE *fd; - - char RowBuffer[MAX_ROW_SIZE]; - char DataBuffer[MAX_ROW_SIZE]; - char *PtrText1; - char *PtrText2; - int Length; - U8 Found = 0; - int RowCount = 0; - - fd = fopen (Filename, "r"); - - if (fd == NULL){ - sprintf(RowBuffer, "Unable to open file <%s>", Filename); - util_error(RowBuffer); - } - - RowCount = UtilCountFileRows(fd); - fclose(fd); - - fd = fopen (Filename, "r"); - if(fd != NULL) - { - do - { - bzero(RowBuffer, MAX_ROW_SIZE); - UtilReadLineCntSpecChars(fd, RowBuffer); - bzero(DataBuffer, MAX_ROW_SIZE); - PtrText1 = strstr(RowBuffer, (const char *)Text1); - if(PtrText1 != NULL) - { - if(strlen(Text2) > 0) - { - PtrText2 = strstr((const char *)(PtrText1+1), (const char *)Text2); - if(PtrText2 != NULL) - { - strncpy(Result, PtrText1+strlen(Text1), strlen(RowBuffer) - strlen(Text1) - strlen(Text2)); - } - } - else - { - strncpy(Result, PtrText1+strlen(Text1), strlen(RowBuffer) - strlen(Text1)); - } - Found = 1; - } - RowCount--; - - } while(Found == 0 && RowCount >= 0); - - fclose(fd); - } - else - { - sprintf(RowBuffer, "Unable to open file <%s>", Filename); - util_error(RowBuffer); - } - - //printf("String found: %s\n", Result); - return Result; - -} - - -int iUtilGetIntParaConfFile(char* pcParameter, int* iValue) -{ - int iResult; - char pcValue[512]; + //printf("String found: %s\n", Result); + return Result; - bzero(pcValue,512); - iResult = iUtilGetParaConfFile(pcParameter,pcValue); +} - if (iResult > 0) - { - *iValue = atoi(pcValue); - } - return iResult; +int iUtilGetIntParaConfFile(char *pcParameter, int *iValue) { + int iResult; + char pcValue[512]; + + bzero(pcValue, 512); + iResult = iUtilGetParaConfFile(pcParameter, pcValue); + + if (iResult > 0) { + *iValue = atoi(pcValue); + } + + return iResult; } /******************************************************* @@ -1749,52 +1732,51 @@ int iUtilGetIntParaConfFile(char* pcParameter, int* iValue) * \brief iCommInit Connects to the message queue bus * \return 0 upon success, -1 if there was an error */ -int iCommInit(void) -{ - enum MQBUS_ERROR result = MQBusConnect(); - switch (result) - { - case MQBUS_OK: - LogMessage(LOG_LEVEL_DEBUG, "Connected to message queue bus"); - return 0; - case MQBUS_QUEUE_NOT_EXIST: - LogMessage(LOG_LEVEL_ERROR, "Unable to fetch available message queue bus slots"); - break; - case MQBUS_OPEN_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); - break; - case MQBUS_MAX_QUEUES_LIMIT_REACHED: - LogMessage(LOG_LEVEL_ERROR, "Unable to find an available message queue slot"); - break; - case MQBUS_EMPTY: - LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); - break; - case MQBUS_CLOSE_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); - break; - case MQBUS_NO_READABLE_MQ: - LogMessage(LOG_LEVEL_ERROR, "Unable to find assigned message queue slot"); - break; - case MQBUS_RESOURCE_NOT_EXIST: - LogMessage(LOG_LEVEL_ERROR, "Resource queue unavailable"); - break; - case MQBUS_DESCRIPTOR_NOT_FOUND: - LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); - break; - case MQBUS_INVALID_INPUT_ARGUMENT: - LogMessage(LOG_LEVEL_ERROR, "Invalid argument to message queue connect"); - break; - case MQBUS_MQ_COULD_NOT_BE_DESTROYED: - LogMessage(LOG_LEVEL_ERROR, "Unable to delete message queue"); - break; - case MQBUS_MQ_FULL: - LogMessage(LOG_LEVEL_ERROR, "Message queue full"); - break; - case MQBUS_WRITE_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Message queue write failed"); - break; - } - return -1; +int iCommInit(void) { + enum MQBUS_ERROR result = MQBusConnect(); + + switch (result) { + case MQBUS_OK: + LogMessage(LOG_LEVEL_DEBUG, "Connected to message queue bus"); + return 0; + case MQBUS_QUEUE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Unable to fetch available message queue bus slots"); + break; + case MQBUS_OPEN_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); + break; + case MQBUS_MAX_QUEUES_LIMIT_REACHED: + LogMessage(LOG_LEVEL_ERROR, "Unable to find an available message queue slot"); + break; + case MQBUS_EMPTY: + LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); + break; + case MQBUS_CLOSE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); + break; + case MQBUS_NO_READABLE_MQ: + LogMessage(LOG_LEVEL_ERROR, "Unable to find assigned message queue slot"); + break; + case MQBUS_RESOURCE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Resource queue unavailable"); + break; + case MQBUS_DESCRIPTOR_NOT_FOUND: + LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); + break; + case MQBUS_INVALID_INPUT_ARGUMENT: + LogMessage(LOG_LEVEL_ERROR, "Invalid argument to message queue connect"); + break; + case MQBUS_MQ_COULD_NOT_BE_DESTROYED: + LogMessage(LOG_LEVEL_ERROR, "Unable to delete message queue"); + break; + case MQBUS_MQ_FULL: + LogMessage(LOG_LEVEL_ERROR, "Message queue full"); + break; + case MQBUS_WRITE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Message queue write failed"); + break; + } + return -1; } @@ -1802,24 +1784,22 @@ int iCommInit(void) * \brief iCommClose Releases the claimed slot on the message bus so that it can be claimed by others. * \return 0 upon success, -1 on error */ -int iCommClose() -{ - enum MQBUS_ERROR result = MQBusDisconnect(); - - switch (result) - { - case MQBUS_OK: - return 0; - case MQBUS_RESOURCE_NOT_EXIST: - LogMessage(LOG_LEVEL_ERROR, "Unable to release claimed message bus slot"); - return -1; - case MQBUS_NO_READABLE_MQ: - LogMessage(LOG_LEVEL_WARNING, "Attempted to release message bus slot when none was claimed"); - return 0; - default: - LogMessage(LOG_LEVEL_WARNING, "Unexpected message bus error when closing"); - return -1; - } +int iCommClose() { + enum MQBUS_ERROR result = MQBusDisconnect(); + + switch (result) { + case MQBUS_OK: + return 0; + case MQBUS_RESOURCE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Unable to release claimed message bus slot"); + return -1; + case MQBUS_NO_READABLE_MQ: + LogMessage(LOG_LEVEL_WARNING, "Attempted to release message bus slot when none was claimed"); + return 0; + default: + LogMessage(LOG_LEVEL_WARNING, "Unexpected message bus error when closing"); + return -1; + } } @@ -1832,59 +1812,53 @@ int iCommClose() * \param timeRecv Receive time output variable * \return Size (in bytes) of received data */ -ssize_t iCommRecv(enum COMMAND *command, char* data, const size_t messageSize, struct timeval *timeRecv) -{ - char message[MQ_MSG_SIZE]; - ssize_t result = MQBusRecv(message, MQ_MSG_SIZE); - size_t dataLength = 0; - const size_t headerSize = sizeof(char) + sizeof(dataLength); - - if (result < 1 && errno != EAGAIN) - util_error("Message queue error when receiving"); - - if (timeRecv != NULL) - { - // Store time of receipt - TimeSetToCurrentSystemTime(timeRecv); - } - - if ( result >= (ssize_t)(sizeof (char)+sizeof(dataLength)) ) - { - // A message was received: extract the command, data length and data - *command = (unsigned char)message[0]; - memcpy(&dataLength, message + sizeof(char), sizeof(dataLength)); - - if (dataLength != (size_t)(result) ) - { - LogMessage(LOG_LEVEL_ERROR, "Received message with invalid length specification field: %d bytes, but %d bytes were received", dataLength, result); - *command = COMM_INV; - return 0; - } - else if ( dataLength > headerSize && data != NULL ) - { - if(messageSize < dataLength-headerSize ) - { - LogMessage(LOG_LEVEL_ERROR, "Array too small to hold received message data"); - *command = COMM_INV; - return 0; - } - memcpy(data, message+headerSize, dataLength-headerSize); - } - } - else if (result > 0) - { - // Message length was not long enough to hold message length - LogMessage(LOG_LEVEL_ERROR, "Received message bus message with incorrect format"); - *command = COMM_INV; - result = -1; - } - else - { - // Result was less than 0, and errno is EAGAIN meaning no data was received - *command = COMM_INV; - result = 0; - } - return result; +ssize_t iCommRecv(enum COMMAND * command, char *data, const size_t messageSize, struct timeval * timeRecv) { + char message[MQ_MSG_SIZE]; + ssize_t result = MQBusRecv(message, MQ_MSG_SIZE); + size_t dataLength = 0; + const size_t headerSize = sizeof (char) + sizeof (dataLength); + + if (result < 1 && errno != EAGAIN) + util_error("Message queue error when receiving"); + + if (timeRecv != NULL) { + // Store time of receipt + TimeSetToCurrentSystemTime(timeRecv); + } + + if (result >= (ssize_t) (sizeof (char) + sizeof (dataLength))) { + // A message was received: extract the command, data length and data + *command = (unsigned char)message[0]; + memcpy(&dataLength, message + sizeof (char), sizeof (dataLength)); + + if (dataLength != (size_t) (result)) { + LogMessage(LOG_LEVEL_ERROR, + "Received message with invalid length specification field: %d bytes, but %d bytes were received", + dataLength, result); + *command = COMM_INV; + return 0; + } + else if (dataLength > headerSize && data != NULL) { + if (messageSize < dataLength - headerSize) { + LogMessage(LOG_LEVEL_ERROR, "Array too small to hold received message data"); + *command = COMM_INV; + return 0; + } + memcpy(data, message + headerSize, dataLength - headerSize); + } + } + else if (result > 0) { + // Message length was not long enough to hold message length + LogMessage(LOG_LEVEL_ERROR, "Received message bus message with incorrect format"); + *command = COMM_INV; + result = -1; + } + else { + // Result was less than 0, and errno is EAGAIN meaning no data was received + *command = COMM_INV; + result = 0; + } + return result; } /*! @@ -1894,173 +1868,169 @@ ssize_t iCommRecv(enum COMMAND *command, char* data, const size_t messageSize, s * \param dataLength Length of command data array * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error */ -int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength) -{ - unsigned int uiMessagePrio = 0; - char cpMessage[MQ_MSG_SIZE]; - enum MQBUS_ERROR sendResult; - const size_t headerSize = sizeof(char) + sizeof(dataLength); - - // Force array and its length to be coupled - if (cpData == NULL || dataLength == 0) - { - cpData = NULL; - dataLength = 0; - } - - // Include header in data length - dataLength += headerSize; - - // Check if message is too large to send - if (dataLength > MQ_MSG_SIZE) - { - LogMessage(LOG_LEVEL_ERROR, "Cannot send message %d of size %lu: maximum size is %lu", iCommand, dataLength+1, MQ_MSG_SIZE); - return -1; - } - - // Clear send array - bzero(cpMessage, MQ_MSG_SIZE); - - // Map command to a priority - switch (iCommand) - { - case COMM_STRT: - uiMessagePrio = PRIO_COMM_STRT; - break; - case COMM_ARMD: - uiMessagePrio = PRIO_COMM_ARMD; - break; - case COMM_STOP: - uiMessagePrio = PRIO_COMM_STOP; - break; - case COMM_MONI: - uiMessagePrio = PRIO_COMM_MONI; - break; - case COMM_MONR: - uiMessagePrio = PRIO_COMM_MONR; - break; - case COMM_EXIT: - uiMessagePrio = PRIO_COMM_EXIT; - break; - case COMM_REPLAY: - uiMessagePrio = PRIO_COMM_REPLAY; - break; - case COMM_CONTROL: - uiMessagePrio = PRIO_COMM_CONTROL; - break; - case COMM_ABORT: - uiMessagePrio = PRIO_COMM_ABORT; - break; - case COMM_INIT: - uiMessagePrio = PRIO_COMM_INIT; - break; - case COMM_CONNECT: - uiMessagePrio = PRIO_COMM_CONNECT; - break; - case COMM_OBC_STATE: - uiMessagePrio = PRIO_COMM_OBC_STATE; - break; - case COMM_DISCONNECT: - uiMessagePrio = PRIO_COMM_DISCONNECT; - break; - case COMM_LOG: - uiMessagePrio = PRIO_COMM_LOG; - break; - case COMM_OSEM: - uiMessagePrio = PRIO_COMM_OSEM; - break; - case COMM_VIOP: - uiMessagePrio = PRIO_COMM_VIOP; - break; - case COMM_TRAJ: - uiMessagePrio = PRIO_COMM_TRAJ; - break; - case COMM_ASP: - uiMessagePrio = PRIO_COMM_ASP; - break; - case COMM_TRAJ_TOSUP: - uiMessagePrio = PRIO_COMM_TRAJ_TOSUP; - break; - case COMM_TRAJ_FROMSUP: - uiMessagePrio = PRIO_COMM_TRAJ_FROMSUP; - break; - case COMM_DATA_DICT: - uiMessagePrio = PRIO_DATA_DICT; - case COMM_EXAC: - uiMessagePrio = PRIO_COMM_EXAC; - break; - case COMM_ACCM: - uiMessagePrio = PRIO_COMM_ACCM; - break; - case COMM_TREO: - uiMessagePrio = PRIO_COMM_TREO; - break; - case COMM_TRCM: - uiMessagePrio = PRIO_COMM_TRCM; - break; - case COMM_OBJECTS_CONNECTED: - uiMessagePrio = PRIO_OBJECTS_CONNECTED; - break; - default: - util_error("Unknown command"); - } - - cpMessage[0] = (char)iCommand; - - // Append message length to command data - memcpy(cpMessage + sizeof(char), &dataLength, sizeof(dataLength)); - - // Append message to command data - if(dataLength > headerSize) - memcpy(cpMessage + headerSize, cpData, dataLength-headerSize); - - // Send message - sendResult = MQBusSend(cpMessage, dataLength, uiMessagePrio); - - // Check for send success - switch (sendResult) - { - case MQBUS_OK: - return 0; - case MQBUS_MQ_FULL: - //LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); - return 1; - case MQBUS_INVALID_INPUT_ARGUMENT: - LogMessage(LOG_LEVEL_WARNING, "Invalid message queue message length"); - return 1; - case MQBUS_WRITE_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Failed to write to message queue"); - break; - case MQBUS_QUEUE_NOT_EXIST: - LogMessage(LOG_LEVEL_ERROR, "Unable to fetch available message queue bus slots"); - break; - case MQBUS_OPEN_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); - break; - case MQBUS_MAX_QUEUES_LIMIT_REACHED: - LogMessage(LOG_LEVEL_ERROR, "Unable to find an available message queue slot"); - break; - case MQBUS_EMPTY: - LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); - break; - case MQBUS_CLOSE_FAIL: - LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); - break; - case MQBUS_NO_READABLE_MQ: - LogMessage(LOG_LEVEL_ERROR, "Unable to find assigned message queue slot"); - break; - case MQBUS_RESOURCE_NOT_EXIST: - LogMessage(LOG_LEVEL_ERROR, "Resource queue unavailable"); - break; - case MQBUS_DESCRIPTOR_NOT_FOUND: - LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); - break; - case MQBUS_MQ_COULD_NOT_BE_DESTROYED: - LogMessage(LOG_LEVEL_ERROR, "Unable to delete message queue"); - break; - } - - return -1; +int iCommSend(const enum COMMAND iCommand, const char *cpData, size_t dataLength) { + unsigned int uiMessagePrio = 0; + char cpMessage[MQ_MSG_SIZE]; + enum MQBUS_ERROR sendResult; + const size_t headerSize = sizeof (char) + sizeof (dataLength); + + // Force array and its length to be coupled + if (cpData == NULL || dataLength == 0) { + cpData = NULL; + dataLength = 0; + } + + // Include header in data length + dataLength += headerSize; + + // Check if message is too large to send + if (dataLength > MQ_MSG_SIZE) { + LogMessage(LOG_LEVEL_ERROR, "Cannot send message %d of size %lu: maximum size is %lu", iCommand, + dataLength + 1, MQ_MSG_SIZE); + return -1; + } + + // Clear send array + bzero(cpMessage, MQ_MSG_SIZE); + + // Map command to a priority + switch (iCommand) { + case COMM_STRT: + uiMessagePrio = PRIO_COMM_STRT; + break; + case COMM_ARMD: + uiMessagePrio = PRIO_COMM_ARMD; + break; + case COMM_STOP: + uiMessagePrio = PRIO_COMM_STOP; + break; + case COMM_MONI: + uiMessagePrio = PRIO_COMM_MONI; + break; + case COMM_MONR: + uiMessagePrio = PRIO_COMM_MONR; + break; + case COMM_EXIT: + uiMessagePrio = PRIO_COMM_EXIT; + break; + case COMM_REPLAY: + uiMessagePrio = PRIO_COMM_REPLAY; + break; + case COMM_CONTROL: + uiMessagePrio = PRIO_COMM_CONTROL; + break; + case COMM_ABORT: + uiMessagePrio = PRIO_COMM_ABORT; + break; + case COMM_INIT: + uiMessagePrio = PRIO_COMM_INIT; + break; + case COMM_CONNECT: + uiMessagePrio = PRIO_COMM_CONNECT; + break; + case COMM_OBC_STATE: + uiMessagePrio = PRIO_COMM_OBC_STATE; + break; + case COMM_DISCONNECT: + uiMessagePrio = PRIO_COMM_DISCONNECT; + break; + case COMM_LOG: + uiMessagePrio = PRIO_COMM_LOG; + break; + case COMM_OSEM: + uiMessagePrio = PRIO_COMM_OSEM; + break; + case COMM_VIOP: + uiMessagePrio = PRIO_COMM_VIOP; + break; + case COMM_TRAJ: + uiMessagePrio = PRIO_COMM_TRAJ; + break; + case COMM_ASP: + uiMessagePrio = PRIO_COMM_ASP; + break; + case COMM_TRAJ_TOSUP: + uiMessagePrio = PRIO_COMM_TRAJ_TOSUP; + break; + case COMM_TRAJ_FROMSUP: + uiMessagePrio = PRIO_COMM_TRAJ_FROMSUP; + break; + case COMM_DATA_DICT: + uiMessagePrio = PRIO_DATA_DICT; + case COMM_EXAC: + uiMessagePrio = PRIO_COMM_EXAC; + break; + case COMM_ACCM: + uiMessagePrio = PRIO_COMM_ACCM; + break; + case COMM_TREO: + uiMessagePrio = PRIO_COMM_TREO; + break; + case COMM_TRCM: + uiMessagePrio = PRIO_COMM_TRCM; + break; + case COMM_OBJECTS_CONNECTED: + uiMessagePrio = PRIO_OBJECTS_CONNECTED; + break; + default: + util_error("Unknown command"); + } + + cpMessage[0] = (char)iCommand; + + // Append message length to command data + memcpy(cpMessage + sizeof (char), &dataLength, sizeof (dataLength)); + + // Append message to command data + if (dataLength > headerSize) + memcpy(cpMessage + headerSize, cpData, dataLength - headerSize); + + // Send message + sendResult = MQBusSend(cpMessage, dataLength, uiMessagePrio); + + // Check for send success + switch (sendResult) { + case MQBUS_OK: + return 0; + case MQBUS_MQ_FULL: + //LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); + return 1; + case MQBUS_INVALID_INPUT_ARGUMENT: + LogMessage(LOG_LEVEL_WARNING, "Invalid message queue message length"); + return 1; + case MQBUS_WRITE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Failed to write to message queue"); + break; + case MQBUS_QUEUE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Unable to fetch available message queue bus slots"); + break; + case MQBUS_OPEN_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to open message queue"); + break; + case MQBUS_MAX_QUEUES_LIMIT_REACHED: + LogMessage(LOG_LEVEL_ERROR, "Unable to find an available message queue slot"); + break; + case MQBUS_EMPTY: + LogMessage(LOG_LEVEL_ERROR, "Message queue empty"); + break; + case MQBUS_CLOSE_FAIL: + LogMessage(LOG_LEVEL_ERROR, "Unable to close message queue"); + break; + case MQBUS_NO_READABLE_MQ: + LogMessage(LOG_LEVEL_ERROR, "Unable to find assigned message queue slot"); + break; + case MQBUS_RESOURCE_NOT_EXIST: + LogMessage(LOG_LEVEL_ERROR, "Resource queue unavailable"); + break; + case MQBUS_DESCRIPTOR_NOT_FOUND: + LogMessage(LOG_LEVEL_ERROR, "Message queue descriptor not found"); + break; + case MQBUS_MQ_COULD_NOT_BE_DESTROYED: + LogMessage(LOG_LEVEL_ERROR, "Unable to delete message queue"); + break; + } + + return -1; } /*! @@ -2068,20 +2038,19 @@ int iCommSend(const enum COMMAND iCommand, const char* cpData, size_t dataLength * \param data Related trigger data * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error */ -int iCommSendTREO(TREOData data) -{ - char sendBuffer[sizeof(TREOData)]; - char* ptr = sendBuffer; +int iCommSendTREO(TREOData data) { + char sendBuffer[sizeof (TREOData)]; + char *ptr = sendBuffer; - memcpy(ptr, &data.triggerID, sizeof(data.triggerID)); - ptr += sizeof(data.triggerID); + memcpy(ptr, &data.triggerID, sizeof (data.triggerID)); + ptr += sizeof (data.triggerID); - memcpy(ptr, &data.timestamp_qmsow, sizeof(data.timestamp_qmsow)); - ptr += sizeof(data.timestamp_qmsow); + memcpy(ptr, &data.timestamp_qmsow, sizeof (data.timestamp_qmsow)); + ptr += sizeof (data.timestamp_qmsow); - memcpy(ptr, &data.ip, sizeof(data.ip)); + memcpy(ptr, &data.ip, sizeof (data.ip)); - return iCommSend(COMM_TREO, sendBuffer, sizeof(sendBuffer)); + return iCommSend(COMM_TREO, sendBuffer, sizeof (sendBuffer)); } /*! @@ -2089,20 +2058,19 @@ int iCommSendTREO(TREOData data) * \param data Related action data * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error */ -int iCommSendEXAC(EXACData data) -{ - char sendBuffer[sizeof(EXACData)]; - char* ptr = sendBuffer; +int iCommSendEXAC(EXACData data) { + char sendBuffer[sizeof (EXACData)]; + char *ptr = sendBuffer; - memcpy(ptr, &data.actionID, sizeof(data.actionID)); - ptr += sizeof(data.actionID); + memcpy(ptr, &data.actionID, sizeof (data.actionID)); + ptr += sizeof (data.actionID); - memcpy(ptr, &data.executionTime_qmsoW, sizeof(data.executionTime_qmsoW)); - ptr += sizeof(data.executionTime_qmsoW); + memcpy(ptr, &data.executionTime_qmsoW, sizeof (data.executionTime_qmsoW)); + ptr += sizeof (data.executionTime_qmsoW); - memcpy(ptr, &data.ip, sizeof(data.ip)); + memcpy(ptr, &data.ip, sizeof (data.ip)); - return iCommSend(COMM_EXAC, sendBuffer, sizeof(sendBuffer)); + return iCommSend(COMM_EXAC, sendBuffer, sizeof (sendBuffer)); } /*! @@ -2110,29 +2078,28 @@ int iCommSendEXAC(EXACData data) * \param data Related trigger data * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error */ -int iCommSendTRCM(TRCMData data) -{ - char sendBuffer[sizeof(TRCMData)]; - char* ptr = sendBuffer; +int iCommSendTRCM(TRCMData data) { + char sendBuffer[sizeof (TRCMData)]; + char *ptr = sendBuffer; - memcpy(ptr, &data.triggerID, sizeof(data.triggerID)); - ptr += sizeof(data.triggerID); + memcpy(ptr, &data.triggerID, sizeof (data.triggerID)); + ptr += sizeof (data.triggerID); - memcpy(ptr, &data.triggerType, sizeof(data.triggerType)); - ptr += sizeof(data.triggerType); + memcpy(ptr, &data.triggerType, sizeof (data.triggerType)); + ptr += sizeof (data.triggerType); - memcpy(ptr, &data.triggerTypeParameter1, sizeof(data.triggerTypeParameter1)); - ptr += sizeof(data.triggerTypeParameter1); + memcpy(ptr, &data.triggerTypeParameter1, sizeof (data.triggerTypeParameter1)); + ptr += sizeof (data.triggerTypeParameter1); - memcpy(ptr, &data.triggerTypeParameter2, sizeof(data.triggerTypeParameter2)); - ptr += sizeof(data.triggerTypeParameter2); + memcpy(ptr, &data.triggerTypeParameter2, sizeof (data.triggerTypeParameter2)); + ptr += sizeof (data.triggerTypeParameter2); - memcpy(ptr, &data.triggerTypeParameter3, sizeof(data.triggerTypeParameter3)); - ptr += sizeof(data.triggerTypeParameter3); + memcpy(ptr, &data.triggerTypeParameter3, sizeof (data.triggerTypeParameter3)); + ptr += sizeof (data.triggerTypeParameter3); - memcpy(ptr, &data.ip, sizeof(data.ip)); + memcpy(ptr, &data.ip, sizeof (data.ip)); - return iCommSend(COMM_TRCM, sendBuffer, sizeof(sendBuffer)); + return iCommSend(COMM_TRCM, sendBuffer, sizeof (sendBuffer)); } /*! @@ -2140,29 +2107,28 @@ int iCommSendTRCM(TRCMData data) * \param data Related action data * \return 0 upon success, 1 upon partial success (e.g. a message queue was full), -1 on error */ -int iCommSendACCM(ACCMData data) -{ - char sendBuffer[sizeof(ACCMData)]; - char* ptr = sendBuffer; +int iCommSendACCM(ACCMData data) { + char sendBuffer[sizeof (ACCMData)]; + char *ptr = sendBuffer; - memcpy(ptr, &data.actionID, sizeof(data.actionID)); - ptr += sizeof(data.actionID); + memcpy(ptr, &data.actionID, sizeof (data.actionID)); + ptr += sizeof (data.actionID); - memcpy(ptr, &data.actionType, sizeof(data.actionType)); - ptr += sizeof(data.actionType); + memcpy(ptr, &data.actionType, sizeof (data.actionType)); + ptr += sizeof (data.actionType); - memcpy(ptr, &data.actionTypeParameter1, sizeof(data.actionTypeParameter1)); - ptr += sizeof(data.actionTypeParameter1); + memcpy(ptr, &data.actionTypeParameter1, sizeof (data.actionTypeParameter1)); + ptr += sizeof (data.actionTypeParameter1); - memcpy(ptr, &data.actionTypeParameter2, sizeof(data.actionTypeParameter2)); - ptr += sizeof(data.actionTypeParameter2); + memcpy(ptr, &data.actionTypeParameter2, sizeof (data.actionTypeParameter2)); + ptr += sizeof (data.actionTypeParameter2); - memcpy(ptr, &data.actionTypeParameter3, sizeof(data.actionTypeParameter3)); - ptr += sizeof(data.actionTypeParameter3); + memcpy(ptr, &data.actionTypeParameter3, sizeof (data.actionTypeParameter3)); + ptr += sizeof (data.actionTypeParameter3); - memcpy(ptr, &data.ip, sizeof(data.ip)); + memcpy(ptr, &data.ip, sizeof (data.ip)); - return iCommSend(COMM_ACCM, sendBuffer, sizeof(sendBuffer)); + return iCommSend(COMM_ACCM, sendBuffer, sizeof (sendBuffer)); } @@ -2174,97 +2140,92 @@ int iCommSendACCM(ACCMData data) * (i.e. traj, conf etc.) and that a configuration file exists. * \return 0 if successfully verified, -1 otherwise */ -int UtilVerifyTestDirectory() -{ - DIR* dir; - FILE* file; - char testDir[MAX_FILE_PATH]; - char subDir[MAX_FILE_PATH]; - const char expectedDirs[][MAX_FILE_PATH] = {CONFIGURATION_DIR_NAME, - GEOFENCE_DIR_NAME, - JOURNAL_DIR_NAME, - TRAJECTORY_DIR_NAME}; - char* envVar; - int result; - - envVar = getenv(TEST_DIR_ENV_VARIABLE_NAME); - if (envVar == NULL) - { - strcpy(testDir, getenv("HOME")); - strcat(testDir,"/"); - strcat(testDir,MAESTRO_TEST_DIR_NAME); - - LogMessage(LOG_LEVEL_INFO,"Environment variable %s unset: defaulting to directory %s", TEST_DIR_ENV_VARIABLE_NAME, testDir); - } - else - { - strcpy(testDir, envVar); - LogMessage(LOG_LEVEL_INFO,"Using specified test directory %s", testDir); - } - - // Check top level dir - dir = opendir(testDir); - if (dir) - closedir(dir); - else if (errno == ENOENT) - { - LogMessage(LOG_LEVEL_ERROR, "Nonexistent top level test directory %s", testDir); - return -1; - } - else if (errno == EACCES) - { - LogMessage(LOG_LEVEL_ERROR, "Permission to access top level test directory %s denied (please do not run me as root)", testDir); - return -1; - } - else if (errno == ENOTDIR) - { - LogMessage(LOG_LEVEL_ERROR, "Top level test directory %s is not a directory", testDir); - return -1; - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Error opening top level directory %s", testDir); - return -1; - } - - // Check so that all expected directories exist - strcat(testDir, "/"); - for (unsigned int i = 0; i < sizeof (expectedDirs)/sizeof(expectedDirs[0]); ++i) - { - strcpy(subDir, testDir); - strcat(subDir, expectedDirs[i]); - - dir = opendir(subDir); - if (dir) - closedir(dir); - else if (errno == ENOENT) - { - // It did not exist: create it - LogMessage(LOG_LEVEL_INFO, "Directory %s does not exist: creating it", subDir); - result = mkdir(subDir, S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH); - if (result < 0) util_error("Unable to create directory"); - } - else - { - LogMessage(LOG_LEVEL_ERROR, "Error opening directory %s", subDir); - return -1; - } - } - - // Check so that a configuration file exists - strcpy(subDir, testDir); - strcat(subDir, CONFIGURATION_DIR_NAME "/" CONF_FILE_NAME); - file = fopen(subDir, "r+"); - - if (file != NULL) - { - fclose(file); - return 0; - } - else { - LogMessage(LOG_LEVEL_ERROR, "Configuration file %s does not exist", subDir); - return -1; - } +int UtilVerifyTestDirectory() { + DIR *dir; + FILE *file; + char testDir[MAX_FILE_PATH]; + char subDir[MAX_FILE_PATH]; + + const char expectedDirs[][MAX_FILE_PATH] = { CONFIGURATION_DIR_NAME, + GEOFENCE_DIR_NAME, + JOURNAL_DIR_NAME, + TRAJECTORY_DIR_NAME + }; + char *envVar; + int result; + + envVar = getenv(TEST_DIR_ENV_VARIABLE_NAME); + if (envVar == NULL) { + strcpy(testDir, getenv("HOME")); + strcat(testDir, "/"); + strcat(testDir, MAESTRO_TEST_DIR_NAME); + + LogMessage(LOG_LEVEL_INFO, "Environment variable %s unset: defaulting to directory %s", + TEST_DIR_ENV_VARIABLE_NAME, testDir); + } + else { + strcpy(testDir, envVar); + LogMessage(LOG_LEVEL_INFO, "Using specified test directory %s", testDir); + } + + // Check top level dir + dir = opendir(testDir); + if (dir) + closedir(dir); + else if (errno == ENOENT) { + LogMessage(LOG_LEVEL_ERROR, "Nonexistent top level test directory %s", testDir); + return -1; + } + else if (errno == EACCES) { + LogMessage(LOG_LEVEL_ERROR, + "Permission to access top level test directory %s denied (please do not run me as root)", + testDir); + return -1; + } + else if (errno == ENOTDIR) { + LogMessage(LOG_LEVEL_ERROR, "Top level test directory %s is not a directory", testDir); + return -1; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Error opening top level directory %s", testDir); + return -1; + } + + // Check so that all expected directories exist + strcat(testDir, "/"); + for (unsigned int i = 0; i < sizeof (expectedDirs) / sizeof (expectedDirs[0]); ++i) { + strcpy(subDir, testDir); + strcat(subDir, expectedDirs[i]); + + dir = opendir(subDir); + if (dir) + closedir(dir); + else if (errno == ENOENT) { + // It did not exist: create it + LogMessage(LOG_LEVEL_INFO, "Directory %s does not exist: creating it", subDir); + result = mkdir(subDir, S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH); + if (result < 0) + util_error("Unable to create directory"); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Error opening directory %s", subDir); + return -1; + } + } + + // Check so that a configuration file exists + strcpy(subDir, testDir); + strcat(subDir, CONFIGURATION_DIR_NAME "/" CONF_FILE_NAME); + file = fopen(subDir, "r+"); + + if (file != NULL) { + fclose(file); + return 0; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Configuration file %s does not exist", subDir); + return -1; + } } /*! @@ -2275,30 +2236,26 @@ int UtilVerifyTestDirectory() * \param path Char array to hold path name * \param pathLen Length of char array */ -void UtilGetTestDirectoryPath(char* path, size_t pathLen) -{ - char* envVar; - - if (pathLen > MAX_FILE_PATH) - { - LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); - path[0] = '\0'; - return; - } - - envVar = getenv(TEST_DIR_ENV_VARIABLE_NAME); - if (envVar == NULL) - { - strcpy(path, getenv("HOME")); - strcat(path,"/"); - strcat(path,MAESTRO_TEST_DIR_NAME); - strcat(path,"/"); - } - else - { - strcpy(path, envVar); - strcat(path,"/"); - } +void UtilGetTestDirectoryPath(char *path, size_t pathLen) { + char *envVar; + + if (pathLen > MAX_FILE_PATH) { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + + envVar = getenv(TEST_DIR_ENV_VARIABLE_NAME); + if (envVar == NULL) { + strcpy(path, getenv("HOME")); + strcat(path, "/"); + strcat(path, MAESTRO_TEST_DIR_NAME); + strcat(path, "/"); + } + else { + strcpy(path, envVar); + strcat(path, "/"); + } } /*! @@ -2307,17 +2264,15 @@ void UtilGetTestDirectoryPath(char* path, size_t pathLen) * \param path Char array to hold the path * \param pathLen Length of char array */ -void UtilGetJournalDirectoryPath(char* path, size_t pathLen) -{ - if (pathLen > MAX_FILE_PATH) - { - LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); - path[0] = '\0'; - return; - } - UtilGetTestDirectoryPath(path, pathLen); - strcat(path, JOURNAL_DIR_NAME); - strcat(path, "/"); +void UtilGetJournalDirectoryPath(char *path, size_t pathLen) { + if (pathLen > MAX_FILE_PATH) { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + UtilGetTestDirectoryPath(path, pathLen); + strcat(path, JOURNAL_DIR_NAME); + strcat(path, "/"); } /*! @@ -2326,17 +2281,15 @@ void UtilGetJournalDirectoryPath(char* path, size_t pathLen) * \param path Char array to hold the path * \param pathLen Length of char array */ -void UtilGetConfDirectoryPath(char* path, size_t pathLen) -{ - if (pathLen > MAX_FILE_PATH) - { - LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); - path[0] = '\0'; - return; - } - UtilGetTestDirectoryPath(path, pathLen); - strcat(path, CONFIGURATION_DIR_NAME); - strcat(path, "/"); +void UtilGetConfDirectoryPath(char *path, size_t pathLen) { + if (pathLen > MAX_FILE_PATH) { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + UtilGetTestDirectoryPath(path, pathLen); + strcat(path, CONFIGURATION_DIR_NAME); + strcat(path, "/"); } /*! @@ -2345,17 +2298,15 @@ void UtilGetConfDirectoryPath(char* path, size_t pathLen) * \param path Char array to hold the path * \param pathLen Length of char array */ -void UtilGetTrajDirectoryPath(char* path, size_t pathLen) -{ - if (pathLen > MAX_FILE_PATH) - { - LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); - path[0] = '\0'; - return; - } - UtilGetTestDirectoryPath(path, pathLen); - strcat(path, TRAJECTORY_DIR_NAME); - strcat(path, "/"); +void UtilGetTrajDirectoryPath(char *path, size_t pathLen) { + if (pathLen > MAX_FILE_PATH) { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + UtilGetTestDirectoryPath(path, pathLen); + strcat(path, TRAJECTORY_DIR_NAME); + strcat(path, "/"); } /*! @@ -2364,17 +2315,15 @@ void UtilGetTrajDirectoryPath(char* path, size_t pathLen) * \param path Char array to hold the path * \param pathLen Length of char array */ -void UtilGetGeofenceDirectoryPath(char* path, size_t pathLen) -{ - if (pathLen > MAX_FILE_PATH) - { - LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); - path[0] = '\0'; - return; - } - UtilGetTestDirectoryPath(path, pathLen); - strcat(path, GEOFENCE_DIR_NAME); - strcat(path, "/"); +void UtilGetGeofenceDirectoryPath(char *path, size_t pathLen) { + if (pathLen > MAX_FILE_PATH) { + LogMessage(LOG_LEVEL_ERROR, "Path variable too small to hold path data"); + path[0] = '\0'; + return; + } + UtilGetTestDirectoryPath(path, pathLen); + strcat(path, GEOFENCE_DIR_NAME); + strcat(path, "/"); } @@ -2384,463 +2333,464 @@ void UtilGetGeofenceDirectoryPath(char* path, size_t pathLen) -- converts a traj file format to a ldm:monitor_t ------------------------------------------------------------*/ -void traj2ldm ( float time , - double x , - double y , - double z , - float hdg , - float vel , - monitor_t* ldm ) -{ +void traj2ldm(float time, double x, double y, double z, float hdg, float vel, monitor_t * ldm) { - char pcTempBuffer [512]; + char pcTempBuffer[512]; - double earth_radius = a; + double earth_radius = a; - double lat_origin = 0.0; - double lon_origin = 0.0; - double alt_origin = 0.0; - double lat = 0.0; - double lon = 0.0; - double alt = 0.0; + double lat_origin = 0.0; + double lon_origin = 0.0; + double alt_origin = 0.0; + double lat = 0.0; + double lon = 0.0; + double alt = 0.0; - ldm->timestamp = (uint64_t) (time * 100); - ldm->speed = (uint16_t) (vel * 100); - ldm->heading = (uint16_t) (hdg * 100); + ldm->timestamp = (uint64_t) (time * 100); + ldm->speed = (uint16_t) (vel * 100); + ldm->heading = (uint16_t) (hdg * 100); - bzero(pcTempBuffer,512); - iUtilGetParaConfFile("OrigoLatitude=", pcTempBuffer); - sscanf(pcTempBuffer, "%lf", &lat_origin); + bzero(pcTempBuffer, 512); + iUtilGetParaConfFile("OrigoLatitude=", pcTempBuffer); + sscanf(pcTempBuffer, "%lf", &lat_origin); - bzero(pcTempBuffer,512); - iUtilGetParaConfFile("OrigoLongitude=", pcTempBuffer); - sscanf(pcTempBuffer, "%lf", &lon_origin); + bzero(pcTempBuffer, 512); + iUtilGetParaConfFile("OrigoLongitude=", pcTempBuffer); + sscanf(pcTempBuffer, "%lf", &lon_origin); - bzero(pcTempBuffer,512); - iUtilGetParaConfFile("OrigoAltitude=", pcTempBuffer); - sscanf(pcTempBuffer, "%lf", &alt_origin); + bzero(pcTempBuffer, 512); + iUtilGetParaConfFile("OrigoAltitude=", pcTempBuffer); + sscanf(pcTempBuffer, "%lf", &alt_origin); - lat = ((y * 180)/(PI * earth_radius)) + lat_origin; - lon = ((x * 180)/(PI * earth_radius)) * (1 / (cos((PI / 180) * (0.5 * (lat_origin + lat))))) + lon_origin; - alt = z + alt_origin; + lat = ((y * 180) / (PI * earth_radius)) + lat_origin; + lon = + ((x * 180) / (PI * earth_radius)) * (1 / (cos((PI / 180) * (0.5 * (lat_origin + lat))))) + lon_origin; + alt = z + alt_origin; - ldm->latitude = (uint32_t) (lat * 10000000); - ldm->longitude = (uint32_t) (lon * 10000000); - ldm->altitude = (uint32_t) (alt * 100); + ldm->latitude = (uint32_t) (lat * 10000000); + ldm->longitude = (uint32_t) (lon * 10000000); + ldm->altitude = (uint32_t) (alt * 100); } -static void init_crc16_tab( void ); +static void init_crc16_tab(void); -static bool crc_tab16_init = false; -static uint16_t crc_tab16[256]; +static bool crc_tab16_init = false; +static uint16_t crc_tab16[256]; #define CRC_POLY_16 0xA001 -static void init_crc16_tab( void ) { +static void init_crc16_tab(void) { - uint16_t i; - uint16_t j; - uint16_t crc; - uint16_t c; + uint16_t i; + uint16_t j; + uint16_t crc; + uint16_t c; - for (i=0; i<256; i++) { + for (i = 0; i < 256; i++) { - crc = 0; - c = i; + crc = 0; + c = i; - for (j=0; j<8; j++) { + for (j = 0; j < 8; j++) { - if ( (crc ^ c) & 0x0001 ) crc = ( crc >> 1 ) ^ CRC_POLY_16; - else crc = crc >> 1; + if ((crc ^ c) & 0x0001) + crc = (crc >> 1) ^ CRC_POLY_16; + else + crc = crc >> 1; - c = c >> 1; - } + c = c >> 1; + } - crc_tab16[i] = crc; - } + crc_tab16[i] = crc; + } - crc_tab16_init = true; + crc_tab16_init = true; } #define CRC_START_16 0x0000 -uint16_t crc_16( const unsigned char *input_str, uint16_t num_bytes ) { +uint16_t crc_16(const unsigned char *input_str, uint16_t num_bytes) { - uint16_t crc; - uint16_t tmp; - uint16_t short_c; - const unsigned char *ptr; - uint16_t i = 0; + uint16_t crc; + uint16_t tmp; + uint16_t short_c; + const unsigned char *ptr; + uint16_t i = 0; - if ( ! crc_tab16_init ) init_crc16_tab(); + if (!crc_tab16_init) + init_crc16_tab(); - crc = CRC_START_16; - ptr = input_str; + crc = CRC_START_16; + ptr = input_str; - if ( ptr != NULL ) for (i=0; i> 8) ^ crc_tab16[ tmp & 0xff ]; - ptr++; - } + short_c = 0x00ff & (uint16_t) * ptr; + tmp = crc ^ short_c; + crc = (crc >> 8) ^ crc_tab16[tmp & 0xff]; + ptr++; + } - return crc; + return crc; -} /* crc_16 */ +} /* crc_16 */ -U16 SwapU16(U16 val) -{ - return (val << 8) | (val >> 8 ); +U16 SwapU16(U16 val) { + return (val << 8) | (val >> 8); } -I16 SwapI16(I16 val) -{ - return (val << 8) | ((val >> 8) & 0xFF); +I16 SwapI16(I16 val) { + return (val << 8) | ((val >> 8) & 0xFF); } -U32 SwapU32(U32 val) -{ - val = ((val << 8) & 0xFF00FF00 ) | ((val >> 8) & 0xFF00FF ); - return (val << 16) | (val >> 16); +U32 SwapU32(U32 val) { + val = ((val << 8) & 0xFF00FF00) | ((val >> 8) & 0xFF00FF); + return (val << 16) | (val >> 16); } -I32 SwapI32(I32 val) -{ - val = ((val << 8) & 0xFF00FF00) | ((val >> 8) & 0xFF00FF ); - return (val << 16) | ((val >> 16) & 0xFFFF); +I32 SwapI32(I32 val) { + val = ((val << 8) & 0xFF00FF00) | ((val >> 8) & 0xFF00FF); + return (val << 16) | ((val >> 16) & 0xFFFF); } -I64 SwapI64(I64 val) -{ - val = ((val << 8) & 0xFF00FF00FF00FF00ULL ) | ((val >> 8) & 0x00FF00FF00FF00FFULL ); - val = ((val << 16) & 0xFFFF0000FFFF0000ULL ) | ((val >> 16) & 0x0000FFFF0000FFFFULL ); - return (val << 32) | ((val >> 32) & 0xFFFFFFFFULL); +I64 SwapI64(I64 val) { + val = ((val << 8) & 0xFF00FF00FF00FF00ULL) | ((val >> 8) & 0x00FF00FF00FF00FFULL); + val = ((val << 16) & 0xFFFF0000FFFF0000ULL) | ((val >> 16) & 0x0000FFFF0000FFFFULL); + return (val << 32) | ((val >> 32) & 0xFFFFFFFFULL); } -U64 SwapU64(U64 val) -{ - val = ((val << 8) & 0xFF00FF00FF00FF00ULL ) | ((val >> 8) & 0x00FF00FF00FF00FFULL ); - val = ((val << 16) & 0xFFFF0000FFFF0000ULL ) | ((val >> 16) & 0x0000FFFF0000FFFFULL ); - return (val << 32) | (val >> 32); +U64 SwapU64(U64 val) { + val = ((val << 8) & 0xFF00FF00FF00FF00ULL) | ((val >> 8) & 0x00FF00FF00FF00FFULL); + val = ((val << 16) & 0xFFFF0000FFFF0000ULL) | ((val >> 16) & 0x0000FFFF0000FFFFULL); + return (val << 32) | (val >> 32); } -I32 UtilConnectTCPChannel(const C8* Module, I32* Sockfd, const C8* IP, const U32 Port) -{ - struct sockaddr_in serv_addr; - struct hostent *server; +I32 UtilConnectTCPChannel(const C8 * Module, I32 * Sockfd, const C8 * IP, const U32 Port) { + struct sockaddr_in serv_addr; + struct hostent *server; - char buffer[256]; - int iResult; + char buffer[256]; + int iResult; - *Sockfd = socket(AF_INET, SOCK_STREAM, 0); + *Sockfd = socket(AF_INET, SOCK_STREAM, 0); - if (*Sockfd < 0) { - LogMessage(LOG_LEVEL_ERROR,"Failed to open control socket"); - } + if (*Sockfd < 0) { + LogMessage(LOG_LEVEL_ERROR, "Failed to open control socket"); + } - server = gethostbyname(IP); - if (server == NULL) - { - LogMessage(LOG_LEVEL_ERROR,"Unknown host"); - } + server = gethostbyname(IP); + if (server == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unknown host"); + } - bzero((char *) &serv_addr, sizeof(serv_addr)); - serv_addr.sin_family = AF_INET; + bzero((char *)&serv_addr, sizeof (serv_addr)); + serv_addr.sin_family = AF_INET; - bcopy((char *) server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); - serv_addr.sin_port = htons(Port); + bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); + serv_addr.sin_port = htons(Port); - LogMessage(LOG_LEVEL_INFO,"Attempting to connect to control socket: %s:%i", IP, Port); + LogMessage(LOG_LEVEL_INFO, "Attempting to connect to control socket: %s:%i", IP, Port); - do - { - iResult = connect(*Sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)); + do { + iResult = connect(*Sockfd, (struct sockaddr *)&serv_addr, sizeof (serv_addr)); - if ( iResult < 0) - { - if(errno == ECONNREFUSED) - { - LogMessage(LOG_LEVEL_WARNING,"Unable to connect to %s port %d, retrying in 3 sec...", IP, Port); - fflush(stdout); - (void)sleep(3); - } - else - { - LogMessage(LOG_LEVEL_ERROR,"Failed to connect to control socket"); - } - } - } while(iResult < 0); + if (iResult < 0) { + if (errno == ECONNREFUSED) { + LogMessage(LOG_LEVEL_WARNING, "Unable to connect to %s port %d, retrying in 3 sec...", IP, + Port); + fflush(stdout); + (void)sleep(3); + } + else { + LogMessage(LOG_LEVEL_ERROR, "Failed to connect to control socket"); + } + } + } while (iResult < 0); - iResult = fcntl(*Sockfd, F_SETFL, fcntl(*Sockfd, F_GETFL, 0) | O_NONBLOCK); + iResult = fcntl(*Sockfd, F_SETFL, fcntl(*Sockfd, F_GETFL, 0) | O_NONBLOCK); - LogMessage(LOG_LEVEL_INFO,"Maestro connected to %s:%d", IP, Port); - return iResult; + LogMessage(LOG_LEVEL_INFO, "Maestro connected to %s:%d", IP, Port); + return iResult; } -void UtilSendTCPData(const C8* Module, const C8* Data, I32 Length, I32* Sockfd, U8 Debug) -{ - I32 i, n, error = 0; +void UtilSendTCPData(const C8 * Module, const C8 * Data, I32 Length, I32 * Sockfd, U8 Debug) { + I32 i, n, error = 0; - socklen_t len = sizeof(error); - I32 retval; + socklen_t len = sizeof (error); + I32 retval; - // TODO: Change this when bytes thingy has been implemented in logging - if(Debug == 1){ printf("[%s] Bytes sent: ", Module); i = 0; for(i = 0; i < Length; i++) printf("%x-", (C8)*(Data+i)); printf("\n");} + // TODO: Change this when bytes thingy has been implemented in logging + if (Debug == 1) { + printf("[%s] Bytes sent: ", Module); + i = 0; + for (i = 0; i < Length; i++) + printf("%x-", (C8) * (Data + i)); + printf("\n"); + } - n = write(*Sockfd, Data, Length); + n = write(*Sockfd, Data, Length); - retval = getsockopt(*Sockfd, SOL_SOCKET, SO_ERROR, &error, &len); + retval = getsockopt(*Sockfd, SOL_SOCKET, SO_ERROR, &error, &len); - if(retval != 0) - { - LogMessage(LOG_LEVEL_ERROR,"Failed to get socket error code = %s", strerror(retval)); - } + if (retval != 0) { + LogMessage(LOG_LEVEL_ERROR, "Failed to get socket error code = %s", strerror(retval)); + } - if(error != 0) - { - LogMessage(LOG_LEVEL_ERROR,"Socket error: %s", strerror(error)); - } + if (error != 0) { + LogMessage(LOG_LEVEL_ERROR, "Socket error: %s", strerror(error)); + } - if (n < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Failed to send on control socket, length = %d", Length); - } + if (n < 0) { + LogMessage(LOG_LEVEL_ERROR, "Failed to send on control socket, length = %d", Length); + } } -I32 UtilReceiveTCPData(const C8* Module, I32* Sockfd, C8* Data, I32 Length, U8 Debug) -{ - I32 i, Result; - - if(Length <= 0) Result = recv(*Sockfd, Data, TCP_RX_BUFFER, 0); - else Result = recv(*Sockfd, Data, Length, 0); +I32 UtilReceiveTCPData(const C8 * Module, I32 * Sockfd, C8 * Data, I32 Length, U8 Debug) { + I32 i, Result; - // TODO: Change this when bytes thingy has been implemented in logging - if(Debug == 1 && Result < 0){ printf("[%s] Received TCP data: ", Module); i = 0; for(i = 0; i < Result; i++) printf("%x-", (C8)*(Data+i)); printf("\n");} + if (Length <= 0) + Result = recv(*Sockfd, Data, TCP_RX_BUFFER, 0); + else + Result = recv(*Sockfd, Data, Length, 0); + + // TODO: Change this when bytes thingy has been implemented in logging + if (Debug == 1 && Result < 0) { + printf("[%s] Received TCP data: ", Module); + i = 0; + for (i = 0; i < Result; i++) + printf("%x-", (C8) * (Data + i)); + printf("\n"); + } - return Result; + return Result; } -void UtilCreateUDPChannel(const C8* Module, I32 *Sockfd, const C8* IP, const U32 Port, struct sockaddr_in* Addr) -{ - int result; - struct hostent *object; +void UtilCreateUDPChannel(const C8 * Module, I32 * Sockfd, const C8 * IP, const U32 Port, + struct sockaddr_in *Addr) { + int result; + struct hostent *object; - *Sockfd= socket(AF_INET, SOCK_DGRAM, 0); - if (*Sockfd < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Failed to connect to CPC socket"); - } + *Sockfd = socket(AF_INET, SOCK_DGRAM, 0); + if (*Sockfd < 0) { + LogMessage(LOG_LEVEL_ERROR, "Failed to connect to CPC socket"); + } - /* Set address to object */ - object = gethostbyname(IP); + /* Set address to object */ + object = gethostbyname(IP); - if (object==0) - { - LogMessage(LOG_LEVEL_ERROR,"Unknown host"); - } + if (object == 0) { + LogMessage(LOG_LEVEL_ERROR, "Unknown host"); + } - bcopy((char *) object->h_addr, (char *)&Addr->sin_addr.s_addr, object->h_length); - Addr->sin_family = AF_INET; - Addr->sin_port = htons(Port); + bcopy((char *)object->h_addr, (char *)&Addr->sin_addr.s_addr, object->h_length); + Addr->sin_family = AF_INET; + Addr->sin_port = htons(Port); - /* set socket to non-blocking */ - result = fcntl(*Sockfd, F_SETFL, - fcntl(*Sockfd, F_GETFL, 0) | O_NONBLOCK); - if (result < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Error calling fcntl"); - } + /* set socket to non-blocking */ + result = fcntl(*Sockfd, F_SETFL, fcntl(*Sockfd, F_GETFL, 0) | O_NONBLOCK); + if (result < 0) { + LogMessage(LOG_LEVEL_ERROR, "Error calling fcntl"); + } - LogMessage(LOG_LEVEL_INFO,"Created UDP channel to address: %s:%d", IP, Port); + LogMessage(LOG_LEVEL_INFO, "Created UDP channel to address: %s:%d", IP, Port); } -void UtilSendUDPData(const C8* Module, I32 *Sockfd, struct sockaddr_in* Addr, C8 *Data, I32 Length, U8 Debug) -{ - I32 result, i; +void UtilSendUDPData(const C8 * Module, I32 * Sockfd, struct sockaddr_in *Addr, C8 * Data, I32 Length, + U8 Debug) { + I32 result, i; - result = sendto(*Sockfd, Data, Length, 0, (const struct sockaddr *) Addr, sizeof(struct sockaddr_in)); + result = sendto(*Sockfd, Data, Length, 0, (const struct sockaddr *)Addr, sizeof (struct sockaddr_in)); - // TODO: Change this when bytes thingy has been implemented in logging - if(Debug){ printf("[%s] Bytes sent: ", Module); i = 0; for(i = 0; i < Length; i++) printf("%x-", (unsigned char)*(Data+i)); printf("\n");} + // TODO: Change this when bytes thingy has been implemented in logging + if (Debug) { + printf("[%s] Bytes sent: ", Module); + i = 0; + for (i = 0; i < Length; i++) + printf("%x-", (unsigned char)*(Data + i)); + printf("\n"); + } - if (result < 0) - { - LogMessage(LOG_LEVEL_ERROR,"Failed to send on process control socket"); - } + if (result < 0) { + LogMessage(LOG_LEVEL_ERROR, "Failed to send on process control socket"); + } } -void UtilReceiveUDPData(const C8* Module, I32* Sockfd, C8* Data, I32 Length, I32* ReceivedNewData, U8 Debug) -{ - I32 Result, i; - *ReceivedNewData = 0; - do - { - Result = recv(*Sockfd, Data, Length, 0); - - if (Result < 0) - { - if(errno != EAGAIN && errno != EWOULDBLOCK) - { - LogMessage(LOG_LEVEL_ERROR,"Failed to receive from monitor socket"); - } - else - { - LogMessage(LOG_LEVEL_DEBUG, "No data received"); - } - } - else - { - *ReceivedNewData = 1; - LogMessage(LOG_LEVEL_DEBUG,"Received: <%s>", Data); - // TODO: Change this when bytes thingy has been implemented in logging - if(Debug == 1){ printf("[%s] Received UDP data: ", Module); i = 0; for(i = 0; i < Result; i++) printf("%x-", (C8)*(Data+i)); printf("\n");} - - } - - } while(Result > 0 ); -} - - -U32 UtilIPStringToInt(C8 *IP) -{ - C8 *p, *ps; - C8 Buffer[3]; - U32 IpU32 = 0; +void UtilReceiveUDPData(const C8 * Module, I32 * Sockfd, C8 * Data, I32 Length, I32 * ReceivedNewData, + U8 Debug) { + I32 Result, i; + + *ReceivedNewData = 0; + do { + Result = recv(*Sockfd, Data, Length, 0); + + if (Result < 0) { + if (errno != EAGAIN && errno != EWOULDBLOCK) { + LogMessage(LOG_LEVEL_ERROR, "Failed to receive from monitor socket"); + } + else { + LogMessage(LOG_LEVEL_DEBUG, "No data received"); + } + } + else { + *ReceivedNewData = 1; + LogMessage(LOG_LEVEL_DEBUG, "Received: <%s>", Data); + // TODO: Change this when bytes thingy has been implemented in logging + if (Debug == 1) { + printf("[%s] Received UDP data: ", Module); + i = 0; + for (i = 0; i < Result; i++) + printf("%x-", (C8) * (Data + i)); + printf("\n"); + } + + } + + } while (Result > 0); +} + - ps = IP; - p = strchr(IP,'.'); - if(p != NULL) - { - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; +U32 UtilIPStringToInt(C8 * IP) { + C8 *p, *ps; + C8 Buffer[3]; + U32 IpU32 = 0; - ps = p + 1; - p = strchr(ps,'.'); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + ps = IP; + p = strchr(IP, '.'); + if (p != NULL) { + bzero(Buffer, 3); + strncpy(Buffer, ps, (U64) p - (U64) ps); + IpU32 = (IpU32 | (U32) atoi(Buffer)) << 8; - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; + ps = p + 1; + p = strchr(ps, '.'); + bzero(Buffer, 3); + strncpy(Buffer, ps, (U64) p - (U64) ps); - ps = p + 1; - p = strchr(ps,'.'); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + IpU32 = (IpU32 | (U32) atoi(Buffer)) << 8; - IpU32 = (IpU32 | (U32)atoi(Buffer)) << 8; + ps = p + 1; + p = strchr(ps, '.'); + bzero(Buffer, 3); + strncpy(Buffer, ps, (U64) p - (U64) ps); - ps = p + 1; - p = strchr(ps, 0); - bzero(Buffer,3); - strncpy(Buffer, ps, (U64)p - (U64)ps); + IpU32 = (IpU32 | (U32) atoi(Buffer)) << 8; - IpU32 = (IpU32 | (U32)atoi(Buffer)); + ps = p + 1; + p = strchr(ps, 0); + bzero(Buffer, 3); + strncpy(Buffer, ps, (U64) p - (U64) ps); - //printf("IpU32 = %x\n", IpU32); - } + IpU32 = (IpU32 | (U32) atoi(Buffer)); - return IpU32; + //printf("IpU32 = %x\n", IpU32); + } + + return IpU32; } -U32 UtilHexTextToBinary(U32 DataLength, C8 *Text, C8 *Binary, U8 Debug) -{ - U32 i, j = 0; - C8 Bin; - C8 Hex; +U32 UtilHexTextToBinary(U32 DataLength, C8 * Text, C8 * Binary, U8 Debug) { + U32 i, j = 0; + C8 Bin; + C8 Hex; - for(i = 0; i < DataLength; ) - { + for (i = 0; i < DataLength;) { - Hex = *(Text + i++); - if(Hex >= 0x30 && Hex <= 0x39) Hex = Hex - 0x30; - else if (Hex >= 0x41 && Hex <= 0x46) Hex = Hex - 0x37; - Bin = Hex << 4; + Hex = *(Text + i++); + if (Hex >= 0x30 && Hex <= 0x39) + Hex = Hex - 0x30; + else if (Hex >= 0x41 && Hex <= 0x46) + Hex = Hex - 0x37; + Bin = Hex << 4; - Hex = *(Text + i++); - if(Hex >= 0x30 && Hex <= 0x39) Hex = Hex - 0x30; - else if (Hex >= 0x41 && Hex <= 0x46) Hex = Hex - 0x37; - Bin = Bin | Hex; + Hex = *(Text + i++); + if (Hex >= 0x30 && Hex <= 0x39) + Hex = Hex - 0x30; + else if (Hex >= 0x41 && Hex <= 0x46) + Hex = Hex - 0x37; + Bin = Bin | Hex; - *(Binary + j++) = Bin; + *(Binary + j++) = Bin; - } + } - if(Debug) - { - // TODO: Change this when bytes thingy has been implemented in logging - printf("[Util:UtilHexTextToBinary] Length = %d: ", DataLength/2); - for(i = 0;i < DataLength/2; i ++) printf("%x ", *(Binary + i)); - printf("\n"); - } + if (Debug) { + // TODO: Change this when bytes thingy has been implemented in logging + printf("[Util:UtilHexTextToBinary] Length = %d: ", DataLength / 2); + for (i = 0; i < DataLength / 2; i++) + printf("%x ", *(Binary + i)); + printf("\n"); + } - return j; + return j; } -U32 UtilBinaryToHexText(U32 DataLength, C8 *Binary, C8 *Text, U8 Debug) -{ - U32 i, j=0; - C8 Hex; +U32 UtilBinaryToHexText(U32 DataLength, C8 * Binary, C8 * Text, U8 Debug) { + U32 i, j = 0; + C8 Hex; - for(i = 0; i < DataLength; i++) - { - Hex = *(Binary + i) >> 4; - //Hex = Hex >> 4; - //printf("%x\n", Hex); - if(Hex >= 0 && Hex <= 9) Hex = Hex + 0x30; - else if (Hex >= 10 && Hex <= 15) Hex = Hex + 0x37; - //printf("%x\n", Hex); - *(Text + j++) = Hex; + for (i = 0; i < DataLength; i++) { + Hex = *(Binary + i) >> 4; + //Hex = Hex >> 4; + //printf("%x\n", Hex); + if (Hex >= 0 && Hex <= 9) + Hex = Hex + 0x30; + else if (Hex >= 10 && Hex <= 15) + Hex = Hex + 0x37; + //printf("%x\n", Hex); + *(Text + j++) = Hex; - Hex = *(Binary + i) & 0x0F; - //printf("%x\n", Hex); - //Hex = Hex & 0x0F; - //printf("%x\n", Hex); - if(Hex >= 0 && Hex <= 9) Hex = Hex + 0x30; - else if (Hex >= 10 && Hex <= 15) Hex = Hex + 0x37; - //printf("%x", Hex); - *(Text + j++) = Hex; - } + Hex = *(Binary + i) & 0x0F; + //printf("%x\n", Hex); + //Hex = Hex & 0x0F; + //printf("%x\n", Hex); + if (Hex >= 0 && Hex <= 9) + Hex = Hex + 0x30; + else if (Hex >= 10 && Hex <= 15) + Hex = Hex + 0x37; + //printf("%x", Hex); + *(Text + j++) = Hex; + } - if(Debug) - { - // TODO: Change this when bytes thingy has been implemented in logging - printf("[Util:UtilBinaryToHexText] Length = %d: ", j); - for(i = 0;i < j; i ++) printf("%x ", *(Text + i)); - printf("\n"); - } + if (Debug) { + // TODO: Change this when bytes thingy has been implemented in logging + printf("[Util:UtilBinaryToHexText] Length = %d: ", j); + for (i = 0; i < j; i++) + printf("%x ", *(Text + i)); + printf("\n"); + } - return j; + return j; } @@ -2851,506 +2801,511 @@ U32 UtilBinaryToHexText(U32 DataLength, C8 *Binary, C8 *Text, U8 Debug) // "F-\n" and "D-\n" is 4 bytes longer than only the filename #define FILE_INFO_LENGTH (MAX_PATH_LENGTH+4) -U32 UtilCreateDirContent(C8* DirPath, C8* TempPath) -{ +U32 UtilCreateDirContent(C8 * DirPath, C8 * TempPath) { - FILE *fd; - C8 Filename[FILE_INFO_LENGTH]; - C8 CompletePath[MAX_PATH_LENGTH]; - bzero(CompletePath, MAX_PATH_LENGTH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, DirPath);//Concatenate dir path + FILE *fd; + C8 Filename[FILE_INFO_LENGTH]; + C8 CompletePath[MAX_PATH_LENGTH]; - DIR * d = opendir(CompletePath); // open the path - if(d==NULL) return 1; // if was not able return - struct dirent * dir; // for the directory entries + bzero(CompletePath, MAX_PATH_LENGTH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, DirPath); //Concatenate dir path - bzero(CompletePath, MAX_PATH_LENGTH); - UtilGetTestDirectoryPath(CompletePath, sizeof(CompletePath)); - strcat(CompletePath, TempPath); //Concatenate temp file path + DIR *d = opendir(CompletePath); // open the path - fd = fopen(CompletePath, "r"); - if(fd != NULL) - { - fclose(fd); - remove(CompletePath); //Remove file if exist - } + if (d == NULL) + return 1; // if was not able return + struct dirent *dir; // for the directory entries - fd = fopen(CompletePath, "w+"); //Create the file - if(fd == NULL) //return if failing to create file - { - return 2; - } + bzero(CompletePath, MAX_PATH_LENGTH); + UtilGetTestDirectoryPath(CompletePath, sizeof (CompletePath)); + strcat(CompletePath, TempPath); //Concatenate temp file path - while ((dir = readdir(d)) != NULL) // if we were able to read somehting from the directory - { - bzero(Filename, FILE_INFO_LENGTH); - - if(dir-> d_type != DT_DIR) - //printf("%s%s\n",BLUE, dir->d_name); // if the type is not directory just print it with blue - sprintf(Filename, "F-%s\n", dir->d_name); - else - if(dir -> d_type == DT_DIR && strcmp(dir->d_name,".")!=0 && strcmp(dir->d_name,"..")!=0 ) // if it is a directory - { - sprintf(Filename, "D-%s\n", dir->d_name); - //printf("%s%s\n", GREEN, dir->d_name); // print its name in green - //printf("D-%s\n", dir->d_name); // print its name in green - //char d_path[255]; // here I am using sprintf which is safer than strcat - //sprintf(d_path, "%s/%s", Path, dir->d_name); - //UtilCreateDirContent(d_path, TempPath); // recall with the new path - } - - if(strlen(Filename) > 0) - { - //printf("%s", Filename); - fwrite(Filename, 1, strlen(Filename), fd); //write dir content to file - fflush(fd); - } - } - //printf("\n"); - //printf("%s\n", CompletePath); + fd = fopen(CompletePath, "r"); + if (fd != NULL) { + fclose(fd); + remove(CompletePath); //Remove file if exist + } - closedir(d); // close the directory + fd = fopen(CompletePath, "w+"); //Create the file + if (fd == NULL) //return if failing to create file + { + return 2; + } - fclose(fd); //close the file + while ((dir = readdir(d)) != NULL) // if we were able to read somehting from the directory + { + bzero(Filename, FILE_INFO_LENGTH); + + if (dir->d_type != DT_DIR) + //printf("%s%s\n",BLUE, dir->d_name); // if the type is not directory just print it with blue + sprintf(Filename, "F-%s\n", dir->d_name); + else if (dir->d_type == DT_DIR && strcmp(dir->d_name, ".") != 0 && strcmp(dir->d_name, "..") != 0) // if it is a directory + { + sprintf(Filename, "D-%s\n", dir->d_name); + //printf("%s%s\n", GREEN, dir->d_name); // print its name in green + //printf("D-%s\n", dir->d_name); // print its name in green + //char d_path[255]; // here I am using sprintf which is safer than strcat + //sprintf(d_path, "%s/%s", Path, dir->d_name); + //UtilCreateDirContent(d_path, TempPath); // recall with the new path + } + + if (strlen(Filename) > 0) { + //printf("%s", Filename); + fwrite(Filename, 1, strlen(Filename), fd); //write dir content to file + fflush(fd); + } + } + //printf("\n"); + //printf("%s\n", CompletePath); + + closedir(d); // close the directory + + fclose(fd); //close the file + + return 0; +} + + + +I32 UtilISOBuildINSUPMessage(C8 * MessageBuffer, INSUPType * INSUPData, C8 CommandOption, U8 Debug) { + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; + + bzero(MessageBuffer, ISO_INSUP_MESSAGE_LENGTH + ISO_MESSAGE_FOOTER_LENGTH); + + INSUPData->Header.SyncWordU16 = SYNC_WORD; + INSUPData->Header.TransmitterIdU8 = 0; + INSUPData->Header.MessageCounterU8 = 0; + INSUPData->Header.AckReqProtVerU8 = 0; + INSUPData->Header.MessageIdU16 = ISO_INSUP_CODE; + INSUPData->Header.MessageLengthU32 = sizeof (INSUPType) - sizeof (HeaderType); + INSUPData->ModeValueIdU16 = VALUE_ID_INSUP_MODE; + INSUPData->ModeContentLengthU16 = 1; + INSUPData->ModeU8 = (U8) CommandOption; + + p = (C8 *) INSUPData; + for (i = 0; i < sizeof (INSUPType); i++) + *(MessageBuffer + i) = *p++; + Crc = crc_16((const C8 *)MessageBuffer, sizeof (OSTMType)); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc >> 8); + *(MessageBuffer + i++) = (U8) (Crc); + MessageIndex = i; + + if (Debug) { + // TODO: Change this when bytes thingy has been implemented in logging + printf("INSUP total length = %d bytes (header+message+footer)\n", + (int)(ISO_INSUP_MESSAGE_LENGTH + ISO_MESSAGE_FOOTER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (INSUPType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } - return 0; + return MessageIndex; //Total number of bytes } +I32 UtilISOBuildHEABMessage(C8 * MessageBuffer, HEABType * HEABData, TimeType * GPSTime, U8 CCStatus, + U8 Debug) { + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; + bzero(MessageBuffer, ISO_HEAB_MESSAGE_LENGTH + ISO_MESSAGE_FOOTER_LENGTH); -I32 UtilISOBuildINSUPMessage(C8* MessageBuffer, INSUPType *INSUPData, C8 CommandOption, U8 Debug) -{ - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; - - bzero(MessageBuffer, ISO_INSUP_MESSAGE_LENGTH+ISO_MESSAGE_FOOTER_LENGTH); - - INSUPData->Header.SyncWordU16 = SYNC_WORD; - INSUPData->Header.TransmitterIdU8 = 0; - INSUPData->Header.MessageCounterU8 = 0; - INSUPData->Header.AckReqProtVerU8 = 0; - INSUPData->Header.MessageIdU16 = ISO_INSUP_CODE; - INSUPData->Header.MessageLengthU32 = sizeof(INSUPType) - sizeof(HeaderType); - INSUPData->ModeValueIdU16 = VALUE_ID_INSUP_MODE; - INSUPData->ModeContentLengthU16 = 1; - INSUPData->ModeU8 = (U8)CommandOption; - - p=(C8 *)INSUPData; - for(i=0; i> 8); - *(MessageBuffer + i++) = (U8)(Crc); - MessageIndex = i; - - if(Debug) - { - // TODO: Change this when bytes thingy has been implemented in logging - printf("INSUP total length = %d bytes (header+message+footer)\n", (int)(ISO_INSUP_MESSAGE_LENGTH+ISO_MESSAGE_FOOTER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(INSUPType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - - return MessageIndex; //Total number of bytes -} - -I32 UtilISOBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeType *GPSTime, U8 CCStatus, U8 Debug) -{ - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; - - bzero(MessageBuffer, ISO_HEAB_MESSAGE_LENGTH+ISO_MESSAGE_FOOTER_LENGTH); - - HEABData->Header.SyncWordU16 = SYNC_WORD; - HEABData->Header.TransmitterIdU8 = 0; - HEABData->Header.MessageCounterU8 = 0; - HEABData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - HEABData->Header.MessageIdU16 = ISO_HEAB_CODE; - HEABData->Header.MessageLengthU32 = sizeof(HEABType) - sizeof(HeaderType); - //HEABData->HeabStructValueIdU16 = 0; - //HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; - HEABData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32*1000 + (U32)UtilGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; - HEABData->CCStatusU8 = CCStatus; - - if(!GPSTime->isGPSenabled){ - UtilgetCurrentGPStime(NULL,&HEABData->GPSQmsOfWeekU32); - } - - p=(C8 *)HEABData; - for(i=0; i> 8); - MessageIndex = i; - - if(Debug) - { - // TODO: Change this when bytes thingy has been implemented in logging - printf("HEAB total length = %d bytes (header+message+footer)\n", (int)(ISO_HEAB_MESSAGE_LENGTH + ISO_MESSAGE_FOOTER_LENGTH)); - printf("----HEADER----\n"); - for(i = 0;i < sizeof(HeaderType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----MESSAGE----\n"); - for(;i < sizeof(HEABType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n----FOOTER----\n"); - for(;i < MessageIndex; i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - } - - return MessageIndex; //Total number of bytes -} - - -U16 UtilGetMillisecond(TimeType *GPSTime) -{ - struct timeval now; - U16 MilliU16 = 0, NowU16 = 0; - gettimeofday(&now, NULL); - NowU16 = (U16)(now.tv_usec / 1000); + HEABData->Header.SyncWordU16 = SYNC_WORD; + HEABData->Header.TransmitterIdU8 = 0; + HEABData->Header.MessageCounterU8 = 0; + HEABData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + HEABData->Header.MessageIdU16 = ISO_HEAB_CODE; + HEABData->Header.MessageLengthU32 = sizeof (HEABType) - sizeof (HeaderType); + //HEABData->HeabStructValueIdU16 = 0; + //HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; + HEABData->GPSQmsOfWeekU32 = + ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) UtilGetMillisecond(GPSTime)) << 2) + + GPSTime->MicroSecondU16; + HEABData->CCStatusU8 = CCStatus; - if(NowU16 >= GPSTime->LocalMillisecondU16) MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; - else if(NowU16 < GPSTime->LocalMillisecondU16) MilliU16 = 1000 - GPSTime->LocalMillisecondU16 + NowU16; + if (!GPSTime->isGPSenabled) { + UtilgetCurrentGPStime(NULL, &HEABData->GPSQmsOfWeekU32); + } - //printf("Result= %d, now= %d, local= %d \n", MilliU16, NowU16, GPSTime->LocalMillisecondU16); - return MilliU16; + p = (C8 *) HEABData; + for (i = 0; i < sizeof (HEABType); i++) + *(MessageBuffer + i) = *p++; + Crc = crc_16((const C8 *)MessageBuffer, sizeof (HEABType)); + Crc = 0; + *(MessageBuffer + i++) = (U8) (Crc); + *(MessageBuffer + i++) = (U8) (Crc >> 8); + MessageIndex = i; + + if (Debug) { + // TODO: Change this when bytes thingy has been implemented in logging + printf("HEAB total length = %d bytes (header+message+footer)\n", + (int)(ISO_HEAB_MESSAGE_LENGTH + ISO_MESSAGE_FOOTER_LENGTH)); + printf("----HEADER----\n"); + for (i = 0; i < sizeof (HeaderType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----MESSAGE----\n"); + for (; i < sizeof (HEABType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n----FOOTER----\n"); + for (; i < MessageIndex; i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + } + + return MessageIndex; //Total number of bytes +} + + +U16 UtilGetMillisecond(TimeType * GPSTime) { + struct timeval now; + U16 MilliU16 = 0, NowU16 = 0; + + gettimeofday(&now, NULL); + NowU16 = (U16) (now.tv_usec / 1000); + + if (NowU16 >= GPSTime->LocalMillisecondU16) + MilliU16 = NowU16 - GPSTime->LocalMillisecondU16; + else if (NowU16 < GPSTime->LocalMillisecondU16) + MilliU16 = 1000 - GPSTime->LocalMillisecondU16 + NowU16; + + //printf("Result= %d, now= %d, local= %d \n", MilliU16, NowU16, GPSTime->LocalMillisecondU16); + return MilliU16; +} + +I32 UtilISOBuildTRAJInfo(C8 * MessageBuffer, TRAJInfoType * TRAJInfoData, U8 debug) { + I32 MessageIndex = 0, i; + + U16 Crc = 0, U16Data = 0; + I16 I16Data = 0; + U32 U32Data = 0; + I32 I32Data = 0; + U64 U64Data = 0; + C8 *p; + + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 1)) << 8; + U16Data = U16Data | *MessageBuffer; + TRAJInfoData->TrajectoryIDValueIdU16 = U16Data; + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 3)) << 8; + U16Data = U16Data | *(MessageBuffer + 2); + TRAJInfoData->TrajectoryIDContentLengthU16 = U16Data; + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 5)) << 8; + U16Data = U16Data | *(MessageBuffer + 4); + TRAJInfoData->TrajectoryIDU16 = U16Data; + + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 7)) << 8; + U16Data = U16Data | *(MessageBuffer + 6); + TRAJInfoData->TrajectoryNameValueIdU16 = U16Data; + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 9)) << 8; + U16Data = U16Data | *(MessageBuffer + 8); + TRAJInfoData->TrajectoryNameContentLengthU16 = U16Data; + for (i = 0; i < TRAJInfoData->TrajectoryNameContentLengthU16; i++) + TRAJInfoData->TrajectoryNameC8[i] = *(MessageBuffer + 10 + i); + + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 65)) << 8; + U16Data = U16Data | *(MessageBuffer + 64); + TRAJInfoData->TrajectoryVersionValueIdU16 = U16Data; + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 67)) << 8; + U16Data = U16Data | *(MessageBuffer + 66); + TRAJInfoData->TrajectoryVersionContentLengthU16 = U16Data; + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 69)) << 8; + U16Data = U16Data | *(MessageBuffer + 68); + TRAJInfoData->TrajectoryVersionU16 = U16Data; + + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 71)) << 8; + U16Data = U16Data | *(MessageBuffer + 70); + TRAJInfoData->IpAddressValueIdU16 = U16Data; + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 73)) << 8; + U16Data = U16Data | *(MessageBuffer + 72); + TRAJInfoData->IpAddressContentLengthU16 = U16Data; + U32Data = 0; + U32Data = (U32Data | *(MessageBuffer + 77)) << 8; + U32Data = (U32Data | *(MessageBuffer + 76)) << 8; + U32Data = (U32Data | *(MessageBuffer + 75)) << 8; + U32Data = U32Data | *(MessageBuffer + 74); + TRAJInfoData->IpAddressU32 = U32Data; + + if (debug) { + // TODO: Change this when bytes thingy has been implemented in logging + printf("TRAJInfo total length = %d bytes\n", (int)(ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH)); + printf("----TRAJInfo----\n"); + for (i = 0; i < sizeof (TRAJInfoType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + printf("TrajectoryID = %d\n", TRAJInfoData->TrajectoryIDU16); + printf("TrajectoryName = %s\n", TRAJInfoData->TrajectoryNameC8); + printf("TrajectoryVersion = %d\n", TRAJInfoData->TrajectoryVersionU16); + printf("IpAddress = %d\n", TRAJInfoData->IpAddressU32); + printf("\n----MESSAGE----\n"); + } + + return 0; } -I32 UtilISOBuildTRAJInfo(C8* MessageBuffer, TRAJInfoType *TRAJInfoData, U8 debug) -{ - I32 MessageIndex = 0, i; - - U16 Crc = 0, U16Data = 0; - I16 I16Data = 0; - U32 U32Data = 0; - I32 I32Data = 0; - U64 U64Data = 0; - C8 *p; - - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+1)) << 8; - U16Data = U16Data | *MessageBuffer; - TRAJInfoData->TrajectoryIDValueIdU16 = U16Data; - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+3)) << 8; - U16Data = U16Data | *(MessageBuffer+2); - TRAJInfoData->TrajectoryIDContentLengthU16 = U16Data; - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+5)) << 8; - U16Data = U16Data | *(MessageBuffer+4); - TRAJInfoData->TrajectoryIDU16 = U16Data; - - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+7)) << 8; - U16Data = U16Data | *(MessageBuffer+6); - TRAJInfoData->TrajectoryNameValueIdU16 = U16Data; - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+9)) << 8; - U16Data = U16Data | *(MessageBuffer+8); - TRAJInfoData->TrajectoryNameContentLengthU16 = U16Data; - for(i = 0; i < TRAJInfoData->TrajectoryNameContentLengthU16; i ++) TRAJInfoData->TrajectoryNameC8[i] = *(MessageBuffer + 10 + i); - - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+65)) << 8; - U16Data = U16Data | *(MessageBuffer+64); - TRAJInfoData->TrajectoryVersionValueIdU16 = U16Data; - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+67)) << 8; - U16Data = U16Data | *(MessageBuffer+66); - TRAJInfoData->TrajectoryVersionContentLengthU16 = U16Data; - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+69)) << 8; - U16Data = U16Data | *(MessageBuffer+68); - TRAJInfoData->TrajectoryVersionU16 = U16Data; - - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+71)) << 8; - U16Data = U16Data | *(MessageBuffer+70); - TRAJInfoData->IpAddressValueIdU16 = U16Data; - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+73)) << 8; - U16Data = U16Data | *(MessageBuffer+72); - TRAJInfoData->IpAddressContentLengthU16 = U16Data; - U32Data = 0; - U32Data = (U32Data | *(MessageBuffer+77)) << 8; - U32Data = (U32Data | *(MessageBuffer+76)) << 8; - U32Data = (U32Data | *(MessageBuffer+75)) << 8; - U32Data = U32Data | *(MessageBuffer+74); - TRAJInfoData->IpAddressU32 = U32Data; - - if(debug) - { - // TODO: Change this when bytes thingy has been implemented in logging - printf("TRAJInfo total length = %d bytes\n", (int)(ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH)); - printf("----TRAJInfo----\n"); - for(i = 0;i < sizeof(TRAJInfoType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - printf("TrajectoryID = %d\n", TRAJInfoData->TrajectoryIDU16); - printf("TrajectoryName = %s\n", TRAJInfoData->TrajectoryNameC8); - printf("TrajectoryVersion = %d\n", TRAJInfoData->TrajectoryVersionU16); - printf("IpAddress = %d\n", TRAJInfoData->IpAddressU32); - printf("\n----MESSAGE----\n"); - } - - return 0; -} - - -I32 UtilISOBuildTRAJMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, U8 debug) -{ - I32 MessageIndex = 0, i; - U16 Crc = 0; - C8 *p; - bzero(MessageBuffer, ISO_MESSAGE_HEADER_LENGTH + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH); +I32 UtilISOBuildTRAJMessageHeader(C8 * MessageBuffer, I32 RowCount, HeaderType * HeaderData, + TRAJInfoType * TRAJInfoData, U8 debug) { + I32 MessageIndex = 0, i; + U16 Crc = 0; + C8 *p; - HeaderData->SyncWordU16 = SYNC_WORD; - HeaderData->TransmitterIdU8 = 0; - HeaderData->MessageCounterU8 = 0; - HeaderData->AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; - HeaderData->MessageIdU16 = ISO_TRAJ_CODE; - HeaderData->MessageLengthU32 = ISO_DTM_ROW_MESSAGE_LENGTH*RowCount + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH; + bzero(MessageBuffer, ISO_MESSAGE_HEADER_LENGTH + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH); - p=(C8 *)HeaderData; - for(i=0; i< ISO_MESSAGE_HEADER_LENGTH; i++) *(MessageBuffer + i) = *p++; + HeaderData->SyncWordU16 = SYNC_WORD; + HeaderData->TransmitterIdU8 = 0; + HeaderData->MessageCounterU8 = 0; + HeaderData->AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; + HeaderData->MessageIdU16 = ISO_TRAJ_CODE; + HeaderData->MessageLengthU32 = ISO_DTM_ROW_MESSAGE_LENGTH * RowCount + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH; + p = (C8 *) HeaderData; + for (i = 0; i < ISO_MESSAGE_HEADER_LENGTH; i++) + *(MessageBuffer + i) = *p++; - TRAJInfoData->TrajectoryIDValueIdU16 = VALUE_ID_TRAJECTORY_ID; - TRAJInfoData->TrajectoryIDContentLengthU16 = 2; - TRAJInfoData->TrajectoryNameValueIdU16 = VALUE_ID_TRAJECTORY_NAME; - TRAJInfoData->TrajectoryNameContentLengthU16 = 64; + TRAJInfoData->TrajectoryIDValueIdU16 = VALUE_ID_TRAJECTORY_ID; + TRAJInfoData->TrajectoryIDContentLengthU16 = 2; - TRAJInfoData->TrajectoryVersionValueIdU16 = VALUE_ID_TRAJECTORY_VERSION; - TRAJInfoData->TrajectoryVersionContentLengthU16 = 2; + TRAJInfoData->TrajectoryNameValueIdU16 = VALUE_ID_TRAJECTORY_NAME; + TRAJInfoData->TrajectoryNameContentLengthU16 = 64; - TRAJInfoData->IpAddressValueIdU16 = 0xA000; - TRAJInfoData->IpAddressContentLengthU16 = 4; + TRAJInfoData->TrajectoryVersionValueIdU16 = VALUE_ID_TRAJECTORY_VERSION; + TRAJInfoData->TrajectoryVersionContentLengthU16 = 2; - p=(C8 *)TRAJInfoData; - for(; i< ISO_MESSAGE_HEADER_LENGTH + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH; i++) *(MessageBuffer + i) = *p++; + TRAJInfoData->IpAddressValueIdU16 = 0xA000; + TRAJInfoData->IpAddressContentLengthU16 = 4; - MessageIndex = i; + p = (C8 *) TRAJInfoData; + for (; i < ISO_MESSAGE_HEADER_LENGTH + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH; i++) + *(MessageBuffer + i) = *p++; + MessageIndex = i; - if(debug) - { - // TODO: Change this when bytes thingy has been implemented in logging - printf("Header + TRAJInfo total length = %d bytes\n", (int)(ISO_MESSAGE_HEADER_LENGTH + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH)); - printf("----HEADER + TRAJInfo----\n"); - for(i = 0;i < sizeof(HeaderType) + sizeof(TRAJInfoType); i ++) printf("%x ", (unsigned char)MessageBuffer[i]); - printf("\n"); - printf("DOTM message total length = %d bytes.\n", (int)HeaderData->MessageLengthU32); - printf("TrajectoryID = %d\n", TRAJInfoData->TrajectoryIDU16); - printf("TrajectoryName = %s\n", TRAJInfoData->TrajectoryNameC8); - printf("TrajectoryVersion = %d\n", TRAJInfoData->TrajectoryVersionU16); - printf("IpAddress = %d\n", TRAJInfoData->IpAddressU32); - printf("\n----MESSAGE----\n"); - } - return MessageIndex; //Total number of bytes = ISO_MESSAGE_HEADER_LENGTH -} + if (debug) { + // TODO: Change this when bytes thingy has been implemented in logging + printf("Header + TRAJInfo total length = %d bytes\n", + (int)(ISO_MESSAGE_HEADER_LENGTH + ISO_TRAJ_INFO_ROW_MESSAGE_LENGTH)); + printf("----HEADER + TRAJInfo----\n"); + for (i = 0; i < sizeof (HeaderType) + sizeof (TRAJInfoType); i++) + printf("%x ", (unsigned char)MessageBuffer[i]); + printf("\n"); + printf("DOTM message total length = %d bytes.\n", (int)HeaderData->MessageLengthU32); + printf("TrajectoryID = %d\n", TRAJInfoData->TrajectoryIDU16); + printf("TrajectoryName = %s\n", TRAJInfoData->TrajectoryNameC8); + printf("TrajectoryVersion = %d\n", TRAJInfoData->TrajectoryVersionU16); + printf("IpAddress = %d\n", TRAJInfoData->IpAddressU32); + printf("\n----MESSAGE----\n"); + } -I32 UtilISOBuildTRAJMessage(C8 *MessageBuffer, C8 *DTMData, I32 RowCount, DOTMType *DOTMData, U8 debug) -{ - I32 MessageIndex = 0; - U32 Data; - C8 *src, *p; - U16 Crc = 0; - - bzero(MessageBuffer, ISO_DTM_ROW_MESSAGE_LENGTH*RowCount); - - I32 i = 0, j = 0, n = 0; - for(i = 0; i < RowCount; i++) - { - //Time - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 3); - //if(debug) printf("%x-",Data); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 2); - //if(debug) printf("%x-",Data); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 1); - //if(debug) printf("%x-",Data); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 0); - //if(debug) printf("%x- ",Data); - DOTMData->RelativeTimeValueIdU16 = VALUE_ID_RELATIVE_TIME; - DOTMData->RelativeTimeContentLengthU16 = 4; - DOTMData->RelativeTimeU32 = SwapU32((U32)Data); - - //x - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 7); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 6); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 5); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 4); - DOTMData->XPositionValueIdU16 = VALUE_ID_X_POSITION; - DOTMData->XPositionContentLengthU16 = 4; - DOTMData->XPositionI32 = SwapI32((I32)Data); - - //y - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 11); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 10); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 9); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 8); - DOTMData->YPositionValueIdU16 = VALUE_ID_Y_POSITION; - DOTMData->YPositionContentLengthU16 = 4; - DOTMData->YPositionI32 = SwapI32((I32)Data); - - //z - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 15); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 14); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 13); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 12); - DOTMData->ZPositionValueIdU16 = VALUE_ID_Z_POSITION; - DOTMData->ZPositionContentLengthU16 = 4; - DOTMData->ZPositionI32 = SwapI32((I32)Data); - - //Heading - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 17); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 16); - //Data = UtilRadToDeg(Data); - //Data = 4500 - Data; //Turn heading back pi/2 - //while(Data<0) Data+=360.0; - //while(Data>3600) Data-=360.0; - DOTMData->HeadingValueIdU16 = VALUE_ID_HEADING; - DOTMData->HeadingContentLengthU16 = 2; - DOTMData->HeadingU16 = SwapU16((U16)(Data)); - - //Longitudinal speed - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 19); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 18); - DOTMData->LongitudinalSpeedValueIdU16 = VALUE_ID_LONGITUDINAL_SPEED; - DOTMData->LongitudinalSpeedContentLengthU16 = 2; - DOTMData->LongitudinalSpeedI16 = SwapI16((I16)Data); - - //Lateral speed - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 21); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 20); - DOTMData->LateralSpeedValueIdU16 = VALUE_ID_LATERAL_SPEED; - DOTMData->LateralSpeedContentLengthU16 = 2; - DOTMData->LateralSpeedI16 = SwapI16((I16)Data); - - //Longitudinal acceleration - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 23); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 22); - DOTMData->LongitudinalAccValueIdU16 = VALUE_ID_LONGITUDINAL_ACCELERATION; - DOTMData->LongitudinalAccContentLengthU16 = 2; - DOTMData->LongitudinalAccI16 = SwapI16((I16)Data); - - //Lateral acceleration - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 25); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 24); - DOTMData->LateralAccValueIdU16 = VALUE_ID_LATERAL_ACCELERATION; - DOTMData->LateralAccContentLengthU16 = 2; - DOTMData->LateralAccI16 = SwapI16((I16)Data); - - //Curvature - Data = 0; - Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 29); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 28); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 27); - Data = (Data<<8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW*i + 26); - DOTMData->CurvatureValueIdU16 = VALUE_ID_CURVATURE; - DOTMData->CurvatureContentLengthU16 = 4; - DOTMData->CurvatureI32 = SwapI32((I32)Data); - - p=(C8 *)DOTMData; - for(j=0; jRelativeTimeU32, - DOTMData->XPositionI32, - DOTMData->YPositionI32, - DOTMData->ZPositionI32, - DOTMData->HeadingU16, - DOTMData->LongitudinalSpeedI16, - DOTMData->LateralSpeedI16, - DOTMData->LongitudinalAccI16, - DOTMData->LateralAccI16, - DOTMData->CurvatureI32); - } - } - - - Crc = crc_16((const C8*)MessageBuffer, sizeof(DOTMType)); - Crc = 0; - *(MessageBuffer + MessageIndex++) = (U8)(Crc); - *(MessageBuffer + MessageIndex++) = (U8)(Crc >> 8); - - - if(debug == 2) - { - // TODO: Replace this when bytes thingy has been implemented - int i = 0; - for(i = 0; i < MessageIndex; i ++) - { - if((unsigned char)MessageBuffer[i] >= 0 && (unsigned char)MessageBuffer[i] <= 15) printf("0"); - printf("%x-", (unsigned char)MessageBuffer[i]); - } - printf("\n"); - } - - return MessageIndex; //Total number of bytes -} - -I32 UtilISOBuildHeader(C8 *MessageBuffer, HeaderType *HeaderData, U8 Debug) -{ - I32 MessageIndex = 0, i = 0; - dbl Data; - U16 Crc = 0, U16Data = 0; - I16 I16Data = 0; - U32 U32Data = 0; - I32 I32Data = 0; - U64 U64Data = 0; - C8 *p; + return MessageIndex; //Total number of bytes = ISO_MESSAGE_HEADER_LENGTH +} + +I32 UtilISOBuildTRAJMessage(C8 * MessageBuffer, C8 * DTMData, I32 RowCount, DOTMType * DOTMData, U8 debug) { + I32 MessageIndex = 0; + U32 Data; + C8 *src, *p; + U16 Crc = 0; + + bzero(MessageBuffer, ISO_DTM_ROW_MESSAGE_LENGTH * RowCount); + + I32 i = 0, j = 0, n = 0; + + for (i = 0; i < RowCount; i++) { + //Time + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 3); + //if(debug) printf("%x-",Data); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 2); + //if(debug) printf("%x-",Data); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 1); + //if(debug) printf("%x-",Data); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 0); + //if(debug) printf("%x- ",Data); + DOTMData->RelativeTimeValueIdU16 = VALUE_ID_RELATIVE_TIME; + DOTMData->RelativeTimeContentLengthU16 = 4; + DOTMData->RelativeTimeU32 = SwapU32((U32) Data); + + //x + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 7); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 6); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 5); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 4); + DOTMData->XPositionValueIdU16 = VALUE_ID_X_POSITION; + DOTMData->XPositionContentLengthU16 = 4; + DOTMData->XPositionI32 = SwapI32((I32) Data); + + //y + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 11); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 10); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 9); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 8); + DOTMData->YPositionValueIdU16 = VALUE_ID_Y_POSITION; + DOTMData->YPositionContentLengthU16 = 4; + DOTMData->YPositionI32 = SwapI32((I32) Data); + + //z + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 15); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 14); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 13); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 12); + DOTMData->ZPositionValueIdU16 = VALUE_ID_Z_POSITION; + DOTMData->ZPositionContentLengthU16 = 4; + DOTMData->ZPositionI32 = SwapI32((I32) Data); + + //Heading + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 17); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 16); + //Data = UtilRadToDeg(Data); + //Data = 4500 - Data; //Turn heading back pi/2 + //while(Data<0) Data+=360.0; + //while(Data>3600) Data-=360.0; + DOTMData->HeadingValueIdU16 = VALUE_ID_HEADING; + DOTMData->HeadingContentLengthU16 = 2; + DOTMData->HeadingU16 = SwapU16((U16) (Data)); + + //Longitudinal speed + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 19); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 18); + DOTMData->LongitudinalSpeedValueIdU16 = VALUE_ID_LONGITUDINAL_SPEED; + DOTMData->LongitudinalSpeedContentLengthU16 = 2; + DOTMData->LongitudinalSpeedI16 = SwapI16((I16) Data); + + //Lateral speed + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 21); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 20); + DOTMData->LateralSpeedValueIdU16 = VALUE_ID_LATERAL_SPEED; + DOTMData->LateralSpeedContentLengthU16 = 2; + DOTMData->LateralSpeedI16 = SwapI16((I16) Data); + + //Longitudinal acceleration + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 23); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 22); + DOTMData->LongitudinalAccValueIdU16 = VALUE_ID_LONGITUDINAL_ACCELERATION; + DOTMData->LongitudinalAccContentLengthU16 = 2; + DOTMData->LongitudinalAccI16 = SwapI16((I16) Data); + + //Lateral acceleration + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 25); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 24); + DOTMData->LateralAccValueIdU16 = VALUE_ID_LATERAL_ACCELERATION; + DOTMData->LateralAccContentLengthU16 = 2; + DOTMData->LateralAccI16 = SwapI16((I16) Data); + + //Curvature + Data = 0; + Data = *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 29); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 28); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 27); + Data = (Data << 8) | *(DTMData + SIM_TRAJ_BYTES_IN_ROW * i + 26); + DOTMData->CurvatureValueIdU16 = VALUE_ID_CURVATURE; + DOTMData->CurvatureContentLengthU16 = 4; + DOTMData->CurvatureI32 = SwapI32((I32) Data); + + p = (C8 *) DOTMData; + for (j = 0; j < sizeof (DOTMType); j++, n++) + *(MessageBuffer + n) = *p++; + MessageIndex = n; + + if (debug) { + LogPrint + ("%d. Time=%d, X=%d, Y=%d, Z=%d, Heading=%d, LongitudinalSpeedI16=%d, LateralSpeedI16=%d, LongitudinalAccI16=%d, LateralAccI16=%d, CurvatureI32=%d", + i, DOTMData->RelativeTimeU32, DOTMData->XPositionI32, DOTMData->YPositionI32, + DOTMData->ZPositionI32, DOTMData->HeadingU16, DOTMData->LongitudinalSpeedI16, + DOTMData->LateralSpeedI16, DOTMData->LongitudinalAccI16, DOTMData->LateralAccI16, + DOTMData->CurvatureI32); + } + } - U16Data = (U16Data | *(MessageBuffer+1)) << 8; - U16Data = U16Data | *(MessageBuffer+0); - HeaderData->SyncWordU16 = U16Data; - HeaderData->TransmitterIdU8 = *(MessageBuffer+2); - HeaderData->MessageCounterU8 = *(MessageBuffer+3); - HeaderData->AckReqProtVerU8 = *(MessageBuffer+4); + Crc = crc_16((const C8 *)MessageBuffer, sizeof (DOTMType)); + Crc = 0; + *(MessageBuffer + MessageIndex++) = (U8) (Crc); + *(MessageBuffer + MessageIndex++) = (U8) (Crc >> 8); - U16Data = 0; - U16Data = (U16Data | *(MessageBuffer+6)) << 8; - U16Data = U16Data | *(MessageBuffer+5); - HeaderData->MessageIdU16 = U16Data; - U32Data = (U32Data | *(MessageBuffer+10)) << 8; - U32Data = (U32Data | *(MessageBuffer+9)) << 8; - U32Data = (U32Data | *(MessageBuffer+8)) << 8; - U32Data = U32Data | *(MessageBuffer+7); - HeaderData->MessageLengthU32 = U32Data; + if (debug == 2) { + // TODO: Replace this when bytes thingy has been implemented + int i = 0; - if(Debug) - { - LogPrint("SyncWordU16 = 0x%x", HeaderData->SyncWordU16); - LogPrint("TransmitterIdU8 = 0x%x", HeaderData->TransmitterIdU8); - LogPrint("MessageCounterU8 = 0x%x", HeaderData->MessageCounterU8); - LogPrint("AckReqProtVerU8 = 0x%x", HeaderData->AckReqProtVerU8); - LogPrint("MessageIdU16 = 0x%x", HeaderData->MessageIdU16); - LogPrint("MessageLengthU32 = 0x%x", HeaderData->MessageLengthU32); - } + for (i = 0; i < MessageIndex; i++) { + if ((unsigned char)MessageBuffer[i] >= 0 && (unsigned char)MessageBuffer[i] <= 15) + printf("0"); + printf("%x-", (unsigned char)MessageBuffer[i]); + } + printf("\n"); + } - return 0; + return MessageIndex; //Total number of bytes +} + +I32 UtilISOBuildHeader(C8 * MessageBuffer, HeaderType * HeaderData, U8 Debug) { + I32 MessageIndex = 0, i = 0; + dbl Data; + U16 Crc = 0, U16Data = 0; + I16 I16Data = 0; + U32 U32Data = 0; + I32 I32Data = 0; + U64 U64Data = 0; + C8 *p; + + U16Data = (U16Data | *(MessageBuffer + 1)) << 8; + U16Data = U16Data | *(MessageBuffer + 0); + + HeaderData->SyncWordU16 = U16Data; + HeaderData->TransmitterIdU8 = *(MessageBuffer + 2); + HeaderData->MessageCounterU8 = *(MessageBuffer + 3); + HeaderData->AckReqProtVerU8 = *(MessageBuffer + 4); + + U16Data = 0; + U16Data = (U16Data | *(MessageBuffer + 6)) << 8; + U16Data = U16Data | *(MessageBuffer + 5); + HeaderData->MessageIdU16 = U16Data; + + U32Data = (U32Data | *(MessageBuffer + 10)) << 8; + U32Data = (U32Data | *(MessageBuffer + 9)) << 8; + U32Data = (U32Data | *(MessageBuffer + 8)) << 8; + U32Data = U32Data | *(MessageBuffer + 7); + HeaderData->MessageLengthU32 = U32Data; + + if (Debug) { + LogPrint("SyncWordU16 = 0x%x", HeaderData->SyncWordU16); + LogPrint("TransmitterIdU8 = 0x%x", HeaderData->TransmitterIdU8); + LogPrint("MessageCounterU8 = 0x%x", HeaderData->MessageCounterU8); + LogPrint("AckReqProtVerU8 = 0x%x", HeaderData->AckReqProtVerU8); + LogPrint("MessageIdU16 = 0x%x", HeaderData->MessageIdU16); + LogPrint("MessageLengthU32 = 0x%x", HeaderData->MessageLengthU32); + } + + return 0; } @@ -3362,93 +3317,88 @@ UtilWriteConfigurationParameter updates parameters in the file test.conf. - *NewValue the value of the parameter. - Debug enable(1)/disable(0) debug printouts */ -I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) -{ +I32 UtilWriteConfigurationParameter(C8 * ParameterName, C8 * NewValue, U8 Debug) { + + I32 RowCount, i; + C8 Parameter[SMALL_BUFFER_SIZE_64]; + C8 Row[SMALL_BUFFER_SIZE_128]; + C8 NewRow[SMALL_BUFFER_SIZE_128]; + FILE *fd, *TempFd; + C8 *ptr1, *ptr2; + U8 ParameterFound = 0; + char confPathDir[MAX_FILE_PATH]; + char tempConfPathDir[MAX_FILE_PATH]; + char TEMP_FILE_NAME[] = "temp-util.conf"; + + UtilGetConfDirectoryPath(confPathDir, sizeof (confPathDir)); + strcpy(tempConfPathDir, confPathDir); + strcat(confPathDir, CONF_FILE_NAME); + strcat(tempConfPathDir, TEMP_FILE_NAME); + + bzero(Parameter, SMALL_BUFFER_SIZE_64); + + strcat(Parameter, ParameterName); + strcat(Parameter, "="); + + //Remove temporary file + remove(tempConfPathDir); + + //Create temporary file + TempFd = fopen(tempConfPathDir, "w+"); + + //Open configuration file + fd = fopen(confPathDir, "r"); + + if (fd > 0) { + RowCount = UtilCountFileRows(fd); + fclose(fd); + fd = fopen(confPathDir, "r"); + + for (i = 0; i < RowCount; i++) { + bzero(Row, SMALL_BUFFER_SIZE_128); + UtilReadLine(fd, Row); + + ptr1 = strstr(Row, Parameter); + ptr2 = strstr(Row, "//"); + if (ptr2 == NULL) + ptr2 = ptr1; //No comment found + if (ptr1 != NULL && (U64) ptr2 >= (U64) ptr1 && ParameterFound == 0) { + ParameterFound = 1; + bzero(NewRow, SMALL_BUFFER_SIZE_128); + strncpy(NewRow, Row, (U64) ptr1 - (U64) Row + strlen(Parameter)); + strcat(NewRow, NewValue); + if ((U64) ptr2 > (U64) ptr1) { + strcat(NewRow, " "); // Add space + strcat(NewRow, ptr2); // Add the comment + } + + if (Debug) { + LogMessage(LOG_LEVEL_DEBUG, "Changed parameter: %s", NewRow); + } + + strcat(NewRow, "\n"); + (void)fwrite(NewRow, 1, strlen(NewRow), TempFd); + + } + else { + strcat(Row, "\n"); + (void)fwrite(Row, 1, strlen(Row), TempFd); + } + } + fclose(TempFd); + fclose(fd); + + //Remove test.conf + remove(confPathDir); + + //Rename temp.conf to test.conf + rename(tempConfPathDir, confPathDir); + + //Remove temporary file + remove(tempConfPathDir); + } - I32 RowCount, i; - C8 Parameter[SMALL_BUFFER_SIZE_64]; - C8 Row[SMALL_BUFFER_SIZE_128]; - C8 NewRow[SMALL_BUFFER_SIZE_128]; - FILE *fd, *TempFd; - C8 *ptr1, *ptr2; - U8 ParameterFound = 0; - char confPathDir[MAX_FILE_PATH]; - char tempConfPathDir[MAX_FILE_PATH]; - char TEMP_FILE_NAME[] = "temp-util.conf"; - UtilGetConfDirectoryPath(confPathDir, sizeof(confPathDir)); - strcpy(tempConfPathDir,confPathDir); - strcat(confPathDir, CONF_FILE_NAME); - strcat(tempConfPathDir, TEMP_FILE_NAME); - - bzero(Parameter, SMALL_BUFFER_SIZE_64); - - strcat(Parameter, ParameterName); - strcat(Parameter, "="); - - //Remove temporary file - remove(tempConfPathDir); - - //Create temporary file - TempFd = fopen (tempConfPathDir, "w+"); - - //Open configuration file - fd = fopen (confPathDir, "r"); - - if(fd > 0) - { - RowCount = UtilCountFileRows(fd); - fclose(fd); - fd = fopen (confPathDir, "r"); - - for(i = 0; i < RowCount; i++) - { - bzero(Row, SMALL_BUFFER_SIZE_128); - UtilReadLine(fd, Row); - - ptr1 = strstr(Row, Parameter); - ptr2 = strstr(Row, "//"); - if (ptr2 == NULL) ptr2 = ptr1; //No comment found - if(ptr1 != NULL && (U64)ptr2 >= (U64)ptr1 && ParameterFound == 0) - { - ParameterFound = 1; - bzero(NewRow, SMALL_BUFFER_SIZE_128); - strncpy(NewRow, Row, (U64)ptr1 - (U64)Row + strlen(Parameter)); - strcat(NewRow, NewValue); - if((U64)ptr2 > (U64)ptr1) - { - strcat(NewRow, " "); // Add space - strcat(NewRow, ptr2); // Add the comment - } - - if(Debug) - { - LogMessage(LOG_LEVEL_DEBUG,"Changed parameter: %s", NewRow); - } - - strcat(NewRow, "\n"); - (void)fwrite(NewRow,1,strlen(NewRow),TempFd); - - } - else - { - strcat(Row, "\n"); - (void)fwrite(Row,1,strlen(Row),TempFd); - } - } - fclose(TempFd); - fclose(fd); - - //Remove test.conf - remove(confPathDir); - - //Rename temp.conf to test.conf - rename(tempConfPathDir, confPathDir); - - //Remove temporary file - remove(tempConfPathDir); - } - - return (I32)ParameterFound; + return (I32) ParameterFound; } /*! @@ -3459,145 +3409,141 @@ I32 UtilWriteConfigurationParameter(C8 *ParameterName, C8 *NewValue, U8 Debug) * \param debug Boolean enabling debug printouts * \return -1 on failure, 0 on success */ -I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataType *monitorData, U8 debug) -{ - U16 Crc = 0, U16Data = 0; - I16 I16Data = 0; - U32 U32Data = 0; - I32 I32Data = 0; - U64 U64Data = 0; - C8 *rdPtr = rawMONR, *monrStruct; // Pointer to keep track of where in rawMONR we are currently reading - U16 contentLength = 0; - in_addr_t IPData = 0; - const size_t monrPacketSize = sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC); - - if (rawMONRsize < sizeof(MonitorDataType)) - { - LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data"); - return -1; - } - - // ISO message header - memcpy(&U16Data, rdPtr, sizeof(U16Data)); - monitorData->MONR.Header.SyncWordU16 = U16Data; - rdPtr += sizeof(U16Data); - U16Data = 0; - - monitorData->MONR.Header.TransmitterIdU8 = *(rdPtr++); - monitorData->MONR.Header.MessageCounterU8 = *(rdPtr++); - monitorData->MONR.Header.AckReqProtVerU8 = *(rdPtr++); - - memcpy(&U16Data, rdPtr, sizeof(U16Data)); - monitorData->MONR.Header.MessageIdU16 = U16Data; - rdPtr += sizeof(U16Data); - U16Data = 0; - - memcpy(&U32Data, rdPtr, sizeof(U32Data)); - monitorData->MONR.Header.MessageLengthU32 = U32Data; - rdPtr += sizeof(U32Data); - U32Data = 0; - - // ISO content header? - memcpy(&U16Data, rdPtr, sizeof(U16Data)); - if (U16Data == VALUE_ID_MONR_STRUCT) - { - rdPtr += sizeof(U16Data); - - memcpy(&contentLength, rdPtr, sizeof(contentLength)); - rdPtr += sizeof(contentLength); - - if (contentLength < monrPacketSize) - { - LogMessage(LOG_LEVEL_ERROR, "Content length %u too small to hold necessary MONR data (expected %u)", - contentLength, monrPacketSize); - return -1; - } - else if (contentLength > monrPacketSize) - { - LogMessage(LOG_LEVEL_ERROR, "Content length %u too large to follow MONR data specification (expected %u)", - contentLength, monrPacketSize); - return -1; - } - } - else if (debug) - { - LogPrint("Received MONR message without content header: corrupt data may result"); - } - - U16Data = 0; - - memcpy(&U32Data, rdPtr, sizeof(U32Data)); - monitorData->MONR.GPSQmsOfWeekU32 = U32Data; - rdPtr += sizeof(U32Data); - U32Data = 0; - - memcpy(&I32Data, rdPtr, sizeof(I32Data)); - monitorData->MONR.XPositionI32 = I32Data; - rdPtr += sizeof(I32Data); - I32Data = 0; - - memcpy(&I32Data, rdPtr, sizeof(I32Data)); - monitorData->MONR.YPositionI32 = I32Data; - rdPtr += sizeof(I32Data); - I32Data = 0; - - memcpy(&I32Data, rdPtr, sizeof(I32Data)); - monitorData->MONR.ZPositionI32 = I32Data; - rdPtr += sizeof(I32Data); - I32Data = 0; - - memcpy(&U16Data, rdPtr, sizeof(U16Data)); - monitorData->MONR.HeadingU16 = U16Data; - rdPtr += sizeof(U16Data); - U16Data = 0; - - memcpy(&I16Data, rdPtr, sizeof(I16Data)); - monitorData->MONR.LongitudinalSpeedI16 = I16Data; - rdPtr += sizeof(I16Data); - I16Data = 0; - - memcpy(&I16Data, rdPtr, sizeof(I16Data)); - monitorData->MONR.LateralSpeedI16 = I16Data; - rdPtr += sizeof(I16Data); - I16Data = 0; - - memcpy(&I16Data, rdPtr, sizeof(I16Data)); - monitorData->MONR.LongitudinalAccI16 = I16Data; - rdPtr += sizeof(I16Data); - I16Data = 0; - - memcpy(&I16Data, rdPtr, sizeof(I16Data)); - monitorData->MONR.LateralAccI16 = I16Data; - rdPtr += sizeof(I16Data); - I16Data = 0; - - monitorData->MONR.DriveDirectionU8 = *(rdPtr++); - monitorData->MONR.StateU8 = *(rdPtr++); - monitorData->MONR.ReadyToArmU8 = *(rdPtr++); - monitorData->MONR.ErrorStatusU8 = *(rdPtr++); - - memcpy(&U16Data, rdPtr, sizeof(U16Data)); - monitorData->MONR.CRC = U16Data; - rdPtr += sizeof(U16Data); - U16Data = 0; - - memcpy(&IPData, rdPtr, sizeof(IPData)); - monitorData->ClientIP = IPData; - rdPtr += sizeof(IPData); - IPData = 0; - - if(debug == 1) - { - LogPrint("MONR:"); - LogPrint("SyncWord = %d", monitorData->MONR.Header.SyncWordU16); - LogPrint("TransmitterId = %d", monitorData->MONR.Header.TransmitterIdU8); - LogPrint("PackageCounter = %d", monitorData->MONR.Header.MessageCounterU8); - LogPrint("AckReq = %d", monitorData->MONR.Header.AckReqProtVerU8); - LogPrint("MessageLength = %d", monitorData->MONR.Header.MessageLengthU32); - LogPrint("GPSQMSOW = %u",monitorData->MONR.GPSQmsOfWeekU32); - } - - return 0; +I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataType * monitorData, U8 debug) { + U16 Crc = 0, U16Data = 0; + I16 I16Data = 0; + U32 U32Data = 0; + I32 I32Data = 0; + U64 U64Data = 0; + C8 *rdPtr = rawMONR, *monrStruct; // Pointer to keep track of where in rawMONR we are currently reading + U16 contentLength = 0; + in_addr_t IPData = 0; + const size_t monrPacketSize = + sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC); + + if (rawMONRsize < sizeof (MonitorDataType)) { + LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data"); + return -1; + } + + // ISO message header + memcpy(&U16Data, rdPtr, sizeof (U16Data)); + monitorData->MONR.Header.SyncWordU16 = U16Data; + rdPtr += sizeof (U16Data); + U16Data = 0; + + monitorData->MONR.Header.TransmitterIdU8 = *(rdPtr++); + monitorData->MONR.Header.MessageCounterU8 = *(rdPtr++); + monitorData->MONR.Header.AckReqProtVerU8 = *(rdPtr++); + + memcpy(&U16Data, rdPtr, sizeof (U16Data)); + monitorData->MONR.Header.MessageIdU16 = U16Data; + rdPtr += sizeof (U16Data); + U16Data = 0; + + memcpy(&U32Data, rdPtr, sizeof (U32Data)); + monitorData->MONR.Header.MessageLengthU32 = U32Data; + rdPtr += sizeof (U32Data); + U32Data = 0; + + // ISO content header? + memcpy(&U16Data, rdPtr, sizeof (U16Data)); + if (U16Data == VALUE_ID_MONR_STRUCT) { + rdPtr += sizeof (U16Data); + + memcpy(&contentLength, rdPtr, sizeof (contentLength)); + rdPtr += sizeof (contentLength); + + if (contentLength < monrPacketSize) { + LogMessage(LOG_LEVEL_ERROR, + "Content length %u too small to hold necessary MONR data (expected %u)", contentLength, + monrPacketSize); + return -1; + } + else if (contentLength > monrPacketSize) { + LogMessage(LOG_LEVEL_ERROR, + "Content length %u too large to follow MONR data specification (expected %u)", + contentLength, monrPacketSize); + return -1; + } + } + else if (debug) { + LogPrint("Received MONR message without content header: corrupt data may result"); + } + + U16Data = 0; + + memcpy(&U32Data, rdPtr, sizeof (U32Data)); + monitorData->MONR.GPSQmsOfWeekU32 = U32Data; + rdPtr += sizeof (U32Data); + U32Data = 0; + + memcpy(&I32Data, rdPtr, sizeof (I32Data)); + monitorData->MONR.XPositionI32 = I32Data; + rdPtr += sizeof (I32Data); + I32Data = 0; + + memcpy(&I32Data, rdPtr, sizeof (I32Data)); + monitorData->MONR.YPositionI32 = I32Data; + rdPtr += sizeof (I32Data); + I32Data = 0; + + memcpy(&I32Data, rdPtr, sizeof (I32Data)); + monitorData->MONR.ZPositionI32 = I32Data; + rdPtr += sizeof (I32Data); + I32Data = 0; + + memcpy(&U16Data, rdPtr, sizeof (U16Data)); + monitorData->MONR.HeadingU16 = U16Data; + rdPtr += sizeof (U16Data); + U16Data = 0; + + memcpy(&I16Data, rdPtr, sizeof (I16Data)); + monitorData->MONR.LongitudinalSpeedI16 = I16Data; + rdPtr += sizeof (I16Data); + I16Data = 0; + + memcpy(&I16Data, rdPtr, sizeof (I16Data)); + monitorData->MONR.LateralSpeedI16 = I16Data; + rdPtr += sizeof (I16Data); + I16Data = 0; + + memcpy(&I16Data, rdPtr, sizeof (I16Data)); + monitorData->MONR.LongitudinalAccI16 = I16Data; + rdPtr += sizeof (I16Data); + I16Data = 0; + + memcpy(&I16Data, rdPtr, sizeof (I16Data)); + monitorData->MONR.LateralAccI16 = I16Data; + rdPtr += sizeof (I16Data); + I16Data = 0; + + monitorData->MONR.DriveDirectionU8 = *(rdPtr++); + monitorData->MONR.StateU8 = *(rdPtr++); + monitorData->MONR.ReadyToArmU8 = *(rdPtr++); + monitorData->MONR.ErrorStatusU8 = *(rdPtr++); + + memcpy(&U16Data, rdPtr, sizeof (U16Data)); + monitorData->MONR.CRC = U16Data; + rdPtr += sizeof (U16Data); + U16Data = 0; + + memcpy(&IPData, rdPtr, sizeof (IPData)); + monitorData->ClientIP = IPData; + rdPtr += sizeof (IPData); + IPData = 0; + + if (debug == 1) { + LogPrint("MONR:"); + LogPrint("SyncWord = %d", monitorData->MONR.Header.SyncWordU16); + LogPrint("TransmitterId = %d", monitorData->MONR.Header.TransmitterIdU8); + LogPrint("PackageCounter = %d", monitorData->MONR.Header.MessageCounterU8); + LogPrint("AckReq = %d", monitorData->MONR.Header.AckReqProtVerU8); + LogPrint("MessageLength = %d", monitorData->MONR.Header.MessageLengthU32); + LogPrint("GPSQMSOW = %u", monitorData->MONR.GPSQmsOfWeekU32); + } + + return 0; } /*! @@ -3606,26 +3552,24 @@ I32 UtilPopulateMonitorDataStruct(C8* rawMONR, size_t rawMONRsize, MonitorDataTy * \param rawTREOsize size of MQ data * \param treoData Data struct to be filled */ -I32 UtilPopulateTREODataStructFromMQ(C8* rawTREO, size_t rawTREOsize, TREOData *treoData) -{ - C8 *rdPtr = rawTREO; +I32 UtilPopulateTREODataStructFromMQ(C8 * rawTREO, size_t rawTREOsize, TREOData * treoData) { + C8 *rdPtr = rawTREO; - if (rawTREOsize < sizeof(TREOData)) - { - LogMessage(LOG_LEVEL_ERROR, "Raw TREO array too small to hold all necessary TREO data"); - return -1; - } + if (rawTREOsize < sizeof (TREOData)) { + LogMessage(LOG_LEVEL_ERROR, "Raw TREO array too small to hold all necessary TREO data"); + return -1; + } - memcpy(&treoData->triggerID, rdPtr, sizeof(treoData->triggerID)); - rdPtr += sizeof(treoData->triggerID); + memcpy(&treoData->triggerID, rdPtr, sizeof (treoData->triggerID)); + rdPtr += sizeof (treoData->triggerID); - memcpy(&treoData->timestamp_qmsow, rdPtr, sizeof(treoData->timestamp_qmsow)); - rdPtr += sizeof(treoData->timestamp_qmsow); + memcpy(&treoData->timestamp_qmsow, rdPtr, sizeof (treoData->timestamp_qmsow)); + rdPtr += sizeof (treoData->timestamp_qmsow); - memcpy(&treoData->ip, rdPtr, sizeof(treoData->ip)); - rdPtr += sizeof(treoData->ip); + memcpy(&treoData->ip, rdPtr, sizeof (treoData->ip)); + rdPtr += sizeof (treoData->ip); - return 0; + return 0; } /*! @@ -3634,26 +3578,24 @@ I32 UtilPopulateTREODataStructFromMQ(C8* rawTREO, size_t rawTREOsize, TREOData * * \param rawEXACsize size of MQ data * \param exacData Data struct to be filled */ -I32 UtilPopulateEXACDataStructFromMQ(C8* rawEXAC, size_t rawEXACsize, EXACData *exacData) -{ - C8 *rdPtr = rawEXAC; +I32 UtilPopulateEXACDataStructFromMQ(C8 * rawEXAC, size_t rawEXACsize, EXACData * exacData) { + C8 *rdPtr = rawEXAC; - if (rawEXACsize < sizeof(EXACData)) - { - LogMessage(LOG_LEVEL_ERROR, "Raw EXAC array too small to hold all necessary EXAC data"); - return -1; - } + if (rawEXACsize < sizeof (EXACData)) { + LogMessage(LOG_LEVEL_ERROR, "Raw EXAC array too small to hold all necessary EXAC data"); + return -1; + } - memcpy(&exacData->actionID, rdPtr, sizeof(exacData->actionID)); - rdPtr += sizeof(exacData->actionID); + memcpy(&exacData->actionID, rdPtr, sizeof (exacData->actionID)); + rdPtr += sizeof (exacData->actionID); - memcpy(&exacData->executionTime_qmsoW, rdPtr, sizeof(exacData->executionTime_qmsoW)); - rdPtr += sizeof(exacData->executionTime_qmsoW); + memcpy(&exacData->executionTime_qmsoW, rdPtr, sizeof (exacData->executionTime_qmsoW)); + rdPtr += sizeof (exacData->executionTime_qmsoW); - memcpy(&exacData->ip, rdPtr, sizeof(exacData->ip)); - rdPtr += sizeof(exacData->ip); + memcpy(&exacData->ip, rdPtr, sizeof (exacData->ip)); + rdPtr += sizeof (exacData->ip); - return 0; + return 0; } /*! @@ -3662,35 +3604,33 @@ I32 UtilPopulateEXACDataStructFromMQ(C8* rawEXAC, size_t rawEXACsize, EXACData * * \param rawTRCMsize size of MQ data * \param trcmData Data struct to be filled */ -I32 UtilPopulateTRCMDataStructFromMQ(C8* rawTRCM, size_t rawTRCMsize, TRCMData *trcmData) -{ - C8 *rdPtr = rawTRCM; +I32 UtilPopulateTRCMDataStructFromMQ(C8 * rawTRCM, size_t rawTRCMsize, TRCMData * trcmData) { + C8 *rdPtr = rawTRCM; - if (rawTRCMsize < sizeof(TRCMData)) - { - LogMessage(LOG_LEVEL_ERROR, "Raw TRCM array too small to hold all necessary TRCM data"); - return -1; - } + if (rawTRCMsize < sizeof (TRCMData)) { + LogMessage(LOG_LEVEL_ERROR, "Raw TRCM array too small to hold all necessary TRCM data"); + return -1; + } - memcpy(&trcmData->triggerID, rdPtr, sizeof(trcmData->triggerID)); - rdPtr += sizeof(trcmData->triggerID); + memcpy(&trcmData->triggerID, rdPtr, sizeof (trcmData->triggerID)); + rdPtr += sizeof (trcmData->triggerID); - memcpy(&trcmData->triggerType, rdPtr, sizeof(trcmData->triggerType)); - rdPtr += sizeof(trcmData->triggerType); + memcpy(&trcmData->triggerType, rdPtr, sizeof (trcmData->triggerType)); + rdPtr += sizeof (trcmData->triggerType); - memcpy(&trcmData->triggerTypeParameter1, rdPtr, sizeof(trcmData->triggerTypeParameter1)); - rdPtr += sizeof(trcmData->triggerTypeParameter1); + memcpy(&trcmData->triggerTypeParameter1, rdPtr, sizeof (trcmData->triggerTypeParameter1)); + rdPtr += sizeof (trcmData->triggerTypeParameter1); - memcpy(&trcmData->triggerTypeParameter2, rdPtr, sizeof(trcmData->triggerTypeParameter2)); - rdPtr += sizeof(trcmData->triggerTypeParameter2); + memcpy(&trcmData->triggerTypeParameter2, rdPtr, sizeof (trcmData->triggerTypeParameter2)); + rdPtr += sizeof (trcmData->triggerTypeParameter2); - memcpy(&trcmData->triggerTypeParameter3, rdPtr, sizeof(trcmData->triggerTypeParameter3)); - rdPtr += sizeof(trcmData->triggerTypeParameter3); + memcpy(&trcmData->triggerTypeParameter3, rdPtr, sizeof (trcmData->triggerTypeParameter3)); + rdPtr += sizeof (trcmData->triggerTypeParameter3); - memcpy(&trcmData->ip, rdPtr, sizeof(trcmData->ip)); - rdPtr += sizeof(trcmData->ip); + memcpy(&trcmData->ip, rdPtr, sizeof (trcmData->ip)); + rdPtr += sizeof (trcmData->ip); - return 0; + return 0; } /*! @@ -3699,35 +3639,33 @@ I32 UtilPopulateTRCMDataStructFromMQ(C8* rawTRCM, size_t rawTRCMsize, TRCMData * * \param rawACCMsize size of MQ data * \param accmData Data struct to be filled */ -I32 UtilPopulateACCMDataStructFromMQ(C8* rawACCM, size_t rawACCMsize, ACCMData *accmData) -{ - C8 *rdPtr = rawACCM; +I32 UtilPopulateACCMDataStructFromMQ(C8 * rawACCM, size_t rawACCMsize, ACCMData * accmData) { + C8 *rdPtr = rawACCM; - if (rawACCMsize < sizeof(ACCMData)) - { - LogMessage(LOG_LEVEL_ERROR, "Raw ACCM array too small to hold all necessary ACCM data"); - return -1; - } + if (rawACCMsize < sizeof (ACCMData)) { + LogMessage(LOG_LEVEL_ERROR, "Raw ACCM array too small to hold all necessary ACCM data"); + return -1; + } - memcpy(&accmData->actionID, rdPtr, sizeof(accmData->actionID)); - rdPtr += sizeof(accmData->actionID); + memcpy(&accmData->actionID, rdPtr, sizeof (accmData->actionID)); + rdPtr += sizeof (accmData->actionID); - memcpy(&accmData->actionType, rdPtr, sizeof(accmData->actionType)); - rdPtr += sizeof(accmData->actionType); + memcpy(&accmData->actionType, rdPtr, sizeof (accmData->actionType)); + rdPtr += sizeof (accmData->actionType); - memcpy(&accmData->actionTypeParameter1, rdPtr, sizeof(accmData->actionTypeParameter1)); - rdPtr += sizeof(accmData->actionTypeParameter1); + memcpy(&accmData->actionTypeParameter1, rdPtr, sizeof (accmData->actionTypeParameter1)); + rdPtr += sizeof (accmData->actionTypeParameter1); - memcpy(&accmData->actionTypeParameter2, rdPtr, sizeof(accmData->actionTypeParameter2)); - rdPtr += sizeof(accmData->actionTypeParameter2); + memcpy(&accmData->actionTypeParameter2, rdPtr, sizeof (accmData->actionTypeParameter2)); + rdPtr += sizeof (accmData->actionTypeParameter2); - memcpy(&accmData->actionTypeParameter3, rdPtr, sizeof(accmData->actionTypeParameter3)); - rdPtr += sizeof(accmData->actionTypeParameter3); + memcpy(&accmData->actionTypeParameter3, rdPtr, sizeof (accmData->actionTypeParameter3)); + rdPtr += sizeof (accmData->actionTypeParameter3); - memcpy(&accmData->ip, rdPtr, sizeof(accmData->ip)); - rdPtr += sizeof(accmData->ip); + memcpy(&accmData->ip, rdPtr, sizeof (accmData->ip)); + rdPtr += sizeof (accmData->ip); - return 0; + return 0; } /*! @@ -3739,24 +3677,25 @@ I32 UtilPopulateACCMDataStructFromMQ(C8* rawACCM, size_t rawACCMsize, ACCMData * * \return Distance in km */ double UtilGetDistance(double th1, double ph1, double th2, double ph2) { - int nRadius = 6371; // Earth's radius in Kilometers + int nRadius = 6371; // Earth's radius in Kilometers + + printf("th1: %f \n", th1); + printf("ph1: %f \n", ph1); - printf("th1: %f \n", th1); - printf("ph1: %f \n", ph1); + printf("th2: %f \n", th2); + printf("ph2: %f \n", ph2); - printf("th2: %f \n", th2); - printf("ph2: %f \n", ph2); + // Get the difference between our two points + // then convert the difference into radians + double dx, dy, dz; - // Get the difference between our two points - // then convert the difference into radians - double dx, dy, dz; - ph1 -= ph2; - ph1 *= (3.1415926536 / 180), th1 *= (3.1415926536 / 180), th2 *= (3.1415926536 / 180); + ph1 -= ph2; + ph1 *= (3.1415926536 / 180), th1 *= (3.1415926536 / 180), th2 *= (3.1415926536 / 180); - dz = sin(th1) - sin(th2); - dx = cos(ph1) * cos(th1) - cos(th2); - dy = sin(ph1) * cos(th1); - return asin(sqrt(dx * dx + dy * dy + dz * dz) / 2) * 2 * nRadius; + dz = sin(th1) - sin(th2); + dx = cos(ph1) * cos(th1) - cos(th2); + dy = sin(ph1) * cos(th1); + return asin(sqrt(dx * dx + dy * dy + dz * dz) / 2) * 2 * nRadius; } /*! @@ -3767,7 +3706,6 @@ double UtilGetDistance(double th1, double ph1, double th2, double ph2) { * \param y2 y of second coordinate * \return Distance */ -float UtilCoordinateDistance(float x1, float y1, float x2, float y2) -{ - return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2) * 1.0); +float UtilCoordinateDistance(float x1, float y1, float x2, float y2) { + return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2) * 1.0); } diff --git a/server/src/visualization.c b/server/src/visualization.c index a162e1099..c168a4618 100755 --- a/server/src/visualization.c +++ b/server/src/visualization.c @@ -35,13 +35,11 @@ /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr); -static void vDisconnectVisualizationChannel(int* sockfd); -static void vSendVisualization(int* sockfd, - struct sockaddr_in* addr, - const char* message); +static void vConnectVisualizationChannel(int *sockfd, struct sockaddr_in *addr); +static void vDisconnectVisualizationChannel(int *sockfd); +static void vSendVisualization(int *sockfd, struct sockaddr_in *addr, const char *message); -void vISOtoCHRONOSmsg(char* ISOmsg,char* tarCHRONOSmsg,int MSG_size); +void vISOtoCHRONOSmsg(char *ISOmsg, char *tarCHRONOSmsg, int MSG_size); /*------------------------------------------------------------ -- Private variables @@ -50,187 +48,169 @@ void vISOtoCHRONOSmsg(char* ISOmsg,char* tarCHRONOSmsg,int MSG_size); /*------------------------------------------------------------ -- Public functions ------------------------------------------------------------*/ -int main(int argc, char *argv[]) -{ - int visual_server; - struct sockaddr_in visual_server_addr; - char cpBuffer[RECV_MESSAGE_BUFFER]; - char chronosbuff[RECV_MESSAGE_BUFFER]; - - printf("[Visualization] DefaultVisualizationAdapter started\n"); - fflush(stdout); - - (void)iCommInit(IPC_RECV,MQ_VA,0); - - vConnectVisualizationChannel(&visual_server,&visual_server_addr); - - /* Listen for commands */ - int iExit = 0; - int iCommand; - - /* Execution mode*/ - int VisualExecutionMode = VISUAL_CONTROL_MODE; - - while(!iExit) - { - bzero(cpBuffer,RECV_MESSAGE_BUFFER); - (void)iCommRecv(&iCommand,cpBuffer,RECV_MESSAGE_BUFFER, NULL); - - if(iCommand == COMM_MONI) - { - DEBUG_LPRINT(DEBUG_LEVEL_LOW,"INF: Recieved MONITOR message: %s\n",cpBuffer); - - vISOtoCHRONOSmsg(cpBuffer,chronosbuff,RECV_MESSAGE_BUFFER); - vSendVisualization(&visual_server,&visual_server_addr,chronosbuff); - - } - else if(iCommand == COMM_REPLAY) - { - VisualExecutionMode = VISUAL_REPLAY_MODE; - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM,"Visualization in REPLAY mode: %s\n",cpBuffer); - } - else if(iCommand == COMM_CONTROL) - { - VisualExecutionMode = VISUAL_CONTROL_MODE; - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM,"Visualization in CONTROL mode: %s\n", cpBuffer); - } - else if(iCommand == COMM_EXIT) - { - iExit = 1; - } - else if (iCommand == COMM_OBC_STATE) { - - } - else - { - DEBUG_LPRINT(DEBUG_LEVEL_LOW,"Vizualization unhandled command: %d",iCommand); - } - } - - /* Close visualization socket */ - vDisconnectVisualizationChannel(&visual_server); - - (void)iCommClose(); +int main(int argc, char *argv[]) { + int visual_server; + struct sockaddr_in visual_server_addr; + char cpBuffer[RECV_MESSAGE_BUFFER]; + char chronosbuff[RECV_MESSAGE_BUFFER]; + + printf("[Visualization] DefaultVisualizationAdapter started\n"); + fflush(stdout); + + (void)iCommInit(IPC_RECV, MQ_VA, 0); + + vConnectVisualizationChannel(&visual_server, &visual_server_addr); + + /* Listen for commands */ + int iExit = 0; + int iCommand; + + /* Execution mode */ + int VisualExecutionMode = VISUAL_CONTROL_MODE; + + while (!iExit) { + bzero(cpBuffer, RECV_MESSAGE_BUFFER); + (void)iCommRecv(&iCommand, cpBuffer, RECV_MESSAGE_BUFFER, NULL); + + if (iCommand == COMM_MONI) { + DEBUG_LPRINT(DEBUG_LEVEL_LOW, "INF: Recieved MONITOR message: %s\n", cpBuffer); + + vISOtoCHRONOSmsg(cpBuffer, chronosbuff, RECV_MESSAGE_BUFFER); + vSendVisualization(&visual_server, &visual_server_addr, chronosbuff); + + } + else if (iCommand == COMM_REPLAY) { + VisualExecutionMode = VISUAL_REPLAY_MODE; + DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM, "Visualization in REPLAY mode: %s\n", cpBuffer); + } + else if (iCommand == COMM_CONTROL) { + VisualExecutionMode = VISUAL_CONTROL_MODE; + DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM, "Visualization in CONTROL mode: %s\n", cpBuffer); + } + else if (iCommand == COMM_EXIT) { + iExit = 1; + } + else if (iCommand == COMM_OBC_STATE) { + + } + else { + DEBUG_LPRINT(DEBUG_LEVEL_LOW, "Vizualization unhandled command: %d", iCommand); + } + } + + /* Close visualization socket */ + vDisconnectVisualizationChannel(&visual_server); + + (void)iCommClose(); } /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int* sockfd, struct sockaddr_in* addr) -{ - struct hostent *server; - char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; +static void vConnectVisualizationChannel(int *sockfd, struct sockaddr_in *addr) { + struct hostent *server; + char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; - /* Setup connection to visualization */ - DEBUG_LPRINT(DEBUG_LEVEL_LOW,"%s","INF: Creating visualization socket.\n"); + /* Setup connection to visualization */ + DEBUG_LPRINT(DEBUG_LEVEL_LOW, "%s", "INF: Creating visualization socket.\n"); - *sockfd = socket ( AF_INET, - SOCK_DGRAM, - IPPROTO_UDP ); + *sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); - if (*sockfd < 0) - { - util_error("ERR: Failed to create visualization socket"); - } + if (*sockfd < 0) { + util_error("ERR: Failed to create visualization socket"); + } - bzero((char *)addr, sizeof(*addr)); + bzero((char *)addr, sizeof (*addr)); - bzero(pcTempBuffer,MAX_UTIL_VARIBLE_SIZE); - if(!iUtilGetParaConfFile("VisualizationServer",pcTempBuffer)) - { - strcat(pcTempBuffer,VISUAL_SERVER_NAME); - } + bzero(pcTempBuffer, MAX_UTIL_VARIBLE_SIZE); + if (!iUtilGetParaConfFile("VisualizationServer", pcTempBuffer)) { + strcat(pcTempBuffer, VISUAL_SERVER_NAME); + } - DEBUG_LPRINT(DEBUG_LEVEL_LOW,"[Visualization] UDP visualization sending to %s %d\n",pcTempBuffer,VISUAL_SERVER_PORT); + DEBUG_LPRINT(DEBUG_LEVEL_LOW, "[Visualization] UDP visualization sending to %s %d\n", pcTempBuffer, + VISUAL_SERVER_PORT); - server = gethostbyname(pcTempBuffer); + server = gethostbyname(pcTempBuffer); - if (server == NULL) - { - util_error("ERR: Unkonown host\n"); - } - bcopy((char *) server->h_addr, - (char *)&addr->sin_addr.s_addr, server->h_length); + if (server == NULL) { + util_error("ERR: Unkonown host\n"); + } + bcopy((char *)server->h_addr, (char *)&addr->sin_addr.s_addr, server->h_length); - addr->sin_family = AF_INET; - addr->sin_port = htons(VISUAL_SERVER_PORT); + addr->sin_family = AF_INET; + addr->sin_port = htons(VISUAL_SERVER_PORT); } -static void vDisconnectVisualizationChannel(int* sockfd) -{ - close(*sockfd); +static void vDisconnectVisualizationChannel(int *sockfd) { + close(*sockfd); } -static void vSendVisualization(int* sockfd, struct sockaddr_in* addr,const char* message) -{ - char buffer[1024]; - int result; +static void vSendVisualization(int *sockfd, struct sockaddr_in *addr, const char *message) { + char buffer[1024]; + int result; - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM,"INF: Buffer to visualization: <%s>\n",message); + DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM, "INF: Buffer to visualization: <%s>\n", message); - result = sendto(*sockfd, - message, - strlen (message), - 0, - (const struct sockaddr *) addr, - sizeof(struct sockaddr_in)); + result = sendto(*sockfd, + message, strlen(message), 0, (const struct sockaddr *)addr, sizeof (struct sockaddr_in)); - if (result < 0) - { - util_error("ERR: Failed to send on monitor socket"); - } + if (result < 0) { + util_error("ERR: Failed to send on monitor socket"); + } } -void vISOtoCHRONOSmsg(char* ISOmsg,char* tarCHRONOSmsg, int MSG_size) -{ - char IP_address[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char ID[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Timestamp[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Latitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Longitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Altitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Heading[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LonSpeed[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LatSpeed[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LonAcc[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LatAcc[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char DriveDirection[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char StateFlag[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char StatusFlag[SMALL_ITEM_TEXT_BUFFER_SIZE]; - - bzero(tarCHRONOSmsg,MSG_size); - - char* item_p = strtok(ISOmsg,";"); - int item_num = 0; // The placement incoming message - while(item_p != NULL) - { - // What to do with each item at the current placement - switch (item_num) { - case 0: - case 1: - case 2: - case 3: - case 4: - case 5: - case 11: - case 12: - strcat(tarCHRONOSmsg,item_p); strcat(tarCHRONOSmsg,";"); - break; - case 6: - bzero(Heading,SMALL_ITEM_TEXT_BUFFER_SIZE); - int mod_heading = atoi(item_p)/10; - sprintf(Heading,"%d;",mod_heading); - break; - case 7: - strcat(tarCHRONOSmsg,item_p); strcat(tarCHRONOSmsg,";"); - strcat(tarCHRONOSmsg,Heading); - break; - default: - break; - } - item_num++; - item_p = strtok(NULL,";"); - } +void vISOtoCHRONOSmsg(char *ISOmsg, char *tarCHRONOSmsg, int MSG_size) { + char IP_address[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char ID[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char Timestamp[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char Latitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char Longitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char Altitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char Heading[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char LonSpeed[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char LatSpeed[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char LonAcc[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char LatAcc[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char DriveDirection[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char StateFlag[SMALL_ITEM_TEXT_BUFFER_SIZE]; + char StatusFlag[SMALL_ITEM_TEXT_BUFFER_SIZE]; + + bzero(tarCHRONOSmsg, MSG_size); + + char *item_p = strtok(ISOmsg, ";"); + int item_num = 0; // The placement incoming message + + while (item_p != NULL) { + // What to do with each item at the current placement + switch (item_num) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 11: + case 12: + strcat(tarCHRONOSmsg, item_p); + strcat(tarCHRONOSmsg, ";"); + break; + case 6: + bzero(Heading, SMALL_ITEM_TEXT_BUFFER_SIZE); + int mod_heading = atoi(item_p) / 10; + + sprintf(Heading, "%d;", mod_heading); + break; + case 7: + strcat(tarCHRONOSmsg, item_p); + strcat(tarCHRONOSmsg, ";"); + strcat(tarCHRONOSmsg, Heading); + break; + default: + break; + } + item_num++; + item_p = strtok(NULL, ";"); + } } From 1e9156457bac0d38c37e52c7e90e53962b8fcde5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 16:46:51 +0200 Subject: [PATCH 562/730] Re-added error printout --- checkCodeFormat.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/checkCodeFormat.sh b/checkCodeFormat.sh index bf89bc039..8263d6526 100755 --- a/checkCodeFormat.sh +++ b/checkCodeFormat.sh @@ -19,7 +19,7 @@ if [ ! -s formatDiff.patch ]; then else echo "Formatting errors detected" # Very wordy printout: - # cat formatDiff.patch + cat formatDiff.patch rm formatDiff.patch exit 1 fi From 35d5b4608701d275b489e4459fb4ddfb4ba72bfa Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 16:47:24 +0200 Subject: [PATCH 563/730] Reran formatter --- server/src/citscontrol.c | 225 ++++++++++++++++++--------------- server/src/logger.c | 3 +- server/src/supervision.c | 3 +- server/src/supervisorcontrol.c | 6 +- server/src/systemcontrol.c | 18 +-- server/src/usercontrol.c | 2 +- 6 files changed, 136 insertions(+), 121 deletions(-) diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c index 86e7910b6..05f45faeb 100755 --- a/server/src/citscontrol.c +++ b/server/src/citscontrol.c @@ -645,24 +645,25 @@ CAM_t *allocateCAMStruct(void) { cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.accelerationControl = NULL; // TODO: Allocate memory for this cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition = calloc(1, sizeof (LanePosition_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - steeringWheelAngle = calloc(1, sizeof (SteeringWheelAngle_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lateralAcceleration = calloc(1, sizeof (LateralAcceleration_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - verticalAcceleration = calloc(1, sizeof (VerticalAcceleration_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - performanceClass = calloc(1, sizeof (PerformanceClass_t)); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - cenDsrcTollingZone = calloc(1, sizeof (CenDsrcTollingZone_t)); + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.steeringWheelAngle = calloc(1, sizeof (SteeringWheelAngle_t)); + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lateralAcceleration = + calloc(1, sizeof (LateralAcceleration_t)); + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.verticalAcceleration = + calloc(1, sizeof (VerticalAcceleration_t)); + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.performanceClass = calloc(1, sizeof (PerformanceClass_t)); + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.cenDsrcTollingZone = calloc(1, sizeof (CenDsrcTollingZone_t)); cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.cenDsrcTollingZone->cenDsrcTollingZoneID = NULL; // TODO: Allocate memory for this BasicVehicleContainerHighFrequency_t *bvc = &cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency; if (bvc->lanePosition == NULL || bvc->steeringWheelAngle == NULL || bvc->lateralAcceleration == NULL || bvc->verticalAcceleration == NULL || bvc->performanceClass == NULL - || bvc->cenDsrcTollingZone == - NULL + || bvc->cenDsrcTollingZone == NULL /*|| bvc->cenDsrcTollingZone->cenDsrcTollingZoneID == NULL || bvc->accelerationControl == NULL */ ) { LogMessage(LOG_LEVEL_ERROR, "Unable to allocate CAM struct basic vehicle container"); @@ -699,67 +700,71 @@ void initializeCAMStruct(CAM_t * cam) { cam->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading. - headingValue = HeadingValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading. - headingConfidence = HeadingConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + heading.headingValue = HeadingValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + heading.headingConfidence = HeadingConfidence_unavailable; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = SpeedValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed. - speedConfidence = SpeedConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + speed.speedConfidence = SpeedConfidence_unavailable; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = DriveDirection_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength. - vehicleLengthValue = VehicleLengthValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength. - vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + vehicleLength.vehicleLengthValue = VehicleLengthValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = VehicleWidth_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = + LongitudinalAccelerationValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = + AccelerationConfidence_unavailable; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable; + curvature.curvatureValue = CurvatureValue_unavailable; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature. - curvatureValue = CurvatureValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature. - curvatureConfidence = CurvatureConfidence_unavailable; + curvature.curvatureConfidence = CurvatureConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.curvatureCalculationMode = CurvatureCalculationMode_unavailable; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - curvatureCalculationMode = CurvatureCalculationMode_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate. - yawRateValue = YawRateValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate. - yawRateConfidence = YawRateConfidence_unavailable; + yawRate.yawRateValue = YawRateValue_unavailable; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lateralAcceleration->lateralAccelerationValue = LateralAccelerationValue_unavailable; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; + yawRate.yawRateConfidence = YawRateConfidence_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = + LateralAccelerationValue_unavailable; + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationConfidence = + AccelerationConfidence_unavailable; // Unused highFrequencyContainer optional fields (null their pointers to show unused) // TODO: Modify here to once relevant information can be used - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - accelerationControl); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lanePosition); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - steeringWheelAngle); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - verticalAcceleration); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - performanceClass); - free(cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - cenDsrcTollingZone); - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - accelerationControl = NULL; + free(cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.accelerationControl); + free(cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lanePosition); + free(cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.steeringWheelAngle); + free(cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.verticalAcceleration); + free(cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.performanceClass); + free(cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.cenDsrcTollingZone); + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.accelerationControl = NULL; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.lanePosition = NULL; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - steeringWheelAngle = NULL; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - verticalAcceleration = NULL; + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.steeringWheelAngle = NULL; + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.verticalAcceleration = NULL; cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.performanceClass = NULL; - cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - cenDsrcTollingZone = NULL; + cam->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.cenDsrcTollingZone = NULL; // Low frequency container and special vehicle containers unused for now (TODO) free(cam->cam.camParameters.lowFrequencyContainer); @@ -922,12 +927,12 @@ I32 generateCAMMessage(MONRType * MONRData, CAM_t * cam) { tempCAM->cam.camParameters.basicContainer.referencePosition.longitude = (long)(longitude * 10000000.0); - tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse. - semiMajorConfidence = SemiAxisLength_unavailable; - tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse. - semiMinorConfidence = SemiAxisLength_unavailable; - tempCAM->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse. - semiMajorOrientation = 0; + tempCAM->cam.camParameters.basicContainer.referencePosition. + positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable; + tempCAM->cam.camParameters.basicContainer.referencePosition. + positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable; + tempCAM->cam.camParameters.basicContainer.referencePosition. + positionConfidenceEllipse.semiMajorOrientation = 0; tempCAM->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = AltitudeValue_unavailable; @@ -940,70 +945,80 @@ I32 generateCAMMessage(MONRType * MONRData, CAM_t * cam) { tempCAM->cam.camParameters.basicContainer.stationType = StationType_roadSideUnit; if (tempCAM->cam.camParameters.highFrequencyContainer.present == HighFrequencyContainer_PR_basicVehicleContainerHighFrequency) { - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed. - speedValue = + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + speed.speedValue = (long)(sqrt (pow((double)(MONRData->LongitudinalSpeedI16), 2) + pow((double)(MONRData->LateralSpeedI16), 2))); - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed. - speedConfidence = SpeedConfidence_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + speed.speedConfidence = SpeedConfidence_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.driveDirection = MONRData->DriveDirectionU8; tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - driveDirection = MONRData->DriveDirectionU8; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading. - headingValue = MONRData->HeadingU16 / 10; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading. - headingConfidence = HeadingConfidence_unavailable; + heading.headingValue = MONRData->HeadingU16 / 10; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. + heading.headingConfidence = HeadingConfidence_unavailable; if (MONRData->LongitudinalAccI16 == 32001) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - longitudinalAcceleration.longitudinalAccelerationValue = + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable; else if (MONRData->LongitudinalAccI16 > 16000) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - longitudinalAcceleration.longitudinalAccelerationValue = 160; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = + 160; else if (MONRData->LongitudinalAccI16 < -16000) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - longitudinalAcceleration.longitudinalAccelerationValue = -160; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = + -160; else - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - longitudinalAcceleration.longitudinalAccelerationValue = MONRData->LongitudinalAccI16 / 100; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = + MONRData->LongitudinalAccI16 / 100; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = + AccelerationConfidence_unavailable; if (MONRData->LateralAccI16 == 32001) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lateralAcceleration->lateralAccelerationValue = LateralAccelerationValue_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = + LateralAccelerationValue_unavailable; else if (MONRData->LateralAccI16 > 16000) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lateralAcceleration->lateralAccelerationValue = 160; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = 160; else if (MONRData->LateralAccI16 < -16000) - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lateralAcceleration->lateralAccelerationValue = -160; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = -160; else - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lateralAcceleration->lateralAccelerationValue = MONRData->LateralAccI16 / 100; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - lateralAcceleration->lateralAccelerationConfidence = AccelerationConfidence_unavailable; - - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate. - yawRateValue = YawRateValue_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate. - yawRateConfidence = YawRateConfidence_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationValue = + MONRData->LateralAccI16 / 100; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.lateralAcceleration->lateralAccelerationConfidence = + AccelerationConfidence_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature. - curvatureValue = CurvatureValue_unavailable; - tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature. - curvatureConfidence = CurvatureConfidence_unavailable; tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - curvatureCalculationMode = CurvatureCalculationMode_unavailable; - + yawRate.yawRateValue = YawRateValue_unavailable; tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - vehicleWidth = VehicleWidth_unavailable; + yawRate.yawRateConfidence = YawRateConfidence_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - vehicleLength.vehicleLengthValue = VehicleLengthValue_unavailable; + curvature.curvatureValue = CurvatureValue_unavailable; tempCAM->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency. - vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable; + curvature.curvatureConfidence = CurvatureConfidence_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.curvatureCalculationMode = + CurvatureCalculationMode_unavailable; + + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.vehicleWidth = VehicleWidth_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = + VehicleLengthValue_unavailable; + tempCAM->cam.camParameters.highFrequencyContainer.choice. + basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthConfidenceIndication = + VehicleLengthConfidenceIndication_unavailable; } diff --git a/server/src/logger.c b/server/src/logger.c index b3475cf29..a4b43ddbd 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -78,8 +78,7 @@ static volatile int iExit = 0; ------------------------------------------------------------*/ -void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) -{ +void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { char pcLogFile[MAX_FILE_PATH]; //!< Log file path and name buffer char pcLogFileComp[MAX_FILE_PATH]; //!< CSV log file path and name buffer char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus diff --git a/server/src/supervision.c b/server/src/supervision.c index 8d484bf07..7c0e795a0 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -466,7 +466,8 @@ int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType * geofences unsigned int numberOfGeofences) { const CartesianPosition monrPoint = { MONRdata.MONR.XPositionI32 / 1000.0, MONRdata.MONR.YPositionI32 / 1000.0, -MONRdata.MONR.ZPositionI32 / 1000.0, 0.0 }; + MONRdata.MONR.ZPositionI32 / 1000.0, 0.0 + }; char isInPolygon = 0; int retval = 0; diff --git a/server/src/supervisorcontrol.c b/server/src/supervisorcontrol.c index 6b947a071..69240ee6c 100644 --- a/server/src/supervisorcontrol.c +++ b/server/src/supervisorcontrol.c @@ -142,9 +142,9 @@ void supervisorcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLeve UtilConnectTCPChannel("SupervisorControl", &SupervisorTCPSocketfdI32, (const C8 *)SupervisorServerIpC8, SupervisorTCPPortU16); int yes = 1; - int result = - setsockopt(SupervisorTCPSocketfdI32, IPPROTO_TCP, TCP_NODELAY, (char *)&yes, - sizeof (int)); + int result = setsockopt(SupervisorTCPSocketfdI32, IPPROTO_TCP, TCP_NODELAY, (char *)&yes, + sizeof (int)); + if (result < 0) { LogMessage(LOG_LEVEL_WARNING, "Failed to set socket option code = %d", result); } diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 6dc50ec9a..57fa92b66 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -119,21 +119,21 @@ typedef enum { typedef enum { Idle_0, GetServerStatus_0, ArmScenario_0, DisarmScenario_0, StartScenario_1, stop_0, AbortScenario_0, - InitializeScenario_0, + InitializeScenario_0, ConnectObject_0, DisconnectObject_0, GetServerParameterList_0, SetServerParameter_2, GetServerParameter_1, - DownloadFile_1, UploadFile_3, CheckFileDirectoryExist_1, GetDirectoryContent_1, + DownloadFile_1, UploadFile_3, CheckFileDirectoryExist_1, GetDirectoryContent_1, DeleteFileDirectory_1, CreateDirectory_1, GetTestOrigin_0, replay_1, control_0, Exit_0, start_ext_trigg_1, - nocommand + nocommand } SystemControlCommand_t; const char *SystemControlCommandsArr[] = { "Idle_0", "GetServerStatus_0", "ArmScenario_0", "DisarmScenario_0", "StartScenario_1", "stop_0", - "AbortScenario_0", "InitializeScenario_0", + "AbortScenario_0", "InitializeScenario_0", "ConnectObject_0", "DisconnectObject_0", "GetServerParameterList_0", "SetServerParameter_2", - "GetServerParameter_1", "DownloadFile_1", "UploadFile_3", "CheckFileDirectoryExist_1", - "GetDirectoryContent_1", + "GetServerParameter_1", "DownloadFile_1", "UploadFile_3", "CheckFileDirectoryExist_1", + "GetDirectoryContent_1", "DeleteFileDirectory_1", "CreateDirectory_1", "GetTestOrigin_0", "replay_1", "control_0", "Exit_0", - "start_ext_trigg_1" + "start_ext_trigg_1" }; const char *SystemControlStatesArr[] = @@ -1056,8 +1056,8 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { case AbortScenario_0: if (objectControlState == OBC_STATE_RUNNING /* || strstr(SystemControlOBCStatesArr[OBCStateU8], "CONNECTED") != NULL - * || strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL*/ ) - // Abort should only be allowed in running state + * || strstr(SystemControlOBCStatesArr[OBCStateU8], "ARMED") != NULL*/ ) + // Abort should only be allowed in running state { if (iCommSend(COMM_ABORT, NULL, 0) < 0) { LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ABORT command"); diff --git a/server/src/usercontrol.c b/server/src/usercontrol.c index 43023bafe..033cb630e 100755 --- a/server/src/usercontrol.c +++ b/server/src/usercontrol.c @@ -67,7 +67,7 @@ typedef enum { const char *UserControlCommandsArr[] = { "idle_0", "status_0", "arm_0", "start_1", "stop_0", "abort_0", "replay_1", "control_0", "exit_0", "cx_0", - "cc_0", + "cc_0", "cp_0", "sb_0", "cb_0", "tp_0", "tsp_1", "sx_0", "sc_0", "help_0", "tosem_0", "tstrt_0", "tdopm_0", "tmonr_0", "disarm_0", "tt_0" }; From f373bcf1df17a9711698add3a2a8ab2988b4643e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 16 Oct 2019 16:54:16 +0200 Subject: [PATCH 564/730] Updated format checker to run formatting script a second time if the first fails --- checkCodeFormat.sh | 23 +++++++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/checkCodeFormat.sh b/checkCodeFormat.sh index 8263d6526..acc965966 100755 --- a/checkCodeFormat.sh +++ b/checkCodeFormat.sh @@ -17,9 +17,24 @@ if [ ! -s formatDiff.patch ]; then echo "No code formatting errors detected" exit 0 else - echo "Formatting errors detected" - # Very wordy printout: - cat formatDiff.patch + echo "Formatting errors detected. Attempting to fix ..." rm formatDiff.patch - exit 1 + + ./formatSourceFiles.sh + ./formatSourceFiles.sh + + git diff > formatDiff.patch + + find . -iname "*.c" -a -not -ipath "*ASN1*" -a -not -ipath "*CMakeFiles*" -a -not -ipath "*util/*" | xargs git checkout -- + + if [ ! -s formatDiff.patch ]; then + rm formatDiff.patch + echo "No code formatting errors detected after rerun" + exit 0 + else + # Very wordy printout: + cat formatDiff.patch + rm formatDiff.patch + exit 1 + fi fi From 078704167be2fec03ae9e3acf876a6603bccc5c1 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 17 Oct 2019 09:21:34 +0200 Subject: [PATCH 565/730] Create MSCP_commands.py Small scripts that sends Init(), Connect(), Arm(), Start() and finaly Abort() --- .../integration-tests/tools/MSCP_commands.py | 72 +++++++++++++++++++ 1 file changed, 72 insertions(+) create mode 100644 server/integration-tests/tools/MSCP_commands.py diff --git a/server/integration-tests/tools/MSCP_commands.py b/server/integration-tests/tools/MSCP_commands.py new file mode 100644 index 000000000..2b197f35a --- /dev/null +++ b/server/integration-tests/tools/MSCP_commands.py @@ -0,0 +1,72 @@ +import socket +import time +import sys, select + +def getServerStatus(): + message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nGetServerStatus();" + + mySocket.send(message.encode()) + print("GetServerStatus() Sent") + + +def Abort(): + message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nAbortScenario();" + + mySocket.send(message.encode()) + print("Abort() Sent") + + +def Arm(): + message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nArmScenario();" + + mySocket.send(message.encode()) + print("ArmScenario() Sent") + + +def Init(): + message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nInitializeScenario();" + + mySocket.send(message.encode()) + print("Init() Sent") + + +def Connect(): + + message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nConnectObject();" + + mySocket.send(message.encode()) + print("Connect() Sent") + + +def StartScenario(): + message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nStartScenario(5);" + + mySocket.send(message.encode()) + print("StarScenario() Sent") + + +host = '10.130.24.54' ## add relevant IP here +port = 54241 + +mySocket = socket.socket() +mySocket.connect((host,port)) + + +counter = 0 + +while True: + print(counter) + if (counter == 2): + Init() + if (counter == 5): + Connect() + if (counter == 8): + Arm() + if (counter == 10): + StartScenario() + if (counter == 15): + Abort() + else: + time.sleep(1) + getServerStatus() + counter += 1 From 7ae7caffbaf84400e6b6eef8f55c2f81c339a404 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 17 Oct 2019 13:49:36 +0200 Subject: [PATCH 566/730] Updated script --- allMaestroIntegrationTests.sh | 21 ++++++++++++++++----- 1 file changed, 16 insertions(+), 5 deletions(-) diff --git a/allMaestroIntegrationTests.sh b/allMaestroIntegrationTests.sh index 61e676bb9..72d82f51d 100755 --- a/allMaestroIntegrationTests.sh +++ b/allMaestroIntegrationTests.sh @@ -5,12 +5,23 @@ FAILURES=0 NUM_TESTS=0 echo "Running integration tests" -for f in *.sh; do - if [ $(sh "$f" -H > /dev/null 2>&1) ]; then - echo "Failed test ${f}" - FAILURES=$((FAILURES+1)) +for f in $(pwd)/*; do + if [ ${f: -3} == ".py" ]; then + echo "Running ${f}" + python3 "$f" + if [ "$?" != "0" ]; then + echo "Failed test ${f}" + FAILURES=$((FAILURES+1)) + fi + NUM_TESTS=$((NUM_TESTS+1)) + elif [ ${f: -3} == ".sh" ]; then + echo "Running ${f}" + if [ $(sh "$f" -H > /dev/null 2>&1) ]; then + echo "Failed test ${f}" + FAILURES=$((FAILURES+1)) + fi + NUM_TESTS=$((NUM_TESTS+1)) fi - NUM_TESTS=$((NUM_TESTS+1)) done SUCCESSES=$((NUM_TESTS-$FAILURES)) From 2ea16cba34d26d0fd9da366a303058064b92422c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 17 Oct 2019 18:12:14 +0200 Subject: [PATCH 567/730] Added an example python test with two tool classes for creating a server and a connection --- .gitignore | 3 + .../005-UserControlConnect.py | 15 ++++ server/integration-tests/tools/MSCP.py | 43 +++++++++++ .../integration-tests/tools/MSCP_commands.py | 72 ------------------- server/integration-tests/tools/Maestro.py | 13 ++++ server/integration-tests/tools/__init__.py | 0 6 files changed, 74 insertions(+), 72 deletions(-) create mode 100644 server/integration-tests/005-UserControlConnect.py create mode 100644 server/integration-tests/tools/MSCP.py delete mode 100644 server/integration-tests/tools/MSCP_commands.py create mode 100644 server/integration-tests/tools/Maestro.py create mode 100644 server/integration-tests/tools/__init__.py diff --git a/.gitignore b/.gitignore index a201c6feb..17847e17b 100644 --- a/.gitignore +++ b/.gitignore @@ -4,6 +4,9 @@ *.obj *.elf +# Compiled python code +*.pyc + # Precompiled Headers *.gch *.pch diff --git a/server/integration-tests/005-UserControlConnect.py b/server/integration-tests/005-UserControlConnect.py new file mode 100644 index 000000000..fa7c754ba --- /dev/null +++ b/server/integration-tests/005-UserControlConnect.py @@ -0,0 +1,15 @@ +from tools.MSCP import MSCP +from tools.Maestro import Maestro +import time +import subprocess + +if __name__ == "__main__": + + S = Maestro("../build/TEServer",0) + time.sleep(0.05) + M = MSCP("127.0.0.1") + + time.sleep(1) + M.Init() + time.sleep(1) + S.stop() diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py new file mode 100644 index 000000000..4301c58d7 --- /dev/null +++ b/server/integration-tests/tools/MSCP.py @@ -0,0 +1,43 @@ +import socket +import sys, select + +class MSCP: + def __init__(self,host,port=54241): + self.host = host + self.port = port + self.socket = socket.socket() + self.socket.connect((self.host,self.port)) + + def GetStatus(self): + message = "POST /maestro HTTP/1.1\r\nHost: " + self.host + "\r\n\r\nGetServerStatus();" + self.Send(message) + print("GetServerStatus() sent") + + def Abort(self): + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nAbortScenario();" + self.Send(message) + print("Abort() sent") + + def Arm(self): + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nArmScenario();" + self.Send(message) + print("ArmScenario() sent") + + def Init(self): + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nInitializeScenario();" + self.Send(message) + print("Init() sent") + + def Connect(self): + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nConnectObject();" + self.Send(message) + print("Connect() sent") + + def Start(self,delayTime_ms): + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nStartScenario(" + delayTime_ms + ");" + self.Send(message) + print("StarScenario() sent") + + def Send(self,message): + self.socket.send(message.encode()) + diff --git a/server/integration-tests/tools/MSCP_commands.py b/server/integration-tests/tools/MSCP_commands.py deleted file mode 100644 index 2b197f35a..000000000 --- a/server/integration-tests/tools/MSCP_commands.py +++ /dev/null @@ -1,72 +0,0 @@ -import socket -import time -import sys, select - -def getServerStatus(): - message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nGetServerStatus();" - - mySocket.send(message.encode()) - print("GetServerStatus() Sent") - - -def Abort(): - message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nAbortScenario();" - - mySocket.send(message.encode()) - print("Abort() Sent") - - -def Arm(): - message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nArmScenario();" - - mySocket.send(message.encode()) - print("ArmScenario() Sent") - - -def Init(): - message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nInitializeScenario();" - - mySocket.send(message.encode()) - print("Init() Sent") - - -def Connect(): - - message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nConnectObject();" - - mySocket.send(message.encode()) - print("Connect() Sent") - - -def StartScenario(): - message = "POST /maestro HTTP/1.1\r\nHost: 127.0.0.1\r\n\r\nStartScenario(5);" - - mySocket.send(message.encode()) - print("StarScenario() Sent") - - -host = '10.130.24.54' ## add relevant IP here -port = 54241 - -mySocket = socket.socket() -mySocket.connect((host,port)) - - -counter = 0 - -while True: - print(counter) - if (counter == 2): - Init() - if (counter == 5): - Connect() - if (counter == 8): - Arm() - if (counter == 10): - StartScenario() - if (counter == 15): - Abort() - else: - time.sleep(1) - getServerStatus() - counter += 1 diff --git a/server/integration-tests/tools/Maestro.py b/server/integration-tests/tools/Maestro.py new file mode 100644 index 000000000..22b4a2529 --- /dev/null +++ b/server/integration-tests/tools/Maestro.py @@ -0,0 +1,13 @@ +import threading +import subprocess, signal + +class Maestro(): + def __init__(self, path, extraModules=0): + subprocess.run("pwd") + self.serverArgs = [path, "-m", str(extraModules)] + self.proc = subprocess.Popen(self.serverArgs) + + def stop(self): + procName = self.serverArgs[0].split("/") + args = ["killall","-SIGINT",procName[-1]] + subprocess.call(args) diff --git a/server/integration-tests/tools/__init__.py b/server/integration-tests/tools/__init__.py new file mode 100644 index 000000000..e69de29bb From 518c8327bddd4eb62a108120b06724cbbe3c26c4 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 18 Oct 2019 17:02:29 +0200 Subject: [PATCH 568/730] Added a polling method for the python test thingy --- .../integration-tests/005-UserControlConnect.py | 8 ++++++++ server/integration-tests/tools/Maestro.py | 15 +++++++++++++++ 2 files changed, 23 insertions(+) diff --git a/server/integration-tests/005-UserControlConnect.py b/server/integration-tests/005-UserControlConnect.py index fa7c754ba..fc545b823 100644 --- a/server/integration-tests/005-UserControlConnect.py +++ b/server/integration-tests/005-UserControlConnect.py @@ -2,6 +2,7 @@ from tools.Maestro import Maestro import time import subprocess +import sys if __name__ == "__main__": @@ -10,6 +11,13 @@ M = MSCP("127.0.0.1") time.sleep(1) + if S.poll(): + S.stop() + sys.exit(1) M.Init() time.sleep(1) + if S.poll(): + S.stop() + sys.exit(1) S.stop() + sys.exit(0) diff --git a/server/integration-tests/tools/Maestro.py b/server/integration-tests/tools/Maestro.py index 22b4a2529..e8bdc9bca 100644 --- a/server/integration-tests/tools/Maestro.py +++ b/server/integration-tests/tools/Maestro.py @@ -1,11 +1,26 @@ import threading import subprocess, signal +import time class Maestro(): def __init__(self, path, extraModules=0): subprocess.run("pwd") self.serverArgs = [path, "-m", str(extraModules)] self.proc = subprocess.Popen(self.serverArgs) + self.pids = [self.proc.pid] + time.sleep(0.05) + pgrep = subprocess.Popen(["pgrep","-P",str(self.proc.pid)],stdout=subprocess.PIPE) + while True: + line = pgrep.stdout.readline() + if not line: + break + self.pids.append(int(line)) + + def poll(self): + died = 0 + for pid in self.pids: + died = died or int(subprocess.call(["kill","-0",str(pid)])) + return died def stop(self): procName = self.serverArgs[0].split("/") From 563af2e0eaa5154907ad9484b77c50480b97ed63 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 21 Oct 2019 11:12:29 +0200 Subject: [PATCH 569/730] Modified python class to accept any executable and not just TEServer --- .../005-UserControlConnect.py | 4 +- server/integration-tests/tools/Executable.py | 50 +++++++++++++++++++ server/integration-tests/tools/Maestro.py | 28 ----------- 3 files changed, 52 insertions(+), 30 deletions(-) create mode 100644 server/integration-tests/tools/Executable.py delete mode 100644 server/integration-tests/tools/Maestro.py diff --git a/server/integration-tests/005-UserControlConnect.py b/server/integration-tests/005-UserControlConnect.py index fc545b823..0a67dffb7 100644 --- a/server/integration-tests/005-UserControlConnect.py +++ b/server/integration-tests/005-UserControlConnect.py @@ -1,12 +1,12 @@ from tools.MSCP import MSCP -from tools.Maestro import Maestro +from tools.Executable import Executable import time import subprocess import sys if __name__ == "__main__": - S = Maestro("../build/TEServer",0) + S = Executable("../build/TEServer",["-m","0"]) time.sleep(0.05) M = MSCP("127.0.0.1") diff --git a/server/integration-tests/tools/Executable.py b/server/integration-tests/tools/Executable.py new file mode 100644 index 000000000..ec6362ba3 --- /dev/null +++ b/server/integration-tests/tools/Executable.py @@ -0,0 +1,50 @@ +import threading +import subprocess, signal +import time + +class Executable(): + def __init__(self, path, argList=[]): + self.args = [path] + argList + self.proc = subprocess.Popen(self.args) + self.pids = [] + + # Wait for a short time to allow the process to reach "steady-state" + time.sleep(0.05) + + # Get PIDs of forks (if any) + pgrep = subprocess.Popen(["pgrep","-P",str(self.proc.pid)],stdout=subprocess.PIPE) + self.pids.append(self.proc.pid) + while True: + line = pgrep.stdout.readline() + if not line: + break + self.pids.append(int(line)) + print("=== Started executable using the following PID(s): " + str(self.pids)) + + # Get a list of all processes linked to the Executable which have died + def poll(self): + died = [] + if self.proc.poll() is not None: + died.append(self.proc.pid) + for pid in self.pids: + # Kill -0 does not kill the process + if int(subprocess.call(["kill","-0",str(pid)],stdout=subprocess.DEVNULL,stderr=subprocess.DEVNULL)): + died.append(pid) + return died + + # Kill all started processes + def stop(self): + procName = self.args[0].split("/") + args = ["killall","-SIGINT",procName[-1]] + subprocess.call(args) + print("=== Sent interrupt signal to " + procName[-1]) + + try: + self.proc.wait(3) + return + except TimeoutExpired as e: + print("=== Executable did not respond to interrupt, forcing shutdown") + args = ["killall",procName[-1]] + subprocess.call(args) + time.sleep(0.05) + raise TimeoutExpired(e.message + " Forced shutdown for " + procName[-1]) diff --git a/server/integration-tests/tools/Maestro.py b/server/integration-tests/tools/Maestro.py deleted file mode 100644 index e8bdc9bca..000000000 --- a/server/integration-tests/tools/Maestro.py +++ /dev/null @@ -1,28 +0,0 @@ -import threading -import subprocess, signal -import time - -class Maestro(): - def __init__(self, path, extraModules=0): - subprocess.run("pwd") - self.serverArgs = [path, "-m", str(extraModules)] - self.proc = subprocess.Popen(self.serverArgs) - self.pids = [self.proc.pid] - time.sleep(0.05) - pgrep = subprocess.Popen(["pgrep","-P",str(self.proc.pid)],stdout=subprocess.PIPE) - while True: - line = pgrep.stdout.readline() - if not line: - break - self.pids.append(int(line)) - - def poll(self): - died = 0 - for pid in self.pids: - died = died or int(subprocess.call(["kill","-0",str(pid)])) - return died - - def stop(self): - procName = self.serverArgs[0].split("/") - args = ["killall","-SIGINT",procName[-1]] - subprocess.call(args) From 13ff2863ae3e8a18f49625d6169a4dcc4a8d4dbf Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 21 Oct 2019 17:19:43 +0200 Subject: [PATCH 570/730] Added new file system into geofence file parser --- server/src/supervision.c | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 7c0e795a0..d09baf4dd 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -234,20 +234,20 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { */ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { - char pcFileNameBuffer[MAX_FILE_PATH] = ""; + char geofencePathDir[MAX_FILE_PATH]; + FILE *fp; + char *line = NULL; + size_t len = 0; + ssize_t read; + int tempInt; + int isHeaderParsedSuccessfully = 0; - strcat(pcFileNameBuffer, GEOFENCE_DIRECTORY); - strcat(pcFileNameBuffer, geofenceFile); + UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); + strcat(geofencePathDir, geofenceFile); - FILE *fp; - char *line = NULL; - size_t len = 0; - ssize_t read; - int tempInt; - int isHeaderParsedSuccessfully = 0; + LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofencePathDir); + fp = fopen(geofencePathDir, "r"); - LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", pcFileNameBuffer); - fp = fopen(pcFileNameBuffer, "r"); if (fp != NULL) { int lineCount = 0; @@ -424,7 +424,7 @@ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { if (lineCount == geofence->numberOfPoints) { /* Successful parse, return */ fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); return 0; } else { @@ -441,15 +441,15 @@ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { } fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", pcFileNameBuffer); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); } else { - LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", pcFileNameBuffer); + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", geofencePathDir); return -1; } // If we reach here, it means we did not find an ENDGEOFENCE before EOF - LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", pcFileNameBuffer); + LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", geofencePathDir); if (isHeaderParsedSuccessfully) free(geofence->polygonPoints); return -1; From acf6ce01b07f6d87ea35e03294be53144b4fb430 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 21 Oct 2019 17:27:09 +0200 Subject: [PATCH 571/730] Made the directory checker also use the new file system --- server/src/supervision.c | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index d09baf4dd..2eb4f3ae0 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -33,7 +33,6 @@ /* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ #define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 #define MAX_GEOFENCE_NAME_LEN 256 -#define GEOFENCE_DIRECTORY "./geofence/" #define MODULE_NAME "Supervisor" @@ -164,10 +163,13 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { DIR *pDir; char *ext; unsigned int n = 0; + char geofencePathDir[MAX_FILE_PATH]; + + UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); LogMessage(LOG_LEVEL_DEBUG, "Loading geofences"); - pDir = opendir(GEOFENCE_DIRECTORY); + pDir = opendir(geofencePathDir); if (pDir == NULL) { LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); return -1; @@ -192,7 +194,7 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", *nGeof); - pDir = opendir(GEOFENCE_DIRECTORY); + pDir = opendir(geofencePathDir); if (pDir == NULL) { LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); return -1; From 1210414fd55388c21bcec2806cbe5afb5a966556 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 21 Oct 2019 17:32:47 +0200 Subject: [PATCH 572/730] Apparently the format checker didn't like my space-tabs --- server/src/supervision.c | 38 +++++++++++++++++++------------------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 2eb4f3ae0..566c98b56 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -163,13 +163,13 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { DIR *pDir; char *ext; unsigned int n = 0; - char geofencePathDir[MAX_FILE_PATH]; + char geofencePathDir[MAX_FILE_PATH]; - UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); + UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); LogMessage(LOG_LEVEL_DEBUG, "Loading geofences"); - pDir = opendir(geofencePathDir); + pDir = opendir(geofencePathDir); if (pDir == NULL) { LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); return -1; @@ -194,7 +194,7 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", *nGeof); - pDir = opendir(geofencePathDir); + pDir = opendir(geofencePathDir); if (pDir == NULL) { LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); return -1; @@ -236,19 +236,19 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { */ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { - char geofencePathDir[MAX_FILE_PATH]; - FILE *fp; - char *line = NULL; - size_t len = 0; - ssize_t read; - int tempInt; - int isHeaderParsedSuccessfully = 0; + char geofencePathDir[MAX_FILE_PATH]; + FILE *fp; + char *line = NULL; + size_t len = 0; + ssize_t read; + int tempInt; + int isHeaderParsedSuccessfully = 0; - UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); - strcat(geofencePathDir, geofenceFile); + UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); + strcat(geofencePathDir, geofenceFile); - LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofencePathDir); - fp = fopen(geofencePathDir, "r"); + LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofencePathDir); + fp = fopen(geofencePathDir, "r"); if (fp != NULL) { int lineCount = 0; @@ -426,7 +426,7 @@ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { if (lineCount == geofence->numberOfPoints) { /* Successful parse, return */ fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); return 0; } else { @@ -443,15 +443,15 @@ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { } fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); } else { - LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", geofencePathDir); + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", geofencePathDir); return -1; } // If we reach here, it means we did not find an ENDGEOFENCE before EOF - LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", geofencePathDir); + LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", geofencePathDir); if (isHeaderParsedSuccessfully) free(geofence->polygonPoints); return -1; From 67196da4ce5c0a22fad92df8883d6caba2857757 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 22 Oct 2019 12:17:21 +0200 Subject: [PATCH 573/730] Made file path variables use ISO C path size --- server/inc/util.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 19f8b5333..454844290 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -20,6 +20,7 @@ extern "C"{ ------------------------------------------------------------*/ #include #include +#include #include #include #include @@ -46,7 +47,7 @@ extern "C"{ #define CONTROL_CHANNEL_PORT 53241 #define MAX_OBJECTS 10 -#define MAX_FILE_PATH 256 +#define MAX_FILE_PATH PATH_MAX #define MAX_UTIL_VARIBLE_SIZE 512 From 7486837e471b6cfdc34eafc44e8600870a1d8105 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 22 Oct 2019 13:19:11 +0200 Subject: [PATCH 574/730] Ran code formatter --- server/src/supervision.c | 38 +++++++++++++++++++------------------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 2eb4f3ae0..566c98b56 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -163,13 +163,13 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { DIR *pDir; char *ext; unsigned int n = 0; - char geofencePathDir[MAX_FILE_PATH]; + char geofencePathDir[MAX_FILE_PATH]; - UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); + UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); LogMessage(LOG_LEVEL_DEBUG, "Loading geofences"); - pDir = opendir(geofencePathDir); + pDir = opendir(geofencePathDir); if (pDir == NULL) { LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); return -1; @@ -194,7 +194,7 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", *nGeof); - pDir = opendir(geofencePathDir); + pDir = opendir(geofencePathDir); if (pDir == NULL) { LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); return -1; @@ -236,19 +236,19 @@ int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { */ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { - char geofencePathDir[MAX_FILE_PATH]; - FILE *fp; - char *line = NULL; - size_t len = 0; - ssize_t read; - int tempInt; - int isHeaderParsedSuccessfully = 0; + char geofencePathDir[MAX_FILE_PATH]; + FILE *fp; + char *line = NULL; + size_t len = 0; + ssize_t read; + int tempInt; + int isHeaderParsedSuccessfully = 0; - UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); - strcat(geofencePathDir, geofenceFile); + UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); + strcat(geofencePathDir, geofenceFile); - LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofencePathDir); - fp = fopen(geofencePathDir, "r"); + LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofencePathDir); + fp = fopen(geofencePathDir, "r"); if (fp != NULL) { int lineCount = 0; @@ -426,7 +426,7 @@ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { if (lineCount == geofence->numberOfPoints) { /* Successful parse, return */ fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); return 0; } else { @@ -443,15 +443,15 @@ int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { } fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); } else { - LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", geofencePathDir); + LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", geofencePathDir); return -1; } // If we reach here, it means we did not find an ENDGEOFENCE before EOF - LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", geofencePathDir); + LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", geofencePathDir); if (isHeaderParsedSuccessfully) free(geofence->polygonPoints); return -1; From 00a1cd16c46e9eed171fe95ba6a3efc370f3bc86 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 22 Oct 2019 14:09:03 +0200 Subject: [PATCH 575/730] Made the integration test script clear the /dev/mqueue directory before running --- allMaestroIntegrationTests.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/allMaestroIntegrationTests.sh b/allMaestroIntegrationTests.sh index 72d82f51d..4c880c3f8 100755 --- a/allMaestroIntegrationTests.sh +++ b/allMaestroIntegrationTests.sh @@ -6,6 +6,7 @@ NUM_TESTS=0 echo "Running integration tests" for f in $(pwd)/*; do + rm -f /dev/mqueue/* if [ ${f: -3} == ".py" ]; then echo "Running ${f}" python3 "$f" From 1577146d3277d980c6108654d7e1da0b859e2674 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 23 Oct 2019 15:44:33 +0200 Subject: [PATCH 576/730] Began implementing check on ARM --- server/src/supervision.c | 244 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 238 insertions(+), 6 deletions(-) diff --git a/server/src/supervision.c b/server/src/supervision.c index 566c98b56..209fbb5b1 100755 --- a/server/src/supervision.c +++ b/server/src/supervision.c @@ -27,15 +27,15 @@ #include #include +#include "maestroTime.h" #include "supervision.h" -/* 34 years between 1970 and 2004, 8 days for leap year between 1970 and 2004 */ -/* Calculation: 34 * 365 * 24 * 3600 * 1000 + 8 * 24 * 3600 * 1000 = 1072915200000 */ -#define MS_FROM_1970_TO_2004_NO_LEAP_SECS 1072915200000 #define MAX_GEOFENCE_NAME_LEN 256 #define MODULE_NAME "Supervisor" +#define VERIFY_ARM_TIMEOUT_MS 500 + /*------------------------------------------------------------ -- Type definitions. ------------------------------------------------------------*/ @@ -46,22 +46,60 @@ typedef struct { CartesianPosition *polygonPoints; } GeofenceType; +typedef struct { + double time; //!< Time from start of test [s] + CartesianPosition *point; + double longitudinalSpeed; //!< Speed in the direction of the heading [m/s] + double lateralSpeed; //!< Speed in the direction perpendicular to the heading [m/s] + double longitudinalAcceleration; //!< Acceleration in the direction of the heading [m/s²] + double lateralAcceleration; //!< Acceleration in the direction perpendicular to the heading [m/s²] + double curvature; //!< Curvature of the curve [1/m] + uint8_t mode; //!< Value describing if the object is controlled by the drive file +} TrajPointType; + +typedef enum { + READY = 0, + VERIFYING_INIT = 1, + VERIFYING_ARM = 2 +} SupervisorStateType; +static char * const stateNames[] = {"READY", "INIT", "ARM"}; + +typedef struct { + in_addr_t ipAddr; + double length; + double width; + double height; + double mass; + double turnRadius; +} ObjectPropertyType; + /*------------------------------------------------------------ -- Function declarations. ------------------------------------------------------------*/ +static SupervisorStateType state = READY; +static SupervisorStateType getState(void); +static int setState(SupervisorStateType newState); + int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType * geofences, unsigned int numberOfGeofences); int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof); int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence); -static void signalHandler(int signo); void freeGeofences(GeofenceType * geoFence, unsigned int *nGeof); +static int verifyArm(MonitorDataType MONRdata, ObjectPropertyType objectProperties[], unsigned int nObjects); +static int initializeObjectProperties(ObjectPropertyType* objectProperties[], unsigned int *nObjects); +static void resetVerifiedStatus(unsigned int numberOfObjects); +static int checkIfNearFirstPointOfTrajectory(MonitorDataType MONRdata, ObjectPropertyType objectProperties); + +static void signalHandler(int signo); + /*------------------------------------------------------------ -- Static variables ------------------------------------------------------------*/ static volatile int iExit = 0; +static uint8_t* isVerified = NULL; /*------------------------------------------------------------ -- The main function. @@ -74,6 +112,12 @@ void supervision_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { unsigned int numberOfGeofences = 0; GeofenceType *geofenceArray = NULL; + unsigned int numberOfObjects = 0; + ObjectPropertyType *objectProperties = NULL; + + struct timeval currentTime, verificationTimeout; + const struct timeval armWaitTime = {VERIFY_ARM_TIMEOUT_MS % 1000, (VERIFY_ARM_TIMEOUT_MS * 1000) % 1000000}; + enum COMMAND command; // Create log @@ -106,13 +150,18 @@ void supervision_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } switch (command) { - case COMM_INIT: + case COMM_INIT: + setState(VERIFYING_INIT); if (geofenceArray != NULL) freeGeofences(geofenceArray, &numberOfGeofences); if (loadGeofenceFiles(&geofenceArray, &numberOfGeofences) == -1) - util_error("Unable to load geofences"); // TODO: Do something more e.g. stop the INIT process + util_error("Unable to load geofences"); // TODO: Do something more e.g. stop the INIT process + if (initializeObjectProperties(&objectProperties, &numberOfObjects) == -1) { + util_error("Unable to initialize object properties"); + } + setState(READY); break; case COMM_MONI: // Ignore old style MONR data @@ -122,11 +171,33 @@ void supervision_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { // TODO: react to output from SupervisionCheckGeofences SupervisionCheckGeofences(MONRMessage, geofenceArray, numberOfGeofences); + if (state == VERIFYING_ARM) { + switch (verifyArm(MONRMessage, objectProperties, numberOfObjects)) { + case -1: + LogMessage(LOG_LEVEL_INFO, "ARM should not be allowed - objects not in position"); + // TODO: There was an error - ARM is not ok + break; + case 0: + setState(READY); + break; + case 1: + // Nothing to do except to wait for more MONR + break; + } + } + break; case COMM_OBC_STATE: break; case COMM_CONNECT: break; + case COMM_ARMD: + setState(VERIFYING_ARM); + TimeSetToCurrentSystemTime(&verificationTimeout); + timeradd(&verificationTimeout, &armWaitTime, &verificationTimeout); + // TODO: Check one MONR of each object against first point of their traj files + // TODO: + break; case COMM_LOG: break; case COMM_INV: @@ -134,6 +205,11 @@ void supervision_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { default: LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); } + + TimeSetToCurrentSystemTime(¤tTime); + if (timercmp(¤tTime,&verificationTimeout,>)) { + LogMessage(LOG_LEVEL_WARNING,"Timed out while verifying %s",stateNames[state]); + } } } @@ -151,6 +227,162 @@ void signalHandler(int signo) { } } + +int setState(SupervisorStateType newState) +{ + switch (newState) { + case VERIFYING_INIT: + case VERIFYING_ARM: + if (state == READY) + state = newState; + else { + LogMessage(LOG_LEVEL_ERROR, "Received command %s to verify while still not done verifying %s", + stateNames[newState], stateNames[state]); + // TODO: Do something more + } + break; + case READY: + state = newState; + } +} + +/*! + * \brief SupervisionVerifyArm + * \param MONRdata + * \return 0 if ARM command verified + */ +int verifyArm(MonitorDataType MONRdata, ObjectPropertyType objectProperties[], unsigned int numberOfObjects) { + + int allVerified = 1; + char ipString[INET_ADDRSTRLEN]; + + if (isVerified == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Received MONR before initialized properly"); + return -1; + } + + for (unsigned int i = 0; i < numberOfObjects; ++i) { + if (MONRdata.ClientIP == objectProperties[i].ipAddr) { + if (checkIfNearFirstPointOfTrajectory(MONRdata, objectProperties[i]) == 0) { + isVerified[i] = 1; + } + else { + inet_ntop(AF_INET, &objectProperties[i].ipAddr, ipString, sizeof (ipString)); + LogMessage(LOG_LEVEL_INFO, "Object with IP %s is not near its starting position", ipString); + resetVerifiedStatus(numberOfObjects); + return -1; + } + } + allVerified = allVerified && isVerified[i]; + } + + if (allVerified) { + resetVerifiedStatus(numberOfObjects); + return 0; + } + return 1; +} + +/*! + * \brief checkNearFirstPointOfTrajectory + * \param MONRdata + * \param objectProperties + * \return + */ +int checkIfNearFirstPointOfTrajectory(MonitorDataType MONRdata, ObjectPropertyType objectProperties) { + + // TODO: Implement this in a better way + // Hardcoded values for now + struct dirent *ent; + DIR *dir; + TrajPointType firstTrajPoint; + char ipString[INET_ADDRSTRLEN]; + char trajPathDir[MAX_FILE_PATH]; + inet_ntop(AF_INET, &objectProperties.ipAddr, ipString, sizeof (ipString)); + UtilGetTrajDirectoryPath(trajPathDir, sizeof (trajPathDir)); + LogMessage(LOG_LEVEL_DEBUG, "Opening trajectory directory"); + dir = opendir(trajPathDir); + if (dir == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Cannot open trajectory directory"); + return -1; + } + + while ((ent = readdir(dir)) != NULL) { + if (!strcmp(ent->d_name,".") || !strcmp(ent->d_name,"..")) + continue; + else if (!strcmp(ent->d_name, ipString)) { + // TODO: read corresponding file first row of traj + firstTrajPoint.time = 0.0; + firstTrajPoint.point->xCoord_m = 0.0; + firstTrajPoint.point->yCoord_m = 0.0; + firstTrajPoint.point->zCoord_m = 0.0; + firstTrajPoint.longitudinalSpeed = 0.0; + firstTrajPoint.lateralSpeed = 0.0; + firstTrajPoint.longitudinalAcceleration = 0.0; + firstTrajPoint.lateralAcceleration = 0.0; + firstTrajPoint.curvature = 0.0; + firstTrajPoint.mode = 0; + + } + } + closedir(dir); + +} + +/*! + * \brief resetVerifiedStatus + * \param numberOfObjects + */ +void resetVerifiedStatus(unsigned int numberOfObjects) +{ + for (unsigned int i = 0; i < numberOfObjects; ++i) { + isVerified[i] = 0; + } +} + + +int initializeObjectProperties(ObjectPropertyType* objectProperties[], unsigned int *nObjects) { + + struct dirent *ent; + DIR *dir; + char trajPathDir[MAX_FILE_PATH]; + unsigned int nTrajs = 0; + + UtilGetTrajDirectoryPath(trajPathDir, sizeof (trajPathDir)); + LogMessage(LOG_LEVEL_DEBUG, "Opening trajectory directory"); + dir = opendir(trajPathDir); + if (dir == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Cannot open trajectory directory"); + return -1; + } + + while ((ent = readdir(dir)) != NULL) { + if (!strcmp(ent->d_name,".") || !strcmp(ent->d_name,"..")) + continue; + else + nTrajs++; + } + closedir(dir); + + *nObjects = nTrajs; + free(*objectProperties); + *objectProperties = (ObjectPropertyType*) malloc(nTrajs*sizeof (ObjectPropertyType)); + if (*objectProperties == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for object properties"); + return -1; + } + + // TODO: fill in the IPs + + free(isVerified); + isVerified = malloc(nTrajs * sizeof (uint8_t)); + resetVerifiedStatus(nTrajs); + + LogMessage(LOG_LEVEL_DEBUG, "Found %u trajectory files", nTrajs); + return 0; +} + + /*! * \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). * \param *geofences A pointer to geofence struct used for saving data From f97b092987ce248f581e9f776670090a405053da Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 23 Oct 2019 16:53:24 +0200 Subject: [PATCH 577/730] No take care of MONR data that is to short. Print warning. --- server/src/objectcontrol.c | 115 ++++++++++++++++++------------------- server/src/util.c | 4 +- 2 files changed, 59 insertions(+), 60 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 94accad2e..a495b8437 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -392,42 +392,42 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { if (OBCState == OBC_STATE_ERROR) { ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - MessageLength = - ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, - 0); - UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], - MessageBuffer, MessageLength, 0); - + MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); } - if (OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) { - /*HEAB*/ for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - if (uiTimeCycle == 0) { + if (OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) + { + /*HEAB*/ for (iIndex = 0; iIndex < nbr_objects; ++iIndex) + { + if (uiTimeCycle == 0) + { //HeartbeatMessageCounter ++; - MessageLength = - ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, - ObjectControlServerStatus, 0); - //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); - UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], - MessageBuffer, MessageLength, 0); + MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, 0); + //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 1); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); } } // Check if any object has disconnected - if so, disconnect all objects and return to idle DisconnectU8 = 0; - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) + { DisconnectU8 |= vCheckRemoteDisconnected(&socket_fds[iIndex]); - if (DisconnectU8) { + if (DisconnectU8) + { LogMessage(LOG_LEVEL_WARNING, "Lost connection to IP %s - returning to IDLE", object_address_name[iIndex]); - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) + { vDisconnectObject(&socket_fds[iIndex]); } /* Close safety socket */ - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) + { vCloseSafetyChannel(&safety_socket_fd[iIndex]); } vSetState(OBC_STATE_IDLE, GSD); @@ -443,21 +443,22 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { // this is etsi time lets remov it ans use utc instead //gettimeofday(&CurrentTimeStruct, NULL); - CurrentTimeU32 = - ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + - GPSTime->MicroSecondU16; + CurrentTimeU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; - /*MTSP*/ if (HeartbeatMessageCounter == 0) { - HeartbeatMessageCounter = 0; - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - for (i = 0; i < SyncPointCount; i++) { - if (TEST_SYNC_POINTS == 0 - && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL - && ASPData.MTSPU32 > 0 && ASPData.TimeToSyncPointDbl > -1) { + /*MTSP*/ + if (HeartbeatMessageCounter == 0) + { + HeartbeatMessageCounter = 0; + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) + { + for (i = 0; i < SyncPointCount; i++) + { + if (TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL && + ASPData.MTSPU32 > 0 && ASPData.TimeToSyncPointDbl > -1) + { /*Send Master time to adaptive sync point */ - MessageLength = - ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, ASPData.MTSPU32, 0); + MessageLength = ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, ASPData.MTSPU32, 0); //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); @@ -473,25 +474,26 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) + { bzero(buffer, RECV_MESSAGE_BUFFER); receivedMONRData = uiRecvMonitor(&safety_socket_fd[iIndex], buffer, RECV_MESSAGE_BUFFER); - if (receivedMONRData > 0) { + if (receivedMONRData >= sizeof(MONRType)) + { LogMessage(LOG_LEVEL_DEBUG, "Recieved new data from %s %d %d: %s", object_address_name[iIndex], object_udp_port[iIndex], receivedMONRData, buffer); - if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { + if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) + { // Append IP to buffer - memcpy(&buffer[receivedMONRData], &safety_object_addr[iIndex].sin_addr.s_addr, - sizeof (in_addr_t)); + memcpy(&buffer[receivedMONRData], &safety_object_addr[iIndex].sin_addr.s_addr, sizeof (in_addr_t)); // Send MONR message as bytes - if (iCommSend(COMM_MONR, buffer, (size_t) (receivedMONRData) + sizeof (in_addr_t)) < - 0) { - LogMessage(LOG_LEVEL_ERROR, - "Fatal communication fault when sending MONR command - entering error state"); + if (iCommSend(COMM_MONR, buffer, (size_t) (receivedMONRData) + sizeof (in_addr_t)) < 0) + { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending MONR command - entering error state"); vSetState(OBC_STATE_ERROR, GSD); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } @@ -501,15 +503,9 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { //Store MONR in GSD //UtilSendUDPData("ObjectControl", &ObjectControlUDPSocketfdI32, &simulator_addr, &MONRData, sizeof(MONRData), 0); - - for (i = 0; - i < - (MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + - COMMAND_MESSAGE_FOOTER_LENGTH); i++) + for (i = 0; i < (MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); i++) GSD->MONRData[i] = buffer[i]; - GSD->MONRSizeU8 = - MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + - COMMAND_MESSAGE_FOOTER_LENGTH; + GSD->MONRSizeU8 = MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH; ObjectControlMONRToASCII(&MONRData, &OriginPosition, iIndex, Id, Timestamp, XPosition, YPosition, ZPosition, LongitudinalSpeed, LateralSpeed, @@ -548,7 +544,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { strcat(buffer, ";"); - if (ASPData.MTSPU32 != 0) { + if (ASPData.MTSPU32 != 0) + { //Add MTSP to MONR if not 0 bzero(MTSP, SMALL_BUFFER_SIZE_0); sprintf(MTSP, "%" PRIu32, ASPData.MTSPU32); @@ -558,9 +555,11 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_DEBUG, "Sending MONR message: %s", buffer); - if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { + if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) + { // Send MONR message on old (ASCII) format - if (iCommSend(COMM_MONI, buffer, strlen(buffer)) < 0) { + if (iCommSend(COMM_MONI, buffer, strlen(buffer)) < 0) + { LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending MONI command - entering error state"); vSetState(OBC_STATE_ERROR, GSD); @@ -569,7 +568,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } //Ok, let's do the ASP - for (i = 0; i < SyncPointCount; i++) { + for (i = 0; i < SyncPointCount; i++) + { if (TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].MasterIP) != NULL && CurrentTimeU32 > StartTimeU32 && StartTimeU32 > 0 @@ -653,10 +653,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } } } - OP[iIndex].Speed = atof(Speed); - - } + } else if(receivedMONRData > 0) LogMessage(LOG_LEVEL_INFO, "MONR = %d, to short (should be %d) from %s.", object_address_name[iIndex], sizeof(MONRType)); } } @@ -768,7 +766,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header for (i = 0; i < SyncPointCount; i++) { - UtilSetAdaptiveSyncPoint(&ASP[i], fd, 0); + UtilSetAdaptiveSyncPoint(&ASP[i], fd, 1); if (TEST_SYNC_POINTS == 1) ASP[i].TestPort = SAFETY_CHANNEL_PORT; } @@ -944,6 +942,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { OP[iIndex].SpaceTimeArr = SpaceTimeArr[iIndex]; UtilPopulateSpaceTimeArr(&OP[iIndex], object_traj_file[iIndex]); + LogMessage(LOG_LEVEL_INFO, "Sync point counts: %d", SyncPointCount); for (i = 0; i < SyncPointCount; i++) { if (TEST_SYNC_POINTS == 1 && iIndex == 1) { /*Send SYPM to slave */ @@ -952,7 +951,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { ASP[i].SlaveTrajSyncTime * 1000, ASP[i].SlaveSyncStopTime * 1000, 1); UtilSendTCPData("Object Control", MessageBuffer, MessageLength, - &socket_fds[iIndex], 1); + &socket_fds[iIndex], 0); } else if (TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL) { @@ -962,7 +961,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { ASP[i].SlaveTrajSyncTime * 1000, ASP[i].SlaveSyncStopTime * 1000, 1); UtilSendTCPData("Object Control", MessageBuffer, MessageLength, - &socket_fds[iIndex], 1); + &socket_fds[iIndex], 0); } } diff --git a/server/src/util.c b/server/src/util.c index 074b840b8..e57756079 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1652,7 +1652,7 @@ int UtilReadLine(FILE * fd, char *Buffer) { -C8 *UtilSearchTextFile(C8 * Filename, C8 * Text1, C8 * Text2, C8 * Result) { +C8 * UtilSearchTextFile(C8 * Filename, C8 * Text1, C8 * Text2, C8 * Result) { FILE *fd; @@ -3422,7 +3422,7 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC); if (rawMONRsize < sizeof (MonitorDataType)) { - LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data"); + LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data, %d < %d.", rawMONRsize, sizeof (MonitorDataType)); return -1; } From e347e693f400388410f961664c8df06928637f0a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 24 Oct 2019 16:29:36 +0200 Subject: [PATCH 578/730] Re-implemented supervisor in C++ as separate module --- modules/Supervision/CMakeLists.txt | 53 +++ modules/Supervision/README.md | 18 + modules/Supervision/inc/geofence.h | 14 + .../Supervision}/inc/supervision.h | 0 modules/Supervision/src/geofence.cpp | 0 modules/Supervision/src/main.cpp | 335 ++++++++++++++++++ .../Supervision}/src/supervision.c | 0 7 files changed, 420 insertions(+) create mode 100644 modules/Supervision/CMakeLists.txt create mode 100644 modules/Supervision/README.md create mode 100644 modules/Supervision/inc/geofence.h rename {server => modules/Supervision}/inc/supervision.h (100%) create mode 100644 modules/Supervision/src/geofence.cpp create mode 100644 modules/Supervision/src/main.cpp rename {server => modules/Supervision}/src/supervision.c (100%) diff --git a/modules/Supervision/CMakeLists.txt b/modules/Supervision/CMakeLists.txt new file mode 100644 index 000000000..cdb25754e --- /dev/null +++ b/modules/Supervision/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 3.1) + +SET(CMAKE_CXX_STANDARD 11) +SET(CMAKE_CXX_STANDARD_REQUIRED ON) +SET(CMAKE_C_STANDARD 11) +SET(CMAKE_C_STANDARD_REQUIRED ON) + +project(Supervision) + + +include_directories(inc) +include_directories(../../util/C/logging) +include_directories(../../util/C/time) +include_directories(../../util/C/MQBus) +include_directories(../../server/inc) +include(GNUInstallDirs) + + +# Create library +add_library(MaestroLogging + ../../util/C/logging/logging.h + ../../util/C/logging/logging.c +) + +add_library(MaestroTime + ../../util/C/time/maestroTime.h + ../../util/C/time/maestroTime.c +) + +add_library(MQBus + ../../util/C/MQBus/mqbus.h + ../../util/C/MQBus/mqbus.c +) + +# Create library +add_library(util + ../../server/src/util.c + ../../server/inc/util.h +) + +add_executable(Supervision + src/main.cpp + src/geofence.cpp + inc/geofence.h) + +install(TARGETS Supervision DESTINATION bin) + +target_link_libraries(Supervision MaestroTime MaestroLogging util) +target_link_libraries(util MQBus MaestroTime MaestroLogging) +target_link_libraries(MQBus rt m) + + + diff --git a/modules/Supervision/README.md b/modules/Supervision/README.md new file mode 100644 index 000000000..412eedc66 --- /dev/null +++ b/modules/Supervision/README.md @@ -0,0 +1,18 @@ +## Dummy module +This module is an example for how to build a Maestro-external module and connect it via message bus. It is also written in C++ so can serve as an example for how to import Maestro C code and connect to message bus using another code language. + +### Build process +1) Ensure your util repo is up to date +2) Navigate to this README.md file +3) Create the build directory: ```mkdir build``` +4) Enter the build directory: ```cd build``` +5) Generate necessary cmake files: ```cmake ..``` +6) Build the module: ```make``` + +### Run the module +1) Ensure you have built the module +2) Navigate to the build directory +3) Run the module: ```./dummy``` +4) Run Maestro + +Note: steps 3 and 4 can be replaced with running the runServer.sh script in the top directory of this repository diff --git a/modules/Supervision/inc/geofence.h b/modules/Supervision/inc/geofence.h new file mode 100644 index 000000000..b720a7747 --- /dev/null +++ b/modules/Supervision/inc/geofence.h @@ -0,0 +1,14 @@ +#include +#include + +#include "util.h" + +class Geofence +{ +public: + std::vector polygonPoints; + std::string name = ""; + bool isPermitted = false; + double minHeight = 0; + double maxHeight = 0; +}; diff --git a/server/inc/supervision.h b/modules/Supervision/inc/supervision.h similarity index 100% rename from server/inc/supervision.h rename to modules/Supervision/inc/supervision.h diff --git a/modules/Supervision/src/geofence.cpp b/modules/Supervision/src/geofence.cpp new file mode 100644 index 000000000..e69de29bb diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp new file mode 100644 index 000000000..41f5de5d2 --- /dev/null +++ b/modules/Supervision/src/main.cpp @@ -0,0 +1,335 @@ +#include +#include +#include +#include +#include +#include +#include + +#include "geofence.h" +#include "logging.h" +#include "util.h" + +#define MODULE_NAME "Supervision" +#define MAX_GEOFENCE_NAME_LEN 256 + +/*------------------------------------------------------------ + -- Type definitions. + ------------------------------------------------------------*/ + +/*------------------------------------------------------------ + -- Private functions + ------------------------------------------------------------*/ +static bool isViolatingGeofence(const MonitorDataType MONRdata, std::vector geofences); +static void loadGeofenceFiles(std::vector &geofences); +static Geofence parseGeofenceFile(const std::string geofenceFile); + +static void signalHandler(int signo); + +/*------------------------------------------------------------ + -- Static variables + ------------------------------------------------------------*/ +static bool quit = false; +/*------------------------------------------------------------ + -- Main task + ------------------------------------------------------------*/ +int main() +{ + COMMAND command = COMM_INV; + char mqRecvData[MQ_MSG_SIZE]; + std::vector geofences; + const struct timespec sleepTimePeriod = {0,10000000}; + struct timespec remTime; + + LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); + LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); + + // Set up signal handlers + if (signal(SIGINT, signalHandler) == SIG_ERR) + util_error("Unable to initialize signal handler"); + + // Initialize message bus connection + while(iCommInit() && !quit) + { + nanosleep(&sleepTimePeriod,&remTime); + } + + while(!quit) + { + if (iCommRecv(&command, mqRecvData, sizeof (mqRecvData), nullptr) < 0) + { + util_error("Message bus receive error"); + } + + switch (command) { + case COMM_INIT: + if (!geofences.empty()) + geofences.clear(); + + try { + loadGeofenceFiles(geofences); + } + catch (std::invalid_argument e) { + LogMessage(LOG_LEVEL_ERROR, "Unable to initialize due to file parsing error"); + } + break; + case COMM_MONI: + // Ignore old style MONR data + break; + case COMM_MONR: + MonitorDataType MONRMessage; + UtilPopulateMonitorDataStruct((unsigned char *)mqRecvData, sizeof (mqRecvData), &MONRMessage, 0); + if (isViolatingGeofence(MONRMessage, geofences)) { + iCommSend(COMM_ABORT, nullptr, 0); + } + break; + case COMM_ARMD: + // TODO + break; + case COMM_INV: + // TODO sleep? + break; + case COMM_OBC_STATE: + break; + default: + LogMessage(LOG_LEVEL_INFO,"Received unhandled command %u",command); + } + } + + iCommClose(); + return 0; +} + +void signalHandler(int signo) { + if (signo == SIGINT) { + LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); + quit = true; + } + else { + LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); + } +} + + +/*! +* \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). +* \param *geofences A pointer to geofence struct used for saving data +* \param *nGeof A pointer to count number of geofences loaded. +* +*/ +void loadGeofenceFiles(std::vector &geofences) { + + struct dirent *pDirent; + DIR *pDir; + char *ext; + unsigned int n = 0; + char geofencePathDir[MAX_FILE_PATH]; + UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); + LogMessage(LOG_LEVEL_DEBUG, "Loading geofences"); + + pDir = opendir(geofencePathDir); + if (pDir == nullptr) { + LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); + throw std::invalid_argument("Cannot open geofence directory"); + } + + // Count the nuber of geofence files in the directory + while ((pDirent = readdir(pDir)) != nullptr) { + ext = strrchr(pDirent->d_name, '.'); + if (strcmp(ext, ".geofence") == 0) { + n++; + } + } + closedir(pDir); + + LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", n); + + pDir = opendir(geofencePathDir); + if (pDir == nullptr) { + LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); + throw std::invalid_argument("Cannot open geofence directory"); + } + + while ((pDirent = readdir(pDir)) != nullptr) { + ext = strrchr(pDirent->d_name, '.'); + if (strcmp(ext, ".geofence") != 0 && strcmp(pDirent->d_name, ".") != 0 + && strcmp(pDirent->d_name, "..") != 0) { + LogMessage(LOG_LEVEL_WARNING, "File <%s> is not a valid .geofence file", pDirent->d_name); + } + else if (strcmp(pDirent->d_name, ".") == 0 || strcmp(pDirent->d_name, "..") == 0) { + LogMessage(LOG_LEVEL_DEBUG, "Ignored <%s>", pDirent->d_name); + } + else { + try { + Geofence geofence = parseGeofenceFile(pDirent->d_name); + geofences.push_back(geofence); + } catch (std::invalid_argument e) { + closedir(pDir); + geofences.clear(); + LogMessage(LOG_LEVEL_ERROR, "Error parsing file <%s>", pDirent->d_name); + throw; + } catch (std::ifstream::failure e) { + closedir(pDir); + geofences.clear(); + LogMessage(LOG_LEVEL_ERROR, "Error opening file <%s>", pDirent->d_name); + throw; + } + + LogMessage(LOG_LEVEL_DEBUG, "Loaded geofence with %u vertices", geofences.back().polygonPoints.size()); + } + } + closedir(pDir); + LogMessage(LOG_LEVEL_INFO, "Loaded %d geofences", geofences.size()); + + return; +} + +/*! +* \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). +* \param *geofenceFile A string containing a .geofence filename. +* \param *geofence A pointer to the geofence struct used for saving data. +* \param index An integer used to keep track of which index to store data in. +* \return 0 on success, -1 on failure +*/ +Geofence parseGeofenceFile(const std::string geofenceFile) { + + using namespace std; + Geofence geofence; + char geofenceDirPath[MAX_FILE_PATH]; + ifstream file; + string errMsg; + + string floatPattern("[-+]?[0-9]*\\.?[0-9]+"); + string intPattern("[0-9]+"); + regex headerPattern("GEOFENCE;([a-zA-Z0-9]+);(" + intPattern + +");(permitted|forbidden);(" + floatPattern + ");(" + floatPattern + ");"); + regex linePattern("LINE;(" + floatPattern + ");(" + floatPattern + ");ENDLINE;"); + regex footerPattern("ENDGEOFENCE;"); + smatch match; + + bool isHeaderParsedSuccessfully = false; + unsigned long nPoints = 0; + + UtilGetGeofenceDirectoryPath(geofenceDirPath, sizeof (geofenceDirPath)); + string geofenceFilePath(geofenceDirPath); + geofenceFilePath += geofenceFile; + + file.open(geofenceFilePath); + if (file.is_open()) { + string line; + errMsg = "Encountered unexpected end of file while reading file <" + geofenceFilePath + ">"; + for (unsigned long lineCount = 0; getline(file, line); lineCount++) { + if (lineCount == 0) { + if (regex_search(line, match, headerPattern)) { + geofence.name = match[1]; + nPoints = stoul(match[2]); + geofence.polygonPoints.reserve(nPoints); + geofence.isPermitted = match[3].compare("permitted") == 0; + geofence.minHeight = stod(match[4]); + geofence.minHeight = stod(match[5]); + isHeaderParsedSuccessfully = true; + } + else { + errMsg = "The header of geofence file <" + geofenceFilePath + "> is badly formatted"; + break; + } + } + else if (lineCount > 0 && !isHeaderParsedSuccessfully) { + errMsg = "Attempt to parse geofence file <" + geofenceFilePath + "> before encountering header"; + break; + } + else if (lineCount > nPoints + 1) { + errMsg = "Geofence line count of file <" + geofenceFilePath + + "> does not match specified line count"; + break; + } + else if (lineCount == nPoints + 1) { + if (regex_search(line, match, footerPattern)) { + file.close(); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofenceFilePath.c_str()); + return geofence; + } + else { + errMsg = "Final line of geofence file <" + geofenceFilePath + "> badly formatted"; + break; + } + } + else { + if (regex_search(line, match, linePattern)) { + CartesianPosition pos; + pos.xCoord_m = stod(match[1]); + pos.yCoord_m = stod(match[2]); + pos.zCoord_m = (geofence.maxHeight + geofence.minHeight) / 2.0; + pos.heading_deg = 0; + + LogMessage(LOG_LEVEL_DEBUG, "Point: (%.3f, %.3f, %.3f)", + pos.xCoord_m, + pos.yCoord_m, + pos.zCoord_m); + geofence.polygonPoints.push_back(pos); + } + else { + errMsg = "Line " + to_string(lineCount) + " of geofence file <" + + geofenceFilePath + "> badly formatted"; + break; + } + } + + } + file.close(); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofenceFilePath.c_str()); + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw invalid_argument(errMsg); + } + else { + errMsg = "Unable to open file <" + geofenceFilePath + ">"; + LogMessage(LOG_LEVEL_ERROR,errMsg.c_str()); + throw ifstream::failure(errMsg); + } +} + + +/*! + * \brief SupervisionCheckGeofences Checks all geofences to verify that the point represented by the MONR data lies within all permitted geofences and outside all forbidden geofences + * \param MONRdata MONR struct containing the object coordinate data + * \param geofences Struct array containing all geofences + * \param numberOfGeofences Length of struct array + * \return 1 if MONR coordinate violates a geofence, 0 if not. -1 on error + */ +bool isViolatingGeofence(const MonitorDataType MONRdata, std::vector geofences) { + const CartesianPosition monrPoint = + { + MONRdata.MONR.XPositionI32 / 1000.0, MONRdata.MONR.YPositionI32 / 1000.0, + MONRdata.MONR.ZPositionI32 / 1000.0, 0.0 + }; + char isInPolygon = 0; + int retval = false; + + for (Geofence geofence : geofences) + { + isInPolygon = UtilIsPointInPolygon(monrPoint, geofence.polygonPoints.data(), + static_cast(geofence.polygonPoints.size())); + if (isInPolygon == -1) { + LogMessage(LOG_LEVEL_WARNING, "No points in polygon"); + throw std::invalid_argument("No points in polygon"); + } + + if ((geofence.isPermitted && isInPolygon) + || (!geofence.isPermitted && !isInPolygon)) { + // Inside the polygon if it is permitted, alt. outside the polygon if it is forbidden: all is fine + } + else { + if (geofence.isPermitted) + LogMessage(LOG_LEVEL_WARNING, + "Object with MONR transmitter ID %u is outside a permitted area %s", + MONRdata.MONR.Header.TransmitterIdU8, geofence.name.c_str()); + else + LogMessage(LOG_LEVEL_WARNING, + "Object with MONR transmitter ID %u is inside a forbidden area %s", + MONRdata.MONR.Header.TransmitterIdU8, geofence.name.c_str()); + retval = true; + } + } + + return retval; +} diff --git a/server/src/supervision.c b/modules/Supervision/src/supervision.c similarity index 100% rename from server/src/supervision.c rename to modules/Supervision/src/supervision.c From 868b3953c6eba1f64ce19eff4b33acf4db1eda4e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 24 Oct 2019 16:33:28 +0200 Subject: [PATCH 579/730] Added include guards for geofence.h --- modules/Supervision/inc/geofence.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/modules/Supervision/inc/geofence.h b/modules/Supervision/inc/geofence.h index b720a7747..4e6f5702c 100644 --- a/modules/Supervision/inc/geofence.h +++ b/modules/Supervision/inc/geofence.h @@ -1,3 +1,6 @@ +#ifndef GEOFENCE_H +#define GEOFENCE_H + #include #include @@ -12,3 +15,5 @@ class Geofence double minHeight = 0; double maxHeight = 0; }; + +#endif From 8d158bd74766c7a540ee27afe0651dfd3e7c53ba Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 24 Oct 2019 16:34:37 +0200 Subject: [PATCH 580/730] Include miss --- modules/Supervision/src/geofence.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/Supervision/src/geofence.cpp b/modules/Supervision/src/geofence.cpp index e69de29bb..0e09d3d9c 100644 --- a/modules/Supervision/src/geofence.cpp +++ b/modules/Supervision/src/geofence.cpp @@ -0,0 +1 @@ +#include "geofence.h" From 0119f7dce168369533ad88e35bff748ae4cb46c4 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 24 Oct 2019 16:39:34 +0200 Subject: [PATCH 581/730] Removed old supervisor files from tree --- modules/Supervision/inc/supervision.h | 24 - modules/Supervision/src/supervision.c | 749 -------------------------- 2 files changed, 773 deletions(-) delete mode 100755 modules/Supervision/inc/supervision.h delete mode 100755 modules/Supervision/src/supervision.c diff --git a/modules/Supervision/inc/supervision.h b/modules/Supervision/inc/supervision.h deleted file mode 100755 index 58f883693..000000000 --- a/modules/Supervision/inc/supervision.h +++ /dev/null @@ -1,24 +0,0 @@ -/*------------------------------------------------------------------------------ - -- Copyright : (C) 2016 CHRONOS project - ------------------------------------------------------------------------------ - -- File : supervision.h - -- Author : Karl-Johan Ode - -- Description : CHRONOS - -- Purpose : - -- Reference : - ------------------------------------------------------------------------------*/ - -#ifndef __SUPERVISION_H_INCLUDED__ -#define __SUPERVISION_H_INCLUDED__ - -#include "util.h" -#include "logging.h" - - -/*------------------------------------------------------------ - -- Function declarations. - ------------------------------------------------------------*/ -void supervision_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel); - - -#endif //__SUPERVISION_H_INCLUDED__ diff --git a/modules/Supervision/src/supervision.c b/modules/Supervision/src/supervision.c deleted file mode 100755 index 209fbb5b1..000000000 --- a/modules/Supervision/src/supervision.c +++ /dev/null @@ -1,749 +0,0 @@ -/*------------------------------------------------------------------------------ - -- Copyright : (C) 2019 CHRONOS II project - ------------------------------------------------------------------------------ - -- File : supervision.c - -- Author : - -- Description : CHRONOS II - -- Purpose : - -- Reference : - ------------------------------------------------------------------------------*/ - -/*------------------------------------------------------------ - -- Include files. - ------------------------------------------------------------*/ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "maestroTime.h" -#include "supervision.h" - -#define MAX_GEOFENCE_NAME_LEN 256 - -#define MODULE_NAME "Supervisor" - -#define VERIFY_ARM_TIMEOUT_MS 500 - -/*------------------------------------------------------------ - -- Type definitions. - ------------------------------------------------------------*/ -typedef struct { - U16 numberOfPoints; - I8 isPermitted; - char name[MAX_GEOFENCE_NAME_LEN]; - CartesianPosition *polygonPoints; -} GeofenceType; - -typedef struct { - double time; //!< Time from start of test [s] - CartesianPosition *point; - double longitudinalSpeed; //!< Speed in the direction of the heading [m/s] - double lateralSpeed; //!< Speed in the direction perpendicular to the heading [m/s] - double longitudinalAcceleration; //!< Acceleration in the direction of the heading [m/s²] - double lateralAcceleration; //!< Acceleration in the direction perpendicular to the heading [m/s²] - double curvature; //!< Curvature of the curve [1/m] - uint8_t mode; //!< Value describing if the object is controlled by the drive file -} TrajPointType; - -typedef enum { - READY = 0, - VERIFYING_INIT = 1, - VERIFYING_ARM = 2 -} SupervisorStateType; -static char * const stateNames[] = {"READY", "INIT", "ARM"}; - -typedef struct { - in_addr_t ipAddr; - double length; - double width; - double height; - double mass; - double turnRadius; -} ObjectPropertyType; - - -/*------------------------------------------------------------ - -- Function declarations. - ------------------------------------------------------------*/ - -static SupervisorStateType state = READY; -static SupervisorStateType getState(void); -static int setState(SupervisorStateType newState); - -int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType * geofences, - unsigned int numberOfGeofences); -int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof); -int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence); -void freeGeofences(GeofenceType * geoFence, unsigned int *nGeof); - -static int verifyArm(MonitorDataType MONRdata, ObjectPropertyType objectProperties[], unsigned int nObjects); -static int initializeObjectProperties(ObjectPropertyType* objectProperties[], unsigned int *nObjects); -static void resetVerifiedStatus(unsigned int numberOfObjects); -static int checkIfNearFirstPointOfTrajectory(MonitorDataType MONRdata, ObjectPropertyType objectProperties); - -static void signalHandler(int signo); - -/*------------------------------------------------------------ --- Static variables -------------------------------------------------------------*/ -static volatile int iExit = 0; -static uint8_t* isVerified = NULL; - -/*------------------------------------------------------------ --- The main function. -------------------------------------------------------------*/ -void supervision_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { - - char busReceiveBuffer[MBUS_MAX_DATALEN]; //!< Buffer for receiving from message bus - MonitorDataType MONRMessage; - - unsigned int numberOfGeofences = 0; - GeofenceType *geofenceArray = NULL; - - unsigned int numberOfObjects = 0; - ObjectPropertyType *objectProperties = NULL; - - struct timeval currentTime, verificationTimeout; - const struct timeval armWaitTime = {VERIFY_ARM_TIMEOUT_MS % 1000, (VERIFY_ARM_TIMEOUT_MS * 1000) % 1000000}; - - enum COMMAND command; - - // Create log - LogInit(MODULE_NAME, logLevel); - LogMessage(LOG_LEVEL_INFO, "Supervision running with PID: %i", getpid()); - - // Set up signal handlers - if (signal(SIGINT, signalHandler) == SIG_ERR) - util_error("Unable to initialize signal handler"); - - // Set up message bus connection - if (iCommInit()) - util_error("Unable to connect to message queue bus"); - - while (!iExit) { - bzero(busReceiveBuffer, sizeof (busReceiveBuffer)); - (void)iCommRecv(&command, busReceiveBuffer, sizeof (busReceiveBuffer), NULL); - if (command == COMM_ABORT) { - // TODO: - - } - - if (command == COMM_EXIT) { - iExit = 1; - - freeGeofences(geofenceArray, &numberOfGeofences); - - LogMessage(LOG_LEVEL_INFO, "Supervision exiting..."); - (void)iCommClose(); - } - - switch (command) { - case COMM_INIT: - setState(VERIFYING_INIT); - if (geofenceArray != NULL) - freeGeofences(geofenceArray, &numberOfGeofences); - - if (loadGeofenceFiles(&geofenceArray, &numberOfGeofences) == -1) - util_error("Unable to load geofences"); // TODO: Do something more e.g. stop the INIT process - - if (initializeObjectProperties(&objectProperties, &numberOfObjects) == -1) { - util_error("Unable to initialize object properties"); - } - setState(READY); - break; - case COMM_MONI: - // Ignore old style MONR data - break; - case COMM_MONR: - UtilPopulateMonitorDataStruct(busReceiveBuffer, sizeof (busReceiveBuffer), &MONRMessage, 0); - // TODO: react to output from SupervisionCheckGeofences - SupervisionCheckGeofences(MONRMessage, geofenceArray, numberOfGeofences); - - if (state == VERIFYING_ARM) { - switch (verifyArm(MONRMessage, objectProperties, numberOfObjects)) { - case -1: - LogMessage(LOG_LEVEL_INFO, "ARM should not be allowed - objects not in position"); - // TODO: There was an error - ARM is not ok - break; - case 0: - setState(READY); - break; - case 1: - // Nothing to do except to wait for more MONR - break; - } - } - - break; - case COMM_OBC_STATE: - break; - case COMM_CONNECT: - break; - case COMM_ARMD: - setState(VERIFYING_ARM); - TimeSetToCurrentSystemTime(&verificationTimeout); - timeradd(&verificationTimeout, &armWaitTime, &verificationTimeout); - // TODO: Check one MONR of each object against first point of their traj files - // TODO: - break; - case COMM_LOG: - break; - case COMM_INV: - break; - default: - LogMessage(LOG_LEVEL_WARNING, "Unhandled message bus command: %u", command); - } - - TimeSetToCurrentSystemTime(¤tTime); - if (timercmp(¤tTime,&verificationTimeout,>)) { - LogMessage(LOG_LEVEL_WARNING,"Timed out while verifying %s",stateNames[state]); - } - } -} - - -/*------------------------------------------------------------ --- Private functions -------------------------------------------------------------*/ -void signalHandler(int signo) { - if (signo == SIGINT) { - LogMessage(LOG_LEVEL_WARNING, "Caught keyboard interrupt"); - iExit = 1; - } - else { - LogMessage(LOG_LEVEL_ERROR, "Caught unhandled signal"); - } -} - - -int setState(SupervisorStateType newState) -{ - switch (newState) { - case VERIFYING_INIT: - case VERIFYING_ARM: - if (state == READY) - state = newState; - else { - LogMessage(LOG_LEVEL_ERROR, "Received command %s to verify while still not done verifying %s", - stateNames[newState], stateNames[state]); - // TODO: Do something more - } - break; - case READY: - state = newState; - } -} - -/*! - * \brief SupervisionVerifyArm - * \param MONRdata - * \return 0 if ARM command verified - */ -int verifyArm(MonitorDataType MONRdata, ObjectPropertyType objectProperties[], unsigned int numberOfObjects) { - - int allVerified = 1; - char ipString[INET_ADDRSTRLEN]; - - if (isVerified == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Received MONR before initialized properly"); - return -1; - } - - for (unsigned int i = 0; i < numberOfObjects; ++i) { - if (MONRdata.ClientIP == objectProperties[i].ipAddr) { - if (checkIfNearFirstPointOfTrajectory(MONRdata, objectProperties[i]) == 0) { - isVerified[i] = 1; - } - else { - inet_ntop(AF_INET, &objectProperties[i].ipAddr, ipString, sizeof (ipString)); - LogMessage(LOG_LEVEL_INFO, "Object with IP %s is not near its starting position", ipString); - resetVerifiedStatus(numberOfObjects); - return -1; - } - } - allVerified = allVerified && isVerified[i]; - } - - if (allVerified) { - resetVerifiedStatus(numberOfObjects); - return 0; - } - return 1; -} - -/*! - * \brief checkNearFirstPointOfTrajectory - * \param MONRdata - * \param objectProperties - * \return - */ -int checkIfNearFirstPointOfTrajectory(MonitorDataType MONRdata, ObjectPropertyType objectProperties) { - - // TODO: Implement this in a better way - // Hardcoded values for now - struct dirent *ent; - DIR *dir; - TrajPointType firstTrajPoint; - char ipString[INET_ADDRSTRLEN]; - char trajPathDir[MAX_FILE_PATH]; - inet_ntop(AF_INET, &objectProperties.ipAddr, ipString, sizeof (ipString)); - UtilGetTrajDirectoryPath(trajPathDir, sizeof (trajPathDir)); - LogMessage(LOG_LEVEL_DEBUG, "Opening trajectory directory"); - dir = opendir(trajPathDir); - if (dir == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Cannot open trajectory directory"); - return -1; - } - - while ((ent = readdir(dir)) != NULL) { - if (!strcmp(ent->d_name,".") || !strcmp(ent->d_name,"..")) - continue; - else if (!strcmp(ent->d_name, ipString)) { - // TODO: read corresponding file first row of traj - firstTrajPoint.time = 0.0; - firstTrajPoint.point->xCoord_m = 0.0; - firstTrajPoint.point->yCoord_m = 0.0; - firstTrajPoint.point->zCoord_m = 0.0; - firstTrajPoint.longitudinalSpeed = 0.0; - firstTrajPoint.lateralSpeed = 0.0; - firstTrajPoint.longitudinalAcceleration = 0.0; - firstTrajPoint.lateralAcceleration = 0.0; - firstTrajPoint.curvature = 0.0; - firstTrajPoint.mode = 0; - - } - } - closedir(dir); - -} - -/*! - * \brief resetVerifiedStatus - * \param numberOfObjects - */ -void resetVerifiedStatus(unsigned int numberOfObjects) -{ - for (unsigned int i = 0; i < numberOfObjects; ++i) { - isVerified[i] = 0; - } -} - - -int initializeObjectProperties(ObjectPropertyType* objectProperties[], unsigned int *nObjects) { - - struct dirent *ent; - DIR *dir; - char trajPathDir[MAX_FILE_PATH]; - unsigned int nTrajs = 0; - - UtilGetTrajDirectoryPath(trajPathDir, sizeof (trajPathDir)); - LogMessage(LOG_LEVEL_DEBUG, "Opening trajectory directory"); - dir = opendir(trajPathDir); - if (dir == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Cannot open trajectory directory"); - return -1; - } - - while ((ent = readdir(dir)) != NULL) { - if (!strcmp(ent->d_name,".") || !strcmp(ent->d_name,"..")) - continue; - else - nTrajs++; - } - closedir(dir); - - *nObjects = nTrajs; - free(*objectProperties); - *objectProperties = (ObjectPropertyType*) malloc(nTrajs*sizeof (ObjectPropertyType)); - if (*objectProperties == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for object properties"); - return -1; - } - - // TODO: fill in the IPs - - free(isVerified); - isVerified = malloc(nTrajs * sizeof (uint8_t)); - resetVerifiedStatus(nTrajs); - - LogMessage(LOG_LEVEL_DEBUG, "Found %u trajectory files", nTrajs); - return 0; -} - - -/*! -* \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). -* \param *geofences A pointer to geofence struct used for saving data -* \param *nGeof A pointer to count number of geofences loaded. -* -*/ -int loadGeofenceFiles(GeofenceType * geofences[], unsigned int *nGeof) { - - struct dirent *pDirent; - DIR *pDir; - char *ext; - unsigned int n = 0; - char geofencePathDir[MAX_FILE_PATH]; - - UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); - - LogMessage(LOG_LEVEL_DEBUG, "Loading geofences"); - - pDir = opendir(geofencePathDir); - if (pDir == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); - return -1; - } - - // Count the nuber of geofence files in the directory - while ((pDirent = readdir(pDir)) != NULL) { - ext = strrchr(pDirent->d_name, '.'); - if (strcmp(ext, ".geofence") == 0) { - n++; - } - } - closedir(pDir); - *nGeof = n; - - *geofences = (GeofenceType *) malloc(n * sizeof (GeofenceType)); - - if (*geofences == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for geofences"); - return -1; - } - - LogMessage(LOG_LEVEL_DEBUG, "Found %u geofence files: proceeding to parse", *nGeof); - - pDir = opendir(geofencePathDir); - if (pDir == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Cannot open geofence directory"); - return -1; - } - - n = 0; - while ((pDirent = readdir(pDir)) != NULL) { - ext = strrchr(pDirent->d_name, '.'); - if (strcmp(ext, ".geofence") != 0 && strcmp(pDirent->d_name, ".") != 0 - && strcmp(pDirent->d_name, "..") != 0) { - LogMessage(LOG_LEVEL_WARNING, "File <%s> is not a valid .geofence file", pDirent->d_name); - } - else if (strcmp(pDirent->d_name, ".") == 0 || strcmp(pDirent->d_name, "..") == 0) { - LogMessage(LOG_LEVEL_DEBUG, "Ignored <%s>", pDirent->d_name); - } - else { - if (parseGeofenceFile(pDirent->d_name, (*geofences) + n) == -1) { - closedir(pDir); - LogMessage(LOG_LEVEL_ERROR, "Error parsing file <%s>", pDirent->d_name); - return -1; - } - LogMessage(LOG_LEVEL_DEBUG, "Loaded geofence with %u vertices", (*geofences)[n].numberOfPoints); - n++; - } - } - closedir(pDir); - LogMessage(LOG_LEVEL_INFO, "Loaded %d geofences", *nGeof); - - return 0; -} - - -/*! -* \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). -* \param *geofenceFile A string containing a .geofence filename. -* \param *geofence A pointer to the geofence struct used for saving data. -* \param index An integer used to keep track of which index to store data in. -* \return 0 on success, -1 on failure -*/ -int parseGeofenceFile(char *geofenceFile, GeofenceType * geofence) { - - char geofencePathDir[MAX_FILE_PATH]; - FILE *fp; - char *line = NULL; - size_t len = 0; - ssize_t read; - int tempInt; - int isHeaderParsedSuccessfully = 0; - - UtilGetGeofenceDirectoryPath(geofencePathDir, sizeof (geofencePathDir)); - strcat(geofencePathDir, geofenceFile); - - LogMessage(LOG_LEVEL_DEBUG, "Opening <%s>", geofencePathDir); - fp = fopen(geofencePathDir, "r"); - - if (fp != NULL) { - int lineCount = 0; - - while ((read = getline(&line, &len, fp)) != -1) { - char delim[] = ";"; - char *ptr = strtok(line, delim); - - while (ptr != NULL) { - if (strcmp(ptr, "GEOFENCE") == 0 && strcmp(ptr, "ENDGEOFENCE") != 0 && lineCount != 0) { - // In case there's a second header somewhere in the middle of the file, catch that - LogMessage(LOG_LEVEL_ERROR, "Found misplaced header in file <%s>", geofenceFile); - fclose(fp); - if (isHeaderParsedSuccessfully) - free(geofence->polygonPoints); - return -1; - } - else if (strcmp(ptr, "GEOFENCE") == 0 && strcmp(ptr, "ENDGEOFENCE") != 0) { - /* Parse header */ - - // Geofence name string - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - strcpy(geofence->name, ptr); - - // Geofence number of points - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - tempInt = atoi(ptr); - if (tempInt < 0) { - LogMessage(LOG_LEVEL_ERROR, - "Header of file <%s> contains a negative number of points", geofenceFile); - fclose(fp); - return -1; - } - else if (tempInt > USHRT_MAX) { - LogMessage(LOG_LEVEL_ERROR, "Geofence file <%s> contains too many points", - geofenceFile); - fclose(fp); - return -1; - } - geofence->numberOfPoints = (unsigned short)tempInt; - - // Permitted|forbidden string - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - - if (strcasecmp(ptr, "permitted") == 0) { - geofence->isPermitted = 1; - } - else if (strcasecmp(ptr, "forbidden") == 0) { - geofence->isPermitted = 0; - } - else { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - - // Minimum height - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - LogMessage(LOG_LEVEL_DEBUG, "Ignored minimum height %s in geofence <%s> (unimplemented)", - ptr, geofenceFile); - - // Maximum height - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - LogMessage(LOG_LEVEL_DEBUG, "Ignored maximum height %s in geofence <%s> (unimplemented)", - ptr, geofenceFile); - - // Final delimiter - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse header of file <%s>", geofenceFile); - fclose(fp); - return -1; - } - - // Successfully parsed the header; now we can allocate memory for the rest - geofence->polygonPoints = - (CartesianPosition *) malloc(geofence->numberOfPoints * sizeof (CartesianPosition)); - if (geofence->polygonPoints == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to allocate memory for coordinate array"); - fclose(fp); - return -1; - } - - isHeaderParsedSuccessfully = 1; - } - else if ((strcmp(ptr, "LINE") == 0) && !isHeaderParsedSuccessfully) { - // In case there's a point before the header, catch that - LogMessage(LOG_LEVEL_ERROR, "Encountered geofence point above header in file <%s>", - geofenceFile); - fclose(fp); - return -1; - } - else if (strcmp(ptr, "LINE") == 0) { - /* Parse non-header line */ - - // Check so that there are not more points than previously specified - if (lineCount >= geofence->numberOfPoints) { - LogMessage(LOG_LEVEL_ERROR, - "Geofence file <%s> contains more rows than specified in the header", - geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - - // Parse x coordinate - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse x coordinate in row %d of file <%s>", - lineCount + 2, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - geofence->polygonPoints[lineCount].xCoord_m = atof(ptr); - - // Parse y coordinate - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse y coordinate in row %d of file <%s>", - lineCount + 2, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - geofence->polygonPoints[lineCount].yCoord_m = atof(ptr); - - LogMessage(LOG_LEVEL_DEBUG, "Point: (%.3f, %.3f)", - geofence->polygonPoints[lineCount].xCoord_m, - geofence->polygonPoints[lineCount].yCoord_m); - - // Check so that there is an ENDLINE text - if ((ptr = strtok(NULL, delim)) == NULL) { - LogMessage(LOG_LEVEL_ERROR, "Could not find ENDLINE at row %d of file <%s>", - lineCount + 2, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - - if (strcmp(ptr, "ENDLINE") != 0) { - LogMessage(LOG_LEVEL_ERROR, "Unable to parse row %d of file <%s>", lineCount + 2, - geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - - // Increment the line counter - lineCount++; - } - else if (strcmp(ptr, "ENDGEOFENCE") == 0 && !isHeaderParsedSuccessfully) { - LogMessage(LOG_LEVEL_ERROR, "Found misplaced ENDGEOFENCE in file <%s>", geofenceFile); - fclose(fp); - return -1; - } - else if (strcmp(ptr, "ENDGEOFENCE") == 0) { - if (lineCount == geofence->numberOfPoints) { - /* Successful parse, return */ - fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); - return 0; - } - else { - LogMessage(LOG_LEVEL_ERROR, - "Mismatch between specified number of points (%u) and row count (%d) in file <%s>", - geofence->numberOfPoints, lineCount, geofenceFile); - fclose(fp); - free(geofence->polygonPoints); - return -1; - } - } - ptr = strtok(NULL, delim); - } - } - - fclose(fp); - LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", geofencePathDir); - } - else { - LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", geofencePathDir); - return -1; - } - - // If we reach here, it means we did not find an ENDGEOFENCE before EOF - LogMessage(LOG_LEVEL_ERROR, "Reached end of file <%s> unexpectedly while parsing", geofencePathDir); - if (isHeaderParsedSuccessfully) - free(geofence->polygonPoints); - return -1; -} - -/*! - * \brief SupervisionCheckGeofences Checks all geofences to verify that the point represented by the MONR data lies within all permitted geofences and outside all forbidden geofences - * \param MONRdata MONR struct containing the object coordinate data - * \param geofences Struct array containing all geofences - * \param numberOfGeofences Length of struct array - * \return 1 if MONR coordinate violates a geofence, 0 if not. -1 on error - */ -int SupervisionCheckGeofences(MonitorDataType MONRdata, GeofenceType * geofences, - unsigned int numberOfGeofences) { - const CartesianPosition monrPoint = - { MONRdata.MONR.XPositionI32 / 1000.0, MONRdata.MONR.YPositionI32 / 1000.0, - MONRdata.MONR.ZPositionI32 / 1000.0, 0.0 - }; - char isInPolygon = 0; - int retval = 0; - - for (unsigned int i = 0; i < numberOfGeofences; i++) { - isInPolygon = - UtilIsPointInPolygon(monrPoint, geofences[i].polygonPoints, geofences[i].numberOfPoints); - - if (isInPolygon == -1) { - LogMessage(LOG_LEVEL_WARNING, "No points in polygon"); - return -1; - } - - if ((geofences[i].isPermitted && isInPolygon) - || (!geofences[i].isPermitted && !isInPolygon)) { - // Inside the polygon if it is permitted, alt. outside the polygon if it is forbidden: all is fine - } - else { - if (geofences[i].isPermitted) - LogMessage(LOG_LEVEL_WARNING, - "Object with MONR transmitter ID %u is outside a permitted area %s", - MONRdata.MONR.Header.TransmitterIdU8, geofences[i].name); - else - LogMessage(LOG_LEVEL_WARNING, - "Object with MONR transmitter ID %u is inside a forbidden area %s", - MONRdata.MONR.Header.TransmitterIdU8, geofences[i].name); - - retval = 1; - } - } - - return retval; -} - -/*! - * \brief freeGeofences Frees allocated memory for geofence struct array - * \param geofences Struct array containing geofences - * \param nGeofences Length of struct array - */ -void freeGeofences(GeofenceType * geofences, unsigned int *nGeofences) { - for (unsigned int i = 0; i < *nGeofences; i++) { - free(geofences[i].polygonPoints); - } - free(geofences); - *nGeofences = 0; -} From 554562beb8692dfc9384533c05e1e947abf18c82 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 24 Oct 2019 16:42:01 +0200 Subject: [PATCH 582/730] Updated build script to include supervision --- buildMaestro.sh | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/buildMaestro.sh b/buildMaestro.sh index 3efa35533..318a72045 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -29,6 +29,11 @@ cd $MAESTRODIR/modules/ScenarioControl/build echo "Building ScenarioControl" cmake .. && make || exit 1 +# Build Supervision module +mkdir $MAESTRODIR/modules/Supervision/build +cd $MAESTRODIR/modules/Supervision/build +echo "Building Supervision" +cmake .. && make || exit 1 # Set up running directory in home cd From 2e1f9c80511bd927ccfc58168f3c338bdc12ec48 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 24 Oct 2019 16:45:26 +0200 Subject: [PATCH 583/730] Updated README.md --- modules/Supervision/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/modules/Supervision/README.md b/modules/Supervision/README.md index 412eedc66..c320cbf26 100644 --- a/modules/Supervision/README.md +++ b/modules/Supervision/README.md @@ -1,5 +1,5 @@ -## Dummy module -This module is an example for how to build a Maestro-external module and connect it via message bus. It is also written in C++ so can serve as an example for how to import Maestro C code and connect to message bus using another code language. +## Supervision module +TODO ### Build process 1) Ensure your util repo is up to date @@ -12,7 +12,7 @@ This module is an example for how to build a Maestro-external module and connect ### Run the module 1) Ensure you have built the module 2) Navigate to the build directory -3) Run the module: ```./dummy``` +3) Run the module: ```./Supervision``` 4) Run Maestro -Note: steps 3 and 4 can be replaced with running the runServer.sh script in the top directory of this repository +Note: steps 3 and 4 can be replaced with running the runServer.sh script in the top directory of this repository, ensuring that the module is added to the list of modules to be run From 3b6b07d54200ca11b07e0d6e30a9f68b310e774b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 24 Oct 2019 16:53:25 +0200 Subject: [PATCH 584/730] Fixed old supervisor still being in TEServer code --- server/CMakeLists.txt | 2 -- server/src/main.c | 4 +--- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 4dddaaeb9..9f2741feb 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -96,13 +96,11 @@ add_executable(TEServer src/main.c src/logger.c src/objectcontrol.c - src/supervision.c src/systemcontrol.c src/timecontrol.c src/datadictionary.c inc/logger.h inc/objectcontrol.h - inc/supervision.h inc/systemcontrol.h inc/timecontrol.h inc/datadictionary.h diff --git a/server/src/main.c b/server/src/main.c index db75860c4..e5dd680f3 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -27,7 +27,6 @@ #include "logger.h" #include "objectcontrol.h" #include "systemcontrol.h" -#include "supervision.h" #include "datadictionary.h" #include "timecontrol.h" #include "supervisorcontrol.h" @@ -71,8 +70,7 @@ static struct timeval waitStartTime, waitedTime; //!< Poll timeout timers static const ModuleTask allModules[] = { logger_task, - timecontrol_task, - supervision_task, + timecontrol_task, systemcontrol_task, objectcontrol_task #ifdef CITS_ENABLED From f7e4ce10e319bc197a26e2b18b55d1c97807d330 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 24 Oct 2019 16:55:55 +0200 Subject: [PATCH 585/730] Ran code formatter --- server/src/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/main.c b/server/src/main.c index e5dd680f3..3be4216a5 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -70,7 +70,7 @@ static struct timeval waitStartTime, waitedTime; //!< Poll timeout timers static const ModuleTask allModules[] = { logger_task, - timecontrol_task, + timecontrol_task, systemcontrol_task, objectcontrol_task #ifdef CITS_ENABLED From 93381625dccb78c77dace03d5c4cb635590e666f Mon Sep 17 00:00:00 2001 From: Alfred Date: Fri, 25 Oct 2019 12:49:37 +0200 Subject: [PATCH 586/730] Now able to differantiate MSCP messages --- server/src/systemcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 57fa92b66..3e49f86dd 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -776,7 +776,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { UtilCreateDirContent(SystemControlArgument[0], SystemControlArgument[0]); bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlBuildFileContentInfo(SystemControlArgument[0], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "DownloadFile:", + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SubDownloadFile:", ControlResponseBuffer, 4, &ClientSocket, 0); SystemControlSendFileContent(&ClientSocket, SystemControlArgument[0], STR_SYSTEM_CONTROL_TX_PACKET_SIZE, ControlResponseBuffer, From 60db925622b5f9dd56f8c4feed765fe6c411b619 Mon Sep 17 00:00:00 2001 From: Alfred Date: Fri, 25 Oct 2019 13:29:06 +0200 Subject: [PATCH 587/730] Jenkins --- server/src/systemcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 3e49f86dd..1b9f1c81b 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -776,7 +776,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { UtilCreateDirContent(SystemControlArgument[0], SystemControlArgument[0]); bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); SystemControlBuildFileContentInfo(SystemControlArgument[0], ControlResponseBuffer, 0); - SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SubDownloadFile:", + SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_OK, "SubDownloadFile:", ControlResponseBuffer, 4, &ClientSocket, 0); SystemControlSendFileContent(&ClientSocket, SystemControlArgument[0], STR_SYSTEM_CONTROL_TX_PACKET_SIZE, ControlResponseBuffer, From 5d3546d3073e9e55c2580ecc14ea6a28329734d4 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Sun, 27 Oct 2019 23:40:44 +0100 Subject: [PATCH 588/730] MONR and HEAB according to ISO-spec. --- server/CMakeLists.txt | 8 ++++---- server/inc/util.h | 14 +++++++------- server/src/objectcontrol.c | 26 +++++++++++++++++--------- server/src/util.c | 4 +++- 4 files changed, 31 insertions(+), 21 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 4dddaaeb9..4a768ae30 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -8,9 +8,9 @@ SET(CMAKE_CXX_STANDARD 11) SET(CMAKE_CXX_STANDARD_REQUIRED ON) # Standard compiler flags -SET(GCC_COMPILE_FLAGS_WARNINGS "-Wall") # Use -Wall to make all warnings appear, and -Werror to make all of them into errors. To select individual warnings use e.g. -Werror=pointer-sign -SET(GCC_COMPILE_FLAGS_COVERAGE "-fprofile-arcs -ftest-coverage") -SET(GCC_COMPILE_FLAGS_OPTIMISATION "-O0") # Use -O2 for final build +#SET(GCC_COMPILE_FLAGS_WARNINGS "-Wall") # Use -Wall to make all warnings appear, and -Werror to make all of them into errors. To select individual warnings use e.g. -Werror=pointer-sign +#SET(GCC_COMPILE_FLAGS_COVERAGE "-fprofile-arcs -ftest-coverage") +#SET(GCC_COMPILE_FLAGS_OPTIMISATION "-O0") # Use -O2 for final build # Set which compiler flags are used for the build SET(GCC_COMPILE_FLAGS_ALL "${GCC_COMPILE_FLAGS_WARNINGS}") @@ -109,7 +109,7 @@ add_executable(TEServer ) # add compiler flags for all targets -set_target_properties(TEServer PROPERTIES COMPILE_FLAGS ${GCC_COMPILE_FLAGS_ALL}) +#set_target_properties(TEServer PROPERTIES COMPILE_FLAGS ${GCC_COMPILE_FLAGS_ALL}) # add the install targets install (TARGETS TEServer DESTINATION bin) diff --git a/server/inc/util.h b/server/inc/util.h index 19f8b5333..93869095f 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -74,7 +74,7 @@ extern "C"{ #define MAX_ADAPTIVE_SYNC_POINTS 512 #define USE_LOCAL_USER_CONTROL 0 -#define LOCAL_USER_CONTROL_IP "10.168.54.90" +#define LOCAL_USER_CONTROL_IP "192.168.0.22" #define USE_TEST_HOST 0 #define TESTHOST_IP LOCAL_USER_CONTROL_IP #define TESTSERVER_IP LOCAL_USER_CONTROL_IP @@ -136,7 +136,7 @@ extern "C"{ #define VALUE_ID_GPS_SECOND_OF_WEEK 0x2 #define VALUE_ID_GPS_WEEK 0x3 #define VALUE_ID_DATE_ISO8601 0x4 -#define VALUE_ID_MONR_STRUCT 0x8 +#define VALUE_ID_MONR_STRUCT 0x80 #define VALUE_ID_X_POSITION 0x10 #define VALUE_ID_Y_POSITION 0x11 #define VALUE_ID_Z_POSITION 0x12 @@ -156,7 +156,7 @@ extern "C"{ #define VALUE_ID_TRAJECTORY_ID 0x101 #define VALUE_ID_TRAJECTORY_NAME 0x102 #define VALUE_ID_TRAJECTORY_VERSION 0x103 - +#define VALUE_ID_HEAB_STRUCT 0x90 #define VALUE_ID_INSUP_MODE 0x200 #define C8 uint8_t @@ -366,8 +366,8 @@ typedef struct typedef struct { HeaderType Header; - //U16 HeabStructValueIdU16; - //U16 HeabStructContentLengthU16; + U16 HeabStructValueIdU16; + U16 HeabStructContentLengthU16; U32 GPSQmsOfWeekU32; U8 CCStatusU8; } HEABType; //16 bytes @@ -375,8 +375,8 @@ typedef struct typedef struct { HeaderType Header; - //U16 MonrStructValueIdU16; - //U16 MonrStructContentLengthU16; + U16 MonrStructValueIdU16; + U16 MonrStructContentLengthU16; U32 GPSQmsOfWeekU32; I32 XPositionI32; I32 YPositionI32; diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index a495b8437..ac8a89596 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -489,8 +489,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { { // Append IP to buffer memcpy(&buffer[receivedMONRData], &safety_object_addr[iIndex].sin_addr.s_addr, sizeof (in_addr_t)); - // Send MONR message as bytes + if (iCommSend(COMM_MONR, buffer, (size_t) (receivedMONRData) + sizeof (in_addr_t)) < 0) { LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending MONR command - entering error state"); @@ -654,7 +654,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } } OP[iIndex].Speed = atof(Speed); - } else if(receivedMONRData > 0) LogMessage(LOG_LEVEL_INFO, "MONR = %d, to short (should be %d) from %s.", object_address_name[iIndex], sizeof(MONRType)); + } else if(receivedMONRData > 0) LogMessage(LOG_LEVEL_INFO, "MONR length error (should be %d but is %ld) from %s.", sizeof(MONRType), object_address_name[iIndex]); } } @@ -678,7 +678,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { /*Send OSTM message */ UtilSendTCPData("[Object Control test]", MessageBuffer, MessageLength, - &socket_fds[iIndex], 1); + &socket_fds[iIndex], 0); } ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY @@ -1277,10 +1277,12 @@ I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug) // Decode content header memcpy(&valueID, p, sizeof (valueID)); if (valueID == VALUE_ID_MONR_STRUCT) { - p += sizeof (valueID); + memcpy(&MONRData->MonrStructValueIdU16, p, sizeof (MONRData->MonrStructValueIdU16)); + p += sizeof (MONRData->MonrStructValueIdU16); - memcpy(&contentLength, p, sizeof (contentLength)); - p += sizeof (contentLength); + //memcpy(&contentLength, p, sizeof (contentLength)); + memcpy(&MONRData->MonrStructContentLengthU16, p, sizeof (MONRData->MonrStructContentLengthU16)); + p += sizeof (MONRData->MonrStructContentLengthU16); // TODO: check on content length } @@ -1336,12 +1338,18 @@ I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug) if (debug == 1) { LogPrint("MONR:"); - LogPrint("SyncWord = %d", MONRData->Header.SyncWordU16); + LogPrint("SyncWord = %x", MONRData->Header.SyncWordU16); LogPrint("TransmitterId = %d", MONRData->Header.TransmitterIdU8); LogPrint("PackageCounter = %d", MONRData->Header.MessageCounterU8); LogPrint("AckReq = %d", MONRData->Header.AckReqProtVerU8); + LogPrint("MessageId = %d", MONRData->Header.MessageIdU16); LogPrint("MessageLength = %d", MONRData->Header.MessageLengthU32); + LogPrint("ValueId = %d", MONRData->MonrStructValueIdU16); + LogPrint("ContentLength = %d", MONRData->MonrStructContentLengthU16); LogPrint("GPSSOW = %u", MONRData->GPSQmsOfWeekU32); + LogPrint("XPosition = %u", MONRData->XPositionI32); + LogPrint("YPosition = %u", MONRData->YPositionI32); + LogPrint("ZPosition = %u", MONRData->ZPositionI32); } return 0; @@ -1746,8 +1754,8 @@ I32 ObjectControlBuildHEABMessage(C8 * MessageBuffer, HEABType * HEABData, TimeT HEABData->Header.AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; HEABData->Header.MessageIdU16 = COMMAND_HEAB_CODE; HEABData->Header.MessageLengthU32 = sizeof (HEABType) - sizeof (HeaderType); - //HEABData->HeabStructValueIdU16 = 0; - //HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; + HEABData->HeabStructValueIdU16 = VALUE_ID_HEAB_STRUCT; + HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; HEABData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; diff --git a/server/src/util.c b/server/src/util.c index e57756079..46c12e56e 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3419,7 +3419,7 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT U16 contentLength = 0; in_addr_t IPData = 0; const size_t monrPacketSize = - sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC); + sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC) - 4; // 4 is the size of ValueId and ContentLength if (rawMONRsize < sizeof (MonitorDataType)) { LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data, %d < %d.", rawMONRsize, sizeof (MonitorDataType)); @@ -3454,6 +3454,7 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT memcpy(&contentLength, rdPtr, sizeof (contentLength)); rdPtr += sizeof (contentLength); + if (contentLength < monrPacketSize) { LogMessage(LOG_LEVEL_ERROR, "Content length %u too small to hold necessary MONR data (expected %u)", contentLength, @@ -3466,6 +3467,7 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT contentLength, monrPacketSize); return -1; } + } else if (debug) { LogPrint("Received MONR message without content header: corrupt data may result"); From 8d1078be1e46fe4bb0adc40c0489ac5af7848f6c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 28 Oct 2019 14:12:51 +0100 Subject: [PATCH 589/730] WIP implementation of ARM verifyer and INIT verifyer --- modules/Supervision/CMakeLists.txt | 7 +- modules/Supervision/inc/regexpatterns.h | 13 ++ modules/Supervision/inc/supervisionstate.h | 24 +++ modules/Supervision/inc/trajectory.h | 175 +++++++++++++++++++ modules/Supervision/src/main.cpp | 143 ++++++++++++++- modules/Supervision/src/supervisionstate.cpp | 43 +++++ modules/Supervision/src/trajectory.cpp | 132 ++++++++++++++ server/inc/util.h | 5 +- server/src/util.c | 24 ++- 9 files changed, 555 insertions(+), 11 deletions(-) create mode 100644 modules/Supervision/inc/regexpatterns.h create mode 100644 modules/Supervision/inc/supervisionstate.h create mode 100644 modules/Supervision/inc/trajectory.h create mode 100644 modules/Supervision/src/supervisionstate.cpp create mode 100644 modules/Supervision/src/trajectory.cpp diff --git a/modules/Supervision/CMakeLists.txt b/modules/Supervision/CMakeLists.txt index cdb25754e..8ae567826 100644 --- a/modules/Supervision/CMakeLists.txt +++ b/modules/Supervision/CMakeLists.txt @@ -41,7 +41,12 @@ add_library(util add_executable(Supervision src/main.cpp src/geofence.cpp - inc/geofence.h) + inc/geofence.h + src/trajectory.cpp + inc/trajectory.h + inc/regexpatterns.h + src/supervisionstate.cpp + inc/supervisionstate.h) install(TARGETS Supervision DESTINATION bin) diff --git a/modules/Supervision/inc/regexpatterns.h b/modules/Supervision/inc/regexpatterns.h new file mode 100644 index 000000000..04521d4e8 --- /dev/null +++ b/modules/Supervision/inc/regexpatterns.h @@ -0,0 +1,13 @@ +#ifndef REGEXPATTERNS_H +#define REGEXPATTERNS_H +#include + +namespace RegexPatterns { +const std::string intPattern = "[0-9]+"; +const std::string floatPattern = "[-+]?[0-9]*\\.?[0-9]+"; +const std::string namePattern = "[a-zA-Z0-9]+"; +const std::string versionPattern = "v?(" + intPattern + ")\\.?(" + intPattern + ")?\\.?(" + intPattern + ")?"; +} + + +#endif diff --git a/modules/Supervision/inc/supervisionstate.h b/modules/Supervision/inc/supervisionstate.h new file mode 100644 index 000000000..18aa6ab78 --- /dev/null +++ b/modules/Supervision/inc/supervisionstate.h @@ -0,0 +1,24 @@ +#ifndef SUPERVISIONSTATE_H +#define SUPERVISIONSTATE_H + +#include +#include + +class SupervisionState { +public: + typedef enum { + READY, + VERIFYING_INIT, + VERIFYING_ARM + } State; + void set(State newState); + State get() const { return this->currentState; } + static std::string toString(State state); + + SupervisionState(); +private: + State currentState = READY; + std::set> transitions; +}; + +#endif diff --git a/modules/Supervision/inc/trajectory.h b/modules/Supervision/inc/trajectory.h new file mode 100644 index 000000000..047b7c9d8 --- /dev/null +++ b/modules/Supervision/inc/trajectory.h @@ -0,0 +1,175 @@ +#ifndef TRAJECTORY_H +#define TRAJECTORY_H + +#include +#include +#include +#include +#include + +#include "util.h" + +class Trajectory { +public: + class TrajectoryPoint { + public: + typedef enum { + CONTROLLED_BY_DRIVE_FILE, + CONTROLLED_BY_VEHICLE + } ModeType; + + TrajectoryPoint() = default; + + ~TrajectoryPoint() { + delete zCoord; + delete longitudinalVelocity; + delete lateralVelocity; + delete longitudinalAcceleration; + delete lateralAcceleration; + zCoord = nullptr; + longitudinalVelocity = nullptr; + lateralVelocity = nullptr; + longitudinalAcceleration = nullptr; + lateralAcceleration = nullptr; + } + + TrajectoryPoint(const TrajectoryPoint& other) { + this->setTime(other.getTime()); + this->setXCoord(other.getXCoord()); + this->setYCoord(other.getYCoord()); + try { + this->setZCoord(other.getZCoord()); + } catch (std::out_of_range) { + this->zCoord = nullptr; + } + this->setHeading(other.getHeading()); + try { + this->setLongitudinalVelocity(other.getLongitudinalVelocity()); + } catch (std::out_of_range) { + this->longitudinalVelocity = nullptr; + } + try { + this->setLateralVelocity(other.getLateralVelocity()); + } catch (std::out_of_range) { + this->lateralVelocity = nullptr; + } + try { + this->setLongitudinalAcceleration(other.getLongitudinalAcceleration()); + } catch (std::out_of_range) { + this->longitudinalAcceleration = nullptr; + } + try { + this->setLateralAcceleration(other.getLateralAcceleration()); + } catch (std::out_of_range) { + this->lateralAcceleration = nullptr; + } + this->setCurvature(other.getCurvature()); + this->setMode(other.getMode()); + } + + + void setTime(double value) { this->time = value; } + void setXCoord(double value) { this->xCoord = value; } + void setYCoord(double value) { this->yCoord = value; } + void setZCoord(double value) { + if (this->zCoord == nullptr) + this->zCoord = new double(value); + else + *this->zCoord = value; + } + void setHeading(double value) {this->heading = value; } + void setLongitudinalVelocity(double value) { + if (this->longitudinalVelocity == nullptr) + this->longitudinalVelocity = new double(value); + else + *this->longitudinalVelocity = value; + } + void setLateralVelocity(double value) { + if (this->lateralVelocity == nullptr) + this->lateralVelocity = new double(value); + else + *this->lateralVelocity = value; + } + void setLongitudinalAcceleration(double value) { + if (this->longitudinalAcceleration == nullptr) + this->longitudinalAcceleration = new double(value); + else + *this->longitudinalAcceleration = value; + } + void setLateralAcceleration(double value) { + if (this->lateralAcceleration == nullptr) + this->lateralAcceleration = new double(value); + else + *this->lateralAcceleration = value; + } + void setCurvature(double value) { this->curvature = value; } + void setMode(ModeType value) { this->mode = value; } + + double getTime() const { return this->time; } + double getXCoord() const { return this->xCoord; } + double getYCoord() const { return this->yCoord; } + double getZCoord() const { + if (this->zCoord == nullptr) + throw std::out_of_range("Uninitialized member z"); + else + return *this->zCoord; + } + double getHeading() const { return this->heading; } + CartesianPosition getCartesianPosition(); + double getLongitudinalVelocity() const { + if (this->longitudinalVelocity == nullptr) + throw std::out_of_range("Uninitialized member longitudinal velocity"); + else + return *this->longitudinalVelocity; + } + double getLateralVelocity() const { + if (this->lateralVelocity == nullptr) + throw std::out_of_range("Uninitialized member lateral velocity"); + else + return *this->lateralVelocity; + } + double getLongitudinalAcceleration() const { + if (this->longitudinalAcceleration == nullptr) + throw std::out_of_range("Uninitialized member longitudinal acceleration"); + else + return *this->longitudinalAcceleration; + } + double getLateralAcceleration() const { + if (this->lateralAcceleration == nullptr) + throw std::out_of_range("Uninitialized member lateral acceleration"); + else + return *this->lateralAcceleration; + } + double getCurvature() const { return this->yCoord; } + ModeType getMode() const { return this->mode; } + + private: + double time = 0; + double xCoord = 0; + double yCoord = 0; + double *zCoord = nullptr; + double heading = 0; + double *longitudinalVelocity = nullptr; + double *lateralVelocity = nullptr; + double *longitudinalAcceleration = nullptr; + double *lateralAcceleration = nullptr; + double curvature = 0; + ModeType mode = CONTROLLED_BY_VEHICLE; + }; + + Trajectory() = default; + ~Trajectory() { points.clear(); } + Trajectory(const Trajectory& other); + std::vector points; + std::string name = ""; + int version = 0; + int id = 0; + in_addr_t ip = 0; + + void initializeFromFile(const std::string fileName); +private: + static const std::regex fileHeaderPattern; + static const std::regex fileLinePattern; + static const std::regex fileFooterPattern; +}; +#endif diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 41f5de5d2..3a7d3868a 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -6,7 +6,9 @@ #include #include +#include "supervisionstate.h" #include "geofence.h" +#include "trajectory.h" #include "logging.h" #include "util.h" @@ -16,13 +18,20 @@ /*------------------------------------------------------------ -- Type definitions. ------------------------------------------------------------*/ - +typedef enum { + ALL_OBJECTS_NEAR_START, //!< The queried object is near its starting position and all objects have been checked + SINGLE_OBJECT_NOT_NEAR_START, //!< The queried object is not near its starting position + SINGLE_OBJECT_NEAR_START, //!< The queried object is near its starting position but all objects have not yet been checked + OBJECT_HAS_NO_TRAJECTORY //!< The queried object has no trajectory +} PositionStatus; /*------------------------------------------------------------ -- Private functions ------------------------------------------------------------*/ -static bool isViolatingGeofence(const MonitorDataType MONRdata, std::vector geofences); +static bool isViolatingGeofence(const MonitorDataType &MONRdata, std::vector geofences); static void loadGeofenceFiles(std::vector &geofences); +static void loadTrajectoryFiles(std::vector &trajectories); static Geofence parseGeofenceFile(const std::string geofenceFile); +static PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRData, std::vector> armVerified); static void signalHandler(int signo); @@ -30,16 +39,20 @@ static void signalHandler(int signo); -- Static variables ------------------------------------------------------------*/ static bool quit = false; + /*------------------------------------------------------------ -- Main task ------------------------------------------------------------*/ int main() { COMMAND command = COMM_INV; - char mqRecvData[MQ_MSG_SIZE]; + char mqRecvData[MQ_MSG_SIZE], mqSendData[MQ_MSG_SIZE]; std::vector geofences; + std::vector trajectories; + std::vector> armVerified; const struct timespec sleepTimePeriod = {0,10000000}; struct timespec remTime; + SupervisionState state; LogInit(MODULE_NAME,LOG_LEVEL_DEBUG); LogMessage(LOG_LEVEL_INFO, "Task running with PID: %u",getpid()); @@ -63,15 +76,25 @@ int main() switch (command) { case COMM_INIT: + state.set(SupervisionState::VERIFYING_INIT); if (!geofences.empty()) geofences.clear(); - + if (!trajectories.empty()) { + trajectories.clear(); + armVerified.clear(); + } try { loadGeofenceFiles(geofences); + loadTrajectoryFiles(trajectories); + for (Trajectory &trajectory : trajectories) { + armVerified.push_back({trajectory, false}); + } } catch (std::invalid_argument e) { LogMessage(LOG_LEVEL_ERROR, "Unable to initialize due to file parsing error"); + iCommSend(COMM_DISCONNECT, nullptr, 0); } + state.set(SupervisionState::READY); break; case COMM_MONI: // Ignore old style MONR data @@ -82,9 +105,31 @@ int main() if (isViolatingGeofence(MONRMessage, geofences)) { iCommSend(COMM_ABORT, nullptr, 0); } + if (state.get() == SupervisionState::VERIFYING_ARM) { + switch (updateNearStartingPositionStatus(MONRMessage, armVerified)) { + case SINGLE_OBJECT_NOT_NEAR_START: + // Object not near start: disarm + bzero(mqSendData, sizeof (mqSendData)); + // TODO: + mqSendData[0] = OSTM_OPT_SET_DISARMED_STATE; + iCommSend(COMM_ARMD,) // TODO: send ARMD with data + state.set(SupervisionState::READY); + break; + case ALL_OBJECTS_NEAR_START: + LogMessage(LOG_LEVEL_INFO, "Arm approved"); + state.set(SupervisionState::READY); + break; + case SINGLE_OBJECT_NEAR_START: + // Need to wait for all objects to report position + break; + case OBJECT_HAS_NO_TRAJECTORY: + // Object has no trajectory, no need to check it + break; + } + } break; case COMM_ARMD: - // TODO + state.set(SupervisionState::VERIFYING_ARM); break; case COMM_INV: // TODO sleep? @@ -111,6 +156,69 @@ void signalHandler(int signo) { } +/*! +* \brief Open a directory and look for trajectory files which are then parsed. +* \param Trajectories A vector of trajectories to be filled +*/ +void loadTrajectoryFiles(std::vector &trajectories) { + + struct dirent *ent; + DIR *dir; + unsigned int n = 0; + char trajectoryPathDir[MAX_FILE_PATH]; + UtilGetTrajDirectoryPath(trajectoryPathDir, sizeof (trajectoryPathDir)); + LogMessage(LOG_LEVEL_DEBUG, "Loading trajectories"); + + dir = opendir(trajectoryPathDir); + if (dir == nullptr) { + LogMessage(LOG_LEVEL_ERROR, "Cannot open trajectory directory"); + throw std::invalid_argument("Cannot open trajectory directory"); + } + + // Count the number of trajectory files in the directory + while ((ent = readdir(dir)) != nullptr) { + if (!strcmp(ent->d_name,".") && !strcmp(ent->d_name,"..")) { + n++; + } + } + closedir(dir); + + LogMessage(LOG_LEVEL_DEBUG, "Found %u trajectory files: proceeding to parse", n); + + dir = opendir(trajectoryPathDir); + if (dir == nullptr) { + LogMessage(LOG_LEVEL_ERROR, "Cannot open trajectory directory"); + throw std::invalid_argument("Cannot open trajectory directory"); + } + + while ((ent = readdir(dir)) != nullptr) { + if (strcmp(ent->d_name, ".") == 0 || strcmp(ent->d_name, "..") == 0) { + LogMessage(LOG_LEVEL_DEBUG, "Ignored <%s>", ent->d_name); + } + else { + try { + Trajectory trajectory; + trajectory.initializeFromFile(ent->d_name); + trajectories.push_back(trajectory); + LogMessage(LOG_LEVEL_DEBUG, "Loaded trajectory with %u points", trajectories.back().points.size()); + } catch (std::invalid_argument e) { + closedir(dir); + trajectories.clear(); + LogMessage(LOG_LEVEL_ERROR, "Error parsing file <%s>", ent->d_name); + throw; + } catch (std::ifstream::failure e) { + closedir(dir); + trajectories.clear(); + LogMessage(LOG_LEVEL_ERROR, "Error opening file <%s>", ent->d_name); + throw; + } + } + } + closedir(dir); + LogMessage(LOG_LEVEL_INFO, "Loaded %d trajectories", trajectories.size()); + return; +} + /*! * \brief Open a directory and look for .geofence files which are then passed to parseGeofenceFile(). * \param *geofences A pointer to geofence struct used for saving data @@ -296,7 +404,7 @@ Geofence parseGeofenceFile(const std::string geofenceFile) { * \param numberOfGeofences Length of struct array * \return 1 if MONR coordinate violates a geofence, 0 if not. -1 on error */ -bool isViolatingGeofence(const MonitorDataType MONRdata, std::vector geofences) { +bool isViolatingGeofence(const MonitorDataType &MONRdata, std::vector geofences) { const CartesianPosition monrPoint = { MONRdata.MONR.XPositionI32 / 1000.0, MONRdata.MONR.YPositionI32 / 1000.0, @@ -333,3 +441,26 @@ bool isViolatingGeofence(const MonitorDataType MONRdata, std::vector g return retval; } + +PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, std::vector> armVerified) { + for (std::pair element : armVerified) { + if (element.first.ip == MONRdata.ClientIP) { + CartesianPosition trajectoryPoint = element.first.points.front().getCartesianPosition(); + CartesianPosition objectPosition = MONRToCartesianPosition(MONRdata); + if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, 1.0)) { + // Object was near starting position, now check if all objects have passed + if (std::any_of(armVerified.begin(), armVerified.end(), + [](const std::pair &pair) { return pair.second == false; })) { + return SINGLE_OBJECT_NEAR_START; + } + else { + return ALL_OBJECTS_NEAR_START; + } + } + else { + return SINGLE_OBJECT_NOT_NEAR_START; + } + } + } + return OBJECT_HAS_NO_TRAJECTORY; +} diff --git a/modules/Supervision/src/supervisionstate.cpp b/modules/Supervision/src/supervisionstate.cpp new file mode 100644 index 000000000..e8703703f --- /dev/null +++ b/modules/Supervision/src/supervisionstate.cpp @@ -0,0 +1,43 @@ +#include "supervisionstate.h" + +SupervisionState::SupervisionState() { + // Loopback transitions + this->transitions.insert( {SupervisionState::READY, SupervisionState::READY} ); + this->transitions.insert( {SupervisionState::VERIFYING_ARM, SupervisionState::VERIFYING_ARM} ); + this->transitions.insert( {SupervisionState::VERIFYING_INIT, SupervisionState::VERIFYING_INIT} ); + + // Transitions to ready + this->transitions.insert( {SupervisionState::VERIFYING_ARM, SupervisionState::READY} ); + this->transitions.insert( {SupervisionState::VERIFYING_INIT, SupervisionState::READY} ); + + // Transitions to verifying init + this->transitions.insert( {SupervisionState::READY, SupervisionState::VERIFYING_INIT} ); + + // Transitions to verifying arm + this->transitions.insert( {SupervisionState::READY, SupervisionState::VERIFYING_ARM} ); +} + +void SupervisionState::set(SupervisionState::State newState) { + for (const std::pair &transition : transitions) + { + if (transition.first == currentState && transition.second == newState) { + currentState = newState; + return; + } + } + throw std::invalid_argument("State transition from " + toString(currentState) + " to " + + toString(newState) + " is not allowed"); +} + +std::string SupervisionState::toString(State state) { + switch (state) { + case READY: + return "READY"; + case VERIFYING_INIT: + return "VERIFYING INIT"; + case VERIFYING_ARM: + return "VERIFYING ARM"; + default: + return "UNKNOWN"; + } +} diff --git a/modules/Supervision/src/trajectory.cpp b/modules/Supervision/src/trajectory.cpp new file mode 100644 index 000000000..39a870031 --- /dev/null +++ b/modules/Supervision/src/trajectory.cpp @@ -0,0 +1,132 @@ +#include + +#include "regexpatterns.h" +#include "logging.h" +#include "trajectory.h" + +const std::regex Trajectory::fileHeaderPattern("TRAJECTORY;(" + RegexPatterns::intPattern + ");(" + + RegexPatterns::namePattern + ");" + RegexPatterns::versionPattern + ";(" + + RegexPatterns::intPattern + ");"); +const std::regex Trajectory::fileLinePattern("LINE;(" + RegexPatterns::floatPattern + ");(" + + RegexPatterns::floatPattern + ");(" + RegexPatterns::floatPattern + ");(" + + RegexPatterns::floatPattern + ")?;(" + RegexPatterns::floatPattern + ");(" + + RegexPatterns::floatPattern + ")?;(" + RegexPatterns::floatPattern + ")?;(" + + RegexPatterns::floatPattern + ")?;(" + RegexPatterns::floatPattern + ")?;(" + + RegexPatterns::floatPattern + ");(" + RegexPatterns::intPattern + ");ENDLINE;"); +const std::regex Trajectory::fileFooterPattern("ENDTRAJECTORY;"); + +Trajectory::Trajectory(const Trajectory& other) { + this->id = other.id; + this->name = other.name; + this->version = other.version; + this->points = std::vector(other.points); +} + +void Trajectory::initializeFromFile(const std::string fileName) { + + using namespace std; + char trajDirPath[PATH_MAX]; + string errMsg; + smatch match; + ifstream file; + bool isHeaderParsedSuccessfully = false; + unsigned long nPoints = 0; + const string ipAddr(fileName); + + UtilGetTrajDirectoryPath(trajDirPath, sizeof (trajDirPath)); + string trajFilePath(trajDirPath); + trajFilePath += fileName; + + file.open(trajFilePath); + if (file.is_open()) { + string line; + errMsg = "Encountered unexpected end of file while reading file <" + trajFilePath + ">"; + for (unsigned long lineCount = 0; getline(file, line); lineCount++) { + if (lineCount == 0) { + if (regex_search(line, match, this->fileHeaderPattern)) { + this->id = stoi(match[1]); + this->name = match[2]; + this->version = 0; + nPoints = stoul(match[6]); + this->points.reserve(nPoints); + isHeaderParsedSuccessfully = true; + } + else { + errMsg = "The header of trajectory file <" + trajFilePath + "> is badly formatted"; + break; + } + } + else if (lineCount > 0 && !isHeaderParsedSuccessfully) { + errMsg = "Attempt to parse trajectory file <" + trajFilePath + "> before encountering header"; + break; + } + else if (lineCount > nPoints + 1) { + errMsg = "Trajectory line count of file <" + trajFilePath + + "> does not match specified line count"; + break; + } + else if (lineCount == nPoints + 1) { + if (regex_search(line, match, fileFooterPattern)) { + file.close(); + inet_pton(AF_INET, ipAddr.c_str(), &this->ip); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", trajFilePath.c_str()); + return; + } + else { + errMsg = "Final line of geofence file <" + trajFilePath + "> badly formatted"; + break; + } + } + else { + if (regex_search(line, match, fileLinePattern)) { + TrajectoryPoint point; + point.setTime(stod(match[1])); + point.setXCoord(stod(match[2])); + point.setYCoord(stod(match[3])); + if (match[4].matched) + point.setZCoord(stod(match[4])); + point.setHeading(stod(match[5])); + if (match[6].matched) + point.setLongitudinalVelocity(stod(match[6])); + if (match[7].matched) + point.setLateralVelocity(stod(match[7])); + if (match[8].matched) + point.setLongitudinalAcceleration(stod(match[8])); + if (match[9].matched) + point.setLateralAcceleration(stod(match[9])); + point.setCurvature(stod(match[10])); + point.setMode(static_cast(stoi(match[11]))); + points.push_back(point); + } + else { + errMsg = "Line " + to_string(lineCount) + " of trajectory file <" + + trajFilePath + "> badly formatted"; + break; + } + } + } + file.close(); + LogMessage(LOG_LEVEL_DEBUG, "Closed <%s>", trajFilePath.c_str()); + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw invalid_argument(errMsg); + } + else { + errMsg = "Unable to open file <" + trajFilePath + ">"; + LogMessage(LOG_LEVEL_ERROR, errMsg.c_str()); + throw ifstream::failure(errMsg); + } +} + + +CartesianPosition Trajectory::TrajectoryPoint::getCartesianPosition() { + CartesianPosition retval; + retval.xCoord_m = this->getXCoord(); + retval.yCoord_m = this->getYCoord(); + try { + retval.zCoord_m = this->getZCoord(); + } catch (std::out_of_range e) { + LogMessage(LOG_LEVEL_WARNING, "Casting trajectory point to cartesian position: optional z value assumed to be 0"); + retval.zCoord_m = 0.0; + } + return retval; +} diff --git a/server/inc/util.h b/server/inc/util.h index 454844290..652f7b066 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -20,7 +20,7 @@ extern "C"{ ------------------------------------------------------------*/ #include #include -#include +#include #include #include #include @@ -829,7 +829,8 @@ void UtilGetTrajDirectoryPath(char* path, size_t pathLen); void UtilGetGeofenceDirectoryPath(char* path, size_t pathLen); // -char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); +CartesianPosition MONRToCartesianPosition(MonitorDataType MONR); +uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, double *resLat, double *resLon, double *a2); double UtilDegToRad(double Deg); diff --git a/server/src/util.c b/server/src/util.c index 074b840b8..131f7348c 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -722,6 +722,26 @@ int UtilSetSlaveObject(ObjectPosition * OP, char *Filename, char debug) { } +/*! + * \brief MONRToCartesianPosition Extracts a CartesianPosition from MONR + * \param MONR Struct containing MONR data + * \return CartesianPosition struct containing the point represented by MONR + */ +CartesianPosition MONRToCartesianPosition(MonitorDataType MONR) { + CartesianPosition retval; + retval.xCoord_m = MONR.MONR.XPositionI32 / 1000.0; + retval.yCoord_m = MONR.MONR.YPositionI32 / 1000.0; + retval.zCoord_m = MONR.MONR.ZPositionI32 / 1000.0; + if (MONR.MONR.HeadingU16 == 36001) {// 36001: unavailable + LogMessage(LOG_LEVEL_DEBUG, "MONR heading unavailable, assuming 0"); + retval.heading_deg = 0.0; + } + else { + retval.heading_deg = MONR.MONR.HeadingU16 / 100.0; + } + return retval; +} + /*! * \brief UtilIsPositionNearTarget Checks if position lies within or on a sphere with radius equal to tolerance_m * and centre at target. @@ -730,8 +750,8 @@ int UtilSetSlaveObject(ObjectPosition * OP, char *Filename, char debug) { * \param tolerance_m Radius around target position defining "near" * \return true if position is within tolerance_m of target, false otherwise */ -char UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m) { - double distance = 0; +uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m) { + double distance = 0.0; distance = sqrt(pow(position.xCoord_m - target.xCoord_m, 2) + pow(position.yCoord_m - target.yCoord_m, 2) From d507e7104de6685a9d6b0ee3b9fd4e46eeb9e76a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 28 Oct 2019 15:40:46 +0100 Subject: [PATCH 590/730] Defined new MQ message for disarming --- server/inc/util.h | 3 ++- server/src/util.c | 10 +++++++--- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 652f7b066..aa7eb5ae3 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -235,7 +235,7 @@ extern "C"{ enum COMMAND { COMM_STRT = 1, -COMM_ARMD = 2, +COMM_ARM = 2, COMM_STOP = 3, COMM_MONI = 4, COMM_EXIT = 5, @@ -258,6 +258,7 @@ COMM_EXAC = 22, COMM_TREO = 23, COMM_ACCM = 24, COMM_TRCM = 25, +COMM_DISARM = 26, COMM_MONR = 239, COMM_OBJECTS_CONNECTED = 111, COMM_INV = 255 diff --git a/server/src/util.c b/server/src/util.c index 131f7348c..9c346f7b0 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -52,7 +52,8 @@ // Message priorities on message queue #define PRIO_COMM_STRT 100 -#define PRIO_COMM_ARMD 110 +#define PRIO_COMM_ARM 110 +#define PRIO_COMM_DISARM 109 #define PRIO_COMM_STOP 120 #define PRIO_COMM_MONI 80 #define PRIO_COMM_MONR 80 @@ -1918,9 +1919,12 @@ int iCommSend(const enum COMMAND iCommand, const char *cpData, size_t dataLength case COMM_STRT: uiMessagePrio = PRIO_COMM_STRT; break; - case COMM_ARMD: - uiMessagePrio = PRIO_COMM_ARMD; + case COMM_ARM: + uiMessagePrio = PRIO_COMM_ARM; break; + case COMM_DISARM: + uiMessagePrio = PRIO_COMM_DISARM; + break; case COMM_STOP: uiMessagePrio = PRIO_COMM_STOP; break; From b8129d349d119fe497f9da5bcde58ebddf441693 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 28 Oct 2019 15:49:05 +0100 Subject: [PATCH 591/730] Started using new disarm command --- server/src/logger.c | 7 ++++--- server/src/objectcontrol.c | 35 +++++++++++++++++++++++------------ server/src/systemcontrol.c | 28 +++++++++++----------------- 3 files changed, 38 insertions(+), 32 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index a4b43ddbd..dd694b12b 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -154,7 +154,8 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); break; case COMM_STRT: - case COMM_ARMD: + case COMM_ARM: + case COMM_DISARM: case COMM_STOP: case COMM_CONNECT: case COMM_VIOP: @@ -548,8 +549,8 @@ void vInitializeLog(char *logFilePath, unsigned int filePathLength, char *csvLog (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); bzero(pcBuffer, sizeof (pcBuffer)); sprintf(pcBuffer, - "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_EXIT:%d\nCOMM_ARMD:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n", - COMM_STRT, COMM_STOP, COMM_MONI, COMM_EXIT, COMM_ARMD, COMM_REPLAY, COMM_CONTROL, COMM_ABORT, + "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_MONR%d\nCOMM_EXIT:%d\nCOMM_ARM:%d\nCOMM_DISARM:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n", + COMM_STRT, COMM_STOP, COMM_MONI, COMM_MONR, COMM_EXIT, COMM_ARM, COMM_DISARM, COMM_REPLAY, COMM_CONTROL, COMM_ABORT, COMM_INIT, COMM_CONNECT, COMM_OBC_STATE, COMM_DISCONNECT, COMM_LOG, COMM_VIOP, COMM_INV); (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 94accad2e..dcb5e2e56 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -667,24 +667,35 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_INFO, "Received command %d", iCommand); - if (iCommand == COMM_ARMD && (OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED)) { - if (pcRecvBuffer[0] == COMMAND_OSTM_OPT_SET_ARMED_STATE) { - LOG_SEND(LogBuffer, "[ObjectControl] Sending ARM %d", pcRecvBuffer[0]); - vSetState(OBC_STATE_ARMED, GSD); - } - else if (pcRecvBuffer[0] == COMMAND_OSTM_OPT_SET_DISARMED_STATE) { - LOG_SEND(LogBuffer, "[ObjectControl] Sending DISARM: %d", pcRecvBuffer[0]); - vSetState(OBC_STATE_CONNECTED, GSD); - } - MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, pcRecvBuffer[0], 0); + if (iCommand == COMM_ARM && OBCState == OBC_STATE_CONNECTED) { + + LogMessage(LOG_LEVEL_INFO, "Sending ARM"); + LOG_SEND(LogBuffer, "[ObjectControl] Sending ARM"); + vSetState(OBC_STATE_ARMED, GSD); + MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, COMMAND_OSTM_OPT_SET_ARMED_STATE, 0); for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { /*Send OSTM message */ - UtilSendTCPData("[Object Control test]", MessageBuffer, MessageLength, - &socket_fds[iIndex], 1); + UtilSendTCPData("[Object Control]", MessageBuffer, MessageLength, + &socket_fds[iIndex], 0); } ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY } + else if (iCommand == COMM_DISARM && OBCState == OBC_STATE_ARMED) { + + LogMessage(LOG_LEVEL_INFO, "Sending DISARM"); + LOG_SEND(LogBuffer, "[ObjectControl] Sending DISARM"); + vSetState(OBC_STATE_CONNECTED, GSD); + + MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, COMMAND_OSTM_OPT_SET_DISARMED_STATE, 0); + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + /*Send OSTM message */ + UtilSendTCPData("[Object Control]", MessageBuffer, MessageLength, + &socket_fds[iIndex], 0); + } + + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY + } else if (iCommand == COMM_STRT && (OBCState == OBC_STATE_ARMED) /*|| OBC_STATE_INITIALIZED) */ ) //OBC_STATE_INITIALIZED is temporary! { bzero(Timestamp, SMALL_BUFFER_SIZE_0); diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 57fa92b66..fe50b023c 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -73,8 +73,6 @@ typedef enum { //#define SYSTEM_CONTROL_ARGUMENT_MAX_LENGTH 80 #define TCP_RECV_BUFFER_SIZE 2048 -#define OSTM_OPT_SET_ARMED_STATE 2 -#define OSTM_OPT_SET_DISARMED_STATE 3 #define SC_RECV_MESSAGE_BUFFER 1024 #define SMALL_BUFFER_SIZE_1024 1024 @@ -904,12 +902,10 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } break; case ArmScenario_0: - if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_CONNECTED) { - bzero(pcBuffer, IPC_BUFFER_SIZE); - server_state = SERVER_STATE_INWORK; - pcBuffer[0] = OSTM_OPT_SET_ARMED_STATE; - if (iCommSend(COMM_ARMD, pcBuffer, strlen(pcBuffer) + 1) < 0) { - LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ARMD command"); + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_CONNECTED) { + server_state = SERVER_STATE_INWORK; + if (iCommSend(COMM_ARM, NULL, 0) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ARM command"); server_state = SERVER_STATE_ERROR; } bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); @@ -926,19 +922,17 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } else if (server_state == SERVER_STATE_IDLE) { SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, - "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, + "ArmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] ARM received, state errors!\n", &ClientSocket, 0); SystemControlCommand = PreviousSystemControlCommand; } break; case DisarmScenario_0: - if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) { - bzero(pcBuffer, IPC_BUFFER_SIZE); - server_state = SERVER_STATE_IDLE; - pcBuffer[0] = OSTM_OPT_SET_DISARMED_STATE; - if (iCommSend(COMM_ARMD, pcBuffer, strlen(pcBuffer) + 1) < 0) { - LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ARMD command"); + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) { + server_state = SERVER_STATE_IDLE; + if (iCommSend(COMM_DISARM, NULL, 0) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending DISARM command"); server_state = SERVER_STATE_ERROR; } bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); @@ -947,14 +941,14 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { SystemControlSendLog("[SystemControl] Sending DISARM.\n", &ClientSocket, 0); } else if (server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_CONNECTED) { - SystemControlSendLog("[SystemControl] Simulate that all objects becomes disarmed.\n", + SystemControlSendLog("[SystemControl] Simulate that all objects become disarmed.\n", &ClientSocket, 0); SystemControlCommand = Idle_0; server_state = SERVER_STATE_IDLE; } else if (server_state == SERVER_STATE_IDLE) { SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, - "StartScenario:", ControlResponseBuffer, 0, &ClientSocket, + "DisarmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] DISARM received, state errors!\n", &ClientSocket, 0); SystemControlCommand = PreviousSystemControlCommand; From 44be5ad7bf40877c98cc3a0291af9ff5cc6c09e7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 28 Oct 2019 15:49:35 +0100 Subject: [PATCH 592/730] Send DISARM from supervision when objects were not in position --- modules/Supervision/src/main.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 3a7d3868a..3101ae317 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -109,10 +109,7 @@ int main() switch (updateNearStartingPositionStatus(MONRMessage, armVerified)) { case SINGLE_OBJECT_NOT_NEAR_START: // Object not near start: disarm - bzero(mqSendData, sizeof (mqSendData)); - // TODO: - mqSendData[0] = OSTM_OPT_SET_DISARMED_STATE; - iCommSend(COMM_ARMD,) // TODO: send ARMD with data + iCommSend(COMM_DISARM, nullptr, 0); state.set(SupervisionState::READY); break; case ALL_OBJECTS_NEAR_START: @@ -128,7 +125,7 @@ int main() } } break; - case COMM_ARMD: + case COMM_ARM: state.set(SupervisionState::VERIFYING_ARM); break; case COMM_INV: From 702eb5ee771bad3b6f4e734655c392481e0c9c16 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 28 Oct 2019 15:52:39 +0100 Subject: [PATCH 593/730] Ran formatting script --- server/src/logger.c | 9 +++++---- server/src/objectcontrol.c | 40 ++++++++++++++++++++------------------ server/src/systemcontrol.c | 23 +++++++++++----------- server/src/util.c | 37 ++++++++++++++++++----------------- 4 files changed, 56 insertions(+), 53 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index dd694b12b..26c68dbb0 100755 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -155,7 +155,7 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { break; case COMM_STRT: case COMM_ARM: - case COMM_DISARM: + case COMM_DISARM: case COMM_STOP: case COMM_CONNECT: case COMM_VIOP: @@ -549,9 +549,10 @@ void vInitializeLog(char *logFilePath, unsigned int filePathLength, char *csvLog (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); bzero(pcBuffer, sizeof (pcBuffer)); sprintf(pcBuffer, - "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_MONR%d\nCOMM_EXIT:%d\nCOMM_ARM:%d\nCOMM_DISARM:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n", - COMM_STRT, COMM_STOP, COMM_MONI, COMM_MONR, COMM_EXIT, COMM_ARM, COMM_DISARM, COMM_REPLAY, COMM_CONTROL, COMM_ABORT, - COMM_INIT, COMM_CONNECT, COMM_OBC_STATE, COMM_DISCONNECT, COMM_LOG, COMM_VIOP, COMM_INV); + "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_MONR%d\nCOMM_EXIT:%d\nCOMM_ARM:%d\nCOMM_DISARM:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n", + COMM_STRT, COMM_STOP, COMM_MONI, COMM_MONR, COMM_EXIT, COMM_ARM, COMM_DISARM, COMM_REPLAY, + COMM_CONTROL, COMM_ABORT, COMM_INIT, COMM_CONNECT, COMM_OBC_STATE, COMM_DISCONNECT, COMM_LOG, + COMM_VIOP, COMM_INV); (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index dcb5e2e56..746cc66fb 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -667,35 +667,37 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_INFO, "Received command %d", iCommand); - if (iCommand == COMM_ARM && OBCState == OBC_STATE_CONNECTED) { + if (iCommand == COMM_ARM && OBCState == OBC_STATE_CONNECTED) { - LogMessage(LOG_LEVEL_INFO, "Sending ARM"); - LOG_SEND(LogBuffer, "[ObjectControl] Sending ARM"); - vSetState(OBC_STATE_ARMED, GSD); - MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, COMMAND_OSTM_OPT_SET_ARMED_STATE, 0); + LogMessage(LOG_LEVEL_INFO, "Sending ARM"); + LOG_SEND(LogBuffer, "[ObjectControl] Sending ARM"); + vSetState(OBC_STATE_ARMED, GSD); + MessageLength = + ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, COMMAND_OSTM_OPT_SET_ARMED_STATE, + 0); for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { /*Send OSTM message */ - UtilSendTCPData("[Object Control]", MessageBuffer, MessageLength, - &socket_fds[iIndex], 0); + UtilSendTCPData("[Object Control]", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); } ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY } - else if (iCommand == COMM_DISARM && OBCState == OBC_STATE_ARMED) { + else if (iCommand == COMM_DISARM && OBCState == OBC_STATE_ARMED) { - LogMessage(LOG_LEVEL_INFO, "Sending DISARM"); - LOG_SEND(LogBuffer, "[ObjectControl] Sending DISARM"); - vSetState(OBC_STATE_CONNECTED, GSD); + LogMessage(LOG_LEVEL_INFO, "Sending DISARM"); + LOG_SEND(LogBuffer, "[ObjectControl] Sending DISARM"); + vSetState(OBC_STATE_CONNECTED, GSD); - MessageLength = ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, COMMAND_OSTM_OPT_SET_DISARMED_STATE, 0); - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - /*Send OSTM message */ - UtilSendTCPData("[Object Control]", MessageBuffer, MessageLength, - &socket_fds[iIndex], 0); - } + MessageLength = + ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, + COMMAND_OSTM_OPT_SET_DISARMED_STATE, 0); + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + /*Send OSTM message */ + UtilSendTCPData("[Object Control]", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); + } - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY - } + ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY + } else if (iCommand == COMM_STRT && (OBCState == OBC_STATE_ARMED) /*|| OBC_STATE_INITIALIZED) */ ) //OBC_STATE_INITIALIZED is temporary! { bzero(Timestamp, SMALL_BUFFER_SIZE_0); diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index fe50b023c..36928382c 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -902,10 +902,10 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } break; case ArmScenario_0: - if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_CONNECTED) { - server_state = SERVER_STATE_INWORK; - if (iCommSend(COMM_ARM, NULL, 0) < 0) { - LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ARM command"); + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_CONNECTED) { + server_state = SERVER_STATE_INWORK; + if (iCommSend(COMM_ARM, NULL, 0) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending ARM command"); server_state = SERVER_STATE_ERROR; } bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); @@ -922,17 +922,16 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } else if (server_state == SERVER_STATE_IDLE) { SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, - "ArmScenario:", ControlResponseBuffer, 0, &ClientSocket, - 0); + "ArmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] ARM received, state errors!\n", &ClientSocket, 0); SystemControlCommand = PreviousSystemControlCommand; } break; case DisarmScenario_0: - if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) { - server_state = SERVER_STATE_IDLE; - if (iCommSend(COMM_DISARM, NULL, 0) < 0) { - LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending DISARM command"); + if (server_state == SERVER_STATE_IDLE && objectControlState == OBC_STATE_ARMED) { + server_state = SERVER_STATE_IDLE; + if (iCommSend(COMM_DISARM, NULL, 0) < 0) { + LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending DISARM command"); server_state = SERVER_STATE_ERROR; } bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); @@ -941,14 +940,14 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { SystemControlSendLog("[SystemControl] Sending DISARM.\n", &ClientSocket, 0); } else if (server_state == SERVER_STATE_INWORK && objectControlState == OBC_STATE_CONNECTED) { - SystemControlSendLog("[SystemControl] Simulate that all objects become disarmed.\n", + SystemControlSendLog("[SystemControl] Simulate that all objects become disarmed.\n", &ClientSocket, 0); SystemControlCommand = Idle_0; server_state = SERVER_STATE_IDLE; } else if (server_state == SERVER_STATE_IDLE) { SystemControlSendControlResponse(SYSTEM_CONTROL_RESPONSE_CODE_INCORRECT_STATE, - "DisarmScenario:", ControlResponseBuffer, 0, &ClientSocket, + "DisarmScenario:", ControlResponseBuffer, 0, &ClientSocket, 0); SystemControlSendLog("[SystemControl] DISARM received, state errors!\n", &ClientSocket, 0); SystemControlCommand = PreviousSystemControlCommand; diff --git a/server/src/util.c b/server/src/util.c index 9c346f7b0..0cf785a10 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -729,18 +729,19 @@ int UtilSetSlaveObject(ObjectPosition * OP, char *Filename, char debug) { * \return CartesianPosition struct containing the point represented by MONR */ CartesianPosition MONRToCartesianPosition(MonitorDataType MONR) { - CartesianPosition retval; - retval.xCoord_m = MONR.MONR.XPositionI32 / 1000.0; - retval.yCoord_m = MONR.MONR.YPositionI32 / 1000.0; - retval.zCoord_m = MONR.MONR.ZPositionI32 / 1000.0; - if (MONR.MONR.HeadingU16 == 36001) {// 36001: unavailable - LogMessage(LOG_LEVEL_DEBUG, "MONR heading unavailable, assuming 0"); - retval.heading_deg = 0.0; - } - else { - retval.heading_deg = MONR.MONR.HeadingU16 / 100.0; - } - return retval; + CartesianPosition retval; + + retval.xCoord_m = MONR.MONR.XPositionI32 / 1000.0; + retval.yCoord_m = MONR.MONR.YPositionI32 / 1000.0; + retval.zCoord_m = MONR.MONR.ZPositionI32 / 1000.0; + if (MONR.MONR.HeadingU16 == 36001) { // 36001: unavailable + LogMessage(LOG_LEVEL_DEBUG, "MONR heading unavailable, assuming 0"); + retval.heading_deg = 0.0; + } + else { + retval.heading_deg = MONR.MONR.HeadingU16 / 100.0; + } + return retval; } /*! @@ -752,7 +753,7 @@ CartesianPosition MONRToCartesianPosition(MonitorDataType MONR) { * \return true if position is within tolerance_m of target, false otherwise */ uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m) { - double distance = 0.0; + double distance = 0.0; distance = sqrt(pow(position.xCoord_m - target.xCoord_m, 2) + pow(position.yCoord_m - target.yCoord_m, 2) @@ -1919,12 +1920,12 @@ int iCommSend(const enum COMMAND iCommand, const char *cpData, size_t dataLength case COMM_STRT: uiMessagePrio = PRIO_COMM_STRT; break; - case COMM_ARM: - uiMessagePrio = PRIO_COMM_ARM; + case COMM_ARM: + uiMessagePrio = PRIO_COMM_ARM; + break; + case COMM_DISARM: + uiMessagePrio = PRIO_COMM_DISARM; break; - case COMM_DISARM: - uiMessagePrio = PRIO_COMM_DISARM; - break; case COMM_STOP: uiMessagePrio = PRIO_COMM_STOP; break; From f6e9df4e24f10f54eedb3d4902a0d97aae116662 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 29 Oct 2019 10:14:39 +0100 Subject: [PATCH 594/730] Added long printout --- modules/Supervision/src/main.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 3101ae317..26423124f 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -47,6 +47,7 @@ int main() { COMMAND command = COMM_INV; char mqRecvData[MQ_MSG_SIZE], mqSendData[MQ_MSG_SIZE]; + char ipString[INET_ADDRSTRLEN]; std::vector geofences; std::vector trajectories; std::vector> armVerified; @@ -109,6 +110,8 @@ int main() switch (updateNearStartingPositionStatus(MONRMessage, armVerified)) { case SINGLE_OBJECT_NOT_NEAR_START: // Object not near start: disarm + LogMessage(LOG_LEVEL_INFO, "Arm not approved: object with IP address %s is not in position", + inet_ntop(AF_INET, &MONRMessage.ClientIP, ipString, sizeof (ipString))); iCommSend(COMM_DISARM, nullptr, 0); state.set(SupervisionState::READY); break; @@ -174,7 +177,7 @@ void loadTrajectoryFiles(std::vector &trajectories) { // Count the number of trajectory files in the directory while ((ent = readdir(dir)) != nullptr) { - if (!strcmp(ent->d_name,".") && !strcmp(ent->d_name,"..")) { + if (ent->d_type == DT_REG) { n++; } } @@ -189,7 +192,7 @@ void loadTrajectoryFiles(std::vector &trajectories) { } while ((ent = readdir(dir)) != nullptr) { - if (strcmp(ent->d_name, ".") == 0 || strcmp(ent->d_name, "..") == 0) { + if (ent->d_type != DT_REG) { LogMessage(LOG_LEVEL_DEBUG, "Ignored <%s>", ent->d_name); } else { From 543600d4027fa573526bde0594e6dec573cf96d2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 29 Oct 2019 10:15:00 +0100 Subject: [PATCH 595/730] RunServer script update --- runServer.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/runServer.sh b/runServer.sh index 3b989f36f..184aeeb70 100755 --- a/runServer.sh +++ b/runServer.sh @@ -2,7 +2,7 @@ #### User settings # Modify this array by adding more modules to include them in the execution -MODULES=(ScenarioControl) +MODULES=(Supervision) #### # Save top directory From 535fa2e6ce328bcfa7cd2e1a679516dfbe9e4f68 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 29 Oct 2019 16:44:21 +0100 Subject: [PATCH 596/730] Fixed IP missing from copy constructor --- modules/Supervision/src/trajectory.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/Supervision/src/trajectory.cpp b/modules/Supervision/src/trajectory.cpp index 39a870031..a748b1ddf 100644 --- a/modules/Supervision/src/trajectory.cpp +++ b/modules/Supervision/src/trajectory.cpp @@ -17,6 +17,7 @@ const std::regex Trajectory::fileFooterPattern("ENDTRAJECTORY;"); Trajectory::Trajectory(const Trajectory& other) { this->id = other.id; + this->ip = other.ip; this->name = other.name; this->version = other.version; this->points = std::vector(other.points); From 696b1b49e35857c5493ae5e2a69dafe8e3fada03 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 29 Oct 2019 16:45:28 +0100 Subject: [PATCH 597/730] Added new state so that geofence violations only cause abort when running (and so that they also prevent arm by causing a disarm) --- modules/Supervision/inc/supervisionstate.h | 3 +- modules/Supervision/src/main.cpp | 34 ++++++++++++++++++-- modules/Supervision/src/supervisionstate.cpp | 5 +++ 3 files changed, 38 insertions(+), 4 deletions(-) diff --git a/modules/Supervision/inc/supervisionstate.h b/modules/Supervision/inc/supervisionstate.h index 18aa6ab78..19ce08d67 100644 --- a/modules/Supervision/inc/supervisionstate.h +++ b/modules/Supervision/inc/supervisionstate.h @@ -9,7 +9,8 @@ class SupervisionState { typedef enum { READY, VERIFYING_INIT, - VERIFYING_ARM + VERIFYING_ARM, + RUNNING } State; void set(State newState); State get() const { return this->currentState; } diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 26423124f..9c41b87d7 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -103,10 +103,18 @@ int main() case COMM_MONR: MonitorDataType MONRMessage; UtilPopulateMonitorDataStruct((unsigned char *)mqRecvData, sizeof (mqRecvData), &MONRMessage, 0); - if (isViolatingGeofence(MONRMessage, geofences)) { + if (state.get() == SupervisionState::RUNNING && isViolatingGeofence(MONRMessage, geofences)) { iCommSend(COMM_ABORT, nullptr, 0); } if (state.get() == SupervisionState::VERIFYING_ARM) { + if (isViolatingGeofence(MONRMessage, geofences)) { + LogMessage(LOG_LEVEL_INFO, "Arm not approved: object with IP address %s is violating a geofence", + inet_ntop(AF_INET, &MONRMessage.ClientIP, ipString, sizeof (ipString))); + iCommSend(COMM_DISARM, nullptr, 0); + state.set(SupervisionState::READY); + break; + } + switch (updateNearStartingPositionStatus(MONRMessage, armVerified)) { case SINGLE_OBJECT_NOT_NEAR_START: // Object not near start: disarm @@ -129,7 +137,27 @@ int main() } break; case COMM_ARM: - state.set(SupervisionState::VERIFYING_ARM); + try { + std::for_each(armVerified.begin(), armVerified.end(), + [](std::pair &pair) { pair.second = false; }); + state.set(SupervisionState::VERIFYING_ARM); + } + catch (std::invalid_argument e) + { + LogMessage(LOG_LEVEL_ERROR, "Attempted to verify ARM while previous command not yet verified"); + iCommSend(COMM_DISARM, nullptr, 0); + } + break; + case COMM_STRT: + try { + state.set(SupervisionState::RUNNING); + } + catch (std::invalid_argument e) + { + LogMessage(LOG_LEVEL_ERROR, "START command received while not ready: sending ABORT"); + iCommSend(COMM_ABORT, nullptr, 0); + } + break; case COMM_INV: // TODO sleep? @@ -199,7 +227,7 @@ void loadTrajectoryFiles(std::vector &trajectories) { try { Trajectory trajectory; trajectory.initializeFromFile(ent->d_name); - trajectories.push_back(trajectory); + trajectories.push_back(trajectory); // This does not copy IP value correctly LogMessage(LOG_LEVEL_DEBUG, "Loaded trajectory with %u points", trajectories.back().points.size()); } catch (std::invalid_argument e) { closedir(dir); diff --git a/modules/Supervision/src/supervisionstate.cpp b/modules/Supervision/src/supervisionstate.cpp index e8703703f..79775d320 100644 --- a/modules/Supervision/src/supervisionstate.cpp +++ b/modules/Supervision/src/supervisionstate.cpp @@ -5,16 +5,21 @@ SupervisionState::SupervisionState() { this->transitions.insert( {SupervisionState::READY, SupervisionState::READY} ); this->transitions.insert( {SupervisionState::VERIFYING_ARM, SupervisionState::VERIFYING_ARM} ); this->transitions.insert( {SupervisionState::VERIFYING_INIT, SupervisionState::VERIFYING_INIT} ); + this->transitions.insert( {SupervisionState::RUNNING, SupervisionState::RUNNING} ); // Transitions to ready this->transitions.insert( {SupervisionState::VERIFYING_ARM, SupervisionState::READY} ); this->transitions.insert( {SupervisionState::VERIFYING_INIT, SupervisionState::READY} ); + this->transitions.insert( {SupervisionState::RUNNING, SupervisionState::READY} ); // Transitions to verifying init this->transitions.insert( {SupervisionState::READY, SupervisionState::VERIFYING_INIT} ); // Transitions to verifying arm this->transitions.insert( {SupervisionState::READY, SupervisionState::VERIFYING_ARM} ); + + // Transitions to verifying running + this->transitions.insert( {SupervisionState::READY, SupervisionState::RUNNING} ); } void SupervisionState::set(SupervisionState::State newState) { From 76cfaaf979b49955bc6a27ac3fd05f4ca0695e2a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 29 Oct 2019 17:21:01 +0100 Subject: [PATCH 598/730] Added missing case in toString method --- modules/Supervision/src/supervisionstate.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/modules/Supervision/src/supervisionstate.cpp b/modules/Supervision/src/supervisionstate.cpp index 79775d320..9bf505e7a 100644 --- a/modules/Supervision/src/supervisionstate.cpp +++ b/modules/Supervision/src/supervisionstate.cpp @@ -42,6 +42,8 @@ std::string SupervisionState::toString(State state) { return "VERIFYING INIT"; case VERIFYING_ARM: return "VERIFYING ARM"; + case RUNNING: + return "RUNNING"; default: return "UNKNOWN"; } From fe670290bcb49253a6accc11afe32d5e518bae5b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 29 Oct 2019 17:23:30 +0100 Subject: [PATCH 599/730] Fixed modification of copy instead of reference --- modules/Supervision/src/main.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 9c41b87d7..e7a7fb1eb 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -116,8 +116,7 @@ int main() } switch (updateNearStartingPositionStatus(MONRMessage, armVerified)) { - case SINGLE_OBJECT_NOT_NEAR_START: - // Object not near start: disarm + case SINGLE_OBJECT_NOT_NEAR_START: // Object not near start: disarm LogMessage(LOG_LEVEL_INFO, "Arm not approved: object with IP address %s is not in position", inet_ntop(AF_INET, &MONRMessage.ClientIP, ipString, sizeof (ipString))); iCommSend(COMM_DISARM, nullptr, 0); @@ -127,11 +126,9 @@ int main() LogMessage(LOG_LEVEL_INFO, "Arm approved"); state.set(SupervisionState::READY); break; - case SINGLE_OBJECT_NEAR_START: - // Need to wait for all objects to report position + case SINGLE_OBJECT_NEAR_START: // Need to wait for all objects to report position break; - case OBJECT_HAS_NO_TRAJECTORY: - // Object has no trajectory, no need to check it + case OBJECT_HAS_NO_TRAJECTORY: // Object has no trajectory, no need to check it break; } } @@ -471,11 +468,12 @@ bool isViolatingGeofence(const MonitorDataType &MONRdata, std::vector } PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, std::vector> armVerified) { - for (std::pair element : armVerified) { + for (std::pair &element : armVerified) { if (element.first.ip == MONRdata.ClientIP) { CartesianPosition trajectoryPoint = element.first.points.front().getCartesianPosition(); CartesianPosition objectPosition = MONRToCartesianPosition(MONRdata); if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, 1.0)) { + element.second = true; // Object was near starting position, now check if all objects have passed if (std::any_of(armVerified.begin(), armVerified.end(), [](const std::pair &pair) { return pair.second == false; })) { @@ -486,6 +484,7 @@ PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, } } else { + element.second = false; return SINGLE_OBJECT_NOT_NEAR_START; } } From f5b0fdbac1b0cf8b7a3e1e36d4bfd867a3e62554 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 29 Oct 2019 17:24:14 +0100 Subject: [PATCH 600/730] Supervision move to READY after sending single COMM_ABORT and after receiving DISCONNECT, ABORT, or STOP --- modules/Supervision/src/main.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index e7a7fb1eb..a8ee92b8c 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -103,9 +103,14 @@ int main() case COMM_MONR: MonitorDataType MONRMessage; UtilPopulateMonitorDataStruct((unsigned char *)mqRecvData, sizeof (mqRecvData), &MONRMessage, 0); + if (state.get() == SupervisionState::RUNNING && isViolatingGeofence(MONRMessage, geofences)) { + LogMessage(LOG_LEVEL_WARNING, "Object with IP %s is violating a geofence: sending ABORT", + inet_ntop(AF_INET, &MONRMessage.ClientIP, ipString, sizeof (ipString))); iCommSend(COMM_ABORT, nullptr, 0); + state.set(SupervisionState::READY); } + if (state.get() == SupervisionState::VERIFYING_ARM) { if (isViolatingGeofence(MONRMessage, geofences)) { LogMessage(LOG_LEVEL_INFO, "Arm not approved: object with IP address %s is violating a geofence", @@ -153,8 +158,14 @@ int main() { LogMessage(LOG_LEVEL_ERROR, "START command received while not ready: sending ABORT"); iCommSend(COMM_ABORT, nullptr, 0); + state.set(SupervisionState::READY); } + break; + case COMM_DISCONNECT: + case COMM_STOP: + case COMM_ABORT: + state.set(SupervisionState::READY); break; case COMM_INV: // TODO sleep? From 91e777e43e38fc28b3a80e1452435ebd6ff27634 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 29 Oct 2019 17:26:51 +0100 Subject: [PATCH 601/730] Added small todo --- modules/Supervision/src/main.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index a8ee92b8c..52d4f3ac6 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -97,6 +97,9 @@ int main() } state.set(SupervisionState::READY); break; + case COMM_OSEM: + // TODO: check so that OSEM is not null island? + break; case COMM_MONI: // Ignore old style MONR data break; From fdce1c9975bdd20fdeed35f7ed599d1d35a13dcf Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 30 Oct 2019 10:29:23 +0100 Subject: [PATCH 602/730] If trajectory had no points in it, act as if object had no trajectory --- modules/Supervision/src/main.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 52d4f3ac6..7380c5399 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -484,6 +484,9 @@ bool isViolatingGeofence(const MonitorDataType &MONRdata, std::vector PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, std::vector> armVerified) { for (std::pair &element : armVerified) { if (element.first.ip == MONRdata.ClientIP) { + if (element.first.points.empty()) + return OBJECT_HAS_NO_TRAJECTORY; + CartesianPosition trajectoryPoint = element.first.points.front().getCartesianPosition(); CartesianPosition objectPosition = MONRToCartesianPosition(MONRdata); if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, 1.0)) { From 13f50536af2f9c271720800385f4534fe8915694 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 30 Oct 2019 10:31:28 +0100 Subject: [PATCH 603/730] If object has no trajectory, it now passes the check --- modules/Supervision/src/main.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 7380c5399..7df0e6f65 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -484,8 +484,10 @@ bool isViolatingGeofence(const MonitorDataType &MONRdata, std::vector PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, std::vector> armVerified) { for (std::pair &element : armVerified) { if (element.first.ip == MONRdata.ClientIP) { - if (element.first.points.empty()) + if (element.first.points.empty()) { + element.second = true; return OBJECT_HAS_NO_TRAJECTORY; + } CartesianPosition trajectoryPoint = element.first.points.front().getCartesianPosition(); CartesianPosition objectPosition = MONRToCartesianPosition(MONRdata); From ff9a43db1c088aabc86d1e0f2b34b3cabf08d019 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 30 Oct 2019 10:32:50 +0100 Subject: [PATCH 604/730] Added missing include on exceptions --- modules/Supervision/src/supervisionstate.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/modules/Supervision/src/supervisionstate.cpp b/modules/Supervision/src/supervisionstate.cpp index 9bf505e7a..458b87ac7 100644 --- a/modules/Supervision/src/supervisionstate.cpp +++ b/modules/Supervision/src/supervisionstate.cpp @@ -1,3 +1,5 @@ +#include + #include "supervisionstate.h" SupervisionState::SupervisionState() { From d89fc5ea9dcd6ea5381cbc7c62b4de723662f814 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 30 Oct 2019 10:36:38 +0100 Subject: [PATCH 605/730] Corrected wrong include --- modules/Supervision/src/supervisionstate.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/Supervision/src/supervisionstate.cpp b/modules/Supervision/src/supervisionstate.cpp index 458b87ac7..ca5eca6db 100644 --- a/modules/Supervision/src/supervisionstate.cpp +++ b/modules/Supervision/src/supervisionstate.cpp @@ -1,4 +1,4 @@ -#include +#include #include "supervisionstate.h" From 7c3a864c083103c81d1eb3d08e0b17b4616a0c90 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 30 Oct 2019 17:42:02 +0100 Subject: [PATCH 606/730] Implemented parser for MSCP communication --- .../100-SingleTypicalTest.py | 74 +++++++++++ server/integration-tests/tools/MSCP.py | 120 +++++++++++++++++- 2 files changed, 192 insertions(+), 2 deletions(-) create mode 100644 server/integration-tests/100-SingleTypicalTest.py diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py new file mode 100644 index 000000000..285d3486d --- /dev/null +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -0,0 +1,74 @@ +from tools.MSCP import MSCP +from tools.Executable import Executable +import time +import subprocess +import sys + +if __name__ == "__main__": + + server = Executable("../build/TEServer",["-m","0"]) + time.sleep(0.05) + + # 1: Connect to the server + userControl = MSCP("127.0.0.1") + time.sleep(0.25) + if server.poll(): + print("Connecting to the server caused a problem") + server.stop() + sys.exit(1) + # 2: Load trajectory + # 3: Start a test object + # 4: Upload trajectory + + # 5: Send init + userControl.Init() + userControl.waitForObjectControlState("INITIALIZED") + if server.poll(): + print("Sending init to the server caused a problem") + server.stop() + sys.exit(1) + + # 6: Send connect + userControl.Connect() + userControl.waitForObjectControlState("CONNECTED") + if server.poll(): + print("Sending connect to the server caused a problem") + server.stop() + sys.exit(1) + + # 7: Send arm + userControl.Arm() + userControl.waitForObjectControlState("ARMED") + if server.poll(): + print("Sending arm to the server caused a problem") + server.stop() + sys.exit(1) + + # 8: Send start + userControl.Start(10) + userControl.waitForObjectControlState("RUNNING") + if server.poll(): + print("Sending start to the server caused a problem") + server.stop() + sys.exit(1) + + # 9: Send abort + userControl.Abort() + userControl.waitForObjectControlState("CONNECTED") + if server.poll(): + print("Sending abort to the server caused a problem") + server.stop() + sys.exit(1) + + # 10: Send reset + userControl.Disconnect() + userControl.waitForObjectControlState("IDLE") + if server.poll(): + print("Sending disconnect to the server caused a problem") + server.stop() + sys.exit(1) + + # 11: Done! + userControl.shutdown() + server.stop() + sys.exit(0) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index 4301c58d7..1bd6e2c4f 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -1,5 +1,8 @@ import socket import sys, select +import threading +import re +import time class MSCP: def __init__(self,host,port=54241): @@ -7,7 +10,104 @@ def __init__(self,host,port=54241): self.port = port self.socket = socket.socket() self.socket.connect((self.host,self.port)) - + self.lastStatusReply = {} + self.lastAbortReply = {} + self.lastStartReply = {} + self.lastStatusReply["objectControlState"] = "UNKNOWN" + self.lastStatusReply["systemControlState"] = "UNKNOWN" + self.lastStatusReply["systemControlErrorCode"] = 0 + self.lastStatusReply["objectControlErrorCode"] = 0 + self.lastAbortReply["scenarioActive"] = 0 + self.lastStartReply["scenarioActive"] = 0 + self.quit = False + self.listener = threading.Thread(target=self.listen) + self.listener.start() + + def listen(self): + replyPatterns = [ + {"command": "init", "regex": re.compile(b'InitializeScenario:')}, + {"command": "status", "regex": re.compile(b'GetServerStatus:(.)(.)(.)?(.)?')}, + {"command": "abort", "regex": re.compile(b'AbortScenario:(.)')}, + {"command": "arm", "regex": re.compile(b'ArmScenario:')}, + {"command": "start", "regex": re.compile(b'StartScenario:(.)')}, + {"command": "connect", "regex": re.compile(b'ConnectObject:')}, + {"command": "disconnect", "regex": re.compile(b'DisconnectObject:')} + ] + + while not self.quit: + data = self.socket.recv(1024) + for replyPattern in replyPatterns: + match = re.search(replyPattern["regex"],data) + if match is not None: + matchPattern = replyPattern + break + if match is not None: + if matchPattern["command"] == "init": + print("Init reply received") + if matchPattern["command"] == "status": + print("Status reply received") + num = int.from_bytes(match.group(1),byteorder='big') + if num == 1: + self.lastStatusReply["systemControlState"] = "INITIALIZED" + elif num == 2: + self.lastStatusReply["systemControlState"] = "IDLE" + elif num == 5: + self.lastStatusReply["systemControlState"] = "INWORK" + elif num == 6: + self.lastStatusReply["systemControlState"] = "ERROR" + else: + self.lastStatusReply["systemControlState"] = "UNKNOWN" + + num = int.from_bytes(match.group(2),byteorder='big') + if num == 1: + self.lastStatusReply["objectControlState"] = "IDLE" + elif num == 2: + self.lastStatusReply["objectControlState"] = "INITIALIZED" + elif num == 3: + self.lastStatusReply["objectControlState"] = "CONNECTED" + elif num == 4: + self.lastStatusReply["objectControlState"] = "ARMED" + elif num == 5: + self.lastStatusReply["objectControlState"] = "RUNNING" + elif num == 6: + self.lastStatusReply["objectControlState"] = "ERROR" + else: + self.lastStatusReply["objectControlState"] = "UNKNOWN" + + if match.group(3) is not None: + self.lastStatusReply["systemControlErrorCode"] = int.from_bytes(match.group(3),byteorder='big') + else: + self.lastStatusReply["systemControlErrorCode"] = 0 + if match.group(4) is not None: + self.lastStatusReply["objectControlErrorCode"] = int.from_bytes(match.group(4),byteorder='big') + else: + self.lastStatusReply["objectControlErrorCode"] = 0 + if matchPattern["command"] == "abort": + print("Abort reply received") + num = int.from_bytes(match.group(1),byteorder='big') + if num == 0: + self.lastAbortReply["scenarioActive"] = "NOT_ACTIVE" + elif num == 1: + self.lastAbortReply["scenarioActive"] = "ACTIVE" + else: + self.lastAbortReply["scenarioActive"] = "UNKNOWN" + if matchPattern["command"] == "arm": + print("Arm reply received") + if matchPattern["command"] == "start": + print("Start reply received") + num = int.from_bytes(match.group(1),byteorder='big') + if num == 0: + self.lastStartReply["scenarioActive"] = "NOT_ACTIVE" + elif num == 1: + self.lastStartReply["scenarioActive"] = "ACTIVE" + else: + self.lastStartReply["scenarioActive"] = "UNKNOWN" + if matchPattern["command"] == "connect": + print("Connect reply received") + if matchPattern["command"] == "disconnect": + print("Disconnect reply received") + + def GetStatus(self): message = "POST /maestro HTTP/1.1\r\nHost: " + self.host + "\r\n\r\nGetServerStatus();" self.Send(message) @@ -33,11 +133,27 @@ def Connect(self): self.Send(message) print("Connect() sent") + def Disconnect(self): + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nDisconnectObject();" + self.Send(message) + print("Disonnect() sent") + def Start(self,delayTime_ms): - message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nStartScenario(" + delayTime_ms + ");" + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nStartScenario(" + str(delayTime_ms) + ");" self.Send(message) print("StarScenario() sent") def Send(self,message): self.socket.send(message.encode()) + def shutdown(self): + self.quit = True + self.socket.close() + + def waitForObjectControlState(self,state): + while self.lastStatusReply["objectControlState"] != state: + time.sleep(0.005) + print("Expecting: " + state + ", Current: " + self.lastStatusReply["objectControlState"]) + self.GetStatus() + print("Expecting: " + state + ", Current: " + self.lastStatusReply["objectControlState"]) + From 1edffe1c63c701447236a4dc45304af5b938ee04 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 31 Oct 2019 10:29:34 +0100 Subject: [PATCH 607/730] Started handling response codes, added timeout to waitForObjectControlState --- server/integration-tests/tools/MSCP.py | 64 ++++++++++++++++++++------ 1 file changed, 49 insertions(+), 15 deletions(-) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index 1bd6e2c4f..0a7e816ea 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -20,18 +20,19 @@ def __init__(self,host,port=54241): self.lastAbortReply["scenarioActive"] = 0 self.lastStartReply["scenarioActive"] = 0 self.quit = False + self.lastResponseCode = "No message received yet" self.listener = threading.Thread(target=self.listen) self.listener.start() def listen(self): replyPatterns = [ - {"command": "init", "regex": re.compile(b'InitializeScenario:')}, - {"command": "status", "regex": re.compile(b'GetServerStatus:(.)(.)(.)?(.)?')}, - {"command": "abort", "regex": re.compile(b'AbortScenario:(.)')}, - {"command": "arm", "regex": re.compile(b'ArmScenario:')}, - {"command": "start", "regex": re.compile(b'StartScenario:(.)')}, - {"command": "connect", "regex": re.compile(b'ConnectObject:')}, - {"command": "disconnect", "regex": re.compile(b'DisconnectObject:')} + {"command": "init", "regex": re.compile(b'(..)InitializeScenario:')}, + {"command": "status", "regex": re.compile(b'(..)GetServerStatus:(.)(.)(.)?(.)?')}, + {"command": "abort", "regex": re.compile(b'(..)AbortScenario:(.)')}, + {"command": "arm", "regex": re.compile(b'(..)ArmScenario:')}, + {"command": "start", "regex": re.compile(b'(..)StartScenario:(.)')}, + {"command": "connect", "regex": re.compile(b'(..)ConnectObject:')}, + {"command": "disconnect", "regex": re.compile(b'(..)DisconnectObject:')} ] while not self.quit: @@ -40,13 +41,14 @@ def listen(self): match = re.search(replyPattern["regex"],data) if match is not None: matchPattern = replyPattern + self.lastResponseCode = self.interpretResponseCode(match.group(1)) break if match is not None: if matchPattern["command"] == "init": print("Init reply received") if matchPattern["command"] == "status": print("Status reply received") - num = int.from_bytes(match.group(1),byteorder='big') + num = int.from_bytes(match.group(2),byteorder='big') if num == 1: self.lastStatusReply["systemControlState"] = "INITIALIZED" elif num == 2: @@ -58,7 +60,7 @@ def listen(self): else: self.lastStatusReply["systemControlState"] = "UNKNOWN" - num = int.from_bytes(match.group(2),byteorder='big') + num = int.from_bytes(match.group(3),byteorder='big') if num == 1: self.lastStatusReply["objectControlState"] = "IDLE" elif num == 2: @@ -75,16 +77,16 @@ def listen(self): self.lastStatusReply["objectControlState"] = "UNKNOWN" if match.group(3) is not None: - self.lastStatusReply["systemControlErrorCode"] = int.from_bytes(match.group(3),byteorder='big') + self.lastStatusReply["systemControlErrorCode"] = int.from_bytes(match.group(4),byteorder='big') else: self.lastStatusReply["systemControlErrorCode"] = 0 if match.group(4) is not None: - self.lastStatusReply["objectControlErrorCode"] = int.from_bytes(match.group(4),byteorder='big') + self.lastStatusReply["objectControlErrorCode"] = int.from_bytes(match.group(5),byteorder='big') else: self.lastStatusReply["objectControlErrorCode"] = 0 if matchPattern["command"] == "abort": print("Abort reply received") - num = int.from_bytes(match.group(1),byteorder='big') + num = int.from_bytes(match.group(2),byteorder='big') if num == 0: self.lastAbortReply["scenarioActive"] = "NOT_ACTIVE" elif num == 1: @@ -95,7 +97,7 @@ def listen(self): print("Arm reply received") if matchPattern["command"] == "start": print("Start reply received") - num = int.from_bytes(match.group(1),byteorder='big') + num = int.from_bytes(match.group(2),byteorder='big') if num == 0: self.lastStartReply["scenarioActive"] = "NOT_ACTIVE" elif num == 1: @@ -150,10 +152,42 @@ def shutdown(self): self.quit = True self.socket.close() - def waitForObjectControlState(self,state): - while self.lastStatusReply["objectControlState"] != state: + def waitForObjectControlState(self,state,timeout=3.0): + timeoutTime = time.time() + timeout + while self.lastStatusReply["objectControlState"] != state and time.time() < timeoutTime: time.sleep(0.005) print("Expecting: " + state + ", Current: " + self.lastStatusReply["objectControlState"]) self.GetStatus() print("Expecting: " + state + ", Current: " + self.lastStatusReply["objectControlState"]) + if self.lastStatusReply["objectControlState"] != state: + raise TimeoutError("Timed out while waiting for transition to " + state) + + def interpretResponseCode(self,code): + num = int.from_bytes(code,byteorder='big') + if num == 0x0001: + return "OK" + elif num == 0x0002: + return "Logging data" + elif num = 0x0F10: + return "Error" + elif num = 0x0F20: + return "Function not available" + elif num = 0x0F25: + return "Incorrect state" + elif num = 0x0F30: + return "Invalid length" + elif num = 0x0F40: + return "Busy" + elif num = 0x0F42: + return "Timeout" + elif num = 0x0F50: + return "Invalid script" + elif num = 0x0F60: + return "Invalid encryption code" + elif num = 0x0F61: + return "Decryption error" + elif num = 0x0F62: + return "No data" + else: + raise ValueError("Response code " + str(num) " is not recognized") From e0f91cb15274cfc61eef7df5d510308956f4da80 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 31 Oct 2019 10:31:15 +0100 Subject: [PATCH 608/730] Missed an equals sign --- server/integration-tests/tools/MSCP.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index 0a7e816ea..d020a14a0 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -168,25 +168,25 @@ def interpretResponseCode(self,code): return "OK" elif num == 0x0002: return "Logging data" - elif num = 0x0F10: + elif num == 0x0F10: return "Error" - elif num = 0x0F20: + elif num == 0x0F20: return "Function not available" - elif num = 0x0F25: + elif num == 0x0F25: return "Incorrect state" - elif num = 0x0F30: + elif num == 0x0F30: return "Invalid length" - elif num = 0x0F40: + elif num == 0x0F40: return "Busy" - elif num = 0x0F42: + elif num == 0x0F42: return "Timeout" - elif num = 0x0F50: + elif num == 0x0F50: return "Invalid script" - elif num = 0x0F60: + elif num == 0x0F60: return "Invalid encryption code" - elif num = 0x0F61: + elif num == 0x0F61: return "Decryption error" - elif num = 0x0F62: + elif num == 0x0F62: return "No data" else: raise ValueError("Response code " + str(num) " is not recognized") From 52c8f0ec878fbf80cf17cac68c990360de898da3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 31 Oct 2019 10:39:45 +0100 Subject: [PATCH 609/730] Fixed some errors --- server/integration-tests/tools/MSCP.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index d020a14a0..ae716fd21 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -76,11 +76,11 @@ def listen(self): else: self.lastStatusReply["objectControlState"] = "UNKNOWN" - if match.group(3) is not None: + if match.group(4) is not None: self.lastStatusReply["systemControlErrorCode"] = int.from_bytes(match.group(4),byteorder='big') else: self.lastStatusReply["systemControlErrorCode"] = 0 - if match.group(4) is not None: + if match.group(5) is not None: self.lastStatusReply["objectControlErrorCode"] = int.from_bytes(match.group(5),byteorder='big') else: self.lastStatusReply["objectControlErrorCode"] = 0 @@ -189,5 +189,5 @@ def interpretResponseCode(self,code): elif num == 0x0F62: return "No data" else: - raise ValueError("Response code " + str(num) " is not recognized") + raise ValueError("Response code " + str(num) + " is not recognized") From d592c3c4fb0aaf56ae3352889c4e51df7a507b3c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 31 Oct 2019 10:42:44 +0100 Subject: [PATCH 610/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index d1d6d0e9c..416ce3902 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit d1d6d0e9c2ae02e081501f712298ca50631c3b2c +Subproject commit 416ce3902aac5fce0102e88138bbe031b205bfe9 From bdd0edcd2469e682d4f5d275ee5b4acd0ff9db6d Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Thu, 31 Oct 2019 11:00:28 +0100 Subject: [PATCH 611/730] Size of MONR must be correct. --- server/CMakeLists.txt | 8 ++++---- server/src/objectcontrol.c | 9 ++++++--- 2 files changed, 10 insertions(+), 7 deletions(-) diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt index 4a768ae30..4dddaaeb9 100644 --- a/server/CMakeLists.txt +++ b/server/CMakeLists.txt @@ -8,9 +8,9 @@ SET(CMAKE_CXX_STANDARD 11) SET(CMAKE_CXX_STANDARD_REQUIRED ON) # Standard compiler flags -#SET(GCC_COMPILE_FLAGS_WARNINGS "-Wall") # Use -Wall to make all warnings appear, and -Werror to make all of them into errors. To select individual warnings use e.g. -Werror=pointer-sign -#SET(GCC_COMPILE_FLAGS_COVERAGE "-fprofile-arcs -ftest-coverage") -#SET(GCC_COMPILE_FLAGS_OPTIMISATION "-O0") # Use -O2 for final build +SET(GCC_COMPILE_FLAGS_WARNINGS "-Wall") # Use -Wall to make all warnings appear, and -Werror to make all of them into errors. To select individual warnings use e.g. -Werror=pointer-sign +SET(GCC_COMPILE_FLAGS_COVERAGE "-fprofile-arcs -ftest-coverage") +SET(GCC_COMPILE_FLAGS_OPTIMISATION "-O0") # Use -O2 for final build # Set which compiler flags are used for the build SET(GCC_COMPILE_FLAGS_ALL "${GCC_COMPILE_FLAGS_WARNINGS}") @@ -109,7 +109,7 @@ add_executable(TEServer ) # add compiler flags for all targets -#set_target_properties(TEServer PROPERTIES COMPILE_FLAGS ${GCC_COMPILE_FLAGS_ALL}) +set_target_properties(TEServer PROPERTIES COMPILE_FLAGS ${GCC_COMPILE_FLAGS_ALL}) # add the install targets install (TARGETS TEServer DESTINATION bin) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index ac8a89596..41cbe470f 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -479,7 +479,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { bzero(buffer, RECV_MESSAGE_BUFFER); receivedMONRData = uiRecvMonitor(&safety_socket_fd[iIndex], buffer, RECV_MESSAGE_BUFFER); - if (receivedMONRData >= sizeof(MONRType)) + if(receivedMONRData == sizeof(MONRType)) { LogMessage(LOG_LEVEL_DEBUG, "Recieved new data from %s %d %d: %s", object_address_name[iIndex], object_udp_port[iIndex], receivedMONRData, @@ -522,6 +522,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { strcat(buffer, ";"); strcat(buffer, YPosition); strcat(buffer, ";"); + printf("XPosition: %s, YPosition: %s\n", XPosition, YPosition); strcat(buffer, ZPosition); strcat(buffer, ";"); strcat(buffer, Heading); @@ -766,7 +767,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header for (i = 0; i < SyncPointCount; i++) { - UtilSetAdaptiveSyncPoint(&ASP[i], fd, 1); + UtilSetAdaptiveSyncPoint(&ASP[i], fd, 0); if (TEST_SYNC_POINTS == 1) ASP[i].TestPort = SAFETY_CHANNEL_PORT; } @@ -1395,13 +1396,15 @@ I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, ConvertGPStoUTC = sprintf(Timestamp, "%" PRIu32, MONRData->GPSQmsOfWeekU32); if (debug && MONRData->GPSQmsOfWeekU32 % 400 == 0) { - LogMessage(LOG_LEVEL_DEBUG, "MONR = %x-%x-%x-%x-%x-%x-%d-%d-%d-%d-%d-%d-%d-%d-%d-%d", + LogMessage(LOG_LEVEL_DEBUG, "MONR = %x-%x-%x-%x-%x-%x-%d-%d-%d-%d-%d-%d-%d-%d-%d-%d-%d-%d", MONRData->Header.MessageIdU16, MONRData->Header.SyncWordU16, MONRData->Header.TransmitterIdU8, MONRData->Header.MessageCounterU8, MONRData->Header.AckReqProtVerU8, MONRData->Header.MessageLengthU32, + MONRData->MonrStructValueIdU16, + MONRData->MonrStructContentLengthU16, MONRData->GPSQmsOfWeekU32, MONRData->XPositionI32, MONRData->YPositionI32, From fe1e07ed83ec7a9ce172074638a079e4e4a47058 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 31 Oct 2019 13:07:24 +0100 Subject: [PATCH 612/730] Added some test trajectories, and updated util reference --- .../resources/trajectories/0.traj | 684 ++ .../resources/trajectories/1.traj | 81 + .../trajectories/GarageLastbilRektangel2.traj | 494 ++ .../trajectories/GarageRektangelInre3.traj | 466 + .../trajectories/GarageRektangelYttre3.traj | 466 + .../trajectories/GarageplanInnerring.traj | 466 + .../trajectories/GarageplanYtterring.traj | 466 + .../trajectories/RuralRoadTruck1.traj | 7580 +++++++++++++++++ .../resources/trajectories/aliv_rect.traj | 7083 +++++++++++++++ .../trajectories/fengco_drivefile_ego.traj | 1455 ++++ .../resources/trajectories/rectangle1.traj | 6068 +++++++++++++ .../resources/trajectories/rural2.traj | 7569 ++++++++++++++++ .../resources/trajectories/ruralmid2.traj | 4312 ++++++++++ .../resources/trajectories/ruralright2.traj | 4291 ++++++++++ .../resources/trajectories/safety.traj | 4 + util | 2 +- 16 files changed, 41486 insertions(+), 1 deletion(-) create mode 100644 server/integration-tests/resources/trajectories/0.traj create mode 100644 server/integration-tests/resources/trajectories/1.traj create mode 100644 server/integration-tests/resources/trajectories/GarageLastbilRektangel2.traj create mode 100644 server/integration-tests/resources/trajectories/GarageRektangelInre3.traj create mode 100644 server/integration-tests/resources/trajectories/GarageRektangelYttre3.traj create mode 100644 server/integration-tests/resources/trajectories/GarageplanInnerring.traj create mode 100644 server/integration-tests/resources/trajectories/GarageplanYtterring.traj create mode 100644 server/integration-tests/resources/trajectories/RuralRoadTruck1.traj create mode 100644 server/integration-tests/resources/trajectories/aliv_rect.traj create mode 100644 server/integration-tests/resources/trajectories/fengco_drivefile_ego.traj create mode 100644 server/integration-tests/resources/trajectories/rectangle1.traj create mode 100644 server/integration-tests/resources/trajectories/rural2.traj create mode 100644 server/integration-tests/resources/trajectories/ruralmid2.traj create mode 100644 server/integration-tests/resources/trajectories/ruralright2.traj create mode 100644 server/integration-tests/resources/trajectories/safety.traj diff --git a/server/integration-tests/resources/trajectories/0.traj b/server/integration-tests/resources/trajectories/0.traj new file mode 100644 index 000000000..0c99a6b42 --- /dev/null +++ b/server/integration-tests/resources/trajectories/0.traj @@ -0,0 +1,684 @@ +TRAJECTORY;0;korfilGarage;3;682; 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diff --git a/util b/util index 416ce3902..21a14becc 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 416ce3902aac5fce0102e88138bbe031b205bfe9 +Subproject commit 21a14becc84129b6678a4237d55d0f6b25893fff From 8941581dd002b48b9b96b14df8b284febd322745 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Thu, 31 Oct 2019 14:37:22 +0100 Subject: [PATCH 613/730] MONR length must be correct. Fixed the zero OSEM bug, restoring the buffers after sent to logger. --- server/src/objectcontrol.c | 134 +++++++++++++++++++------------------ server/src/util.c | 12 ++-- 2 files changed, 76 insertions(+), 70 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 41cbe470f..27261f822 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -392,42 +392,41 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { if (OBCState == OBC_STATE_ERROR) { ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, 0); - UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + MessageLength = + ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, + 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], + MessageBuffer, MessageLength, 0); } - if (OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) - { - /*HEAB*/ for (iIndex = 0; iIndex < nbr_objects; ++iIndex) - { - if (uiTimeCycle == 0) - { + if (OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) { + /*HEAB*/ for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + if (uiTimeCycle == 0) { //HeartbeatMessageCounter ++; - MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, 0); + MessageLength = + ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, + ObjectControlServerStatus, 0); //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 1); - UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); + UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], + MessageBuffer, MessageLength, 0); } } // Check if any object has disconnected - if so, disconnect all objects and return to idle DisconnectU8 = 0; - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) - { + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { DisconnectU8 |= vCheckRemoteDisconnected(&socket_fds[iIndex]); - if (DisconnectU8) - { + if (DisconnectU8) { LogMessage(LOG_LEVEL_WARNING, "Lost connection to IP %s - returning to IDLE", object_address_name[iIndex]); - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) - { + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { vDisconnectObject(&socket_fds[iIndex]); } /* Close safety socket */ - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) - { + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { vCloseSafetyChannel(&safety_socket_fd[iIndex]); } vSetState(OBC_STATE_IDLE, GSD); @@ -443,22 +442,21 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { // this is etsi time lets remov it ans use utc instead //gettimeofday(&CurrentTimeStruct, NULL); - CurrentTimeU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; + CurrentTimeU32 = + ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + + GPSTime->MicroSecondU16; - /*MTSP*/ - if (HeartbeatMessageCounter == 0) - { - HeartbeatMessageCounter = 0; - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) - { - for (i = 0; i < SyncPointCount; i++) - { - if (TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL && - ASPData.MTSPU32 > 0 && ASPData.TimeToSyncPointDbl > -1) - { + /*MTSP*/ if (HeartbeatMessageCounter == 0) { + HeartbeatMessageCounter = 0; + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + for (i = 0; i < SyncPointCount; i++) { + if (TEST_SYNC_POINTS == 0 + && strstr(object_address_name[iIndex], ASP[i].SlaveIP) != NULL + && ASPData.MTSPU32 > 0 && ASPData.TimeToSyncPointDbl > -1) { /*Send Master time to adaptive sync point */ - MessageLength = ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, ASPData.MTSPU32, 0); + MessageLength = + ObjectControlBuildMTSPMessage(MessageBuffer, &MTSPData, ASPData.MTSPU32, 0); //ObjectControlSendUDPData(&safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); UtilSendUDPData("Object Control", &safety_socket_fd[iIndex], &safety_object_addr[iIndex], MessageBuffer, MessageLength, 0); @@ -474,26 +472,25 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) - { + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { bzero(buffer, RECV_MESSAGE_BUFFER); receivedMONRData = uiRecvMonitor(&safety_socket_fd[iIndex], buffer, RECV_MESSAGE_BUFFER); - if(receivedMONRData == sizeof(MONRType)) - { + if (receivedMONRData == sizeof (MONRType)) { LogMessage(LOG_LEVEL_DEBUG, "Recieved new data from %s %d %d: %s", object_address_name[iIndex], object_udp_port[iIndex], receivedMONRData, buffer); - if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) - { + if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { // Append IP to buffer - memcpy(&buffer[receivedMONRData], &safety_object_addr[iIndex].sin_addr.s_addr, sizeof (in_addr_t)); + memcpy(&buffer[receivedMONRData], &safety_object_addr[iIndex].sin_addr.s_addr, + sizeof (in_addr_t)); // Send MONR message as bytes - - if (iCommSend(COMM_MONR, buffer, (size_t) (receivedMONRData) + sizeof (in_addr_t)) < 0) - { - LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending MONR command - entering error state"); + + if (iCommSend(COMM_MONR, buffer, (size_t) (receivedMONRData) + sizeof (in_addr_t)) < + 0) { + LogMessage(LOG_LEVEL_ERROR, + "Fatal communication fault when sending MONR command - entering error state"); vSetState(OBC_STATE_ERROR, GSD); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } @@ -503,9 +500,14 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { //Store MONR in GSD //UtilSendUDPData("ObjectControl", &ObjectControlUDPSocketfdI32, &simulator_addr, &MONRData, sizeof(MONRData), 0); - for (i = 0; i < (MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); i++) + for (i = 0; + i < + (MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + + COMMAND_MESSAGE_FOOTER_LENGTH); i++) GSD->MONRData[i] = buffer[i]; - GSD->MONRSizeU8 = MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH; + GSD->MONRSizeU8 = + MONRData.Header.MessageLengthU32 + COMMAND_MESSAGE_HEADER_LENGTH + + COMMAND_MESSAGE_FOOTER_LENGTH; ObjectControlMONRToASCII(&MONRData, &OriginPosition, iIndex, Id, Timestamp, XPosition, YPosition, ZPosition, LongitudinalSpeed, LateralSpeed, @@ -522,7 +524,6 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { strcat(buffer, ";"); strcat(buffer, YPosition); strcat(buffer, ";"); - printf("XPosition: %s, YPosition: %s\n", XPosition, YPosition); strcat(buffer, ZPosition); strcat(buffer, ";"); strcat(buffer, Heading); @@ -545,8 +546,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { strcat(buffer, ";"); - if (ASPData.MTSPU32 != 0) - { + if (ASPData.MTSPU32 != 0) { //Add MTSP to MONR if not 0 bzero(MTSP, SMALL_BUFFER_SIZE_0); sprintf(MTSP, "%" PRIu32, ASPData.MTSPU32); @@ -556,11 +556,9 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_DEBUG, "Sending MONR message: %s", buffer); - if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) - { + if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { // Send MONR message on old (ASCII) format - if (iCommSend(COMM_MONI, buffer, strlen(buffer)) < 0) - { + if (iCommSend(COMM_MONI, buffer, strlen(buffer)) < 0) { LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending MONI command - entering error state"); vSetState(OBC_STATE_ERROR, GSD); @@ -569,8 +567,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } //Ok, let's do the ASP - for (i = 0; i < SyncPointCount; i++) - { + for (i = 0; i < SyncPointCount; i++) { if (TEST_SYNC_POINTS == 0 && strstr(object_address_name[iIndex], ASP[i].MasterIP) != NULL && CurrentTimeU32 > StartTimeU32 && StartTimeU32 > 0 @@ -655,7 +652,10 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } } OP[iIndex].Speed = atof(Speed); - } else if(receivedMONRData > 0) LogMessage(LOG_LEVEL_INFO, "MONR length error (should be %d but is %ld) from %s.", sizeof(MONRType), object_address_name[iIndex]); + } + else if (receivedMONRData > 0) + LogMessage(LOG_LEVEL_INFO, "MONR length error (should be %d but is %ld) from %s.", + sizeof (MONRType), object_address_name[iIndex]); } } @@ -819,8 +819,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { UtilSetObjectPositionIP(&OP[iIndex], object_address_name[iIndex]); MessageLength = ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, GPSTime, - OriginLatitude, - OriginLongitude, OriginAltitude, 0); + OriginLatitude, OriginLongitude, OriginAltitude, 0); DisconnectU8 = 0; @@ -887,12 +886,17 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { bzero(pcSendBuffer, sizeof (pcSendBuffer)); strcat(pcSendBuffer, GPSWeek); strcat(pcSendBuffer, ";"); - strcat(pcSendBuffer, OriginLongitude); - strcat(pcSendBuffer, ";"); strcat(pcSendBuffer, OriginLatitude); strcat(pcSendBuffer, ";"); + strcat(pcSendBuffer, OriginLongitude); + strcat(pcSendBuffer, ";"); strcat(pcSendBuffer, OriginAltitude); + //Restore the buffers + DataDictionaryGetOriginLatitudeC8(GSD, OriginLatitude, SMALL_BUFFER_SIZE_0); + DataDictionaryGetOriginLongitudeC8(GSD, OriginLongitude, SMALL_BUFFER_SIZE_0); + DataDictionaryGetOriginAltitudeC8(GSD, OriginAltitude, SMALL_BUFFER_SIZE_0); + if (iCommSend(COMM_OSEM, pcSendBuffer, strlen(pcSendBuffer) + 1) < 0) { LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending OSEM command - entering error state"); @@ -943,7 +947,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { OP[iIndex].SpaceTimeArr = SpaceTimeArr[iIndex]; UtilPopulateSpaceTimeArr(&OP[iIndex], object_traj_file[iIndex]); - LogMessage(LOG_LEVEL_INFO, "Sync point counts: %d", SyncPointCount); + LogMessage(LOG_LEVEL_INFO, "Sync point counts: %d", SyncPointCount); for (i = 0; i < SyncPointCount; i++) { if (TEST_SYNC_POINTS == 1 && iIndex == 1) { /*Send SYPM to slave */ @@ -1552,10 +1556,11 @@ I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeT OSEMData->Header.MessageLengthU32 = sizeof (OSEMType) - sizeof (HeaderType) - 4; OSEMData->LatitudeValueIdU16 = VALUE_ID_LATITUDE; OSEMData->LatitudeContentLengthU16 = 6; - OSEMData->LatitudeI64 = (I64) ((atof((char *)Latitude) * 1e10)); + OSEMData->LatitudeI64 = (I64) ((atof((const char *)Latitude) * 1e10)); +// OSEMData->LatitudeI64 = (I64) ((strtod((char *)Latitude) * 1e10), NULL); OSEMData->LongitudeValueIdU16 = VALUE_ID_LONGITUDE; OSEMData->LongitudeContentLengthU16 = 6; - OSEMData->LongitudeI64 = (I64) ((atof((char *)Longitude) * 1e10)); + OSEMData->LongitudeI64 = (I64) ((atof((const char *)Longitude) * 1e10)); OSEMData->AltitudeValueIdU16 = VALUE_ID_ALTITUDE; OSEMData->AltitudeContentLengthU16 = 4; OSEMData->AltitudeI32 = (I32) (atof((char *)Altitude) * 1e2); @@ -1617,6 +1622,7 @@ I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeT for (; i < MessageIndex; i++) printf("%x ", (unsigned char)MessageBuffer[i]); printf("\n"); + printf("Latitude = %s, %ld\nLongitude = %s, %ld\n", Latitude, OSEMData->LatitudeI64, Longitude, OSEMData->LongitudeI64); } return MessageIndex; //Total number of bytes } @@ -1632,9 +1638,9 @@ int ObjectControlOSEMtoASCII(OSEMType * OSEMData, char *GPSWeek, char *GPSLatitu if (OSEMData->Header.MessageIdU16 == COMMAND_OSEM_CODE) { sprintf(GPSWeek, "%" PRIu16, OSEMData->GPSWeekU16); - sprintf(GPSLatitude, "%" PRIi64, OSEMData->LongitudeI64); + sprintf(GPSLatitude, "%" PRIi64, OSEMData->LatitudeI64); - sprintf(GPSLongitude, "%" PRIi64, OSEMData->LatitudeI64); + sprintf(GPSLongitude, "%" PRIi64, OSEMData->LongitudeI64); sprintf(GPSAltitude, "%" PRIi32, OSEMData->AltitudeI32); } @@ -1758,7 +1764,7 @@ I32 ObjectControlBuildHEABMessage(C8 * MessageBuffer, HEABType * HEABData, TimeT HEABData->Header.MessageIdU16 = COMMAND_HEAB_CODE; HEABData->Header.MessageLengthU32 = sizeof (HEABType) - sizeof (HeaderType); HEABData->HeabStructValueIdU16 = VALUE_ID_HEAB_STRUCT; - HEABData->HeabStructContentLengthU16 = sizeof(HEABType) - sizeof(HeaderType) - 4; + HEABData->HeabStructContentLengthU16 = sizeof (HEABType) - sizeof (HeaderType) - 4; HEABData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; diff --git a/server/src/util.c b/server/src/util.c index 46c12e56e..aa136900e 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -1652,7 +1652,7 @@ int UtilReadLine(FILE * fd, char *Buffer) { -C8 * UtilSearchTextFile(C8 * Filename, C8 * Text1, C8 * Text2, C8 * Result) { +C8 *UtilSearchTextFile(C8 * Filename, C8 * Text1, C8 * Text2, C8 * Result) { FILE *fd; @@ -3418,11 +3418,11 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT C8 *rdPtr = rawMONR, *monrStruct; // Pointer to keep track of where in rawMONR we are currently reading U16 contentLength = 0; in_addr_t IPData = 0; - const size_t monrPacketSize = - sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC) - 4; // 4 is the size of ValueId and ContentLength + const size_t monrPacketSize = sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC) - 4; // 4 is the size of ValueId and ContentLength if (rawMONRsize < sizeof (MonitorDataType)) { - LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data, %d < %d.", rawMONRsize, sizeof (MonitorDataType)); + LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data, %d < %d.", + rawMONRsize, sizeof (MonitorDataType)); return -1; } @@ -3454,7 +3454,7 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT memcpy(&contentLength, rdPtr, sizeof (contentLength)); rdPtr += sizeof (contentLength); - + if (contentLength < monrPacketSize) { LogMessage(LOG_LEVEL_ERROR, "Content length %u too small to hold necessary MONR data (expected %u)", contentLength, @@ -3467,7 +3467,7 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT contentLength, monrPacketSize); return -1; } - + } else if (debug) { LogPrint("Received MONR message without content header: corrupt data may result"); From 9523c38651f0da5c9d92c7884af27f89bdfbd369 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 31 Oct 2019 14:48:45 +0100 Subject: [PATCH 614/730] Added upload file and subuploadfile reply handling but not the full upload process --- server/integration-tests/tools/MSCP.py | 33 +++++++++++++++++++++++--- 1 file changed, 30 insertions(+), 3 deletions(-) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index ae716fd21..ca436bf1d 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -32,7 +32,9 @@ def listen(self): {"command": "arm", "regex": re.compile(b'(..)ArmScenario:')}, {"command": "start", "regex": re.compile(b'(..)StartScenario:(.)')}, {"command": "connect", "regex": re.compile(b'(..)ConnectObject:')}, - {"command": "disconnect", "regex": re.compile(b'(..)DisconnectObject:')} + {"command": "disconnect", "regex": re.compile(b'(..)DisconnectObject:')}, + {"command": "upload", "regex": re.compile(b'([^u][^b])UploadFile:(.)')}, + {"command": "subupload", "regex": re.compile(b'(..)SubUploadFile:(.)')} ] while not self.quit: @@ -108,7 +110,26 @@ def listen(self): print("Connect reply received") if matchPattern["command"] == "disconnect": print("Disconnect reply received") - + if matchPattern["command"] == "upload": + print("Upload reply 1 received") + num = int.from_bytes(match.group(2),byteorder='big') + if num == 0x01: + self.lastUploadReply["status"] = "SERVER_PREPARED" + elif num == 0x02: + self.lastUploadReply["status"] = "PACKET_SIZE_ERROR" + elif num == 0x03: + self.lastUploadReply["status"] = "INVALID_PATH" + else: + self.lastUploadReply["status"] = "UNKNOWN" + if matchPattern["command"] == "subupload": + print("Upload reply 2 received") + num = int.from_bytes(match.group(2),byteorder='big') + if num == 0x04: + self.lastUploadReply["status"] = "UPLOAD_SUCCESS" + elif num == 0x05: + self.lastUploadReply["status"] = "UPLOAD_FAILURE" + else: + self.lastUploadReply["status"] = "UNKNOWN" def GetStatus(self): message = "POST /maestro HTTP/1.1\r\nHost: " + self.host + "\r\n\r\nGetServerStatus();" @@ -143,7 +164,13 @@ def Disconnect(self): def Start(self,delayTime_ms): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nStartScenario(" + str(delayTime_ms) + ");" self.Send(message) - print("StarScenario() sent") + print("StarScenario() sent") + + def UploadFile(self,targetPath,fileContents): + packetSize = 1024 + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nUploadFile(" + targetPath + "," + str(len(fileContents)) + "," + str(packetSize) + ");" + print("UploadFile() sent") + # TODO def Send(self,message): self.socket.send(message.encode()) From 9feb76d400f7b3ae500868d8e2ea08e16a0b09b4 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 31 Oct 2019 14:49:14 +0100 Subject: [PATCH 615/730] Read trajectory and upload in test script --- server/integration-tests/100-SingleTypicalTest.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 285d3486d..3cce4ba2e 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -1,11 +1,13 @@ from tools.MSCP import MSCP from tools.Executable import Executable +from tools.TrajectoryFile import * import time import subprocess import sys if __name__ == "__main__": + server = Executable("../build/TEServer",["-m","0"]) time.sleep(0.05) @@ -17,8 +19,11 @@ server.stop() sys.exit(1) # 2: Load trajectory + traj = ReadTrajectoryFile("resources/trajectories/",fileName="random") + # 3: Start a test object # 4: Upload trajectory + userControl.UploadFile("traj/127.0.0.1",traj) # 5: Send init userControl.Init() From b0c3c408d2739796e703e632a3924ad1477bebf5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 31 Oct 2019 14:49:38 +0100 Subject: [PATCH 616/730] Updated trajectory file reader --- .../integration-tests/tools/TrajectoryFile.py | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) create mode 100644 server/integration-tests/tools/TrajectoryFile.py diff --git a/server/integration-tests/tools/TrajectoryFile.py b/server/integration-tests/tools/TrajectoryFile.py new file mode 100644 index 000000000..45f9777b6 --- /dev/null +++ b/server/integration-tests/tools/TrajectoryFile.py @@ -0,0 +1,17 @@ +import random +from os import listdir +from os.path import isfile, join + +def ReadTrajectoryFile(trajectoryDir, fileName="random"): + allFiles = [f for f in listdir(trajectoryDir) if isfile(join(trajectoryDir, f))] + allFiles[:] = [f for f in allFiles if f[-5:] == ".traj"] + if fileName == "random": + fname = join(trajectoryDir, random.choice(allFiles)) + elif join(trajectoryDir, fileName) in allFiles: + fname = join(trajectoryDir, fileName) + else: + raise ValueError("File " + fileName + " in directory " + trajectoryDir + " does not exist") + with open(fname, "r") as fp: + data = fp.read() + return data + From 5f24d56905f9bf4dd2855968ddb31f59503ff0e9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 1 Nov 2019 15:04:14 +0100 Subject: [PATCH 617/730] Implemented file uploading in MSCP tool script --- server/integration-tests/tools/MSCP.py | 68 +++++++++++++++++++++++--- 1 file changed, 61 insertions(+), 7 deletions(-) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index ca436bf1d..269d3093a 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -13,12 +13,19 @@ def __init__(self,host,port=54241): self.lastStatusReply = {} self.lastAbortReply = {} self.lastStartReply = {} + self.lastUploadReply = {} self.lastStatusReply["objectControlState"] = "UNKNOWN" self.lastStatusReply["systemControlState"] = "UNKNOWN" self.lastStatusReply["systemControlErrorCode"] = 0 self.lastStatusReply["objectControlErrorCode"] = 0 self.lastAbortReply["scenarioActive"] = 0 self.lastStartReply["scenarioActive"] = 0 + self.lastUploadReply["status"] = "UNKNOWN" + self.uploadReplyLock = threading.Lock() + self.startReplyLock = threading.Lock() + self.abortReplyLock = threading.Lock() + self.statusReplyLock = threading.Lock() + self.responseCodeLock = threading.Lock() self.quit = False self.lastResponseCode = "No message received yet" self.listener = threading.Thread(target=self.listen) @@ -43,7 +50,9 @@ def listen(self): match = re.search(replyPattern["regex"],data) if match is not None: matchPattern = replyPattern + self.responseCodeLock.acquire() self.lastResponseCode = self.interpretResponseCode(match.group(1)) + self.responseCodeLock.release() break if match is not None: if matchPattern["command"] == "init": @@ -51,6 +60,7 @@ def listen(self): if matchPattern["command"] == "status": print("Status reply received") num = int.from_bytes(match.group(2),byteorder='big') + self.statusReplyLock.acquire() if num == 1: self.lastStatusReply["systemControlState"] = "INITIALIZED" elif num == 2: @@ -86,26 +96,31 @@ def listen(self): self.lastStatusReply["objectControlErrorCode"] = int.from_bytes(match.group(5),byteorder='big') else: self.lastStatusReply["objectControlErrorCode"] = 0 + self.statusReplyLock.release() if matchPattern["command"] == "abort": print("Abort reply received") num = int.from_bytes(match.group(2),byteorder='big') + self.abortReplyLock.acquire() if num == 0: self.lastAbortReply["scenarioActive"] = "NOT_ACTIVE" elif num == 1: self.lastAbortReply["scenarioActive"] = "ACTIVE" else: self.lastAbortReply["scenarioActive"] = "UNKNOWN" + self.abortReplyLock.release() if matchPattern["command"] == "arm": print("Arm reply received") if matchPattern["command"] == "start": print("Start reply received") num = int.from_bytes(match.group(2),byteorder='big') + self.startReplyLock.acquire() if num == 0: self.lastStartReply["scenarioActive"] = "NOT_ACTIVE" elif num == 1: self.lastStartReply["scenarioActive"] = "ACTIVE" else: self.lastStartReply["scenarioActive"] = "UNKNOWN" + self.startReplyLock.release() if matchPattern["command"] == "connect": print("Connect reply received") if matchPattern["command"] == "disconnect": @@ -113,23 +128,31 @@ def listen(self): if matchPattern["command"] == "upload": print("Upload reply 1 received") num = int.from_bytes(match.group(2),byteorder='big') + self.uploadReplyLock.acquire() if num == 0x01: self.lastUploadReply["status"] = "SERVER_PREPARED" elif num == 0x02: self.lastUploadReply["status"] = "PACKET_SIZE_ERROR" elif num == 0x03: self.lastUploadReply["status"] = "INVALID_PATH" + elif num == 0x04: + self.lastUploadReply["status"] = "UPLOAD_SUCCESS" + elif num == 0x05: + self.lastUploadReply["status"] = "UPLOAD_FAILURE" else: self.lastUploadReply["status"] = "UNKNOWN" + self.uploadReplyLock.release() if matchPattern["command"] == "subupload": print("Upload reply 2 received") num = int.from_bytes(match.group(2),byteorder='big') + self.uploadReplyLock.acquire() if num == 0x04: self.lastUploadReply["status"] = "UPLOAD_SUCCESS" elif num == 0x05: self.lastUploadReply["status"] = "UPLOAD_FAILURE" else: self.lastUploadReply["status"] = "UNKNOWN" + self.uploadReplyLock.release() def GetStatus(self): message = "POST /maestro HTTP/1.1\r\nHost: " + self.host + "\r\n\r\nGetServerStatus();" @@ -167,10 +190,21 @@ def Start(self,delayTime_ms): print("StarScenario() sent") def UploadFile(self,targetPath,fileContents): - packetSize = 1024 - message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nUploadFile(" + targetPath + "," + str(len(fileContents)) + "," + str(packetSize) + ");" + packetSize = 1200 + message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nUploadFile(" + targetPath + "," + str(len(fileContents)) + "," + str(packetSize) + ");" + self.uploadReplyLock.acquire() + self.lastUploadReply["status"] = "UNKNOWN" + self.uploadReplyLock.release() + self.Send(message) print("UploadFile() sent") - # TODO + self.waitForUploadReply("SERVER_PREPARED") + # Send file + self.Send(fileContents) + self.uploadReplyLock.acquire() + self.lastUploadReply["status"] = "UNKNOWN" + self.uploadReplyLock.release() + self.waitForUploadReply("UPLOAD_SUCCESS") + print("File uploaded") def Send(self,message): self.socket.send(message.encode()) @@ -179,14 +213,34 @@ def shutdown(self): self.quit = True self.socket.close() + def waitForUploadReply(self,status,timeout=3.0): + timeoutTime = time.time() + timeout + self.uploadReplyLock.acquire() + ur = self.lastUploadReply["status"] + self.uploadReplyLock.release() + while ur == "UNKNOWN" and time.time() < timeoutTime: + self.uploadReplyLock.acquire() + ur = self.lastUploadReply["status"] + self.uploadReplyLock.release() + if ur != status and time.time() >= timeoutTime: + raise TimeoutError("Timed out while waiting for reply to UploadFile") + elif ur != status: + raise ValueError("Expected status " + status + " but received " + ur) + def waitForObjectControlState(self,state,timeout=3.0): timeoutTime = time.time() + timeout - while self.lastStatusReply["objectControlState"] != state and time.time() < timeoutTime: + self.statusReplyLock.acquire() + sr = self.lastStatusReply["objectControlState"] + self.statusReplyLock.release() + while sr != state and time.time() < timeoutTime: time.sleep(0.005) - print("Expecting: " + state + ", Current: " + self.lastStatusReply["objectControlState"]) + self.statusReplyLock.acquire() + sr = self.lastStatusReply["objectControlState"] + self.statusReplyLock.release() + print("Expecting: " + state + ", Current: " + sr) self.GetStatus() - print("Expecting: " + state + ", Current: " + self.lastStatusReply["objectControlState"]) - if self.lastStatusReply["objectControlState"] != state: + print("Expecting: " + state + ", Current: " + sr) + if sr != state: raise TimeoutError("Timed out while waiting for transition to " + state) def interpretResponseCode(self,code): From 6d037c2e507387f62af35cb364fb22a0ee9771dd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 4 Nov 2019 11:58:21 +0100 Subject: [PATCH 618/730] Added printout to executable --- server/integration-tests/tools/Executable.py | 1 + 1 file changed, 1 insertion(+) diff --git a/server/integration-tests/tools/Executable.py b/server/integration-tests/tools/Executable.py index ec6362ba3..6571daf4b 100644 --- a/server/integration-tests/tools/Executable.py +++ b/server/integration-tests/tools/Executable.py @@ -41,6 +41,7 @@ def stop(self): try: self.proc.wait(3) + print("=== " + procName[-1] + " terminated successfully") return except TimeoutExpired as e: print("=== Executable did not respond to interrupt, forcing shutdown") From 810229cebc12eaee97499c404eb011a287a27750 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 4 Nov 2019 13:00:38 +0100 Subject: [PATCH 619/730] Made test script shut down MSCP connection as well --- server/integration-tests/005-UserControlConnect.py | 3 +++ 1 file changed, 3 insertions(+) mode change 100644 => 100755 server/integration-tests/005-UserControlConnect.py diff --git a/server/integration-tests/005-UserControlConnect.py b/server/integration-tests/005-UserControlConnect.py old mode 100644 new mode 100755 index 0a67dffb7..d48382093 --- a/server/integration-tests/005-UserControlConnect.py +++ b/server/integration-tests/005-UserControlConnect.py @@ -13,11 +13,14 @@ time.sleep(1) if S.poll(): S.stop() + M.shutdown() sys.exit(1) M.Init() time.sleep(1) if S.poll(): S.stop() + M.shutdown() sys.exit(1) S.stop() + M.shutdown() sys.exit(0) From 74c89db6cb580d5377aa2166e1c10af985d81f86 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 4 Nov 2019 13:01:29 +0100 Subject: [PATCH 620/730] Removed execute permissions from .py files --- server/integration-tests/005-UserControlConnect.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100755 => 100644 server/integration-tests/005-UserControlConnect.py diff --git a/server/integration-tests/005-UserControlConnect.py b/server/integration-tests/005-UserControlConnect.py old mode 100755 new mode 100644 From 32b3d8a7553196d96cbf0e51eb86c7237c173901 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Tue, 5 Nov 2019 15:40:28 +0100 Subject: [PATCH 621/730] Time for platfrom test. Middle of workshop. --- server/inc/objectcontrol.h | 6 +- server/inc/util.h | 9 +- server/src/objectcontrol.c | 228 +++++++++++++++++++++++-------------- server/src/systemcontrol.c | 4 +- server/src/timecontrol.c | 6 +- 5 files changed, 158 insertions(+), 95 deletions(-) diff --git a/server/inc/objectcontrol.h b/server/inc/objectcontrol.h index f0420b0c5..e72c11258 100755 --- a/server/inc/objectcontrol.h +++ b/server/inc/objectcontrol.h @@ -30,12 +30,12 @@ I32 ObjectControlBuildSYPMMessage(C8* MessageBuffer, SYPMType *SYPMData, U32 Syn //int ObjectControlBuildSYPMMessage(char* MessageBuffer, unsigned int SyncPoint, unsigned int StopTime, char debug); I32 ObjectControlBuildMTSPMessage(C8* MessageBuffer, MTSPType *MTSPData, U32 SyncTimestamp, U8 debug); //int ObjectControlBuildMTSPMessage(char* MessageBuffer, unsigned long SyncTimestamp, char debug); -I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, U8 debug); +I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 *RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, C8 *TrajFileHeader, U8 debug); //I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, U8 debug); I32 ObjectControlBuildDOTMMessage(C8* MessageBuffer, FILE *fd, I32 RowCount, DOTMType *DOTMType, U8 debug); I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* SimData, U8 debug); I32 ObjectControlSendDOTMMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); -//I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, int Idn, char *Id, char *Timestamp, char *XPosition, char *YPosition, char *ZPosition, char *LongitudinalSpeed, char *LateralSpeed, char *LongitudinalAcc, char *LateralAcc, char *Heading, char *DriveDirection, char *StatusFlag, char *StateFlag, char debug) -I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I32 Idn, C8 *Id, C8 *Timestamp, C8 *XPosition, C8 *YPosition, C8 *ZPosition, C8 *LongitudinalSpeed, C8 *LateralSpeed, C8 *LongitudinalAcc, C8 *LateralAcc, C8 *Heading, C8 *DriveDirection, C8 *StatusFlag, C8 *StateFlag, C8 debug); +//I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, int Idn, char *Id, char *Timestamp, char *XPosition, char *YPosition, char *ZPosition, char *LongitudinalSpeed, char *LateralSpeed, char *LongitudinalAcc, char *LateralAcc, char *Heading, char *DriveDirection, char *ObjectState, char *ReadyToArm, char debug) +I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I32 Idn, C8 *Id, C8 *Timestamp, C8 *XPosition, C8 *YPosition, C8 *ZPosition, C8 *LongitudinalSpeed, C8 *LateralSpeed, C8 *LongitudinalAcc, C8 *LateralAcc, C8 *Heading, C8 *DriveDirection, C8 *ObjectState, C8 *ReadyToArm, C8* ErrorStatus, C8 debug); int ObjectControlOSEMtoASCII(OSEMType *OSEMData,char *GPSWeek, char *GPSLatitude, char *GPSLongitude, char *GPSAltitude); #endif //__OBJECTCONTROL_H_INCLUDED__ diff --git a/server/inc/util.h b/server/inc/util.h index 93869095f..e509f968d 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -319,9 +319,12 @@ typedef struct U16 StartTimeValueIdU16; U16 StartTimeContentLengthU16; U32 StartTimeU32; - U16 DelayStartValueIdU16; - U16 DelayStartContentLengthU16; - U32 DelayStartU32; + U16 GPSWeekValueIdU16; + U16 GPSWeekContentLengthU16; + U16 GPSWeekU16; + // U16 DelayStartValueIdU16; + // U16 DelayStartContentLengthU16; + // U32 DelayStartU32; } STRTType; //27 bytes typedef struct diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 27261f822..beef13206 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -46,6 +46,7 @@ #define RECV_MESSAGE_BUFFER 6200 #define BUFFER_SIZE_3100 3100 +#define TRAJ_FILE_HEADER_ROW 256 #define OBJECT_MESS_BUFFER_SIZE 1024 #define OC_SLEEP_TIME_EMPTY_MQ_S 0 @@ -198,8 +199,8 @@ int ObjectControlBuildLLCMMessage(char *MessageBuffer, unsigned short Speed, uns I32 ObjectControlBuildSYPMMessage(C8 * MessageBuffer, SYPMType * SYPMData, U32 SyncPoint, U32 StopTime, U8 debug); I32 ObjectControlBuildMTSPMessage(C8 * MessageBuffer, MTSPType * MTSPData, U32 SyncTimestamp, U8 debug); -I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 RowCount, HeaderType * HeaderData, - TRAJInfoType * TRAJInfoData, U8 debug); +I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 *RowCount, HeaderType * HeaderData, + TRAJInfoType * TRAJInfoData, C8 * TrajFileHeader, U8 debug); //I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, U8 debug); I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, DOTMType * DOTMData, U8 debug); I32 ObjectControlSendDOTMMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, @@ -208,7 +209,7 @@ int ObjectControlSendUDPData(int *sockfd, struct sockaddr_in *addr, char *SendDa I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, I32 Idn, C8 * Id, C8 * Timestamp, C8 * XPosition, C8 * YPosition, C8 * ZPosition, C8 * LongitudinalSpeed, C8 * LateralSpeed, C8 * LongitudinalAcc, C8 * LateralAcc, - C8 * Heading, C8 * DriveDirection, C8 * StatusFlag, C8 * StateFlag, C8 debug); + C8 * Heading, C8 * DriveDirection, C8 * ObjectState, C8 * ReadyToArm, C8* ErrorStatus ,C8 debug); I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug); int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId, char *TriggAction, char *TriggDelay, char debug); @@ -284,8 +285,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { YPosition[SMALL_BUFFER_SIZE_0], ZPosition[SMALL_BUFFER_SIZE_0]; C8 Speed[SMALL_BUFFER_SIZE_0], LongitudinalSpeed[SMALL_BUFFER_SIZE_0], LateralSpeed[SMALL_BUFFER_SIZE_0], LongitudinalAcc[SMALL_BUFFER_SIZE_0], LateralAcc[SMALL_BUFFER_SIZE_0]; - C8 Heading[SMALL_BUFFER_SIZE_0], DriveDirection[SMALL_BUFFER_SIZE_1], StatusFlag[SMALL_BUFFER_SIZE_1], - StateFlag[SMALL_BUFFER_SIZE_1], MTSP[SMALL_BUFFER_SIZE_0]; + C8 Heading[SMALL_BUFFER_SIZE_0], DriveDirection[SMALL_BUFFER_SIZE_1], ObjectState[SMALL_BUFFER_SIZE_1], + ReadyToArm[SMALL_BUFFER_SIZE_1], MTSP[SMALL_BUFFER_SIZE_0], ErrorStatus[SMALL_BUFFER_SIZE_0]; I32 MessageLength; C8 *MiscPtr; C8 MiscText[SMALL_BUFFER_SIZE_0]; @@ -364,6 +365,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { I32 j = 0; U8 STRTSentU8 = 0; + C8 FileHeaderBufferC8[TRAJ_FILE_HEADER_ROW]; // Create log @@ -511,8 +513,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { ObjectControlMONRToASCII(&MONRData, &OriginPosition, iIndex, Id, Timestamp, XPosition, YPosition, ZPosition, LongitudinalSpeed, LateralSpeed, - LongitudinalAcc, LateralAcc, Heading, DriveDirection, StatusFlag, - StateFlag, 1); + LongitudinalAcc, LateralAcc, Heading, DriveDirection, ObjectState, ReadyToArm, ErrorStatus, 1); bzero(buffer, OBJECT_MESS_BUFFER_SIZE); strcat(buffer, object_address_name[iIndex]); strcat(buffer, ";"); @@ -538,11 +539,11 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { strcat(buffer, ";"); strcat(buffer, DriveDirection); strcat(buffer, ";"); - strcat(buffer, StatusFlag); + strcat(buffer, ObjectState); strcat(buffer, ";"); - strcat(buffer, StateFlag); + strcat(buffer, ReadyToArm); strcat(buffer, ";"); - strcat(buffer, StatusFlag); + strcat(buffer, ErrorStatus); strcat(buffer, ";"); @@ -720,7 +721,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { GSD->ScenarioStartTimeU32 = OutgoingStartTimeU32; bzero(MiscText, SMALL_BUFFER_SIZE_0); sprintf(MiscText, "%" PRIu32, GSD->ScenarioStartTimeU32 << 2); - LOG_SEND(LogBuffer, "[ObjectControl] START received <%s>, GPS time <%s>\n", pcRecvBuffer, + LOG_SEND(LogBuffer, "[ObjectControl] START received <%s>, GPS time <%s>", pcRecvBuffer, MiscText); } else if (iCommand == COMM_REPLAY) { @@ -903,8 +904,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { vSetState(OBC_STATE_ERROR, GSD); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], - 0); + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); /*Here we send DOTM, if the IP-address not is found */ if (strstr(DTMReceivers, object_address_name[iIndex]) == NULL) { @@ -912,22 +912,31 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { fd = fopen(object_traj_file[iIndex], "r"); if (fd != NULL) { - RowCount = UtilCountFileRows(fd); + //RowCount = UtilCountFileRows(fd); //printf("RowCount: %d\n", RowCount); + //fclose(fd); + + //fd = fopen(object_traj_file[iIndex], "r"); + printf("Open file: %s\n", object_traj_file[iIndex]); + UtilReadLineCntSpecChars(fd, FileHeaderBufferC8); fclose(fd); /*DOTM*/ - MessageLength = - ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount - 2, &HeaderData, - &TRAJInfoData, 0); + MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, + &RowCount, + &HeaderData, + &TRAJInfoData, + FileHeaderBufferC8, + 0); + + printf("RowCount: %d\n", RowCount); /*Send DOTM header */ - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, - &socket_fds[iIndex], 0); + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); /*Send DOTM data */ ObjectControlSendDOTMMessage(object_traj_file[iIndex], &socket_fds[iIndex], - RowCount - 2, + RowCount, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); @@ -941,7 +950,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { /* Adaptive Sync Points object configuration start... */ if (TEST_SYNC_POINTS == 1) printf("Trajfile: %s\n", object_traj_file[iIndex]); - OP[iIndex].TrajectoryPositionCount = RowCount - 2; + OP[iIndex].TrajectoryPositionCount = RowCount; OP[iIndex].SpaceArr = SpaceArr[iIndex]; OP[iIndex].TimeArr = TimeArr[iIndex]; OP[iIndex].SpaceTimeArr = SpaceTimeArr[iIndex]; @@ -1351,10 +1360,19 @@ I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug) LogPrint("MessageLength = %d", MONRData->Header.MessageLengthU32); LogPrint("ValueId = %d", MONRData->MonrStructValueIdU16); LogPrint("ContentLength = %d", MONRData->MonrStructContentLengthU16); - LogPrint("GPSSOW = %u", MONRData->GPSQmsOfWeekU32); - LogPrint("XPosition = %u", MONRData->XPositionI32); - LogPrint("YPosition = %u", MONRData->YPositionI32); - LogPrint("ZPosition = %u", MONRData->ZPositionI32); + LogPrint("GPSSOW = %d", MONRData->GPSQmsOfWeekU32); + LogPrint("XPosition = %d", MONRData->XPositionI32); + LogPrint("YPosition = %d", MONRData->YPositionI32); + LogPrint("ZPosition = %d", MONRData->ZPositionI32); + LogPrint("Heading = %d", MONRData->HeadingU16); + LogPrint("LongitudinalSpeed = %d", MONRData->LongitudinalSpeedI16); + LogPrint("LateralSpeed = %d", MONRData->LateralSpeedI16); + LogPrint("LongitudinalAcc = %d", MONRData->LongitudinalAccI16); + LogPrint("LateralAcc = %d", MONRData->LateralAccI16); + LogPrint("DriveDirection = %d", MONRData->DriveDirectionU8); + LogPrint("State = %d", MONRData->StateU8); + LogPrint("ReadyToArm = %d", MONRData->ReadyToArmU8); + LogPrint("ErrorStatus = %d", MONRData->ErrorStatusU8); } return 0; @@ -1364,7 +1382,7 @@ I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug) I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, I32 Idn, C8 * Id, C8 * Timestamp, C8 * XPosition, C8 * YPosition, C8 * ZPosition, C8 * LongitudinalSpeed, C8 * LateralSpeed, C8 * LongitudinalAcc, C8 * LateralAcc, - C8 * Heading, C8 * DriveDirection, C8 * StatusFlag, C8 * StateFlag, C8 debug) { + C8 * Heading, C8 * DriveDirection, C8 * ObjectState, C8 * ReadyToArm, C8* ErrorStatus, C8 debug) { char Buffer[6]; long unsigned int MonrValueU64; unsigned int MonrValueU32; @@ -1386,8 +1404,8 @@ I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, bzero(LateralAcc, SMALL_BUFFER_SIZE_0); bzero(Heading, SMALL_BUFFER_SIZE_0); bzero(DriveDirection, SMALL_BUFFER_SIZE_1); - bzero(StatusFlag, SMALL_BUFFER_SIZE_1); - bzero(StateFlag, SMALL_BUFFER_SIZE_1); + bzero(ObjectState, SMALL_BUFFER_SIZE_1); + bzero(ReadyToArm, SMALL_BUFFER_SIZE_1); if (MONRData->Header.MessageIdU16 == COMMAND_MONR_CODE) { @@ -1480,15 +1498,15 @@ I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, //State //MonrValueU8 = (unsigned char)*(MonrData+j); - sprintf(StatusFlag, "%" PRIu8, MONRData->StateU8); + sprintf(ObjectState, "%" PRIu8, MONRData->StateU8); //ReadyToArmU8 //MonrValueU8 = (unsigned char)*(MonrData+j); - sprintf(StateFlag, "%" PRIu8, MONRData->ReadyToArmU8); + sprintf(ReadyToArm, "%" PRIu8, MONRData->ReadyToArmU8); //ErrorStatusU8 //MonrValueU8 = (unsigned char)*(MonrData+j); - sprintf(StateFlag, "%" PRIu8, MONRData->ErrorStatusU8); + sprintf(ErrorStatus, "%" PRIu8, MONRData->ErrorStatusU8); } @@ -1545,6 +1563,7 @@ I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeT dbl Data; U16 Crc = 0; C8 *p; + U32 ISODate = 0; bzero(MessageBuffer, COMMAND_OSEM_MESSAGE_LENGTH + COMMAND_MESSAGE_FOOTER_LENGTH); @@ -1557,7 +1576,6 @@ I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeT OSEMData->LatitudeValueIdU16 = VALUE_ID_LATITUDE; OSEMData->LatitudeContentLengthU16 = 6; OSEMData->LatitudeI64 = (I64) ((atof((const char *)Latitude) * 1e10)); -// OSEMData->LatitudeI64 = (I64) ((strtod((char *)Latitude) * 1e10), NULL); OSEMData->LongitudeValueIdU16 = VALUE_ID_LONGITUDE; OSEMData->LongitudeContentLengthU16 = 6; OSEMData->LongitudeI64 = (I64) ((atof((const char *)Longitude) * 1e10)); @@ -1566,7 +1584,7 @@ I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeT OSEMData->AltitudeI32 = (I32) (atof((char *)Altitude) * 1e2); OSEMData->DateValueIdU16 = VALUE_ID_DATE_ISO8601; OSEMData->DateContentLengthU16 = 4; - OSEMData->DateU32 = (U32) GPSTime->YearU16 * 10000 + (U32) GPSTime->MonthU8 * 1000 + (U32) GPSTime->DayU8; + OSEMData->DateU32 = ((U32)GPSTime->YearU16*10000) + ((U32)GPSTime->MonthU8*100) + ((U32)GPSTime->DayU8); OSEMData->GPSWeekValueIdU16 = VALUE_ID_GPS_WEEK; OSEMData->GPSWeekContentLengthU16 = 2; OSEMData->GPSWeekU16 = GPSTime->GPSWeekU16; @@ -1622,7 +1640,9 @@ I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeT for (; i < MessageIndex; i++) printf("%x ", (unsigned char)MessageBuffer[i]); printf("\n"); - printf("Latitude = %s, %ld\nLongitude = %s, %ld\n", Latitude, OSEMData->LatitudeI64, Longitude, OSEMData->LongitudeI64); + printf("Latitude = %ld\n", OSEMData->LatitudeI64); + printf("Longitude = %ld\n", OSEMData->LongitudeI64); + printf("ISODate = %d\n", OSEMData->DateU32); } return MessageIndex; //Total number of bytes } @@ -1665,9 +1685,13 @@ int ObjectControlBuildSTRTMessage(C8 * MessageBuffer, STRTType * STRTData, TimeT STRTData->StartTimeU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime) + ScenarioStartTime) << 2) + GPSTime->MicroSecondU16; - STRTData->DelayStartValueIdU16 = VALUE_ID_RELATIVE_TIME; - STRTData->DelayStartContentLengthU16 = 4; - STRTData->DelayStartU32 = DelayStart; + STRTData->GPSWeekValueIdU16 = VALUE_ID_GPS_WEEK; + STRTData->GPSWeekContentLengthU16 = 2; + STRTData->GPSWeekU16 = GPSTime->GPSWeekU16; + // STRTData->DelayStartValueIdU16 = VALUE_ID_RELATIVE_TIME; + // STRTData->DelayStartContentLengthU16 = 4; + // STRTData->DelayStartU32 = DelayStart; + *OutgoingStartTime = (STRTData->StartTimeU32) >> 2; if (!GPSTime->isGPSenabled) { @@ -1932,11 +1956,52 @@ I32 ObjectControlBuildMTSPMessage(C8 * MessageBuffer, MTSPType * MTSPData, U32 S } -I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 RowCount, HeaderType * HeaderData, - TRAJInfoType * TRAJInfoData, U8 debug) { - I32 MessageIndex = 0, i; +I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 *RowCount, HeaderType * HeaderData, + TRAJInfoType * TRAJInfoData, C8 * TrajFileHeader, U8 debug) { + I32 MessageIndex = 0, i, j; U16 Crc = 0; C8 *p; + C8 *token; + + + if(strlen(TrajFileHeader) >= 1) + { + j = 0; + token = strtok(TrajFileHeader, ";"); + while( token != NULL ) + { + if(j == 1) + { + TRAJInfoData->TrajectoryIDValueIdU16 = VALUE_ID_TRAJECTORY_ID; + TRAJInfoData->TrajectoryIDContentLengthU16 = 2; + TRAJInfoData->TrajectoryIDU16 = atoi(token); + } + else if(j == 2) + { + TRAJInfoData->TrajectoryNameValueIdU16 = VALUE_ID_TRAJECTORY_NAME; + TRAJInfoData->TrajectoryNameContentLengthU16 = 64; + bzero(TRAJInfoData->TrajectoryNameC8, 64); + strncpy(TRAJInfoData->TrajectoryNameC8, token, strlen(token)); + } + else if(j == 3) + { + TRAJInfoData->TrajectoryVersionValueIdU16 = VALUE_ID_TRAJECTORY_VERSION; + TRAJInfoData->TrajectoryVersionContentLengthU16 = 2; + TRAJInfoData->TrajectoryVersionU16 = atoi(token); + } + else if(j == 4) + { + *RowCount = atoi(token); + } + + j ++; + token = strtok(NULL, ";"); + } + } + + TRAJInfoData->IpAddressValueIdU16 = 0xA000; + TRAJInfoData->IpAddressContentLengthU16 = 4; + TRAJInfoData->IpAddressU32 = 0; bzero(MessageBuffer, COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH); @@ -1945,29 +2010,13 @@ I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 RowCount, Header HeaderData->MessageCounterU8 = 0; HeaderData->AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; HeaderData->MessageIdU16 = COMMAND_DOTM_CODE; - HeaderData->MessageLengthU32 = - COMMAND_DOTM_ROW_MESSAGE_LENGTH * RowCount + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; + HeaderData->MessageLengthU32 = *RowCount * COMMAND_DOTM_ROW_MESSAGE_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; p = (C8 *) HeaderData; - for (i = 0; i < COMMAND_MESSAGE_HEADER_LENGTH; i++) - *(MessageBuffer + i) = *p++; - - - TRAJInfoData->TrajectoryIDValueIdU16 = VALUE_ID_TRAJECTORY_ID; - TRAJInfoData->TrajectoryIDContentLengthU16 = 2; - - TRAJInfoData->TrajectoryNameValueIdU16 = VALUE_ID_TRAJECTORY_NAME; - TRAJInfoData->TrajectoryNameContentLengthU16 = 64; - - TRAJInfoData->TrajectoryVersionValueIdU16 = VALUE_ID_TRAJECTORY_VERSION; - TRAJInfoData->TrajectoryVersionContentLengthU16 = 2; - - TRAJInfoData->IpAddressValueIdU16 = 0xA000; - TRAJInfoData->IpAddressContentLengthU16 = 4; - + for (i = 0; i < COMMAND_MESSAGE_HEADER_LENGTH; i++) *(MessageBuffer + i) = *p++; + p = (C8 *) TRAJInfoData; - for (; i < COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; i++) - *(MessageBuffer + i) = *p++; + for (; i < COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; i++) *(MessageBuffer + i) = *p++; MessageIndex = i; @@ -1981,10 +2030,13 @@ I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 RowCount, Header printf("%x ", (unsigned char)MessageBuffer[i]); printf("\n"); printf("DOTM message total length = %d bytes.\n", (int)HeaderData->MessageLengthU32); + printf("Traj file header = %s\n", TrajFileHeader); printf("TrajectoryID = %d\n", TRAJInfoData->TrajectoryIDU16); printf("TrajectoryName = %s\n", TRAJInfoData->TrajectoryNameC8); printf("TrajectoryVersion = %d\n", TRAJInfoData->TrajectoryVersionU16); + printf("RowCount = %d\n", *RowCount); printf("IpAddress = %d\n", TRAJInfoData->IpAddressU32); + printf("\n----MESSAGE----\n"); } @@ -2055,7 +2107,9 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D dbl Data; C8 *src, *p; U16 Crc = 0; - + flt curv = 0; + C8 *pc; + bzero(MessageBuffer, COMMAND_DOTM_ROW_MESSAGE_LENGTH * RowCount); I32 i = 0, j = 0, n = 0; @@ -2073,7 +2127,7 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->RelativeTimeValueIdU16 = VALUE_ID_RELATIVE_TIME; DOTMData->RelativeTimeContentLengthU16 = 4; DOTMData->RelativeTimeU32 = (U32) Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if(debug) printf("Time DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //x src = strchr(src + 1, ';'); @@ -2083,7 +2137,7 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->XPositionValueIdU16 = VALUE_ID_X_POSITION; DOTMData->XPositionContentLengthU16 = 4; DOTMData->XPositionI32 = (I32) Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if(debug) printf("X DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //y src = strchr(src + 1, ';'); @@ -2093,7 +2147,7 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->YPositionValueIdU16 = VALUE_ID_Y_POSITION; DOTMData->YPositionContentLengthU16 = 4; DOTMData->YPositionI32 = (I32) Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if(debug) printf("Y DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //z src = strchr(src + 1, ';'); @@ -2103,7 +2157,7 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->ZPositionValueIdU16 = VALUE_ID_Z_POSITION; DOTMData->ZPositionContentLengthU16 = 4; DOTMData->ZPositionI32 = (I32) Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if(debug) printf("Z DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Heading src = strchr(src + 1, ';'); @@ -2118,7 +2172,7 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->HeadingValueIdU16 = VALUE_ID_HEADING; DOTMData->HeadingContentLengthU16 = 2; DOTMData->HeadingU16 = (U16) (Data * 1e2); - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if(debug) printf("Heading DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Longitudinal speed src = strchr(src + 1, ';'); @@ -2128,17 +2182,17 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->LongitudinalSpeedValueIdU16 = VALUE_ID_LONGITUDINAL_SPEED; DOTMData->LongitudinalSpeedContentLengthU16 = 2; DOTMData->LongitudinalSpeedI16 = (I16) Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if(debug) printf("Long speed DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Lateral speed - //src = strchr(src + 1, ';'); - //bzero(DataBuffer, 20); - //strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - //Data = atof(DataBuffer)*1e2; + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); + Data = atof(DataBuffer)*1e2; DOTMData->LateralSpeedValueIdU16 = VALUE_ID_LATERAL_SPEED; DOTMData->LateralSpeedContentLengthU16 = 2; - DOTMData->LateralSpeedI16 = -32768; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + DOTMData->LateralSpeedI16 = (I16) Data; + if(debug) printf("Lat speed DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Longitudinal acceleration src = strchr(src + 1, ';'); @@ -2148,28 +2202,34 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->LongitudinalAccValueIdU16 = VALUE_ID_LONGITUDINAL_ACCELERATION; DOTMData->LongitudinalAccContentLengthU16 = 2; DOTMData->LongitudinalAccI16 = (I16) Data; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if(debug) printf("Long acc DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Lateral acceleration - //src = strchr(src + 1, ';'); - //bzero(DataBuffer, 20); - //strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - //Data = atof(DataBuffer)*1e3; + src = strchr(src + 1, ';'); + bzero(DataBuffer, 20); + strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); + Data = atof(DataBuffer)*1e3; DOTMData->LateralAccValueIdU16 = VALUE_ID_LATERAL_ACCELERATION; DOTMData->LateralAccContentLengthU16 = 2; - DOTMData->LateralAccI16 = -32000; - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + DOTMData->LateralAccI16 = (I16) Data; + if(debug) printf("Lat accDataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Curvature src = strchr(src + 1, ';'); bzero(DataBuffer, 20); strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); - Data = atof(DataBuffer) * 3e4; + //Data = atof(DataBuffer) * 3e4; + curv = atof(DataBuffer); + pc = (C8*)&curv; DOTMData->CurvatureValueIdU16 = VALUE_ID_CURVATURE; DOTMData->CurvatureContentLengthU16 = 4; - DOTMData->CurvatureI32 = (I32) Data; - - //printf("DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + //DOTMData->CurvatureI32 = (I32) Data; + DOTMData->CurvatureI32 = pc[0]; + DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32)pc[1]) << 8; + DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32)pc[2]) << 16; + DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32)pc[3]) << 24; + + if(debug) printf("Curv DataBuffer=%s float=%3.6f\n", DataBuffer, Data); p = (C8 *) DOTMData; for (j = 0; j < sizeof (DOTMType); j++, n++) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 57fa92b66..34a15d47d 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -665,7 +665,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetTestOrigin:", ControlResponseBuffer, strlen(ControlResponseBuffer), - &ClientSocket, 0); + &ClientSocket, 1); break; case GetServerParameter_1: if (CurrentInputArgCount == CommandArgCount) { @@ -677,7 +677,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetServerParameter:", ControlResponseBuffer, strlen(ControlResponseBuffer), - &ClientSocket, 0); + &ClientSocket, 1); } else { LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in GetServerParameter(Name)!"); diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c index 5dec0eddb..ebdb0abe5 100755 --- a/server/src/timecontrol.c +++ b/server/src/timecontrol.c @@ -520,9 +520,9 @@ static void TimeControlDecodeTimeBuffer(TimeType * GPSTime, C8 * TimeBuffer, C8 //TimeControlGetMillisecond(GPSTime); //LogPrintBytes(TimeBuffer,0,TIME_CONTROL_RECEIVE_BUFFER_SIZE); //LogPrint("ProtocolVersionU8: %d", GPSTime->ProtocolVersionU8); - //LogPrint("YearU16: %d", GPSTime->YearU16); - //LogPrint("MonthU8: %d", GPSTime->MonthU8); - //LogPrint("DayU8: %d", GPSTime->DayU8); + LogPrint("YearU16: %d", GPSTime->YearU16); + LogPrint("MonthU8: %d - %d", GPSTime->MonthU8, TimeBuffer[3]); + LogPrint("DayU8: %d", GPSTime->DayU8); LogPrint("Time: %d:%d:%d", GPSTime->HourU8, GPSTime->MinuteU8, GPSTime->SecondU8); //LogPrint("MinuteU8: %d", GPSTime->MinuteU8); //LogPrint("SecondU8: %d", GPSTime->SecondU8); From 662077344ad4b5b7738c41a8c48faba4136ed740 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 6 Nov 2019 18:05:30 +0100 Subject: [PATCH 622/730] Made a tool for checking if a port is available before starting a process --- server/integration-tests/tools/PortChecker.py | 30 +++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 server/integration-tests/tools/PortChecker.py diff --git a/server/integration-tests/tools/PortChecker.py b/server/integration-tests/tools/PortChecker.py new file mode 100644 index 000000000..542669269 --- /dev/null +++ b/server/integration-tests/tools/PortChecker.py @@ -0,0 +1,30 @@ +import subprocess, signal +import time +import socket +import sys + +host = '' + +def WaitForPortAvailable(port,protocol,timeout=5): + if protocol == "UDP": + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + elif protocol == "TCP": + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + else: + raise ValueError("The only supported network protocols are TCP and UDP") + + hasPrinted = False + timeoutTime = time.time() + timeout + while True: + try: + s.bind((host,port)) + s.close() + return + except OSError: + if not hasPrinted: + print("=== Port " + str(port) + " occupied, waiting for " + str(timeout) + " seconds") + hasPrinted = True + time.sleep(0.25) + if time.time() > timeoutTime: + break + raise TimeoutError("Timed out while waiting for port " + str(port) + " to become available") From 6a26f85d8b887c62c996efad2b9f436b9e1213a7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 6 Nov 2019 18:05:56 +0100 Subject: [PATCH 623/730] Added step of test which starts object --- server/integration-tests/100-SingleTypicalTest.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 3cce4ba2e..54d3175f9 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -1,13 +1,15 @@ from tools.MSCP import MSCP from tools.Executable import Executable from tools.TrajectoryFile import * +from tools.PortChecker import * import time import subprocess import sys if __name__ == "__main__": - + # Note: server does not close sockets properly so this fails frequently (cross fingers for now): + #WaitForPortAvailable(54241,"TCP",timeout=0) server = Executable("../build/TEServer",["-m","0"]) time.sleep(0.05) @@ -18,10 +20,15 @@ print("Connecting to the server caused a problem") server.stop() sys.exit(1) + # 2: Load trajectory traj = ReadTrajectoryFile("resources/trajectories/",fileName="random") # 3: Start a test object + WaitForPortAvailable(53240,"UDP",timeout=0) + WaitForPortAvailable(53241,"TCP",timeout=0) + obj = Executable("VirtualObject",["-nogui"]) + # 4: Upload trajectory userControl.UploadFile("traj/127.0.0.1",traj) @@ -76,4 +83,5 @@ # 11: Done! userControl.shutdown() server.stop() + obj.stop() sys.exit(0) From ddc637f7d4b13924a910de383db191b85a387db0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 13:17:12 +0100 Subject: [PATCH 624/730] Will this fix the Jenkins problem? --- server/integration-tests/100-SingleTypicalTest.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 54d3175f9..609b4900e 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -11,7 +11,7 @@ # Note: server does not close sockets properly so this fails frequently (cross fingers for now): #WaitForPortAvailable(54241,"TCP",timeout=0) server = Executable("../build/TEServer",["-m","0"]) - time.sleep(0.05) + time.sleep(0.25) # 1: Connect to the server userControl = MSCP("127.0.0.1") From 55a5e523decd037ea387e864b1feffc3a45f18a3 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 13:37:42 +0100 Subject: [PATCH 625/730] Added printout to debug test --- .../100-SingleTypicalTest.py | 4 +- server/integration-tests/tools/Executable.py | 2 + server/integration-tests/tools/MSCP.py | 42 ++++++++++--------- 3 files changed, 26 insertions(+), 22 deletions(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 609b4900e..764cfa55e 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -9,9 +9,9 @@ if __name__ == "__main__": # Note: server does not close sockets properly so this fails frequently (cross fingers for now): - #WaitForPortAvailable(54241,"TCP",timeout=0) + WaitForPortAvailable(54241,"TCP",timeout=0) server = Executable("../build/TEServer",["-m","0"]) - time.sleep(0.25) + time.sleep(0.05) # 1: Connect to the server userControl = MSCP("127.0.0.1") diff --git a/server/integration-tests/tools/Executable.py b/server/integration-tests/tools/Executable.py index 6571daf4b..9ec65f184 100644 --- a/server/integration-tests/tools/Executable.py +++ b/server/integration-tests/tools/Executable.py @@ -23,6 +23,8 @@ def __init__(self, path, argList=[]): # Get a list of all processes linked to the Executable which have died def poll(self): + procName = self.args[0].split("/") + print("=== Polling executable " + procName[-1]) died = [] if self.proc.poll() is not None: died.append(self.proc.pid) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index 269d3093a..2a2572941 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -9,6 +9,7 @@ def __init__(self,host,port=54241): self.host = host self.port = port self.socket = socket.socket() + print("=== MSCP connecting to " str(self.host) + ":" + str(self.port)) self.socket.connect((self.host,self.port)) self.lastStatusReply = {} self.lastAbortReply = {} @@ -44,6 +45,7 @@ def listen(self): {"command": "subupload", "regex": re.compile(b'(..)SubUploadFile:(.)')} ] + print("=== Starting listener on " + str(self.host) + ":" + str(self.port)) while not self.quit: data = self.socket.recv(1024) for replyPattern in replyPatterns: @@ -56,9 +58,9 @@ def listen(self): break if match is not None: if matchPattern["command"] == "init": - print("Init reply received") + print("=== Init reply received") if matchPattern["command"] == "status": - print("Status reply received") + print("=== Status reply received") num = int.from_bytes(match.group(2),byteorder='big') self.statusReplyLock.acquire() if num == 1: @@ -98,7 +100,7 @@ def listen(self): self.lastStatusReply["objectControlErrorCode"] = 0 self.statusReplyLock.release() if matchPattern["command"] == "abort": - print("Abort reply received") + print("=== Abort reply received") num = int.from_bytes(match.group(2),byteorder='big') self.abortReplyLock.acquire() if num == 0: @@ -109,9 +111,9 @@ def listen(self): self.lastAbortReply["scenarioActive"] = "UNKNOWN" self.abortReplyLock.release() if matchPattern["command"] == "arm": - print("Arm reply received") + print("=== Arm reply received") if matchPattern["command"] == "start": - print("Start reply received") + print("=== Start reply received") num = int.from_bytes(match.group(2),byteorder='big') self.startReplyLock.acquire() if num == 0: @@ -122,11 +124,11 @@ def listen(self): self.lastStartReply["scenarioActive"] = "UNKNOWN" self.startReplyLock.release() if matchPattern["command"] == "connect": - print("Connect reply received") + print("=== Connect reply received") if matchPattern["command"] == "disconnect": - print("Disconnect reply received") + print("=== Disconnect reply received") if matchPattern["command"] == "upload": - print("Upload reply 1 received") + print("=== Upload reply 1 received") num = int.from_bytes(match.group(2),byteorder='big') self.uploadReplyLock.acquire() if num == 0x01: @@ -143,7 +145,7 @@ def listen(self): self.lastUploadReply["status"] = "UNKNOWN" self.uploadReplyLock.release() if matchPattern["command"] == "subupload": - print("Upload reply 2 received") + print("=== Upload reply 2 received") num = int.from_bytes(match.group(2),byteorder='big') self.uploadReplyLock.acquire() if num == 0x04: @@ -157,37 +159,37 @@ def listen(self): def GetStatus(self): message = "POST /maestro HTTP/1.1\r\nHost: " + self.host + "\r\n\r\nGetServerStatus();" self.Send(message) - print("GetServerStatus() sent") + print("=== GetServerStatus() sent") def Abort(self): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nAbortScenario();" self.Send(message) - print("Abort() sent") + print("=== Abort() sent") def Arm(self): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nArmScenario();" self.Send(message) - print("ArmScenario() sent") + print("=== ArmScenario() sent") def Init(self): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nInitializeScenario();" self.Send(message) - print("Init() sent") + print("=== Init() sent") def Connect(self): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nConnectObject();" self.Send(message) - print("Connect() sent") + print("=== Connect() sent") def Disconnect(self): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nDisconnectObject();" self.Send(message) - print("Disonnect() sent") + print("=== Disonnect() sent") def Start(self,delayTime_ms): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nStartScenario(" + str(delayTime_ms) + ");" self.Send(message) - print("StarScenario() sent") + print("=== StarScenario() sent") def UploadFile(self,targetPath,fileContents): packetSize = 1200 @@ -196,7 +198,7 @@ def UploadFile(self,targetPath,fileContents): self.lastUploadReply["status"] = "UNKNOWN" self.uploadReplyLock.release() self.Send(message) - print("UploadFile() sent") + print("=== UploadFile() sent") self.waitForUploadReply("SERVER_PREPARED") # Send file self.Send(fileContents) @@ -204,7 +206,7 @@ def UploadFile(self,targetPath,fileContents): self.lastUploadReply["status"] = "UNKNOWN" self.uploadReplyLock.release() self.waitForUploadReply("UPLOAD_SUCCESS") - print("File uploaded") + print("=== File uploaded") def Send(self,message): self.socket.send(message.encode()) @@ -237,9 +239,9 @@ def waitForObjectControlState(self,state,timeout=3.0): self.statusReplyLock.acquire() sr = self.lastStatusReply["objectControlState"] self.statusReplyLock.release() - print("Expecting: " + state + ", Current: " + sr) + print("=== Expecting: " + state + ", Current: " + sr) self.GetStatus() - print("Expecting: " + state + ", Current: " + sr) + print("=== Expecting: " + state + ", Current: " + sr) if sr != state: raise TimeoutError("Timed out while waiting for transition to " + state) From 17215c4ba116be65d6c62b66182949a4dda3a929 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 13:41:03 +0100 Subject: [PATCH 626/730] Fixed missing + --- server/integration-tests/tools/MSCP.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index 2a2572941..865a4f179 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -9,7 +9,7 @@ def __init__(self,host,port=54241): self.host = host self.port = port self.socket = socket.socket() - print("=== MSCP connecting to " str(self.host) + ":" + str(self.port)) + print("=== MSCP connecting to " + str(self.host) + ":" + str(self.port)) self.socket.connect((self.host,self.port)) self.lastStatusReply = {} self.lastAbortReply = {} From 6d918b5888b5cbe0782159a9fd4fea4bb29deddf Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 13:44:50 +0100 Subject: [PATCH 627/730] Crossing fingers again with the socket cleanup --- server/integration-tests/100-SingleTypicalTest.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 764cfa55e..54d3175f9 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -9,7 +9,7 @@ if __name__ == "__main__": # Note: server does not close sockets properly so this fails frequently (cross fingers for now): - WaitForPortAvailable(54241,"TCP",timeout=0) + #WaitForPortAvailable(54241,"TCP",timeout=0) server = Executable("../build/TEServer",["-m","0"]) time.sleep(0.05) From 9411eaf52a4b062c6c0805a889a0ed7ec980acb7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 13:52:09 +0100 Subject: [PATCH 628/730] Added some more printouts --- server/integration-tests/100-SingleTypicalTest.py | 6 +++++- server/integration-tests/tools/TrajectoryFile.py | 1 + 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 54d3175f9..238bbd181 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -12,12 +12,16 @@ #WaitForPortAvailable(54241,"TCP",timeout=0) server = Executable("../build/TEServer",["-m","0"]) time.sleep(0.05) + if server.poll(): + print("=== Starting the server caused a problem") + server.stop() + sys.exit(1) # 1: Connect to the server userControl = MSCP("127.0.0.1") time.sleep(0.25) if server.poll(): - print("Connecting to the server caused a problem") + print("=== Connecting to the server caused a problem") server.stop() sys.exit(1) diff --git a/server/integration-tests/tools/TrajectoryFile.py b/server/integration-tests/tools/TrajectoryFile.py index 45f9777b6..a57375f58 100644 --- a/server/integration-tests/tools/TrajectoryFile.py +++ b/server/integration-tests/tools/TrajectoryFile.py @@ -11,6 +11,7 @@ def ReadTrajectoryFile(trajectoryDir, fileName="random"): fname = join(trajectoryDir, fileName) else: raise ValueError("File " + fileName + " in directory " + trajectoryDir + " does not exist") + print("=== Reading trajectory file " + fname) with open(fname, "r") as fp: data = fp.read() return data From ec0bec76778d0418b3c473a8b029384788a822ac Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 13:57:27 +0100 Subject: [PATCH 629/730] Added another printout --- server/integration-tests/tools/PortChecker.py | 1 + 1 file changed, 1 insertion(+) diff --git a/server/integration-tests/tools/PortChecker.py b/server/integration-tests/tools/PortChecker.py index 542669269..f32cf0ce6 100644 --- a/server/integration-tests/tools/PortChecker.py +++ b/server/integration-tests/tools/PortChecker.py @@ -6,6 +6,7 @@ host = '' def WaitForPortAvailable(port,protocol,timeout=5): + print("=== Checking " + str(protocol) + " port " + str(port)) if protocol == "UDP": s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) elif protocol == "TCP": From b635b50c5f1bca092a27f57b439aa3027e32cd5e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 14:02:42 +0100 Subject: [PATCH 630/730] Even more printouts --- server/integration-tests/tools/Executable.py | 1 + server/integration-tests/tools/PortChecker.py | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/server/integration-tests/tools/Executable.py b/server/integration-tests/tools/Executable.py index 9ec65f184..31534e3a9 100644 --- a/server/integration-tests/tools/Executable.py +++ b/server/integration-tests/tools/Executable.py @@ -4,6 +4,7 @@ class Executable(): def __init__(self, path, argList=[]): + print("=== Starting executable " + str(path)) self.args = [path] + argList self.proc = subprocess.Popen(self.args) self.pids = [] diff --git a/server/integration-tests/tools/PortChecker.py b/server/integration-tests/tools/PortChecker.py index f32cf0ce6..f3372a0b3 100644 --- a/server/integration-tests/tools/PortChecker.py +++ b/server/integration-tests/tools/PortChecker.py @@ -6,7 +6,6 @@ host = '' def WaitForPortAvailable(port,protocol,timeout=5): - print("=== Checking " + str(protocol) + " port " + str(port)) if protocol == "UDP": s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) elif protocol == "TCP": @@ -18,8 +17,10 @@ def WaitForPortAvailable(port,protocol,timeout=5): timeoutTime = time.time() + timeout while True: try: + print("=== Checking " + str(protocol) + " port " + str(port)) s.bind((host,port)) s.close() + print("=== Port " + str(port) + " available") return except OSError: if not hasPrinted: From e03152e19dadb0b9c7fd89506bda5362d52a8450 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 14:21:55 +0100 Subject: [PATCH 631/730] Inserted garbage command to test jenkins --- server/integration-tests/100-SingleTypicalTest.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 238bbd181..b88c889a7 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -27,7 +27,7 @@ # 2: Load trajectory traj = ReadTrajectoryFile("resources/trajectories/",fileName="random") - + asdasd = Executable("asdASDAD",["-nogui"]) # 3: Start a test object WaitForPortAvailable(53240,"UDP",timeout=0) WaitForPortAvailable(53241,"TCP",timeout=0) From 3e5577402b50cb28b152b0120a248420b63ba651 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 14:35:24 +0100 Subject: [PATCH 632/730] Added check on executable --- server/integration-tests/tools/Executable.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/server/integration-tests/tools/Executable.py b/server/integration-tests/tools/Executable.py index 31534e3a9..09a56b748 100644 --- a/server/integration-tests/tools/Executable.py +++ b/server/integration-tests/tools/Executable.py @@ -6,7 +6,11 @@ class Executable(): def __init__(self, path, argList=[]): print("=== Starting executable " + str(path)) self.args = [path] + argList - self.proc = subprocess.Popen(self.args) + try: + self.proc = subprocess.Popen(self.args) + except FileNotFoundError as e: + print("=== Executable " + str(path) + " not found") + raise ValueError(e.message) self.pids = [] # Wait for a short time to allow the process to reach "steady-state" From 4bd5cee4c797578ec57476c34708d351298d6da7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 14:37:34 +0100 Subject: [PATCH 633/730] Removed garbage call --- server/integration-tests/100-SingleTypicalTest.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index b88c889a7..7b2c3f57c 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -27,7 +27,7 @@ # 2: Load trajectory traj = ReadTrajectoryFile("resources/trajectories/",fileName="random") - asdasd = Executable("asdASDAD",["-nogui"]) + # 3: Start a test object WaitForPortAvailable(53240,"UDP",timeout=0) WaitForPortAvailable(53241,"TCP",timeout=0) From 3b28e23c731497f32fbf17b6bfb0f768b0f82eea Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 15:38:43 +0100 Subject: [PATCH 634/730] Forced shell on executable --- server/integration-tests/tools/Executable.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/integration-tests/tools/Executable.py b/server/integration-tests/tools/Executable.py index 09a56b748..7a821e232 100644 --- a/server/integration-tests/tools/Executable.py +++ b/server/integration-tests/tools/Executable.py @@ -7,7 +7,7 @@ def __init__(self, path, argList=[]): print("=== Starting executable " + str(path)) self.args = [path] + argList try: - self.proc = subprocess.Popen(self.args) + self.proc = subprocess.Popen(self.args,shell=True) except FileNotFoundError as e: print("=== Executable " + str(path) + " not found") raise ValueError(e.message) From 352ed47d95073811696be574f7df323da29f6c6e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 7 Nov 2019 15:46:48 +0100 Subject: [PATCH 635/730] Insert spaces into command passed to shell --- server/integration-tests/tools/Executable.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/integration-tests/tools/Executable.py b/server/integration-tests/tools/Executable.py index 7a821e232..3d11db532 100644 --- a/server/integration-tests/tools/Executable.py +++ b/server/integration-tests/tools/Executable.py @@ -7,7 +7,7 @@ def __init__(self, path, argList=[]): print("=== Starting executable " + str(path)) self.args = [path] + argList try: - self.proc = subprocess.Popen(self.args,shell=True) + self.proc = subprocess.Popen(' '.join(self.args),shell=True) except FileNotFoundError as e: print("=== Executable " + str(path) + " not found") raise ValueError(e.message) From 42701f034d4e87c272c597e5c1514358f45fbba0 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Fri, 8 Nov 2019 11:08:08 +0100 Subject: [PATCH 636/730] Changed some debug printouts. --- server/src/objectcontrol.c | 6 +++--- server/src/systemcontrol.c | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index beef13206..c1046d00b 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -795,7 +795,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { iGetObjectIndexFromObjectIP(mqACCMData.ip, objectIPs, sizeof (objectIPs) / sizeof (objectIPs[0])); if (iIndex != -1) { - ObjectControlSendACCMMessage(&mqACCMData, &(socket_fds[iIndex]), 1); + ObjectControlSendACCMMessage(&mqACCMData, &(socket_fds[iIndex]), 0); } else LogMessage(LOG_LEVEL_WARNING, "Unable to send ACCM: no valid socket found"); @@ -806,7 +806,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { iGetObjectIndexFromObjectIP(mqEXACData.ip, objectIPs, sizeof (objectIPs) / sizeof (objectIPs[0])); if (iIndex != -1) - ObjectControlSendEXACMessage(&mqEXACData, &(socket_fds[iIndex]), 1); + ObjectControlSendEXACMessage(&mqEXACData, &(socket_fds[iIndex]), 0); else LogMessage(LOG_LEVEL_WARNING, "Unable to send EXAC: no valid socket found"); } @@ -2377,7 +2377,7 @@ I32 ObjectControlSendACCMMessage(ACCMData * ACCM, I32 * socket, U8 debug) { if (messageSize - sizeof (isoACCM.header) - sizeof (isoACCM.footer) != isoACCM.header.MessageLengthU32) LogMessage(LOG_LEVEL_WARNING, "ACCM message sent with invalid message length"); - UtilSendTCPData(MODULE_NAME, messageBuffer, (I32) messageSize, socket, 1); + UtilSendTCPData(MODULE_NAME, messageBuffer, (I32) messageSize, socket, debug); return (I32) messageSize; } diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 34a15d47d..7275faab7 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -1922,7 +1922,7 @@ I32 SystemControlReadServerParameterList(C8 * ParameterList, U8 Debug) { } if (Debug) { - LogMessage(LOG_LEVEL_DEBUG, "ParameterList = %s\n", ParameterList); + LogMessage(LOG_LEVEL_INFO, "ParameterList = %s\n", ParameterList); } return strlen(ParameterList); From 9aaef2c56c555521e1c1eb6f09b03899192ea821 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 11 Nov 2019 12:24:12 +0100 Subject: [PATCH 637/730] Implemented function for checking if angle tolerance is met --- server/inc/util.h | 1 + server/src/util.c | 14 ++++++++++++++ 2 files changed, 15 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index aa7eb5ae3..85fa54c3e 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -832,6 +832,7 @@ void UtilGetGeofenceDirectoryPath(char* path, size_t pathLen); // CartesianPosition MONRToCartesianPosition(MonitorDataType MONR); uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); +uint8_t UtilIsAngleNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_deg); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, double *resLat, double *resLon, double *a2); double UtilDegToRad(double Deg); diff --git a/server/src/util.c b/server/src/util.c index 0cf785a10..c699b7623 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -761,6 +761,20 @@ uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition t return distance <= tolerance_m; } +/*! + * \brief UtilIsAngleNearTarget Checks if angle is within tolerence_deg of target angle + * \param position Position with angle to verify + * \param target Target position with angle + * \param tolerance_deg Angle tolerance defining "near" + * \return true if position is within tolerance_deg of target, false otherwise + */ +uint8_t UtilIsAngleNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_deg) { + + const double oneRotation = 360; + return fabs(fmod(position.heading_deg, oneRotation) - fmod(target.heading_deg, oneRotation)) + <= tolerance_deg; +} + double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition * OP) { double f, d, P1LatRad, P1LongRad, P2LatRad, P2LongRad, U1, U2, L, lambda, sins, coss, sigma, sinalpha, From 95a466f4d5c7d4b59bd417d808d1a681c8cf0423 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 11 Nov 2019 12:51:51 +0100 Subject: [PATCH 638/730] Added check on angle for starting position --- modules/Supervision/src/main.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 2e0e179fb..876853d0f 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -15,6 +15,9 @@ #define MODULE_NAME "Supervision" #define MAX_GEOFENCE_NAME_LEN 256 +#define ARM_MAX_DISTANCE_TO_START_M 1.0 +#define ARM_MAX_ANGLE_TO_START_DEG 10.0 + /*------------------------------------------------------------ -- Type definitions. ------------------------------------------------------------*/ @@ -498,7 +501,8 @@ PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, CartesianPosition trajectoryPoint = element.first.points.front().getCartesianPosition(); CartesianPosition objectPosition = MONRToCartesianPosition(MONRdata); - if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, 1.0)) { + if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, ARM_MAX_DISTANCE_TO_START_M) + && UtilIsAngleNearTarget(objectPosition, trajectoryPoint, ARM_MAX_ANGLE_TO_START_DEG)) { element.second = true; // Object was near starting position, now check if all objects have passed if (std::any_of(armVerified.begin(), armVerified.end(), From 6bd1ee30bd9a26ba04801ceda0b760c3f5b1e96d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 11 Nov 2019 12:52:03 +0100 Subject: [PATCH 639/730] Updated util reference --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index d1d6d0e9c..fa48d44d7 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit d1d6d0e9c2ae02e081501f712298ca50631c3b2c +Subproject commit fa48d44d79d8651c67c5646af7b8ffa9ccfed97c From b3c3dee809acc59da587190c2223e782c4840f37 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 11 Nov 2019 13:22:05 +0100 Subject: [PATCH 640/730] Made repetitive code into a function --- .../100-SingleTypicalTest.py | 58 +++++++++---------- 1 file changed, 26 insertions(+), 32 deletions(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 7b2c3f57c..6aefb0982 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -6,24 +6,23 @@ import subprocess import sys + +userControl = None +server = None +obj = None + if __name__ == "__main__": # Note: server does not close sockets properly so this fails frequently (cross fingers for now): #WaitForPortAvailable(54241,"TCP",timeout=0) server = Executable("../build/TEServer",["-m","0"]) time.sleep(0.05) - if server.poll(): - print("=== Starting the server caused a problem") - server.stop() - sys.exit(1) + checkProgramStatus("=== Starting the server caused a problem") # 1: Connect to the server userControl = MSCP("127.0.0.1") time.sleep(0.25) - if server.poll(): - print("=== Connecting to the server caused a problem") - server.stop() - sys.exit(1) + checkProgramStatus("=== Connecting to the server caused a problem") # 2: Load trajectory traj = ReadTrajectoryFile("resources/trajectories/",fileName="random") @@ -39,53 +38,48 @@ # 5: Send init userControl.Init() userControl.waitForObjectControlState("INITIALIZED") - if server.poll(): - print("Sending init to the server caused a problem") - server.stop() - sys.exit(1) + checkProgramStatus("Sending init to the server caused a problem") # 6: Send connect userControl.Connect() userControl.waitForObjectControlState("CONNECTED") - if server.poll(): - print("Sending connect to the server caused a problem") - server.stop() - sys.exit(1) + checkProgramStatus("Sending connect to the server caused a problem") # 7: Send arm userControl.Arm() userControl.waitForObjectControlState("ARMED") - if server.poll(): - print("Sending arm to the server caused a problem") - server.stop() - sys.exit(1) + checkProgramStatus("Sending arm to the server caused a problem") # 8: Send start userControl.Start(10) userControl.waitForObjectControlState("RUNNING") - if server.poll(): - print("Sending start to the server caused a problem") - server.stop() - sys.exit(1) + checkProgramStatus("Sending start to the server caused a problem") # 9: Send abort userControl.Abort() userControl.waitForObjectControlState("CONNECTED") - if server.poll(): - print("Sending abort to the server caused a problem") - server.stop() - sys.exit(1) + checkProgramStatus("Sending abort to the server caused a problem") # 10: Send reset userControl.Disconnect() userControl.waitForObjectControlState("IDLE") - if server.poll(): - print("Sending disconnect to the server caused a problem") - server.stop() - sys.exit(1) + checkProgramStatus("Sending disconnect to the server caused a problem") # 11: Done! userControl.shutdown() server.stop() obj.stop() sys.exit(0) + + +def checkProgramStatus(failurePrintout): + if server != None: + if server.poll(): + print(failurePrintout) + if userControl != None: + userControl.shutdown() + server.stop() + if obj != None: + obj.stop() + sys.exit(1) + From 44ed159f1d8bf477e0521f556ce87f70e4eeb73f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 11 Nov 2019 13:31:04 +0100 Subject: [PATCH 641/730] Moved function definition to above main... --- .../100-SingleTypicalTest.py | 22 ++++++++++--------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/server/integration-tests/100-SingleTypicalTest.py b/server/integration-tests/100-SingleTypicalTest.py index 6aefb0982..59a22da13 100644 --- a/server/integration-tests/100-SingleTypicalTest.py +++ b/server/integration-tests/100-SingleTypicalTest.py @@ -11,6 +11,18 @@ server = None obj = None + +def checkProgramStatus(failurePrintout): + if server != None: + if server.poll(): + print(failurePrintout) + if userControl != None: + userControl.shutdown() + server.stop() + if obj != None: + obj.stop() + sys.exit(1) + if __name__ == "__main__": # Note: server does not close sockets properly so this fails frequently (cross fingers for now): @@ -72,14 +84,4 @@ sys.exit(0) -def checkProgramStatus(failurePrintout): - if server != None: - if server.poll(): - print(failurePrintout) - if userControl != None: - userControl.shutdown() - server.stop() - if obj != None: - obj.stop() - sys.exit(1) From fc7140874fdea32af3635f69bcf680e951eae74d Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 11 Nov 2019 13:37:13 +0100 Subject: [PATCH 642/730] Ran code formatter --- server/src/util.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index c699b7623..ca155acbc 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -770,9 +770,10 @@ uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition t */ uint8_t UtilIsAngleNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_deg) { - const double oneRotation = 360; - return fabs(fmod(position.heading_deg, oneRotation) - fmod(target.heading_deg, oneRotation)) - <= tolerance_deg; + const double oneRotation = 360; + + return fabs(fmod(position.heading_deg, oneRotation) - fmod(target.heading_deg, oneRotation)) + <= tolerance_deg; } double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition * OP) { From 59934b8c68053871d90f411ef56315f1458c4ca9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 11 Nov 2019 14:57:57 +0100 Subject: [PATCH 643/730] Deleted some trigger and action commented out things in SC --- server/src/systemcontrol.c | 89 +------------------------------------- 1 file changed, 1 insertion(+), 88 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 1b9f1c81b..543f8310c 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -564,69 +564,6 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { switch (SystemControlCommand) { // can you access GetServerParameterList_0, GetServerParameter_1, SetServerParameter_2 and DISarmScenario and Exit from the GUI case Idle_0: - /*bzero(pcRecvBuffer,SC_RECV_MESSAGE_BUFFER); - iCommRecv(&iCommand,pcRecvBuffer,SC_RECV_MESSAGE_BUFFER,NULL); - - if(iCommand == COMM_TOM) - { - bzero(ObjectIP, SMALL_BUFFER_SIZE_16); - bzero(ObjectPort, SMALL_BUFFER_SIZE_6); - bzero(TriggId, SMALL_BUFFER_SIZE_6); - bzero(TriggAction, SMALL_BUFFER_SIZE_6); - bzero(TriggDelay, SMALL_BUFFER_SIZE_20); - - StartPtr = pcRecvBuffer; - StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(ObjectIP, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(ObjectPort, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(TriggId, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(TriggAction, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - StartPtr = StopPtr + 1; StopPtr = (char *)strchr(StartPtr, ';'); - strncpy(TriggDelay, StartPtr, (uint64_t)StopPtr-(uint64_t)StartPtr); - CurrentCommandArgCounter = 1; - strncpy(SystemControlArgument[CurrentCommandArgCounter], TriggDelay, strlen(TriggDelay)); - printf("[SystemControl] TOM recieved from %s, port=%s, TriggId=%s, TriggAction=%s, TriggDelay=%s\n", ObjectIP, ObjectPort, TriggId ,TriggAction, TriggDelay); - fflush(stdout); - - if((uint8_t)atoi(TriggAction) == TAA_ACTION_EXT_START) - { - SystemControlCommand = start_ext_trigg_1; - CommandArgCount = 1; - } - else if ((uint8_t)atoi(TriggAction) == TAA_ACTION_TEST_SIGNAL) - { - printf("[SystemControl] Trigg action TEST_SIGNAL not supported by server.\n"); - SystemControlCommand = Idle_0; - CurrentCommandArgCounter = 0; - CommandArgCount = 0; - } - else - { - printf("[SystemControl] Unknown trigg action %s.\n", TriggAction); - SystemControlCommand = Idle_0; - CurrentCommandArgCounter = 0; - CommandArgCount = 0; - } - } - else - { - SystemControlCommand = Idle_0; - CurrentCommandArgCounter = 0; - } - - if (iCommand == COMM_OBC_STATE) - { - OBCStateU8 = (U8)*pcRecvBuffer; - } - else if(iCommand == COMM_LOG) - { - SystemControlSendLog(pcRecvBuffer, &ClientSocket, 0); - } - */ - break; case GetServerStatus_0: LogMessage(LOG_LEVEL_INFO, "State: %s, OBCState: %s, %d", SystemControlStatesArr[server_state], @@ -1015,31 +952,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } else LogMessage(LOG_LEVEL_WARNING, "START command parameter count error"); - break; - /* - case start_ext_trigg_1: - if(CurrentCommandArgCounter == CommandArgCount) - { - bzero(pcBuffer, IPC_BUFFER_SIZE); - uiTime = (uint64_t)atol(SystemControlArgument[CurrentCommandArgCounter]); - if(uiTime == 0) - { - gettimeofday(&tvTime, NULL); - uiTime = (uint64_t)tvTime.tv_sec*1000 + (uint64_t)tvTime.tv_usec/1000 - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI*1000; - } - - if(TIME_COMPENSATE_LAGING_VM) uiTime = uiTime - TIME_COMPENSATE_LAGING_VM_VAL; - - sprintf (pcBuffer,"%" PRIu8 ";%" PRIu64 ";",0,uiTime); - printf("[SystemControl] Sending START <%s> (externally trigged)\n", SystemControlArgument[CurrentCommandArgCounter]); - fflush(stdout); - - (void)iCommSend(COMM_STRT,pcBuffer); - server_state = SERVER_STATE_RUNNINGSERVER_STATE_RUNNING; - SystemControlCommand = Idle_0; - CurrentCommandArgCounter = 0; - } else CurrentCommandArgCounter ++; - break; */ + break; case stop_0: if (iCommSend(COMM_STOP, NULL, 0) < 0) { LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending STOP command"); From b6ee14487a740808d93204a4e93bb4d0a9aa87c1 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 11 Nov 2019 15:20:58 +0100 Subject: [PATCH 644/730] Ran code formatter --- server/src/systemcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 543f8310c..1d73a20ac 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -952,7 +952,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } else LogMessage(LOG_LEVEL_WARNING, "START command parameter count error"); - break; + break; case stop_0: if (iCommSend(COMM_STOP, NULL, 0) < 0) { LogMessage(LOG_LEVEL_ERROR, "Fatal communication fault when sending STOP command"); From d3f38bbbfb8c6da0f70b5a762586e8c60f3ba83f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 12 Nov 2019 17:19:15 +0100 Subject: [PATCH 645/730] Modified MQ priorities and rescaled them to match POSIX range 0-31 --- server/src/util.c | 52 +++++++++++++++++++++++------------------------ 1 file changed, 26 insertions(+), 26 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 074b840b8..05b609f1a 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -51,32 +51,32 @@ #define GEOFENCE_DIR_NAME "geofence" // Message priorities on message queue -#define PRIO_COMM_STRT 100 -#define PRIO_COMM_ARMD 110 -#define PRIO_COMM_STOP 120 -#define PRIO_COMM_MONI 80 -#define PRIO_COMM_MONR 80 -#define PRIO_COMM_EXIT 140 -#define PRIO_COMM_REPLAY 160 -#define PRIO_COMM_CONTROL 180 -#define PRIO_COMM_ABORT 60 -#define PRIO_COMM_EXAC 70 -#define PRIO_COMM_ACCM 80 -#define PRIO_COMM_TREO 70 -#define PRIO_COMM_TRCM 80 -#define PRIO_COMM_INIT 110 -#define PRIO_COMM_CONNECT 110 -#define PRIO_COMM_OBC_STATE 160 -#define PRIO_COMM_DISCONNECT 110 -#define PRIO_COMM_LOG 160 -#define PRIO_COMM_VIOP 80 -#define PRIO_COMM_TRAJ 80 -#define PRIO_COMM_TRAJ_TOSUP 80 -#define PRIO_COMM_TRAJ_FROMSUP 80 -#define PRIO_COMM_ASP 110 -#define PRIO_COMM_OSEM 160 -#define PRIO_DATA_DICT 100 -#define PRIO_OBJECTS_CONNECTED 100 +#define PRIO_COMM_STRT 18 +#define PRIO_COMM_ARMD 18 +#define PRIO_COMM_STOP 18 +#define PRIO_COMM_MONI 0 +#define PRIO_COMM_MONR 0 +#define PRIO_COMM_EXIT 3 +#define PRIO_COMM_REPLAY 18 +#define PRIO_COMM_CONTROL 18 +#define PRIO_COMM_ABORT 31 +#define PRIO_COMM_EXAC 16 +#define PRIO_COMM_ACCM 22 +#define PRIO_COMM_TREO 16 +#define PRIO_COMM_TRCM 22 +#define PRIO_COMM_INIT 18 +#define PRIO_COMM_CONNECT 18 +#define PRIO_COMM_OBC_STATE 26 +#define PRIO_COMM_DISCONNECT 18 +#define PRIO_COMM_LOG 5 +#define PRIO_COMM_VIOP 10 // TODO: double check the priority of unused message +#define PRIO_COMM_TRAJ 10 // TODO: double check the priority of unused message +#define PRIO_COMM_TRAJ_TOSUP 14 +#define PRIO_COMM_TRAJ_FROMSUP 14 +#define PRIO_COMM_ASP 10 // TODO: double check the priority of unused message +#define PRIO_COMM_OSEM 24 +#define PRIO_DATA_DICT 22 +#define PRIO_OBJECTS_CONNECTED 20 /*------------------------------------------------------------ -- Public variables From 7da61e087f4efdcf8d06c8ae921b53e82df6454a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 12 Nov 2019 17:19:57 +0100 Subject: [PATCH 646/730] Ran code formatter --- server/src/util.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 05b609f1a..b6eafcb9d 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -69,11 +69,11 @@ #define PRIO_COMM_OBC_STATE 26 #define PRIO_COMM_DISCONNECT 18 #define PRIO_COMM_LOG 5 -#define PRIO_COMM_VIOP 10 // TODO: double check the priority of unused message -#define PRIO_COMM_TRAJ 10 // TODO: double check the priority of unused message +#define PRIO_COMM_VIOP 10 // TODO: double check the priority of unused message +#define PRIO_COMM_TRAJ 10 // TODO: double check the priority of unused message #define PRIO_COMM_TRAJ_TOSUP 14 #define PRIO_COMM_TRAJ_FROMSUP 14 -#define PRIO_COMM_ASP 10 // TODO: double check the priority of unused message +#define PRIO_COMM_ASP 10 // TODO: double check the priority of unused message #define PRIO_COMM_OSEM 24 #define PRIO_DATA_DICT 22 #define PRIO_OBJECTS_CONNECTED 20 From 136b8e37cbb93e24e167ccb57eadbf3f09ccc4d7 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 12 Nov 2019 17:40:07 +0100 Subject: [PATCH 647/730] Restructured defines to make MQ prios more readable --- server/src/util.c | 63 ++++++++++++++++++++++++++++------------------- 1 file changed, 38 insertions(+), 25 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index b6eafcb9d..73b0078ea 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -50,33 +50,46 @@ #define TRAJECTORY_DIR_NAME "traj" #define GEOFENCE_DIR_NAME "geofence" -// Message priorities on message queue -#define PRIO_COMM_STRT 18 -#define PRIO_COMM_ARMD 18 -#define PRIO_COMM_STOP 18 -#define PRIO_COMM_MONI 0 -#define PRIO_COMM_MONR 0 -#define PRIO_COMM_EXIT 3 -#define PRIO_COMM_REPLAY 18 -#define PRIO_COMM_CONTROL 18 +/* Message priorities on message queue */ +// Abort message #define PRIO_COMM_ABORT 31 -#define PRIO_COMM_EXAC 16 -#define PRIO_COMM_ACCM 22 -#define PRIO_COMM_TREO 16 -#define PRIO_COMM_TRCM 22 -#define PRIO_COMM_INIT 18 -#define PRIO_COMM_CONNECT 18 +// Object control state report #define PRIO_COMM_OBC_STATE 26 -#define PRIO_COMM_DISCONNECT 18 -#define PRIO_COMM_LOG 5 -#define PRIO_COMM_VIOP 10 // TODO: double check the priority of unused message -#define PRIO_COMM_TRAJ 10 // TODO: double check the priority of unused message -#define PRIO_COMM_TRAJ_TOSUP 14 -#define PRIO_COMM_TRAJ_FROMSUP 14 -#define PRIO_COMM_ASP 10 // TODO: double check the priority of unused message -#define PRIO_COMM_OSEM 24 -#define PRIO_DATA_DICT 22 -#define PRIO_OBJECTS_CONNECTED 20 +// Internal configuration +#define PRIO_DATA_DICT 24 +// Configuration affecting other configurations +#define PRIO_COMM_OSEM 22 +// Configuration messages +#define PRIO_COMM_ACCM 20 +#define PRIO_COMM_TRCM 20 +// Messages affecting state change messages +#define PRIO_OBJECTS_CONNECTED 18 +// State change messages +#define PRIO_COMM_STRT 16 +#define PRIO_COMM_ARMD 16 +#define PRIO_COMM_STOP 16 +#define PRIO_COMM_REPLAY 16 +#define PRIO_COMM_CONTROL 16 +#define PRIO_COMM_INIT 16 +#define PRIO_COMM_CONNECT 16 +#define PRIO_COMM_DISCONNECT 16 +// Single-shot messages relevant during test run +#define PRIO_COMM_EXAC 14 +#define PRIO_COMM_TREO 14 +// Frequent messages relevant during test run +#define PRIO_COMM_TRAJ_TOSUP 12 +#define PRIO_COMM_TRAJ_FROMSUP 12 +// Logging +#define PRIO_COMM_LOG 10 +// Unused messages TODO: double check the priority of unused messages +#define PRIO_COMM_VIOP 5 +#define PRIO_COMM_TRAJ 5 +#define PRIO_COMM_ASP 5 +// Server exit message +#define PRIO_COMM_EXIT 3 +// Monitoring messages +#define PRIO_COMM_MONI 0 +#define PRIO_COMM_MONR 0 /*------------------------------------------------------------ -- Public variables From c577db5b2e720da75e78265c25cadd7343fc66ca Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 15 Nov 2019 09:17:13 +0100 Subject: [PATCH 648/730] Added trajectory --- server/traj/straightLineAccelDecel_30kmh.traj | 207 ++++++++++++++++++ 1 file changed, 207 insertions(+) create mode 100644 server/traj/straightLineAccelDecel_30kmh.traj diff --git a/server/traj/straightLineAccelDecel_30kmh.traj b/server/traj/straightLineAccelDecel_30kmh.traj new file mode 100644 index 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[PATCH 649/730] Added printouts showing details when objects are first checked near/not near starting position --- modules/Supervision/src/main.cpp | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 876853d0f..d5729ddd4 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -130,8 +130,7 @@ int main() switch (updateNearStartingPositionStatus(MONRMessage, armVerified)) { case SINGLE_OBJECT_NOT_NEAR_START: // Object not near start: disarm - LogMessage(LOG_LEVEL_INFO, "Arm not approved: object with IP address %s is not in position", - inet_ntop(AF_INET, &MONRMessage.ClientIP, ipString, sizeof (ipString))); + LogMessage(LOG_LEVEL_INFO, "Arm not approved: sending disarm"); iCommSend(COMM_DISARM, nullptr, 0); state.set(SupervisionState::READY); break; @@ -492,6 +491,8 @@ bool isViolatingGeofence(const MonitorDataType &MONRdata, std::vector * \return A value according to ::PositionStatus */ PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, std::vector> armVerified) { + + char ipString[INET_ADDRSTRLEN]; for (std::pair &element : armVerified) { if (element.first.ip == MONRdata.ClientIP) { if (element.first.points.empty()) { @@ -503,6 +504,11 @@ PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, CartesianPosition objectPosition = MONRToCartesianPosition(MONRdata); if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, ARM_MAX_DISTANCE_TO_START_M) && UtilIsAngleNearTarget(objectPosition, trajectoryPoint, ARM_MAX_ANGLE_TO_START_DEG)) { + if (element.second == false) { + LogMessage(LOG_LEVEL_INFO, "Object with IP %s detected within %.2f m and %.2f degrees of the first point in trajectory %s", + inet_ntop(AF_INET, &MONRdata.ClientIP, ipString, sizeof (ipString)), ARM_MAX_DISTANCE_TO_START_M, + ARM_MAX_ANGLE_TO_START_DEG, element.first.name.c_str()); + } element.second = true; // Object was near starting position, now check if all objects have passed if (std::any_of(armVerified.begin(), armVerified.end(), @@ -514,6 +520,16 @@ PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, } } else { + if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, ARM_MAX_DISTANCE_TO_START_M)) { + LogMessage(LOG_LEVEL_INFO, "Object with IP %s farther than %.2f m from first point in trajectory %s", + inet_ntop(AF_INET, &MONRdata.ClientIP, ipString, sizeof (ipString)), + ARM_MAX_DISTANCE_TO_START_M, element.first.name.c_str()); + } + else { + LogMessage(LOG_LEVEL_INFO, "Object with IP %s not facing direction specified by first point in trajectory %s (tolerance: %.2f degrees)", + inet_ntop(AF_INET, &MONRdata.ClientIP, ipString, sizeof (ipString)), + element.first.name.c_str(),ARM_MAX_ANGLE_TO_START_DEG); + } element.second = false; return SINGLE_OBJECT_NOT_NEAR_START; } From 7eed208d14c0d58656c79f81b39d66f10488e22c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 15 Nov 2019 16:26:41 +0100 Subject: [PATCH 650/730] Updated prios to include disarm command --- server/src/util.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index 7afd4c509..aa896e93d 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -66,7 +66,8 @@ #define PRIO_OBJECTS_CONNECTED 18 // State change messages #define PRIO_COMM_STRT 16 -#define PRIO_COMM_ARMD 16 +#define PRIO_COMM_ARM 16 +#define PRIO_COMM_DISARM 16 #define PRIO_COMM_STOP 16 #define PRIO_COMM_REPLAY 16 #define PRIO_COMM_CONTROL 16 From f3685f5d31226931503d2abc60e4b4f2bbbf3b41 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 15 Nov 2019 16:51:57 +0100 Subject: [PATCH 651/730] Migrated all predefined trajectories to the ISO format --- server/traj/0.traj | 1366 +- server/traj/1.traj | 160 +- server/traj/192.168.0.17 | 1368 +- server/traj/GarageLastbilRektangel2.traj | 986 +- server/traj/GarageRektangelInre3.traj | 930 +- server/traj/GarageRektangelYttre3.traj | 930 +- server/traj/GarageplanInnerring.traj | 930 +- server/traj/GarageplanYtterring.traj | 930 +- server/traj/RuralRoadTruck1.traj | 15158 ++++++++++----------- server/traj/aliv_rect.traj | 14164 +++++++++---------- server/traj/fengco_drivefile_ego.traj | 2910 ++-- server/traj/garageh.chronos | 684 +- server/traj/garagev.chronos | 684 +- server/traj/rectangle1.traj | 12136 ++++++++--------- server/traj/rural2.traj | 15136 ++++++++++---------- server/traj/ruralmid2.traj | 8622 ++++++------ server/traj/ruralright2.traj | 8580 ++++++------ server/traj/safety.traj | 8 +- 18 files changed, 42841 insertions(+), 42841 deletions(-) diff --git a/server/traj/0.traj b/server/traj/0.traj index 307708f59..ca9161fdf 100644 --- a/server/traj/0.traj +++ b/server/traj/0.traj @@ -1,684 +1,684 @@ -TRAJECTORY;korfilGarage;3;682; -LINE;0.00;21.239000;39.045000;0.000000;-1.240001;0.029103;0.004005;0.000000;3;ENDLINE; 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a/server/traj/safety.traj b/server/traj/safety.traj index f50548216..fbfc73c9b 100644 --- a/server/traj/safety.traj +++ b/server/traj/safety.traj @@ -1,4 +1,4 @@ -TRAJECTORY;SafetyLine;1;2; -LINE;0.00;65.163615;-26.092917;0.000000;0;0;0;0.000000;0;ENDLINE; -LINE;0.10;41.210107;55.178845;0.000000;0;0;0;0.000000;0;ENDLINE; -ENDTRAJECTORY; +TRAJECTORY;0;SafetyLine;1.0;2; +LINE;0.00;65.163615;-26.092917;0.000000;0.000000;0.000000;;0.000000;;0.000000;0;ENDLINE; +LINE;0.10;41.210107;55.178845;0.000000;0.000000;0.000000;;0.000000;;0.000000;0;ENDLINE; +ENDTRAJECTORY; From 160c7f93637ff90e3a097d7ed3e83f41939c5249 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 15 Nov 2019 18:29:27 +0100 Subject: [PATCH 652/730] Fixed issue where modulo was not performing as expected --- modules/Supervision/src/main.cpp | 23 ++++++++++++++--------- modules/Supervision/src/trajectory.cpp | 1 + server/src/util.c | 14 ++++++++++---- 3 files changed, 25 insertions(+), 13 deletions(-) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index d5729ddd4..927b36b7a 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -505,9 +505,12 @@ PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, ARM_MAX_DISTANCE_TO_START_M) && UtilIsAngleNearTarget(objectPosition, trajectoryPoint, ARM_MAX_ANGLE_TO_START_DEG)) { if (element.second == false) { - LogMessage(LOG_LEVEL_INFO, "Object with IP %s detected within %.2f m and %.2f degrees of the first point in trajectory %s", - inet_ntop(AF_INET, &MONRdata.ClientIP, ipString, sizeof (ipString)), ARM_MAX_DISTANCE_TO_START_M, - ARM_MAX_ANGLE_TO_START_DEG, element.first.name.c_str()); + LogMessage(LOG_LEVEL_INFO, "Object with IP %s and position (%.2f, %.2f, %.2f) detected within %.2f m and %.2f degrees of the first point (%.2f, %.2f, %.2f) in trajectory %s", + inet_ntop(AF_INET, &MONRdata.ClientIP, ipString, sizeof (ipString)), + objectPosition.xCoord_m, objectPosition.yCoord_m, objectPosition.zCoord_m, + ARM_MAX_DISTANCE_TO_START_M, ARM_MAX_ANGLE_TO_START_DEG, + trajectoryPoint.xCoord_m, trajectoryPoint.yCoord_m, trajectoryPoint.zCoord_m, + element.first.name.c_str()); } element.second = true; // Object was near starting position, now check if all objects have passed @@ -520,15 +523,17 @@ PositionStatus updateNearStartingPositionStatus(const MonitorDataType &MONRdata, } } else { - if (UtilIsPositionNearTarget(objectPosition, trajectoryPoint, ARM_MAX_DISTANCE_TO_START_M)) { - LogMessage(LOG_LEVEL_INFO, "Object with IP %s farther than %.2f m from first point in trajectory %s", + if (!UtilIsPositionNearTarget(objectPosition, trajectoryPoint, ARM_MAX_DISTANCE_TO_START_M)) { + LogMessage(LOG_LEVEL_INFO, "Object with IP %s and position (%.2f, %.2f, %.2f) farther than %.2f m from first point (%.2f, %.2f, %.2f) in trajectory %s", inet_ntop(AF_INET, &MONRdata.ClientIP, ipString, sizeof (ipString)), - ARM_MAX_DISTANCE_TO_START_M, element.first.name.c_str()); + objectPosition.xCoord_m, objectPosition.yCoord_m, objectPosition.zCoord_m, + ARM_MAX_DISTANCE_TO_START_M, trajectoryPoint.xCoord_m, trajectoryPoint.yCoord_m, trajectoryPoint.zCoord_m, + element.first.points.front().getZCoord(), element.first.name.c_str()); } else { - LogMessage(LOG_LEVEL_INFO, "Object with IP %s not facing direction specified by first point in trajectory %s (tolerance: %.2f degrees)", - inet_ntop(AF_INET, &MONRdata.ClientIP, ipString, sizeof (ipString)), - element.first.name.c_str(),ARM_MAX_ANGLE_TO_START_DEG); + LogMessage(LOG_LEVEL_INFO, "Object with IP %s (heading: %.2f degrees) not facing direction specified by first point (heading: %.2f degrees) in trajectory %s (tolerance: %.2f degrees)", + inet_ntop(AF_INET, &MONRdata.ClientIP, ipString, sizeof (ipString)), objectPosition.heading_deg, + trajectoryPoint.heading_deg, element.first.name.c_str(), ARM_MAX_ANGLE_TO_START_DEG); } element.second = false; return SINGLE_OBJECT_NOT_NEAR_START; diff --git a/modules/Supervision/src/trajectory.cpp b/modules/Supervision/src/trajectory.cpp index a748b1ddf..f0ea311ea 100644 --- a/modules/Supervision/src/trajectory.cpp +++ b/modules/Supervision/src/trajectory.cpp @@ -129,5 +129,6 @@ CartesianPosition Trajectory::TrajectoryPoint::getCartesianPosition() { LogMessage(LOG_LEVEL_WARNING, "Casting trajectory point to cartesian position: optional z value assumed to be 0"); retval.zCoord_m = 0.0; } + retval.heading_deg = this->getHeading() * 180.0 / M_PI; return retval; } diff --git a/server/src/util.c b/server/src/util.c index aa896e93d..43903f666 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -783,10 +783,16 @@ uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition t */ uint8_t UtilIsAngleNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_deg) { - const double oneRotation = 360; - - return fabs(fmod(position.heading_deg, oneRotation) - fmod(target.heading_deg, oneRotation)) - <= tolerance_deg; + const double oneRotation = 360.0; + double posHeading = position.heading_deg, tarHeading = target.heading_deg; + while (posHeading < 0) { + posHeading += oneRotation; + } + while (tarHeading < 0) { + tarHeading += oneRotation; + } + + return fabs(posHeading - tarHeading) <= tolerance_deg; } double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition * OP) { From 59d3be2ff30f12faa3715a61d750e6de74421937 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 18 Nov 2019 13:37:47 +0100 Subject: [PATCH 653/730] Ran code formatter --- server/src/util.c | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 43903f666..64d061250 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -783,16 +783,17 @@ uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition t */ uint8_t UtilIsAngleNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_deg) { - const double oneRotation = 360.0; - double posHeading = position.heading_deg, tarHeading = target.heading_deg; - while (posHeading < 0) { - posHeading += oneRotation; - } - while (tarHeading < 0) { - tarHeading += oneRotation; - } - - return fabs(posHeading - tarHeading) <= tolerance_deg; + const double oneRotation = 360.0; + double posHeading = position.heading_deg, tarHeading = target.heading_deg; + + while (posHeading < 0) { + posHeading += oneRotation; + } + while (tarHeading < 0) { + tarHeading += oneRotation; + } + + return fabs(posHeading - tarHeading) <= tolerance_deg; } double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition * OP) { From 3eb2bb4ea34e1af28de9a58ac632d3bd1077d280 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 18 Nov 2019 16:21:10 +0100 Subject: [PATCH 654/730] Updated util ref --- util | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util b/util index 21a14becc..47ba4e079 160000 --- a/util +++ b/util @@ -1 +1 @@ -Subproject commit 21a14becc84129b6678a4237d55d0f6b25893fff +Subproject commit 47ba4e079a6bb152cc57a6b8745cad0034477b16 From 5f932f9e7044f09b010bdba0f7c727f6442228ff Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 18 Nov 2019 16:22:15 +0100 Subject: [PATCH 655/730] Made the straight line follow ISO traj format --- server/traj/straightLineAccelDecel_30kmh.traj | 414 +++++++++--------- 1 file changed, 207 insertions(+), 207 deletions(-) diff --git a/server/traj/straightLineAccelDecel_30kmh.traj b/server/traj/straightLineAccelDecel_30kmh.traj index 7b1f65431..3d801ee6f 100644 --- a/server/traj/straightLineAccelDecel_30kmh.traj +++ b/server/traj/straightLineAccelDecel_30kmh.traj @@ -1,207 +1,207 @@ -TRAJECTORY;StraightLine;0.1;205; -LINE;0.00;110.000000;-248.000000;0.000000;1.989675;0.000000;1.000000;0.000000;0;ENDLINE; 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656/730] Modified OBC check to use MONRType instead of MonitorDataType. Also changed a hardcoded 4 into what it aims at representing. --- server/src/util.c | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index aa136900e..2d643b15b 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3418,11 +3418,13 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT C8 *rdPtr = rawMONR, *monrStruct; // Pointer to keep track of where in rawMONR we are currently reading U16 contentLength = 0; in_addr_t IPData = 0; - const size_t monrPacketSize = sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - sizeof (monitorData->MONR.CRC) - 4; // 4 is the size of ValueId and ContentLength + const size_t monrPacketSize = sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) + - sizeof (monitorData->MONR.CRC) - sizeof (monitorData->MONR.MonrStructValueIdU16) + - sizeof (monitorData->MONR.MonrStructContentLengthU16); - if (rawMONRsize < sizeof (MonitorDataType)) { + if (rawMONRsize < sizeof (MONRType)) { LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data, %d < %d.", - rawMONRsize, sizeof (MonitorDataType)); + rawMONRsize, sizeof (MONRType)); return -1; } From 73011a3c4794e5301259ea599b20a0e04f0bf300 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 19 Nov 2019 14:04:56 +0100 Subject: [PATCH 657/730] Added header for november snapshot --- doc/Changelog.md | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/doc/Changelog.md b/doc/Changelog.md index 758b4fb7d..b3aef39ee 100644 --- a/doc/Changelog.md +++ b/doc/Changelog.md @@ -2,6 +2,7 @@ Last edited 15/10- 2019 Contents ============================== +[v.0.4.0 November Server-Snapshot](#november-release-v040---serversnapshot) [v.0.3.0 Trigger and Action](#maestro-v030-trigger-and-action) @@ -9,8 +10,24 @@ Contents [v.0.1.0 Drottning Kristina](drottning-kristina-v010) +July release v0.2.0 - ServerSnapshot +============================== +This version is compatible with Maestro-Tools v0.4.0 and Util v0.4.0 +New Features +------- + +1. Supervisor now is its own c++ module. + +Enhancements +------- +The location for all files necessary to run the server has can now be defined. Defaults to ~/.maestro + + +Fixed bugs +------- +MQ priorities was wrong, Highest priority was lowest. This has been remedied. Maestro v0.3.0 Trigger and Action ============================== From bd497587c70e8d064f7d3595356dc068d8ca7ae7 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Tue, 19 Nov 2019 14:15:43 +0100 Subject: [PATCH 658/730] Update Changelog.md --- doc/Changelog.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/doc/Changelog.md b/doc/Changelog.md index b3aef39ee..5691a48ee 100644 --- a/doc/Changelog.md +++ b/doc/Changelog.md @@ -22,8 +22,7 @@ New Features Enhancements ------- -The location for all files necessary to run the server has can now be defined. Defaults to ~/.maestro - +N/A Fixed bugs ------- From cbed0eff89a2b88b107b11e207d284ab19808d0c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 19 Nov 2019 14:33:57 +0100 Subject: [PATCH 659/730] Replaced a bunch of if (debug)-guarded printouts using LogMessage with LogPrint (to avoid having to change the debug level while also enabling the local debug flag) --- server/src/systemcontrol.c | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index d554e8afd..fe88e29ec 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -1792,7 +1792,7 @@ I32 SystemControlReadServerParameter(C8 * ParameterName, C8 * ReturnValue, U8 De UtilSearchTextFile(confPathDir, TextBuffer, "", ReturnValue); if (Debug) { - LogMessage(LOG_LEVEL_DEBUG, "%s = %s\n", ParameterName, ReturnValue); + LogPrint("%s = %s\n", ParameterName, ReturnValue); } return strlen(ReturnValue); @@ -1883,7 +1883,7 @@ I32 SystemControlCheckFileDirectoryExist(C8 * ParameterName, C8 * ReturnValue, U if (Debug) - LogMessage(LOG_LEVEL_DEBUG, "%d %s", *ReturnValue, CompletePath); + LogPrint("%d %s", *ReturnValue, CompletePath); return 0; @@ -1972,7 +1972,7 @@ I32 SystemControlCreateDirectory(C8 * Path, C8 * ReturnValue, U8 Debug) { } if (Debug) - LogMessage(LOG_LEVEL_DEBUG, "%d %s", *(ReturnValue), CompletePath); + LogPrint("%d %s", *(ReturnValue), CompletePath); if (*ReturnValue == SUCCEDED_CREATE_FOLDER) LogMessage(LOG_LEVEL_INFO, "Directory created: %s", CompletePath); @@ -2150,11 +2150,10 @@ I32 SystemControlSendFileContent(I32 * sockfd, C8 * Path, C8 * PacketSize, C8 * RestCount = (U32) (st.st_size) % PacketSizeU16; if (Debug) { - LogMessage(LOG_LEVEL_DEBUG, "Send file content:"); - LogMessage(LOG_LEVEL_DEBUG, "%s", Path); - //printf("%s\n", FileSize); - LogMessage(LOG_LEVEL_DEBUG, "%s", PacketSize); - LogMessage(LOG_LEVEL_DEBUG, "%s", CompletePath); + LogPrint("Send file content:"); + LogPrint("%s", Path); + LogPrint("%s", PacketSize); + LogPrint("%s", CompletePath); } fd = fopen(CompletePath, "r"); From 8f47d62e3ec757c2f23268be775d92432670dbdd Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 19 Nov 2019 14:36:17 +0100 Subject: [PATCH 660/730] disabled debug flags --- server/src/systemcontrol.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index fe88e29ec..cbac4b1e0 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -600,7 +600,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetTestOrigin:", ControlResponseBuffer, strlen(ControlResponseBuffer), - &ClientSocket, 1); + &ClientSocket, 0); break; case GetServerParameter_1: if (CurrentInputArgCount == CommandArgCount) { @@ -612,7 +612,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetServerParameter:", ControlResponseBuffer, strlen(ControlResponseBuffer), - &ClientSocket, 1); + &ClientSocket, 0); } else { LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in GetServerParameter(Name)!"); From 3e10548d980ff8516edd3789d7ff2b9c2d1e20b0 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 19 Nov 2019 14:41:53 +0100 Subject: [PATCH 661/730] Replaced a few hard coded content lengths with sizeof() --- server/src/objectcontrol.c | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index e899b7718..9d96c85de 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -1694,12 +1694,12 @@ int ObjectControlBuildSTRTMessage(C8 * MessageBuffer, STRTType * STRTData, TimeT STRTData->Header.MessageIdU16 = COMMAND_STRT_CODE; STRTData->Header.MessageLengthU32 = sizeof (STRTType) - sizeof (HeaderType); STRTData->StartTimeValueIdU16 = VALUE_ID_GPS_SECOND_OF_WEEK; - STRTData->StartTimeContentLengthU16 = 4; + STRTData->StartTimeContentLengthU16 = sizeof (STRTData->StartTimeU32); STRTData->StartTimeU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime) + ScenarioStartTime) << 2) + GPSTime->MicroSecondU16; STRTData->GPSWeekValueIdU16 = VALUE_ID_GPS_WEEK; - STRTData->GPSWeekContentLengthU16 = 2; + STRTData->GPSWeekContentLengthU16 = sizeof (STRTData->GPSWeekU16); STRTData->GPSWeekU16 = GPSTime->GPSWeekU16; // STRTData->DelayStartValueIdU16 = VALUE_ID_RELATIVE_TIME; // STRTData->DelayStartContentLengthU16 = 4; @@ -1754,7 +1754,7 @@ I32 ObjectControlBuildOSTMMessage(C8 * MessageBuffer, OSTMType * OSTMData, C8 Co OSTMData->Header.MessageIdU16 = COMMAND_OSTM_CODE; OSTMData->Header.MessageLengthU32 = sizeof (OSTMType) - sizeof (HeaderType); OSTMData->StateValueIdU16 = VALUE_ID_STATE_CHANGE_REQUEST; - OSTMData->StateContentLengthU16 = 1; + OSTMData->StateContentLengthU16 = sizeof (OSTMData->StateU8); OSTMData->StateU8 = (U8) CommandOption; p = (C8 *) OSTMData; @@ -1801,7 +1801,8 @@ I32 ObjectControlBuildHEABMessage(C8 * MessageBuffer, HEABType * HEABData, TimeT HEABData->Header.MessageIdU16 = COMMAND_HEAB_CODE; HEABData->Header.MessageLengthU32 = sizeof (HEABType) - sizeof (HeaderType); HEABData->HeabStructValueIdU16 = VALUE_ID_HEAB_STRUCT; - HEABData->HeabStructContentLengthU16 = sizeof (HEABType) - sizeof (HeaderType) - 4; + HEABData->HeabStructContentLengthU16 = sizeof (HEABType) - sizeof (HeaderType) + - sizeof (HEABData->HeabStructValueIdU16) - sizeof (HEABData->HeabStructContentLengthU16); HEABData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; From 9dd529856bcb1bc61e35e89b274bcd898c50ce4b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Tue, 19 Nov 2019 14:43:21 +0100 Subject: [PATCH 662/730] Ran code formatter --- server/src/objectcontrol.c | 155 ++++++++++++++++++++----------------- server/src/systemcontrol.c | 18 ++--- server/src/util.c | 10 +-- 3 files changed, 99 insertions(+), 84 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 9d96c85de..972cf6892 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -199,7 +199,7 @@ int ObjectControlBuildLLCMMessage(char *MessageBuffer, unsigned short Speed, uns I32 ObjectControlBuildSYPMMessage(C8 * MessageBuffer, SYPMType * SYPMData, U32 SyncPoint, U32 StopTime, U8 debug); I32 ObjectControlBuildMTSPMessage(C8 * MessageBuffer, MTSPType * MTSPData, U32 SyncTimestamp, U8 debug); -I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 *RowCount, HeaderType * HeaderData, +I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 * RowCount, HeaderType * HeaderData, TRAJInfoType * TRAJInfoData, C8 * TrajFileHeader, U8 debug); //I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, U8 debug); I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, DOTMType * DOTMData, U8 debug); @@ -209,7 +209,8 @@ int ObjectControlSendUDPData(int *sockfd, struct sockaddr_in *addr, char *SendDa I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, I32 Idn, C8 * Id, C8 * Timestamp, C8 * XPosition, C8 * YPosition, C8 * ZPosition, C8 * LongitudinalSpeed, C8 * LateralSpeed, C8 * LongitudinalAcc, C8 * LateralAcc, - C8 * Heading, C8 * DriveDirection, C8 * ObjectState, C8 * ReadyToArm, C8* ErrorStatus ,C8 debug); + C8 * Heading, C8 * DriveDirection, C8 * ObjectState, C8 * ReadyToArm, + C8 * ErrorStatus, C8 debug); I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug); int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId, char *TriggAction, char *TriggDelay, char debug); @@ -513,7 +514,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { ObjectControlMONRToASCII(&MONRData, &OriginPosition, iIndex, Id, Timestamp, XPosition, YPosition, ZPosition, LongitudinalSpeed, LateralSpeed, - LongitudinalAcc, LateralAcc, Heading, DriveDirection, ObjectState, ReadyToArm, ErrorStatus, 1); + LongitudinalAcc, LateralAcc, Heading, DriveDirection, + ObjectState, ReadyToArm, ErrorStatus, 1); bzero(buffer, OBJECT_MESS_BUFFER_SIZE); strcat(buffer, object_address_name[iIndex]); strcat(buffer, ";"); @@ -692,8 +694,9 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { ObjectControlBuildOSTMMessage(MessageBuffer, &OSTMData, COMMAND_OSTM_OPT_SET_DISARMED_STATE, 0); for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - /*Send OSTM message */ - UtilSendTCPData("[" MODULE_NAME "]", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); + /*Send OSTM message */ + UtilSendTCPData("[" MODULE_NAME "]", MessageBuffer, MessageLength, &socket_fds[iIndex], + 0); } ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY @@ -833,7 +836,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { UtilSetObjectPositionIP(&OP[iIndex], object_address_name[iIndex]); MessageLength = ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, GPSTime, - OriginLatitude, OriginLongitude, OriginAltitude, 0); + OriginLatitude, OriginLongitude, + OriginAltitude, 0); DisconnectU8 = 0; @@ -917,7 +921,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { vSetState(OBC_STATE_ERROR, GSD); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; } - UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); + UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], + 0); /*Here we send DOTM, if the IP-address not is found */ if (strstr(DTMReceivers, object_address_name[iIndex]) == NULL) { @@ -935,17 +940,18 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { fclose(fd); /*DOTM*/ - MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, - &RowCount, - &HeaderData, - &TRAJInfoData, - FileHeaderBufferC8, - 0); + MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, + &RowCount, + &HeaderData, + &TRAJInfoData, + FileHeaderBufferC8, + 0); printf("RowCount: %d\n", RowCount); /*Send DOTM header */ - UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); + UtilSendTCPData("Object Control", TrajBuffer, MessageLength, + &socket_fds[iIndex], 0); /*Send DOTM data */ ObjectControlSendDOTMMessage(object_traj_file[iIndex], &socket_fds[iIndex], @@ -1395,7 +1401,8 @@ I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug) I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, I32 Idn, C8 * Id, C8 * Timestamp, C8 * XPosition, C8 * YPosition, C8 * ZPosition, C8 * LongitudinalSpeed, C8 * LateralSpeed, C8 * LongitudinalAcc, C8 * LateralAcc, - C8 * Heading, C8 * DriveDirection, C8 * ObjectState, C8 * ReadyToArm, C8* ErrorStatus, C8 debug) { + C8 * Heading, C8 * DriveDirection, C8 * ObjectState, C8 * ReadyToArm, + C8 * ErrorStatus, C8 debug) { char Buffer[6]; long unsigned int MonrValueU64; unsigned int MonrValueU32; @@ -1597,7 +1604,8 @@ I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeT OSEMData->AltitudeI32 = (I32) (atof((char *)Altitude) * 1e2); OSEMData->DateValueIdU16 = VALUE_ID_DATE_ISO8601; OSEMData->DateContentLengthU16 = 4; - OSEMData->DateU32 = ((U32)GPSTime->YearU16*10000) + ((U32)GPSTime->MonthU8*100) + ((U32)GPSTime->DayU8); + OSEMData->DateU32 = + ((U32) GPSTime->YearU16 * 10000) + ((U32) GPSTime->MonthU8 * 100) + ((U32) GPSTime->DayU8); OSEMData->GPSWeekValueIdU16 = VALUE_ID_GPS_WEEK; OSEMData->GPSWeekContentLengthU16 = 2; OSEMData->GPSWeekU16 = GPSTime->GPSWeekU16; @@ -1694,12 +1702,12 @@ int ObjectControlBuildSTRTMessage(C8 * MessageBuffer, STRTType * STRTData, TimeT STRTData->Header.MessageIdU16 = COMMAND_STRT_CODE; STRTData->Header.MessageLengthU32 = sizeof (STRTType) - sizeof (HeaderType); STRTData->StartTimeValueIdU16 = VALUE_ID_GPS_SECOND_OF_WEEK; - STRTData->StartTimeContentLengthU16 = sizeof (STRTData->StartTimeU32); + STRTData->StartTimeContentLengthU16 = sizeof (STRTData->StartTimeU32); STRTData->StartTimeU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime) + ScenarioStartTime) << 2) + GPSTime->MicroSecondU16; STRTData->GPSWeekValueIdU16 = VALUE_ID_GPS_WEEK; - STRTData->GPSWeekContentLengthU16 = sizeof (STRTData->GPSWeekU16); + STRTData->GPSWeekContentLengthU16 = sizeof (STRTData->GPSWeekU16); STRTData->GPSWeekU16 = GPSTime->GPSWeekU16; // STRTData->DelayStartValueIdU16 = VALUE_ID_RELATIVE_TIME; // STRTData->DelayStartContentLengthU16 = 4; @@ -1754,7 +1762,7 @@ I32 ObjectControlBuildOSTMMessage(C8 * MessageBuffer, OSTMType * OSTMData, C8 Co OSTMData->Header.MessageIdU16 = COMMAND_OSTM_CODE; OSTMData->Header.MessageLengthU32 = sizeof (OSTMType) - sizeof (HeaderType); OSTMData->StateValueIdU16 = VALUE_ID_STATE_CHANGE_REQUEST; - OSTMData->StateContentLengthU16 = sizeof (OSTMData->StateU8); + OSTMData->StateContentLengthU16 = sizeof (OSTMData->StateU8); OSTMData->StateU8 = (U8) CommandOption; p = (C8 *) OSTMData; @@ -1801,8 +1809,8 @@ I32 ObjectControlBuildHEABMessage(C8 * MessageBuffer, HEABType * HEABData, TimeT HEABData->Header.MessageIdU16 = COMMAND_HEAB_CODE; HEABData->Header.MessageLengthU32 = sizeof (HEABType) - sizeof (HeaderType); HEABData->HeabStructValueIdU16 = VALUE_ID_HEAB_STRUCT; - HEABData->HeabStructContentLengthU16 = sizeof (HEABType) - sizeof (HeaderType) - - sizeof (HEABData->HeabStructValueIdU16) - sizeof (HEABData->HeabStructContentLengthU16); + HEABData->HeabStructContentLengthU16 = sizeof (HEABType) - sizeof (HeaderType) + - sizeof (HEABData->HeabStructValueIdU16) - sizeof (HEABData->HeabStructContentLengthU16); HEABData->GPSQmsOfWeekU32 = ((GPSTime->GPSSecondsOfWeekU32 * 1000 + (U32) TimeControlGetMillisecond(GPSTime)) << 2) + GPSTime->MicroSecondU16; @@ -1970,48 +1978,42 @@ I32 ObjectControlBuildMTSPMessage(C8 * MessageBuffer, MTSPType * MTSPData, U32 S } -I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 *RowCount, HeaderType * HeaderData, +I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 * RowCount, HeaderType * HeaderData, TRAJInfoType * TRAJInfoData, C8 * TrajFileHeader, U8 debug) { I32 MessageIndex = 0, i, j; U16 Crc = 0; C8 *p; C8 *token; - - if(strlen(TrajFileHeader) >= 1) - { + + if (strlen(TrajFileHeader) >= 1) { j = 0; - token = strtok(TrajFileHeader, ";"); - while( token != NULL ) - { - if(j == 1) - { + token = strtok(TrajFileHeader, ";"); + while (token != NULL) { + if (j == 1) { TRAJInfoData->TrajectoryIDValueIdU16 = VALUE_ID_TRAJECTORY_ID; TRAJInfoData->TrajectoryIDContentLengthU16 = 2; TRAJInfoData->TrajectoryIDU16 = atoi(token); - } - else if(j == 2) - { + } + else if (j == 2) { TRAJInfoData->TrajectoryNameValueIdU16 = VALUE_ID_TRAJECTORY_NAME; TRAJInfoData->TrajectoryNameContentLengthU16 = 64; bzero(TRAJInfoData->TrajectoryNameC8, 64); strncpy(TRAJInfoData->TrajectoryNameC8, token, strlen(token)); - } - else if(j == 3) - { - TRAJInfoData->TrajectoryVersionValueIdU16 = VALUE_ID_TRAJECTORY_VERSION; + } + else if (j == 3) { + TRAJInfoData->TrajectoryVersionValueIdU16 = VALUE_ID_TRAJECTORY_VERSION; TRAJInfoData->TrajectoryVersionContentLengthU16 = 2; TRAJInfoData->TrajectoryVersionU16 = atoi(token); - } - else if(j == 4) - { - *RowCount = atoi(token); - } + } + else if (j == 4) { + *RowCount = atoi(token); + } - j ++; - token = strtok(NULL, ";"); - } - } + j++; + token = strtok(NULL, ";"); + } + } TRAJInfoData->IpAddressValueIdU16 = 0xA000; TRAJInfoData->IpAddressContentLengthU16 = 4; @@ -2024,13 +2026,16 @@ I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 *RowCount, Heade HeaderData->MessageCounterU8 = 0; HeaderData->AckReqProtVerU8 = ACK_REQ | ISO_PROTOCOL_VERSION; HeaderData->MessageIdU16 = COMMAND_DOTM_CODE; - HeaderData->MessageLengthU32 = *RowCount * COMMAND_DOTM_ROW_MESSAGE_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; + HeaderData->MessageLengthU32 = + *RowCount * COMMAND_DOTM_ROW_MESSAGE_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; p = (C8 *) HeaderData; - for (i = 0; i < COMMAND_MESSAGE_HEADER_LENGTH; i++) *(MessageBuffer + i) = *p++; - + for (i = 0; i < COMMAND_MESSAGE_HEADER_LENGTH; i++) + *(MessageBuffer + i) = *p++; + p = (C8 *) TRAJInfoData; - for (; i < COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; i++) *(MessageBuffer + i) = *p++; + for (; i < COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TRAJ_INFO_ROW_MESSAGE_LENGTH; i++) + *(MessageBuffer + i) = *p++; MessageIndex = i; @@ -2123,7 +2128,7 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D U16 Crc = 0; flt curv = 0; C8 *pc; - + bzero(MessageBuffer, COMMAND_DOTM_ROW_MESSAGE_LENGTH * RowCount); I32 i = 0, j = 0, n = 0; @@ -2141,7 +2146,8 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->RelativeTimeValueIdU16 = VALUE_ID_RELATIVE_TIME; DOTMData->RelativeTimeContentLengthU16 = 4; DOTMData->RelativeTimeU32 = (U32) Data; - if(debug) printf("Time DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("Time DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //x src = strchr(src + 1, ';'); @@ -2151,7 +2157,8 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->XPositionValueIdU16 = VALUE_ID_X_POSITION; DOTMData->XPositionContentLengthU16 = 4; DOTMData->XPositionI32 = (I32) Data; - if(debug) printf("X DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("X DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //y src = strchr(src + 1, ';'); @@ -2161,7 +2168,8 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->YPositionValueIdU16 = VALUE_ID_Y_POSITION; DOTMData->YPositionContentLengthU16 = 4; DOTMData->YPositionI32 = (I32) Data; - if(debug) printf("Y DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("Y DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //z src = strchr(src + 1, ';'); @@ -2171,7 +2179,8 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->ZPositionValueIdU16 = VALUE_ID_Z_POSITION; DOTMData->ZPositionContentLengthU16 = 4; DOTMData->ZPositionI32 = (I32) Data; - if(debug) printf("Z DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("Z DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Heading src = strchr(src + 1, ';'); @@ -2186,7 +2195,8 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->HeadingValueIdU16 = VALUE_ID_HEADING; DOTMData->HeadingContentLengthU16 = 2; DOTMData->HeadingU16 = (U16) (Data * 1e2); - if(debug) printf("Heading DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("Heading DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Longitudinal speed src = strchr(src + 1, ';'); @@ -2196,17 +2206,19 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->LongitudinalSpeedValueIdU16 = VALUE_ID_LONGITUDINAL_SPEED; DOTMData->LongitudinalSpeedContentLengthU16 = 2; DOTMData->LongitudinalSpeedI16 = (I16) Data; - if(debug) printf("Long speed DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("Long speed DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Lateral speed src = strchr(src + 1, ';'); bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = atof(DataBuffer)*1e2; + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = atof(DataBuffer) * 1e2; DOTMData->LateralSpeedValueIdU16 = VALUE_ID_LATERAL_SPEED; DOTMData->LateralSpeedContentLengthU16 = 2; DOTMData->LateralSpeedI16 = (I16) Data; - if(debug) printf("Lat speed DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("Lat speed DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Longitudinal acceleration src = strchr(src + 1, ';'); @@ -2216,17 +2228,19 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D DOTMData->LongitudinalAccValueIdU16 = VALUE_ID_LONGITUDINAL_ACCELERATION; DOTMData->LongitudinalAccContentLengthU16 = 2; DOTMData->LongitudinalAccI16 = (I16) Data; - if(debug) printf("Long acc DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("Long acc DataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Lateral acceleration src = strchr(src + 1, ';'); bzero(DataBuffer, 20); - strncpy(DataBuffer, src+1, (uint64_t)strchr(src+1, ';') - (uint64_t)src - 1); - Data = atof(DataBuffer)*1e3; + strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); + Data = atof(DataBuffer) * 1e3; DOTMData->LateralAccValueIdU16 = VALUE_ID_LATERAL_ACCELERATION; DOTMData->LateralAccContentLengthU16 = 2; DOTMData->LateralAccI16 = (I16) Data; - if(debug) printf("Lat accDataBuffer=%s float=%3.6f\n", DataBuffer, Data); + if (debug) + printf("Lat accDataBuffer=%s float=%3.6f\n", DataBuffer, Data); //Curvature src = strchr(src + 1, ';'); @@ -2234,16 +2248,17 @@ I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, D strncpy(DataBuffer, src + 1, (uint64_t) strchr(src + 1, ';') - (uint64_t) src - 1); //Data = atof(DataBuffer) * 3e4; curv = atof(DataBuffer); - pc = (C8*)&curv; + pc = (C8 *) & curv; DOTMData->CurvatureValueIdU16 = VALUE_ID_CURVATURE; DOTMData->CurvatureContentLengthU16 = 4; //DOTMData->CurvatureI32 = (I32) Data; DOTMData->CurvatureI32 = pc[0]; - DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32)pc[1]) << 8; - DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32)pc[2]) << 16; - DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32)pc[3]) << 24; - - if(debug) printf("Curv DataBuffer=%s float=%3.6f\n", DataBuffer, Data); + DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32) pc[1]) << 8; + DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32) pc[2]) << 16; + DOTMData->CurvatureI32 = DOTMData->CurvatureI32 | ((I32) pc[3]) << 24; + + if (debug) + printf("Curv DataBuffer=%s float=%3.6f\n", DataBuffer, Data); p = (C8 *) DOTMData; for (j = 0; j < sizeof (DOTMType); j++, n++) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index cbac4b1e0..ea58f9988 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -600,7 +600,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetTestOrigin:", ControlResponseBuffer, strlen(ControlResponseBuffer), - &ClientSocket, 0); + &ClientSocket, 0); break; case GetServerParameter_1: if (CurrentInputArgCount == CommandArgCount) { @@ -612,7 +612,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { 0 ? SYSTEM_CONTROL_RESPONSE_CODE_OK : SYSTEM_CONTROL_RESPONSE_CODE_NO_DATA, "GetServerParameter:", ControlResponseBuffer, strlen(ControlResponseBuffer), - &ClientSocket, 0); + &ClientSocket, 0); } else { LogMessage(LOG_LEVEL_ERROR, "Wrong parameter count in GetServerParameter(Name)!"); @@ -1792,7 +1792,7 @@ I32 SystemControlReadServerParameter(C8 * ParameterName, C8 * ReturnValue, U8 De UtilSearchTextFile(confPathDir, TextBuffer, "", ReturnValue); if (Debug) { - LogPrint("%s = %s\n", ParameterName, ReturnValue); + LogPrint("%s = %s\n", ParameterName, ReturnValue); } return strlen(ReturnValue); @@ -1883,7 +1883,7 @@ I32 SystemControlCheckFileDirectoryExist(C8 * ParameterName, C8 * ReturnValue, U if (Debug) - LogPrint("%d %s", *ReturnValue, CompletePath); + LogPrint("%d %s", *ReturnValue, CompletePath); return 0; @@ -1972,7 +1972,7 @@ I32 SystemControlCreateDirectory(C8 * Path, C8 * ReturnValue, U8 Debug) { } if (Debug) - LogPrint("%d %s", *(ReturnValue), CompletePath); + LogPrint("%d %s", *(ReturnValue), CompletePath); if (*ReturnValue == SUCCEDED_CREATE_FOLDER) LogMessage(LOG_LEVEL_INFO, "Directory created: %s", CompletePath); @@ -2150,10 +2150,10 @@ I32 SystemControlSendFileContent(I32 * sockfd, C8 * Path, C8 * PacketSize, C8 * RestCount = (U32) (st.st_size) % PacketSizeU16; if (Debug) { - LogPrint("Send file content:"); - LogPrint("%s", Path); - LogPrint("%s", PacketSize); - LogPrint("%s", CompletePath); + LogPrint("Send file content:"); + LogPrint("%s", Path); + LogPrint("%s", PacketSize); + LogPrint("%s", CompletePath); } fd = fopen(CompletePath, "r"); diff --git a/server/src/util.c b/server/src/util.c index 936aa80d2..161c03fcc 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -3478,13 +3478,13 @@ I32 UtilPopulateMonitorDataStruct(C8 * rawMONR, size_t rawMONRsize, MonitorDataT C8 *rdPtr = rawMONR, *monrStruct; // Pointer to keep track of where in rawMONR we are currently reading U16 contentLength = 0; in_addr_t IPData = 0; - const size_t monrPacketSize = sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) - - sizeof (monitorData->MONR.CRC) - sizeof (monitorData->MONR.MonrStructValueIdU16) - - sizeof (monitorData->MONR.MonrStructContentLengthU16); + const size_t monrPacketSize = sizeof (monitorData->MONR) - sizeof (monitorData->MONR.Header) + - sizeof (monitorData->MONR.CRC) - sizeof (monitorData->MONR.MonrStructValueIdU16) + - sizeof (monitorData->MONR.MonrStructContentLengthU16); - if (rawMONRsize < sizeof (MONRType)) { + if (rawMONRsize < sizeof (MONRType)) { LogMessage(LOG_LEVEL_ERROR, "Raw MONR array too small to hold all necessary MONR data, %d < %d.", - rawMONRsize, sizeof (MONRType)); + rawMONRsize, sizeof (MONRType)); return -1; } From 19f574a24dc0b0d425384be9b5bab60283b82a42 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 20 Nov 2019 12:53:30 +0100 Subject: [PATCH 663/730] Changed DOTM name to TRAJ. --- server/inc/objectcontrol.h | 10 +++------- server/src/objectcontrol.c | 21 ++++++++++----------- 2 files changed, 13 insertions(+), 18 deletions(-) diff --git a/server/inc/objectcontrol.h b/server/inc/objectcontrol.h index e72c11258..8ba56708b 100755 --- a/server/inc/objectcontrol.h +++ b/server/inc/objectcontrol.h @@ -27,15 +27,11 @@ I32 ObjectControlBuildOSTMMessage(C8* MessageBuffer, OSTMType *OSTMData, C8 Comm I32 ObjectControlBuildHEABMessage(C8* MessageBuffer, HEABType *HEABData, TimeType *GPSTime, U8 CCStatus, U8 debug); int ObjectControlBuildLLCMMessage(char* MessageBuffer, unsigned short Speed, unsigned short Curvature, unsigned char Mode, char debug); I32 ObjectControlBuildSYPMMessage(C8* MessageBuffer, SYPMType *SYPMData, U32 SyncPoint, U32 StopTime, U8 debug); -//int ObjectControlBuildSYPMMessage(char* MessageBuffer, unsigned int SyncPoint, unsigned int StopTime, char debug); I32 ObjectControlBuildMTSPMessage(C8* MessageBuffer, MTSPType *MTSPData, U32 SyncTimestamp, U8 debug); -//int ObjectControlBuildMTSPMessage(char* MessageBuffer, unsigned long SyncTimestamp, char debug); -I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 *RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, C8 *TrajFileHeader, U8 debug); -//I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, U8 debug); -I32 ObjectControlBuildDOTMMessage(C8* MessageBuffer, FILE *fd, I32 RowCount, DOTMType *DOTMType, U8 debug); +I32 ObjectControlBuildTRAJMessageHeader(C8* MessageBuffer, I32 *RowCount, HeaderType *HeaderData, TRAJInfoType *TRAJInfoData, C8 *TrajFileHeader, U8 debug); +I32 ObjectControlBuildTRAJMessage(C8* MessageBuffer, FILE *fd, I32 RowCount, DOTMType *DOTMType, U8 debug); I32 ObjectControlBuildVOILMessage(C8* MessageBuffer, VOILType *VOILData, C8* SimData, U8 debug); -I32 ObjectControlSendDOTMMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); -//I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, int Idn, char *Id, char *Timestamp, char *XPosition, char *YPosition, char *ZPosition, char *LongitudinalSpeed, char *LateralSpeed, char *LongitudinalAcc, char *LateralAcc, char *Heading, char *DriveDirection, char *ObjectState, char *ReadyToArm, char debug) +I32 ObjectControlSendTRAJMessage(C8* Filename, I32 *Socket, I32 RowCount, C8 *IP, U32 Port, DOTMType *DOTMData, U8 debug); I32 ObjectControlMONRToASCII(MONRType *MONRData, GeoPosition *OriginPosition, I32 Idn, C8 *Id, C8 *Timestamp, C8 *XPosition, C8 *YPosition, C8 *ZPosition, C8 *LongitudinalSpeed, C8 *LateralSpeed, C8 *LongitudinalAcc, C8 *LateralAcc, C8 *Heading, C8 *DriveDirection, C8 *ObjectState, C8 *ReadyToArm, C8* ErrorStatus, C8 debug); int ObjectControlOSEMtoASCII(OSEMType *OSEMData,char *GPSWeek, char *GPSLatitude, char *GPSLongitude, char *GPSAltitude); #endif //__OBJECTCONTROL_H_INCLUDED__ diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 972cf6892..993330610 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -199,11 +199,10 @@ int ObjectControlBuildLLCMMessage(char *MessageBuffer, unsigned short Speed, uns I32 ObjectControlBuildSYPMMessage(C8 * MessageBuffer, SYPMType * SYPMData, U32 SyncPoint, U32 StopTime, U8 debug); I32 ObjectControlBuildMTSPMessage(C8 * MessageBuffer, MTSPType * MTSPData, U32 SyncTimestamp, U8 debug); -I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 * RowCount, HeaderType * HeaderData, +I32 ObjectControlBuildTRAJMessageHeader(C8 * MessageBuffer, I32 * RowCount, HeaderType * HeaderData, TRAJInfoType * TRAJInfoData, C8 * TrajFileHeader, U8 debug); -//I32 ObjectControlBuildDOTMMessageHeader(C8* MessageBuffer, I32 RowCount, HeaderType *HeaderData, U8 debug); -I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, DOTMType * DOTMData, U8 debug); -I32 ObjectControlSendDOTMMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, +I32 ObjectControlBuildTRAJMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, DOTMType * DOTMData, U8 debug); +I32 ObjectControlSendTRAJMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, DOTMType * DOTMData, U8 debug); int ObjectControlSendUDPData(int *sockfd, struct sockaddr_in *addr, char *SendData, int Length, char debug); I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, I32 Idn, C8 * Id, @@ -940,7 +939,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { fclose(fd); /*DOTM*/ - MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, + MessageLength = ObjectControlBuildTRAJMessageHeader(TrajBuffer, &RowCount, &HeaderData, &TRAJInfoData, @@ -954,7 +953,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { &socket_fds[iIndex], 0); /*Send DOTM data */ - ObjectControlSendDOTMMessage(object_traj_file[iIndex], &socket_fds[iIndex], + ObjectControlSendTRAJMessage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount, (char *)&object_address_name[iIndex], object_tcp_port[iIndex], &DOTMData, 0); @@ -1978,7 +1977,7 @@ I32 ObjectControlBuildMTSPMessage(C8 * MessageBuffer, MTSPType * MTSPData, U32 S } -I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 * RowCount, HeaderType * HeaderData, +I32 ObjectControlBuildTRAJMessageHeader(C8 * MessageBuffer, I32 * RowCount, HeaderType * HeaderData, TRAJInfoType * TRAJInfoData, C8 * TrajFileHeader, U8 debug) { I32 MessageIndex = 0, i, j; U16 Crc = 0; @@ -2064,7 +2063,7 @@ I32 ObjectControlBuildDOTMMessageHeader(C8 * MessageBuffer, I32 * RowCount, Head -I32 ObjectControlSendDOTMMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, +I32 ObjectControlSendTRAJMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, DOTMType * DOTMData, U8 debug) { FILE *fd; @@ -2083,7 +2082,7 @@ I32 ObjectControlSendDOTMMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * for (i = 0; i < Transmissions; i++) { MessageLength = - ObjectControlBuildDOTMMessage(TrajBuffer, fd, COMMAND_DOTM_ROWS_IN_TRANSMISSION, DOTMData, debug); + ObjectControlBuildTRAJMessage(TrajBuffer, fd, COMMAND_DOTM_ROWS_IN_TRANSMISSION, DOTMData, debug); if (i == Transmissions && Rest == 0) { TrajBuffer[MessageLength] = (U8) (CrcU16); @@ -2102,7 +2101,7 @@ I32 ObjectControlSendDOTMMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * } if (Rest > 0) { - MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, Rest, DOTMData, debug); + MessageLength = ObjectControlBuildTRAJMessage(TrajBuffer, fd, Rest, DOTMData, debug); TrajBuffer[MessageLength] = (U8) (CrcU16); TrajBuffer[MessageLength + 1] = (U8) (CrcU16 >> 8); MessageLength = MessageLength + 2; @@ -2119,7 +2118,7 @@ I32 ObjectControlSendDOTMMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * return 0; } -I32 ObjectControlBuildDOTMMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, DOTMType * DOTMData, U8 debug) { +I32 ObjectControlBuildTRAJMessage(C8 * MessageBuffer, FILE * fd, I32 RowCount, DOTMType * DOTMData, U8 debug) { I32 MessageIndex = 0; C8 RowBuffer[100]; C8 DataBuffer[20]; From 819b8d2e1242ca45d7f0888d64e3dc3c2dc598c2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 20 Nov 2019 17:09:01 +0100 Subject: [PATCH 664/730] Added comments into changelog --- doc/Changelog.md | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/doc/Changelog.md b/doc/Changelog.md index 5691a48ee..d99558a5e 100644 --- a/doc/Changelog.md +++ b/doc/Changelog.md @@ -19,14 +19,26 @@ New Features ------- 1. Supervisor now is its own c++ module. +2. Supervisor now sends disarm if any object is not within a short distance to its starting position and somewhat aligned to the trajectory +3. Supervisor now sends disconnect if any trajectory files do not match its standards (right now, its standards only state that the files should be parseable) +4. Supervisor now sends abort if an object exits a permitted geofence or enters a forbidden one Enhancements ------- -N/A +1. Implemented testing utility which allows starting an executable and polling its status from Python +2. Implemented test which starts and kills core executable, failing if one or more modules crash before the killing commences +3. Implemented testing utility which emulates external MSCP communication to system control +4. Implemented testing utility which checks availability of ports +5. Implemented testing utility which opens and parses a trajectory file +6. Implemented test which connects via MSCP and sends initializeScenario, after which it disconnects. It fails if the MSCP connection fails or the server crashes +7. Implemented test which steps through the "normal" test procedure i.e. connect MSCP, upload file, init, connect, arm, start, abort, reset + Fixed bugs ------- -MQ priorities was wrong, Highest priority was lowest. This has been remedied. +- MQ priorities were wrong: highest priority was lowest. This has been remedied. +- Fixed error in C-ITS control DENM timestamps +- Fixed mismatch with ISO HEAB, MONR, STRT, TRAJ based on 4a workshop Maestro v0.3.0 Trigger and Action ============================== @@ -37,6 +49,8 @@ New Features ------- 1. Server is now able to send and handle basic Trigger and Action messages. More specifically EXAC and ACCM. +2. Brake detection algorithm for creating an internal trigger event +3. C-ITS control initial implementation of CAM and DENM messages for demo Enhancements From 64d46a4a04a59deeea445e4d9870c697a88092f8 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 21 Nov 2019 09:39:54 +0100 Subject: [PATCH 665/730] Enabled ScenarioControl in the runServer script in preparation for the bug hunting session --- runServer.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/runServer.sh b/runServer.sh index 184aeeb70..e00e986c9 100755 --- a/runServer.sh +++ b/runServer.sh @@ -2,7 +2,7 @@ #### User settings # Modify this array by adding more modules to include them in the execution -MODULES=(Supervision) +MODULES=(Supervision ScenarioControl) #### # Save top directory From 78c1ab0256432f5407be647a7e2a8f730f552987 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 21 Nov 2019 14:10:34 +0100 Subject: [PATCH 666/730] First half implementation of test for badly formatted trajs --- .../249-uploadRowMismatchingTrajectories.py | 61 +++ ...geplanInnerring_lessRowsThanSpecified.traj | 466 ++++++++++++++++++ ...geplanInnerring_moreRowsThanSpecified.traj | 466 ++++++++++++++++++ 3 files changed, 993 insertions(+) create mode 100644 server/integration-tests/249-uploadRowMismatchingTrajectories.py create mode 100644 server/integration-tests/resources/trajectories/faulty/GarageplanInnerring_lessRowsThanSpecified.traj create mode 100644 server/integration-tests/resources/trajectories/faulty/GarageplanInnerring_moreRowsThanSpecified.traj diff --git a/server/integration-tests/249-uploadRowMismatchingTrajectories.py b/server/integration-tests/249-uploadRowMismatchingTrajectories.py new file mode 100644 index 000000000..5fa5d9203 --- /dev/null +++ b/server/integration-tests/249-uploadRowMismatchingTrajectories.py @@ -0,0 +1,61 @@ +from tools.MSCP import MSCP +from tools.Executable import Executable +from tools.TrajectoryFile import * +from tools.PortChecker import * +import time +import subprocess +import sys + + +userControl = None +server = None +obj = None + + +def checkProgramStatus(failurePrintout): + if server != None: + if server.poll(): + print(failurePrintout) + if userControl != None: + userControl.shutdown() + server.stop() + if obj != None: + obj.stop() + sys.exit(1) + +if __name__ == "__main__": + + # 3: Start a test object + WaitForPortAvailable(53240,"UDP",timeout=0) + WaitForPortAvailable(53241,"TCP",timeout=0) + obj = Executable("VirtualObject",["-nogui"]) + + # Note: server does not close sockets properly so this fails frequently (cross fingers for now): + #WaitForPortAvailable(54241,"TCP",timeout=0) + server = Executable("../build/TEServer",["-m","0"]) + time.sleep(0.05) + checkProgramStatus("=== Starting the server caused a problem") + + # 1: Connect to the server + userControl = MSCP("127.0.0.1") + time.sleep(0.25) + checkProgramStatus("=== Connecting to the server caused a problem") + + # 2: Load trajectory + fewRowTraj = ReadTrajectoryFile("resources/trajectories/faulty",fileName="GarageplanInnerring_lessRowsThanSpecified.traj") + manyRowTraj = ReadTrajectoryFile("resources/trajectories/faulty",fileName="GarageplanInnerring_moreRowsThanSpecified.traj") + + # 4: Upload short trajectory + userControl.UploadFile("traj/127.0.0.1", fewRowTraj) + + # 5: Send init + try: + userControl.Init() + time.sleep(0.05) + checkProgramStatus("=== Sending init to the server after uploading trajectory with less rows than specified caused a problem") + userControl.waitForObjectControlState("INITIALIZED", timeout=0.5) + raise AssertionError("Transitioned to initialized even though malformed trajectory was uploaded") + except TimeoutError as e: + # If there was a timeout while waiting for initialized that means everything went as intended + pass + diff --git a/server/integration-tests/resources/trajectories/faulty/GarageplanInnerring_lessRowsThanSpecified.traj b/server/integration-tests/resources/trajectories/faulty/GarageplanInnerring_lessRowsThanSpecified.traj new file mode 100644 index 000000000..eb1b72387 --- /dev/null +++ b/server/integration-tests/resources/trajectories/faulty/GarageplanInnerring_lessRowsThanSpecified.traj @@ -0,0 +1,466 @@ +TRAJECTORY;0;GarageRektangelInre;3.0;465; 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C8 pcTempBuffer[512]; C8 MessageBuffer[BUFFER_SIZE_3100]; - I32 iIndex = 0, i = 0; + I32 iIndex = 0, i = 0, jIndex = 0;; struct timespec sleep_time, ref_time; /*! Timers for reporting state over message bus */ @@ -423,13 +423,13 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_WARNING, "Lost connection to IP %s - returning to IDLE", object_address_name[iIndex]); - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - vDisconnectObject(&socket_fds[iIndex]); + for (jIndex = 0; jIndex < nbr_objects; ++jIndex) { + if(iIndex != jIndex) vDisconnectObject(&socket_fds[jIndex]); } /* Close safety socket */ - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - vCloseSafetyChannel(&safety_socket_fd[iIndex]); + for (jIndex = 0; jIndex < nbr_objects; ++jIndex) { + if(iIndex != jIndex) vCloseSafetyChannel(&safety_socket_fd[jIndex]); } vSetState(OBC_STATE_IDLE, GSD); break; @@ -934,19 +934,19 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { //fclose(fd); //fd = fopen(object_traj_file[iIndex], "r"); - printf("Open file: %s\n", object_traj_file[iIndex]); + //printf("Open file: %s\n", object_traj_file[iIndex]); UtilReadLineCntSpecChars(fd, FileHeaderBufferC8); fclose(fd); /*DOTM*/ - MessageLength = ObjectControlBuildTRAJMessageHeader(TrajBuffer, + MessageLength = ObjectControlBuildTRAJMessageHeader(TrajBuffer, &RowCount, &HeaderData, &TRAJInfoData, FileHeaderBufferC8, 0); - printf("RowCount: %d\n", RowCount); + //printf("RowCount: %d\n", RowCount); /*Send DOTM header */ UtilSendTCPData("Object Control", TrajBuffer, MessageLength, From 585edbf09831b8e7593bc8eff51aaf26a933a660 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Tue, 3 Dec 2019 15:39:11 +0100 Subject: [PATCH 669/730] Solving the disconnect problem by using vGetState(GSD) in ObjectControl when checking current state. --- server/inc/util.h | 2 +- server/src/objectcontrol.c | 32 ++++++++++++++++---------------- 2 files changed, 17 insertions(+), 17 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 2b3691471..5344006cf 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -75,7 +75,7 @@ extern "C"{ #define MAX_ADAPTIVE_SYNC_POINTS 512 #define USE_LOCAL_USER_CONTROL 0 -#define LOCAL_USER_CONTROL_IP "192.168.0.22" +#define LOCAL_USER_CONTROL_IP "10.168.212.5" #define USE_TEST_HOST 0 #define TESTHOST_IP LOCAL_USER_CONTROL_IP #define TESTSERVER_IP LOCAL_USER_CONTROL_IP diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index fea212b73..4fd4bd41e 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -268,7 +268,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { U8 pcRecvBuffer[RECV_MESSAGE_BUFFER]; C8 pcTempBuffer[512]; C8 MessageBuffer[BUFFER_SIZE_3100]; - I32 iIndex = 0, i = 0, jIndex = 0;; + I32 iIndex = 0, i = 0; struct timespec sleep_time, ref_time; /*! Timers for reporting state over message bus */ @@ -390,9 +390,9 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { nextStateReportTime = currentTime; while (!iExit) { - OBCState = vGetState(GSD); + //OBCState = vGetState(GSD); - if (OBCState == OBC_STATE_ERROR) { + if (vGetState(GSD) == OBC_STATE_ERROR) { ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; MessageLength = ObjectControlBuildHEABMessage(MessageBuffer, &HEABData, GPSTime, ObjectControlServerStatus, @@ -401,7 +401,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { MessageBuffer, MessageLength, 0); } - if (OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_ARMED || OBCState == OBC_STATE_CONNECTED) { + if (vGetState(GSD) == OBC_STATE_RUNNING || vGetState(GSD) == OBC_STATE_ARMED || vGetState(GSD) == OBC_STATE_CONNECTED) { /*HEAB*/ for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { if (uiTimeCycle == 0) { //HeartbeatMessageCounter ++; @@ -423,13 +423,13 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_WARNING, "Lost connection to IP %s - returning to IDLE", object_address_name[iIndex]); - for (jIndex = 0; jIndex < nbr_objects; ++jIndex) { - if(iIndex != jIndex) vDisconnectObject(&socket_fds[jIndex]); + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + vDisconnectObject(&socket_fds[iIndex]); } /* Close safety socket */ - for (jIndex = 0; jIndex < nbr_objects; ++jIndex) { - if(iIndex != jIndex) vCloseSafetyChannel(&safety_socket_fd[jIndex]); + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + vCloseSafetyChannel(&safety_socket_fd[iIndex]); } vSetState(OBC_STATE_IDLE, GSD); break; @@ -437,7 +437,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } } - if (OBCState == OBC_STATE_RUNNING || OBCState == OBC_STATE_CONNECTED || OBCState == OBC_STATE_ARMED) { + if (vGetState(GSD) == OBC_STATE_RUNNING || vGetState(GSD) == OBC_STATE_CONNECTED || vGetState(GSD) == OBC_STATE_ARMED) { char buffer[RECV_MESSAGE_BUFFER]; size_t receivedMONRData = 0; @@ -668,7 +668,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_INFO, "Received command %d", iCommand); - if (iCommand == COMM_ARM && OBCState == OBC_STATE_CONNECTED) { + if (iCommand == COMM_ARM && vGetState(GSD) == OBC_STATE_CONNECTED) { LogMessage(LOG_LEVEL_INFO, "Sending ARM"); LOG_SEND(LogBuffer, "[ObjectControl] Sending ARM"); @@ -683,7 +683,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY } - else if (iCommand == COMM_DISARM && OBCState == OBC_STATE_ARMED) { + else if (iCommand == COMM_DISARM && vGetState(GSD) == OBC_STATE_ARMED) { LogMessage(LOG_LEVEL_INFO, "Sending DISARM"); LOG_SEND(LogBuffer, "[ObjectControl] Sending DISARM"); @@ -700,7 +700,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_OK; //Set server to READY } - else if (iCommand == COMM_STRT && (OBCState == OBC_STATE_ARMED) /*|| OBC_STATE_INITIALIZED) */ ) //OBC_STATE_INITIALIZED is temporary! + else if (iCommand == COMM_STRT && (vGetState(GSD) == OBC_STATE_ARMED) /*|| OBC_STATE_INITIALIZED) */ ) //OBC_STATE_INITIALIZED is temporary! { bzero(Timestamp, SMALL_BUFFER_SIZE_0); MiscPtr = strchr(pcRecvBuffer, ';'); @@ -743,7 +743,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { ObjectcontrolExecutionMode = OBJECT_CONTROL_REPLAY_MODE; LogMessage(LOG_LEVEL_INFO, "Entering REPLAY mode <%s>", pcRecvBuffer); } - else if (iCommand == COMM_ABORT && OBCState == OBC_STATE_RUNNING) { + else if (iCommand == COMM_ABORT && vGetState(GSD) == OBC_STATE_RUNNING) { vSetState(OBC_STATE_CONNECTED, GSD); ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; //Set server to ABORT LogMessage(LOG_LEVEL_WARNING, "ABORT received"); @@ -804,7 +804,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { //OSEMSentU8 = 0; STRTSentU8 = 0; } - else if (iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) { + else if (iCommand == COMM_ACCM && vGetState(GSD) == OBC_STATE_CONNECTED) { UtilPopulateACCMDataStructFromMQ(pcRecvBuffer, sizeof (pcRecvBuffer), &mqACCMData); iIndex = iGetObjectIndexFromObjectIP(mqACCMData.ip, objectIPs, @@ -815,7 +815,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { else LogMessage(LOG_LEVEL_WARNING, "Unable to send ACCM: no valid socket found"); } - else if (iCommand == COMM_EXAC && OBCState == OBC_STATE_RUNNING) { + else if (iCommand == COMM_EXAC && vGetState(GSD) == OBC_STATE_RUNNING) { UtilPopulateEXACDataStructFromMQ(pcRecvBuffer, sizeof (pcRecvBuffer), &mqEXACData); iIndex = iGetObjectIndexFromObjectIP(mqEXACData.ip, objectIPs, @@ -825,7 +825,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { else LogMessage(LOG_LEVEL_WARNING, "Unable to send EXAC: no valid socket found"); } - else if (iCommand == COMM_CONNECT && OBCState == OBC_STATE_INITIALIZED) { + else if (iCommand == COMM_CONNECT && vGetState(GSD) == OBC_STATE_INITIALIZED) { LogMessage(LOG_LEVEL_INFO, "CONNECT received"); LOG_SEND(LogBuffer, "[ObjectControl] CONNECT received."); From d293bc7827ff217bc50b7e7269f686cbc72018e5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 4 Dec 2019 10:31:56 +0100 Subject: [PATCH 670/730] Added missing parts of test --- .../249-uploadRowMismatchingTrajectories.py | 41 ++++++++++++++++++- 1 file changed, 40 insertions(+), 1 deletion(-) diff --git a/server/integration-tests/249-uploadRowMismatchingTrajectories.py b/server/integration-tests/249-uploadRowMismatchingTrajectories.py index 5fa5d9203..ece040c2a 100644 --- a/server/integration-tests/249-uploadRowMismatchingTrajectories.py +++ b/server/integration-tests/249-uploadRowMismatchingTrajectories.py @@ -44,7 +44,8 @@ def checkProgramStatus(failurePrintout): # 2: Load trajectory fewRowTraj = ReadTrajectoryFile("resources/trajectories/faulty",fileName="GarageplanInnerring_lessRowsThanSpecified.traj") manyRowTraj = ReadTrajectoryFile("resources/trajectories/faulty",fileName="GarageplanInnerring_moreRowsThanSpecified.traj") - + normalTraj = ReadTrajectoryFile("resources/trajectories") + # 4: Upload short trajectory userControl.UploadFile("traj/127.0.0.1", fewRowTraj) @@ -59,3 +60,41 @@ def checkProgramStatus(failurePrintout): # If there was a timeout while waiting for initialized that means everything went as intended pass + # 6: Upload normal trajectory, to verify we can still initialise + userControl.UploadFile("traj/127.0.0.1", normalTraj) + + userControl.Init() + userControl.waitForObjectControlState("INITIALIZED") + + userControl.Disconnect() + userControl.waitForObjectControlState("IDLE") + + # 7: Upload long trajectory + userControl.UploadFile("traj/127.0.0.1", manyRowTraj) + + # 8: Send init + try: + userControl.Init() + time.sleep(0.05) + checkProgramStatus("=== Sending init to the server after uploading trajectory with more rows than specified caused a problem") + userControl.waitForObjectControlState("INITIALIZED", timeout=0.5) + raise AssertionError("Transitioned to initialized even though malformed trajectory was uploaded") + except TimeoutError as e: + # If there was a timeout while waiting for initialized that means everything went as intended + pass + + # 9: Upload normal trajectory, to verify we can still initialise + userControl.UploadFile("traj/127.0.0.1", normalTraj) + + userControl.Init() + userControl.waitForObjectControlState("INITIALIZED") + + userControl.Disconnect() + userControl.waitForObjectControlState("IDLE") + + # 10: Done! + userControl.shutdown() + server.stop() + obj.stop() + sys.exit(0) + From 4e375db774b73b71293865da0775a9c528575f64 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 4 Dec 2019 10:32:15 +0100 Subject: [PATCH 671/730] Fixed some spelling errors I noticed --- server/integration-tests/tools/MSCP.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index 865a4f179..80d3eeb90 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -184,12 +184,12 @@ def Connect(self): def Disconnect(self): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nDisconnectObject();" self.Send(message) - print("=== Disonnect() sent") + print("=== Disconnect() sent") def Start(self,delayTime_ms): message = "POST /maestro HTTP/1.1\r\nHost:" + self.host + "\r\n\r\nStartScenario(" + str(delayTime_ms) + ");" self.Send(message) - print("=== StarScenario() sent") + print("=== StartScenario() sent") def UploadFile(self,targetPath,fileContents): packetSize = 1200 From 2c3e38b31406c29523eaaadaf87e93bec794fd30 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 4 Dec 2019 11:19:52 +0100 Subject: [PATCH 672/730] Added call to trajectory parsing function in vFindObjectsInfo --- server/src/objectcontrol.c | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 993330610..1f5c31f3e 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -226,7 +226,7 @@ I32 ObjectControlSendACCMMessage(ACCMData * ACCM, I32 * socket, U8 debug); I32 ObjectControlSendTRCMMessage(TRCMData * TRCM, I32 * socket, U8 debug); I32 ObjectControlSendEXACMessage(EXACData * EXAC, I32 * socket, U8 debug); -static void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], +static int vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], in_addr_t objectIPs[MAX_OBJECTS], I32 * nbr_objects); @@ -3141,7 +3141,7 @@ static size_t uiRecvMonitor(int *sockfd, char *buffer, size_t length) { return recvDataSize; } -void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], +int vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], in_addr_t objectIPs[MAX_OBJECTS], I32 * nbr_objects) { DIR *traj_directory; @@ -3150,6 +3150,7 @@ void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], struct sockaddr_in sockaddr; int result; char trajPathDir[MAX_FILE_PATH]; + int retval = 0; UtilGetTrajDirectoryPath(trajPathDir, sizeof (trajPathDir)); @@ -3172,17 +3173,24 @@ void vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], (void)strcat(object_traj_file[(*nbr_objects)], trajPathDir); (void)strcat(object_traj_file[(*nbr_objects)], directory_entry->d_name); + if (UtilCheckTrajectoryFileFormat(object_traj_file[*nbr_objects], sizeof (object_traj_file[*nbr_objects]))) { + LogMessage(LOG_LEVEL_ERROR, "Trajectory file <%s> is not valid", object_address_name[*nbr_objects]); + retval = -1; + } + if (0 == iForceObjectToLocalhost) { (void)strncat(object_address_name[(*nbr_objects)], directory_entry->d_name, strlen(directory_entry->d_name)); result = inet_pton(AF_INET, object_address_name[*nbr_objects], &sockaddr.sin_addr); if (result == -1) { LogMessage(LOG_LEVEL_ERROR, "Invalid address family"); + retval = -1; continue; } else if (result == 0) { LogMessage(LOG_LEVEL_WARNING, "Address <%s> is not a valid IPv4 address", object_address_name[*nbr_objects]); + retval = -1; continue; } else From dc804c46610fee0c243965b01058874655e20871 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 4 Dec 2019 11:21:07 +0100 Subject: [PATCH 673/730] Renamed vFindObjectsInfo to iFindObjectsInfo to reflect it returns possible errors --- server/src/objectcontrol.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 1f5c31f3e..8eec2aafd 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -226,7 +226,7 @@ I32 ObjectControlSendACCMMessage(ACCMData * ACCM, I32 * socket, U8 debug); I32 ObjectControlSendTRCMMessage(TRCMData * TRCM, I32 * socket, U8 debug); I32 ObjectControlSendEXACMessage(EXACData * EXAC, I32 * socket, U8 debug); -static int vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], +static int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], in_addr_t objectIPs[MAX_OBJECTS], I32 * nbr_objects); @@ -758,7 +758,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LOG_SEND(LogBuffer, "[ObjectControl] INIT received."); /* Get objects; name and drive file */ nbr_objects = 0; - vFindObjectsInfo(object_traj_file, object_address_name, objectIPs, &nbr_objects); + iFindObjectsInfo(object_traj_file, object_address_name, objectIPs, &nbr_objects); DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { @@ -3141,7 +3141,7 @@ static size_t uiRecvMonitor(int *sockfd, char *buffer, size_t length) { return recvDataSize; } -int vFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], +int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], in_addr_t objectIPs[MAX_OBJECTS], I32 * nbr_objects) { DIR *traj_directory; From cab151f4bda7b522a8c607c6a262d72c158bb9f9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 4 Dec 2019 11:26:54 +0100 Subject: [PATCH 674/730] Prevent object control from initializing if it fails to process any trajectory file --- server/src/objectcontrol.c | 98 ++++++++++++++++++++------------------ 1 file changed, 51 insertions(+), 47 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 8eec2aafd..f9e29b786 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -756,53 +756,57 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { else if (iCommand == COMM_INIT) { LogMessage(LOG_LEVEL_INFO, "INIT received"); LOG_SEND(LogBuffer, "[ObjectControl] INIT received."); - /* Get objects; name and drive file */ - nbr_objects = 0; - iFindObjectsInfo(object_traj_file, object_address_name, objectIPs, &nbr_objects); - DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); - - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - if (0 == iForceObjectToLocalhostU8) { - object_udp_port[iIndex] = SAFETY_CHANNEL_PORT; - object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT; - } - else { - object_udp_port[iIndex] = SAFETY_CHANNEL_PORT + iIndex * 2; - object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT + iIndex * 2; - } - } - - /*Setup Adaptive Sync Points (ASP) */ - UtilGetConfDirectoryPath(confDirectoryPath, sizeof (confDirectoryPath)); - strcat(confDirectoryPath, ADAPTIVE_SYNC_FILE_NAME); - fd = fopen(confDirectoryPath, "r"); - if (fd) { - SyncPointCount = UtilCountFileRows(fd) - 1; - fclose(fd); - fd = fopen(confDirectoryPath, "r"); - UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header - - for (i = 0; i < SyncPointCount; i++) { - UtilSetAdaptiveSyncPoint(&ASP[i], fd, 0); - if (TEST_SYNC_POINTS == 1) - ASP[i].TestPort = SAFETY_CHANNEL_PORT; - } - fclose(fd); - } - - vSetState(OBC_STATE_INITIALIZED, GSD); - LogMessage(LOG_LEVEL_INFO, "ObjectControl is initialized"); - LOG_SEND(LogBuffer, "[ObjectControl] ObjectControl is initialized."); - - //Remove temporary file - remove(TEMP_LOG_FILE); - if (USE_TEMP_LOGFILE) { - //Create temporary file - TempFd = fopen(TEMP_LOG_FILE, "w+"); - } - - //OSEMSentU8 = 0; - STRTSentU8 = 0; + nbr_objects = 0; + if (iFindObjectsInfo(object_traj_file, object_address_name, objectIPs, &nbr_objects) == 0) { + // Get objects; name and drive file + DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); + + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + if (0 == iForceObjectToLocalhostU8) { + object_udp_port[iIndex] = SAFETY_CHANNEL_PORT; + object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT; + } + else { + object_udp_port[iIndex] = SAFETY_CHANNEL_PORT + iIndex * 2; + object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT + iIndex * 2; + } + } + + /*Setup Adaptive Sync Points (ASP) */ + UtilGetConfDirectoryPath(confDirectoryPath, sizeof (confDirectoryPath)); + strcat(confDirectoryPath, ADAPTIVE_SYNC_FILE_NAME); + fd = fopen(confDirectoryPath, "r"); + if (fd) { + SyncPointCount = UtilCountFileRows(fd) - 1; + fclose(fd); + fd = fopen(confDirectoryPath, "r"); + UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header + + for (i = 0; i < SyncPointCount; i++) { + UtilSetAdaptiveSyncPoint(&ASP[i], fd, 0); + if (TEST_SYNC_POINTS == 1) + ASP[i].TestPort = SAFETY_CHANNEL_PORT; + } + fclose(fd); + } + + vSetState(OBC_STATE_INITIALIZED, GSD); + LogMessage(LOG_LEVEL_INFO, "ObjectControl is initialized"); + LOG_SEND(LogBuffer, "[ObjectControl] ObjectControl is initialized."); + + //Remove temporary file + remove(TEMP_LOG_FILE); + if (USE_TEMP_LOGFILE) { + //Create temporary file + TempFd = fopen(TEMP_LOG_FILE, "w+"); + } + + //OSEMSentU8 = 0; + STRTSentU8 = 0; + } + else { + LogMessage(LOG_LEVEL_INFO, "Could not initialize: object info was not processed successfully"); + } } else if (iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) { UtilPopulateACCMDataStructFromMQ(pcRecvBuffer, sizeof (pcRecvBuffer), &mqACCMData); From e8d525566bf2d9c6d757b2019fc0c2456143461c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Wed, 4 Dec 2019 13:27:29 +0100 Subject: [PATCH 675/730] Implemented trajectory file header and footer parsing functions, as well as a non-static function which verifies traj file format --- server/inc/util.h | 3 + server/src/util.c | 186 ++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 189 insertions(+) diff --git a/server/inc/util.h b/server/inc/util.h index 2b3691471..5b8031f3c 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -832,6 +832,9 @@ void UtilGetConfDirectoryPath(char* path, size_t pathLen); void UtilGetTrajDirectoryPath(char* path, size_t pathLen); void UtilGetGeofenceDirectoryPath(char* path, size_t pathLen); +// File parsing functions +int UtilCheckTrajectoryFileFormat(const char *path, size_t pathLen); + // CartesianPosition MONRToCartesianPosition(MonitorDataType MONR); uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); diff --git a/server/src/util.c b/server/src/util.c index 161c03fcc..50552aecd 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -92,6 +92,31 @@ #define PRIO_COMM_MONI 0 #define PRIO_COMM_MONR 0 +/*------------------------------------------------------------ +-- Local type definitions +------------------------------------------------------------*/ +typedef struct { + unsigned int ID; + char name[SMALL_BUFFER_SIZE_128]; + unsigned short majorVersion; + unsigned short minorVersion; + unsigned int numberOfLines; +} TrajectoryFileHeader; + +typedef struct { + double time; + double xCoord; + double yCoord; + double *zCoord; + double heading; + double *longitudinalVelocity; + double *lateralVelocity; + double *longitudinalAcceleration; + double *lateralAcceleration; + double curvature; + uint8_t mode; +} TrajectoryFileLine; + /*------------------------------------------------------------ -- Public variables ------------------------------------------------------------*/ @@ -111,6 +136,11 @@ static char rayFromPointIntersectsLine(double pointX, double pointY, double poly double polyPointBX, double polyPointBY); +static int UtilParseTrajectoryFileHeader(char *headerLine, TrajectoryFileHeader* header); +static int UtilParseTrajectoryFileFooter(char* footerLine); +static int UtilParseTrajectoryFileLine(char *fileLine, TrajectoryFileLine* line); + + void CopyHTTPHeaderField(char *request, char *targetContainer, size_t targetContainerSize, const char *fieldName) { char *firstPos, *lastPos; @@ -2387,7 +2417,163 @@ void UtilGetGeofenceDirectoryPath(char *path, size_t pathLen) { } +int UtilParseTrajectoryFileHeader(char* line, TrajectoryFileHeader* header) { + char* token; + const char delimiter = ';'; + unsigned int column = 0; + int retval = 0; + + header->ID = 0; + memset(header->name, '\0', sizeof (header->name)); + header->majorVersion = 0; + header->minorVersion = 0; + header->numberOfLines = 0; + + token = strtok(line, &delimiter); + if (!strcmp(token, "TRAJECTORY")) { + while (retval != -1 && (token = strtok(NULL, &delimiter)) != NULL) { + column++; + switch (column) { + case 1: + break; + case 2: + break; + case 3: + break; + case 4: + break; + default: + LogMessage(LOG_LEVEL_ERROR, "Found unexpected \"%s\" in header", token); + retval = -1; + } + } + } + else { + LogMessage(LOG_LEVEL_ERROR,"Cannot parse line \"%s\" as trajectory header", line); + retval = -1; + } + + if (retval == -1) { + header->ID = 0; + memset(header->name, '\0', sizeof (header->name)); + header->majorVersion = 0; + header->minorVersion = 0; + header->numberOfLines = 0; + } + return retval; +} + +int UtilParseTrajectoryFileLine(char* line, TrajectoryFileLine* fileLine) { + + if (fileLine->zCoord) + free(fileLine->zCoord); + if (fileLine->lateralVelocity) + free(fileLine->lateralVelocity); + if (fileLine->lateralAcceleration) + free(fileLine->lateralAcceleration); + if (fileLine->longitudinalVelocity) + free(fileLine->longitudinalVelocity); + if (fileLine->lateralAcceleration) + free(fileLine->longitudinalAcceleration); + memset(fileLine, 0, sizeof (*fileLine)); + + // TODO: Parse row + return 0; +} + +int UtilParseTrajectoryFileFooter(char* line) { + char* token; + const char delimiter = ';'; + int retval = 0; + + token = strtok(line, &delimiter); + if (!strcmp(token, "ENDTRAJECTORY")) { + while ((token = strtok(NULL, &delimiter)) != NULL) { + LogMessage(LOG_LEVEL_ERROR, "Footer contained unexpected \"%s\"", token); + retval = -1; + } + } + else { + retval = -1; + } + + return retval; +} +/*! + * \brief UtilCheckTrajectoryFileFormat Verifies that the file follows ISO format + * \param path Path to the file to be checked + * \param pathLen Length of the path variable + * \return -1 if the file does not follow the correct format, 0 otherwise + */ +int UtilCheckTrajectoryFileFormat(const char* path, size_t pathLen) { + int retval = 0; + FILE* fp = fopen(path, "r"); + + char* line; + size_t len = 0; + ssize_t read; + + unsigned int row = 0; + + TrajectoryFileHeader header; + TrajectoryFileLine fileLine; + memset(&fileLine, 0, sizeof (fileLine)); + + if (fp == NULL) { + LogMessage(LOG_LEVEL_ERROR,"Could not open file <%s>",path); + return -1; + } + + // Read line by line + while ((read = getline(&line, &len, fp)) != -1) { + row++; + if (row == 1) { // Header parsing + // If header parsing failed, parsing the rest of the file could be risky + if ((retval = UtilParseTrajectoryFileHeader(line, &header)) == -1) { + LogMessage(LOG_LEVEL_ERROR,"Failed to parse header of file <%s>",path); + break; + } + } + else if (row == header.numberOfLines + 2) { // Footer parsing + if (UtilParseTrajectoryFileFooter(line) != 0) { + LogMessage(LOG_LEVEL_ERROR, "Failed to parse footer of file <%s>", row, path); + retval = -1; + } + } + else if (row > header.numberOfLines + 2) { + LogMessage(LOG_LEVEL_ERROR, "File <%s> contains more rows than specified", path); + retval = -1; + break; + } + else { // Line parsing + if (UtilParseTrajectoryFileLine(line, &fileLine) != 0) { + if (UtilParseTrajectoryFileFooter(line) == 0) + LogMessage(LOG_LEVEL_ERROR, "File <%s> contains %u rows but %u were specified", path, row-2, header.numberOfLines); + else + LogMessage(LOG_LEVEL_ERROR, "Failed to parse line %u of file <%s>", row, path); + retval = -1; + } + } + } + + fclose(fp); + + if (line) + free(line); + if (fileLine.zCoord) + free(fileLine.zCoord); + if (fileLine.lateralVelocity) + free(fileLine.lateralVelocity); + if (fileLine.lateralAcceleration) + free(fileLine.lateralAcceleration); + if (fileLine.longitudinalVelocity) + free(fileLine.longitudinalVelocity); + if (fileLine.lateralAcceleration) + free(fileLine.longitudinalAcceleration); + + return retval; +} /*------------------------------------------------------------ -- Function traj2ldm -- converts a traj file format to a ldm:monitor_t From c7cb622b9ea62975de8f2c998b69d31a8030c3f5 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 5 Dec 2019 12:26:48 +0100 Subject: [PATCH 676/730] Update Changelog.md --- doc/Changelog.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/Changelog.md b/doc/Changelog.md index d99558a5e..c395cb25b 100644 --- a/doc/Changelog.md +++ b/doc/Changelog.md @@ -2,7 +2,7 @@ Last edited 15/10- 2019 Contents ============================== -[v.0.4.0 November Server-Snapshot](#november-release-v040---serversnapshot) +[v.0.4.0 December Server-Snapshot](#December-release-v040---serversnapshot) [v.0.3.0 Trigger and Action](#maestro-v030-trigger-and-action) @@ -10,7 +10,7 @@ Contents [v.0.1.0 Drottning Kristina](drottning-kristina-v010) -July release v0.2.0 - ServerSnapshot +December release v0.4.0 - ServerSnapshot ============================== This version is compatible with Maestro-Tools v0.4.0 and Util v0.4.0 From 3209509029fa6a3d87916388d4b8affd40a95f33 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 15:20:02 +0100 Subject: [PATCH 677/730] Added informative printout when timing out as expected --- .../249-uploadRowMismatchingTrajectories.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/server/integration-tests/249-uploadRowMismatchingTrajectories.py b/server/integration-tests/249-uploadRowMismatchingTrajectories.py index ece040c2a..fe4efc610 100644 --- a/server/integration-tests/249-uploadRowMismatchingTrajectories.py +++ b/server/integration-tests/249-uploadRowMismatchingTrajectories.py @@ -58,8 +58,8 @@ def checkProgramStatus(failurePrintout): raise AssertionError("Transitioned to initialized even though malformed trajectory was uploaded") except TimeoutError as e: # If there was a timeout while waiting for initialized that means everything went as intended - pass - + print("=== Timed out while waiting for initialisation") + # 6: Upload normal trajectory, to verify we can still initialise userControl.UploadFile("traj/127.0.0.1", normalTraj) @@ -81,7 +81,7 @@ def checkProgramStatus(failurePrintout): raise AssertionError("Transitioned to initialized even though malformed trajectory was uploaded") except TimeoutError as e: # If there was a timeout while waiting for initialized that means everything went as intended - pass + print("=== Timed out while waiting for initialisation") # 9: Upload normal trajectory, to verify we can still initialise userControl.UploadFile("traj/127.0.0.1", normalTraj) From aaaf699487c51aa6462f40ef4c4ef4b355812c59 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 15:20:22 +0100 Subject: [PATCH 678/730] Fixed error in TrajectoryFile python opener --- server/integration-tests/tools/TrajectoryFile.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/server/integration-tests/tools/TrajectoryFile.py b/server/integration-tests/tools/TrajectoryFile.py index a57375f58..a9d40b2f2 100644 --- a/server/integration-tests/tools/TrajectoryFile.py +++ b/server/integration-tests/tools/TrajectoryFile.py @@ -3,11 +3,14 @@ from os.path import isfile, join def ReadTrajectoryFile(trajectoryDir, fileName="random"): + if trajectoryDir[-1] != '/': + trajectoryDir += '/' allFiles = [f for f in listdir(trajectoryDir) if isfile(join(trajectoryDir, f))] allFiles[:] = [f for f in allFiles if f[-5:] == ".traj"] + print(allFiles) if fileName == "random": fname = join(trajectoryDir, random.choice(allFiles)) - elif join(trajectoryDir, fileName) in allFiles: + elif fileName in allFiles: fname = join(trajectoryDir, fileName) else: raise ValueError("File " + fileName + " in directory " + trajectoryDir + " does not exist") From d1c65543bbfafd7456712b3b2634bdf11fb3c421 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 15:23:09 +0100 Subject: [PATCH 679/730] Fixed printout error when failing to parse --- server/src/objectcontrol.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index f9e29b786..a7ad9628b 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -3178,7 +3178,7 @@ int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], (void)strcat(object_traj_file[(*nbr_objects)], directory_entry->d_name); if (UtilCheckTrajectoryFileFormat(object_traj_file[*nbr_objects], sizeof (object_traj_file[*nbr_objects]))) { - LogMessage(LOG_LEVEL_ERROR, "Trajectory file <%s> is not valid", object_address_name[*nbr_objects]); + LogMessage(LOG_LEVEL_ERROR, "Trajectory file <%s> is not valid", object_traj_file[*nbr_objects]); retval = -1; } @@ -3212,6 +3212,7 @@ int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], } } (void)closedir(traj_directory); + return retval; } From 63471295b3863e87644b16dee49c3336564b2006 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 15:23:44 +0100 Subject: [PATCH 680/730] Implemented trajectory file parsing functions fully --- server/src/util.c | 152 ++++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 140 insertions(+), 12 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 50552aecd..e7ea03b27 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2416,11 +2416,18 @@ void UtilGetGeofenceDirectoryPath(char *path, size_t pathLen) { strcat(path, "/"); } - +/*! + * \brief UtilParseTrajectoryFileHeader Attempts to parse a line into a trajectory header + * \param line Line to be parsed + * \param header Pointer to struct to fill + * \return -1 if parsing failed, 0 otherwise + */ int UtilParseTrajectoryFileHeader(char* line, TrajectoryFileHeader* header) { char* token; - const char delimiter = ';'; + char* dotToken; + const char delimiter[3] = ";\n"; unsigned int column = 0; + int noOfLines = 0; int retval = 0; header->ID = 0; @@ -2429,18 +2436,40 @@ int UtilParseTrajectoryFileHeader(char* line, TrajectoryFileHeader* header) { header->minorVersion = 0; header->numberOfLines = 0; - token = strtok(line, &delimiter); + token = strtok(line, delimiter); if (!strcmp(token, "TRAJECTORY")) { - while (retval != -1 && (token = strtok(NULL, &delimiter)) != NULL) { + while (retval != -1 && (token = strtok(NULL, delimiter)) != NULL) { column++; switch (column) { case 1: + header->ID = (unsigned int)atoi(token); break; case 2: + if (strlen(token) > sizeof (header->name)) { + LogMessage(LOG_LEVEL_ERROR, "Name field \"%s\" in trajectory too long", token); + retval = -1; + } + else { + strcpy(header->name, token); + } break; case 3: + header->majorVersion = (unsigned short)atoi(token); + if ((dotToken = strchr(token,'.')) != NULL && *(dotToken + 1) != '\0') { + header->minorVersion = (unsigned short)atoi(dotToken+1); + } + else { + header->minorVersion = 0; + } break; case 4: + noOfLines = atoi(token); + if (noOfLines >= 0) + header->numberOfLines = (unsigned int)noOfLines; + else { + LogMessage(LOG_LEVEL_ERROR, "Found negative number of lines in trajectory"); + retval = -1; + } break; default: LogMessage(LOG_LEVEL_ERROR, "Found unexpected \"%s\" in header", token); @@ -2463,8 +2492,21 @@ int UtilParseTrajectoryFileHeader(char* line, TrajectoryFileHeader* header) { return retval; } +/*! + * \brief UtilParseTrajectoryFileLine Attempts to parse a line into a trajectory line + * \param line Line to be parsed + * \param header Pointer to struct to fill + * \return -1 if parsing failed, 0 otherwise + */ int UtilParseTrajectoryFileLine(char* line, TrajectoryFileLine* fileLine) { + char* tokenIndex = line; + char* nextTokenIndex; + const char delimiter = ';'; + char token[SMALL_BUFFER_SIZE_64]; + int retval = 0; + unsigned short column = 0; + if (fileLine->zCoord) free(fileLine->zCoord); if (fileLine->lateralVelocity) @@ -2477,18 +2519,100 @@ int UtilParseTrajectoryFileLine(char* line, TrajectoryFileLine* fileLine) { free(fileLine->longitudinalAcceleration); memset(fileLine, 0, sizeof (*fileLine)); - // TODO: Parse row - return 0; + // strtok() does not handle double delimiters well, more complicated parsing necessary + while ((nextTokenIndex = index(tokenIndex, delimiter)) != NULL && retval != -1) { + column++; + memset(token, '\0', sizeof (token)); + memcpy(token, tokenIndex, (unsigned long)(nextTokenIndex-tokenIndex)); + switch (column) { + case 1: + if (strcmp(token,"LINE")) { + LogMessage(LOG_LEVEL_ERROR, "Line start badly formatted"); + retval = -1; + } + break; + case 2: + fileLine->time = atof(token); + break; + case 3: + fileLine->xCoord = atof(token); + break; + case 4: + fileLine->yCoord = atof(token); + break; + case 5: + if (strlen(token) != 0) { + fileLine->zCoord = malloc(sizeof (fileLine->zCoord)); + *fileLine->zCoord = atof(token); + } + break; + case 6: + fileLine->heading = atof(token); + break; + case 7: + if (strlen(token) != 0) { + fileLine->longitudinalVelocity = malloc(sizeof (fileLine->longitudinalVelocity)); + *fileLine->longitudinalVelocity = atof(token); + } + break; + case 8: + if (strlen(token) != 0) { + fileLine->lateralVelocity = malloc(sizeof (fileLine->lateralVelocity)); + *fileLine->lateralVelocity = atof(token); + } + break; + case 9: + if (strlen(token) != 0) { + fileLine->longitudinalAcceleration = malloc(sizeof (fileLine->longitudinalAcceleration)); + *fileLine->longitudinalAcceleration = atof(token); + } + break; + case 10: + if (strlen(token) != 0) { + fileLine->lateralAcceleration = malloc(sizeof (fileLine->lateralAcceleration)); + *fileLine->lateralAcceleration = atof(token); + } + break; + case 11: + fileLine->curvature = atof(token); + break; + case 12: + fileLine->mode = (uint8_t)atoi(token); + break; + case 13: + if (strcmp(token,"ENDLINE")) { + LogMessage(LOG_LEVEL_ERROR, "Line end badly formatted"); + retval = -1; + } + break; + default: + LogMessage(LOG_LEVEL_ERROR,"Superfluous delimiter in line"); + retval = -1; + break; + } + tokenIndex = nextTokenIndex + 1; + } + if (column != 13 && retval == 0) { + LogMessage(LOG_LEVEL_ERROR, "Wrong number of fields (%u) in trajectory line", column); + retval = -1; + } + + return retval; } +/*! + * \brief UtilParseTrajectoryFileFooter Attempts to parse a line as a trajectory footer + * \param line Line to be parsed + * \return -1 if parsing failed, 0 otherwise + */ int UtilParseTrajectoryFileFooter(char* line) { char* token; - const char delimiter = ';'; + const char delimiter[3] = ";\n"; int retval = 0; - token = strtok(line, &delimiter); + token = strtok(line, delimiter); if (!strcmp(token, "ENDTRAJECTORY")) { - while ((token = strtok(NULL, &delimiter)) != NULL) { + while ((token = strtok(NULL, delimiter)) != NULL) { LogMessage(LOG_LEVEL_ERROR, "Footer contained unexpected \"%s\"", token); retval = -1; } @@ -2534,11 +2658,15 @@ int UtilCheckTrajectoryFileFormat(const char* path, size_t pathLen) { LogMessage(LOG_LEVEL_ERROR,"Failed to parse header of file <%s>",path); break; } + LogPrint("No lines: %u",header.numberOfLines); } else if (row == header.numberOfLines + 2) { // Footer parsing - if (UtilParseTrajectoryFileFooter(line) != 0) { - LogMessage(LOG_LEVEL_ERROR, "Failed to parse footer of file <%s>", row, path); - retval = -1; + if ((retval = UtilParseTrajectoryFileFooter(line)) != 0) { + if (UtilParseTrajectoryFileLine(line, &fileLine) == 0) { + LogMessage(LOG_LEVEL_ERROR, "File <%s> contains more rows than specified", path); + break; + } + LogMessage(LOG_LEVEL_ERROR, "Failed to parse footer of file <%s>", path); } } else if (row > header.numberOfLines + 2) { From 4f63cf8b4b7358b7dc2222aa54f31fe5e528bb22 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 16:00:52 +0100 Subject: [PATCH 681/730] Added message for modules to communicate failing to obey a command --- server/inc/util.h | 1 + server/src/util.c | 7 ++++++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 5b8031f3c..121da767e 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -261,6 +261,7 @@ COMM_TRCM = 25, COMM_DISARM = 26, COMM_MONR = 239, COMM_OBJECTS_CONNECTED = 111, +COMM_FAILURE = 254, COMM_INV = 255 }; diff --git a/server/src/util.c b/server/src/util.c index e7ea03b27..983274a73 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -64,6 +64,8 @@ #define PRIO_COMM_TRCM 20 // Messages affecting state change messages #define PRIO_OBJECTS_CONNECTED 18 +#define PRIO_COMM_SUCCESS 18 +#define PRIO_COMM_FAILURE 18 // State change messages #define PRIO_COMM_STRT 16 #define PRIO_COMM_ARM 16 @@ -2061,7 +2063,10 @@ int iCommSend(const enum COMMAND iCommand, const char *cpData, size_t dataLength break; case COMM_OBJECTS_CONNECTED: uiMessagePrio = PRIO_OBJECTS_CONNECTED; - break; + break; + case COMM_FAILURE: + uiMessagePrio = PRIO_COMM_FAILURE; + break; default: util_error("Unknown command"); } From c8e16aaa016e72b189b75dc04732f58e55f7c76f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 16:10:06 +0100 Subject: [PATCH 682/730] Object control now reports failure to obey INIT --- server/src/objectcontrol.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index a7ad9628b..190fa7f82 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -264,7 +264,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { U32 object_udp_port[MAX_OBJECTS]; U32 object_tcp_port[MAX_OBJECTS]; I32 nbr_objects = 0; - enum COMMAND iCommand; + enum COMMAND iCommand; U8 pcRecvBuffer[RECV_MESSAGE_BUFFER]; C8 pcTempBuffer[512]; C8 MessageBuffer[BUFFER_SIZE_3100]; @@ -806,6 +806,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } else { LogMessage(LOG_LEVEL_INFO, "Could not initialize: object info was not processed successfully"); + pcSendBuffer[0] = (uint8_t)iCommand; + iCommSend(COMM_FAILURE, pcSendBuffer, sizeof (iCommand)); } } else if (iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) { From 8006ad6d09c026caf96ce21da7fb0e44e2034d26 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 16:44:13 +0100 Subject: [PATCH 683/730] Smoothed shutdown of fake-GUC test tool --- server/integration-tests/tools/MSCP.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/server/integration-tests/tools/MSCP.py b/server/integration-tests/tools/MSCP.py index 80d3eeb90..7a7315311 100644 --- a/server/integration-tests/tools/MSCP.py +++ b/server/integration-tests/tools/MSCP.py @@ -47,7 +47,12 @@ def listen(self): print("=== Starting listener on " + str(self.host) + ":" + str(self.port)) while not self.quit: - data = self.socket.recv(1024) + try: + data = self.socket.recv(1024) + except ConnectionResetError as e: + if not self.quit: + raise e + for replyPattern in replyPatterns: match = re.search(replyPattern["regex"],data) if match is not None: From ef4c4d40fbf5880120eca675aeec1f31e8bd58b6 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 16:44:47 +0100 Subject: [PATCH 684/730] Added sleep times before uploading new files in test --- .../249-uploadRowMismatchingTrajectories.py | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/server/integration-tests/249-uploadRowMismatchingTrajectories.py b/server/integration-tests/249-uploadRowMismatchingTrajectories.py index fe4efc610..0ce16bbc9 100644 --- a/server/integration-tests/249-uploadRowMismatchingTrajectories.py +++ b/server/integration-tests/249-uploadRowMismatchingTrajectories.py @@ -25,10 +25,6 @@ def checkProgramStatus(failurePrintout): if __name__ == "__main__": - # 3: Start a test object - WaitForPortAvailable(53240,"UDP",timeout=0) - WaitForPortAvailable(53241,"TCP",timeout=0) - obj = Executable("VirtualObject",["-nogui"]) # Note: server does not close sockets properly so this fails frequently (cross fingers for now): #WaitForPortAvailable(54241,"TCP",timeout=0) @@ -58,8 +54,9 @@ def checkProgramStatus(failurePrintout): raise AssertionError("Transitioned to initialized even though malformed trajectory was uploaded") except TimeoutError as e: # If there was a timeout while waiting for initialized that means everything went as intended - print("=== Timed out while waiting for initialisation") - + print("=== Timed out successfully while waiting for initialisation") + + time.sleep(0.05) # 6: Upload normal trajectory, to verify we can still initialise userControl.UploadFile("traj/127.0.0.1", normalTraj) @@ -81,8 +78,9 @@ def checkProgramStatus(failurePrintout): raise AssertionError("Transitioned to initialized even though malformed trajectory was uploaded") except TimeoutError as e: # If there was a timeout while waiting for initialized that means everything went as intended - print("=== Timed out while waiting for initialisation") + print("=== Timed out successfully while waiting for initialisation") + time.sleep(0.05) # 9: Upload normal trajectory, to verify we can still initialise userControl.UploadFile("traj/127.0.0.1", normalTraj) @@ -95,6 +93,5 @@ def checkProgramStatus(failurePrintout): # 10: Done! userControl.shutdown() server.stop() - obj.stop() sys.exit(0) From 9fd8e73cc3e2fd8f7c142f0a7ba892c64dfa345b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 16:45:25 +0100 Subject: [PATCH 685/730] Implemented systemcontrol handling of FAILURE --- server/src/systemcontrol.c | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index ea58f9988..8f8ed2d2b 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -533,6 +533,26 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { iCommRecv(&iCommand, pcRecvBuffer, SC_RECV_MESSAGE_BUFFER, NULL); switch (iCommand) { + case COMM_FAILURE: + if (server_state == SERVER_STATE_INWORK) { + enum COMMAND failedCommand = (enum COMMAND)pcRecvBuffer[0]; + if (failedCommand == COMM_INIT && PreviousSystemControlCommand == InitializeScenario_0) { + server_state = SERVER_STATE_IDLE; + SystemControlCommand = Idle_0; + LogMessage(LOG_LEVEL_INFO, "Initialization failed"); + // TODO: report to user? + } + else { + LogMessage(LOG_LEVEL_ERROR, "Unhandled FAILURE (command: %u) reply in state %s", + pcRecvBuffer[0], SystemControlStatesArr[server_state]); + } + } + else { + LogMessage(LOG_LEVEL_WARNING, "Received unexpected FAILURE (command: %u) reply in state %s", + pcRecvBuffer[0], SystemControlStatesArr[server_state]); + // TODO: React more? + } + break; case COMM_OBC_STATE: break; case COMM_LOG: From c4b08c9d9ce27db52a8ecb59a9d86263d34f06f2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 16:53:29 +0100 Subject: [PATCH 686/730] Ran code formatter --- server/src/objectcontrol.c | 135 +++++++++++++++++++------------------ server/src/systemcontrol.c | 41 +++++------ 2 files changed, 90 insertions(+), 86 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 190fa7f82..858220de1 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -227,8 +227,8 @@ I32 ObjectControlSendTRCMMessage(TRCMData * TRCM, I32 * socket, U8 debug); I32 ObjectControlSendEXACMessage(EXACData * EXAC, I32 * socket, U8 debug); static int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], - C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], - in_addr_t objectIPs[MAX_OBJECTS], I32 * nbr_objects); + C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], + in_addr_t objectIPs[MAX_OBJECTS], I32 * nbr_objects); OBCState_t vInitializeState(OBCState_t firstState, GSDType * GSD); inline OBCState_t vGetState(GSDType * GSD); @@ -264,7 +264,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { U32 object_udp_port[MAX_OBJECTS]; U32 object_tcp_port[MAX_OBJECTS]; I32 nbr_objects = 0; - enum COMMAND iCommand; + enum COMMAND iCommand; U8 pcRecvBuffer[RECV_MESSAGE_BUFFER]; C8 pcTempBuffer[512]; C8 MessageBuffer[BUFFER_SIZE_3100]; @@ -756,59 +756,60 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { else if (iCommand == COMM_INIT) { LogMessage(LOG_LEVEL_INFO, "INIT received"); LOG_SEND(LogBuffer, "[ObjectControl] INIT received."); - nbr_objects = 0; - if (iFindObjectsInfo(object_traj_file, object_address_name, objectIPs, &nbr_objects) == 0) { - // Get objects; name and drive file - DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); - - for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - if (0 == iForceObjectToLocalhostU8) { - object_udp_port[iIndex] = SAFETY_CHANNEL_PORT; - object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT; - } - else { - object_udp_port[iIndex] = SAFETY_CHANNEL_PORT + iIndex * 2; - object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT + iIndex * 2; - } - } - - /*Setup Adaptive Sync Points (ASP) */ - UtilGetConfDirectoryPath(confDirectoryPath, sizeof (confDirectoryPath)); - strcat(confDirectoryPath, ADAPTIVE_SYNC_FILE_NAME); - fd = fopen(confDirectoryPath, "r"); - if (fd) { - SyncPointCount = UtilCountFileRows(fd) - 1; - fclose(fd); - fd = fopen(confDirectoryPath, "r"); - UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header - - for (i = 0; i < SyncPointCount; i++) { - UtilSetAdaptiveSyncPoint(&ASP[i], fd, 0); - if (TEST_SYNC_POINTS == 1) - ASP[i].TestPort = SAFETY_CHANNEL_PORT; - } - fclose(fd); - } - - vSetState(OBC_STATE_INITIALIZED, GSD); - LogMessage(LOG_LEVEL_INFO, "ObjectControl is initialized"); - LOG_SEND(LogBuffer, "[ObjectControl] ObjectControl is initialized."); - - //Remove temporary file - remove(TEMP_LOG_FILE); - if (USE_TEMP_LOGFILE) { - //Create temporary file - TempFd = fopen(TEMP_LOG_FILE, "w+"); - } - - //OSEMSentU8 = 0; - STRTSentU8 = 0; - } - else { - LogMessage(LOG_LEVEL_INFO, "Could not initialize: object info was not processed successfully"); - pcSendBuffer[0] = (uint8_t)iCommand; - iCommSend(COMM_FAILURE, pcSendBuffer, sizeof (iCommand)); - } + nbr_objects = 0; + if (iFindObjectsInfo(object_traj_file, object_address_name, objectIPs, &nbr_objects) == 0) { + // Get objects; name and drive file + DataDictionaryGetForceToLocalhostU8(GSD, &iForceObjectToLocalhostU8); + + for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { + if (0 == iForceObjectToLocalhostU8) { + object_udp_port[iIndex] = SAFETY_CHANNEL_PORT; + object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT; + } + else { + object_udp_port[iIndex] = SAFETY_CHANNEL_PORT + iIndex * 2; + object_tcp_port[iIndex] = CONTROL_CHANNEL_PORT + iIndex * 2; + } + } + + /*Setup Adaptive Sync Points (ASP) */ + UtilGetConfDirectoryPath(confDirectoryPath, sizeof (confDirectoryPath)); + strcat(confDirectoryPath, ADAPTIVE_SYNC_FILE_NAME); + fd = fopen(confDirectoryPath, "r"); + if (fd) { + SyncPointCount = UtilCountFileRows(fd) - 1; + fclose(fd); + fd = fopen(confDirectoryPath, "r"); + UtilReadLineCntSpecChars(fd, pcTempBuffer); //Read header + + for (i = 0; i < SyncPointCount; i++) { + UtilSetAdaptiveSyncPoint(&ASP[i], fd, 0); + if (TEST_SYNC_POINTS == 1) + ASP[i].TestPort = SAFETY_CHANNEL_PORT; + } + fclose(fd); + } + + vSetState(OBC_STATE_INITIALIZED, GSD); + LogMessage(LOG_LEVEL_INFO, "ObjectControl is initialized"); + LOG_SEND(LogBuffer, "[ObjectControl] ObjectControl is initialized."); + + //Remove temporary file + remove(TEMP_LOG_FILE); + if (USE_TEMP_LOGFILE) { + //Create temporary file + TempFd = fopen(TEMP_LOG_FILE, "w+"); + } + + //OSEMSentU8 = 0; + STRTSentU8 = 0; + } + else { + LogMessage(LOG_LEVEL_INFO, + "Could not initialize: object info was not processed successfully"); + pcSendBuffer[0] = (uint8_t) iCommand; + iCommSend(COMM_FAILURE, pcSendBuffer, sizeof (iCommand)); + } } else if (iCommand == COMM_ACCM && OBCState == OBC_STATE_CONNECTED) { UtilPopulateACCMDataStructFromMQ(pcRecvBuffer, sizeof (pcRecvBuffer), &mqACCMData); @@ -3148,15 +3149,15 @@ static size_t uiRecvMonitor(int *sockfd, char *buffer, size_t length) { } int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], - C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], in_addr_t objectIPs[MAX_OBJECTS], - I32 * nbr_objects) { + C8 object_address_name[MAX_OBJECTS][MAX_FILE_PATH], in_addr_t objectIPs[MAX_OBJECTS], + I32 * nbr_objects) { DIR *traj_directory; struct dirent *directory_entry; int iForceObjectToLocalhost; struct sockaddr_in sockaddr; int result; char trajPathDir[MAX_FILE_PATH]; - int retval = 0; + int retval = 0; UtilGetTrajDirectoryPath(trajPathDir, sizeof (trajPathDir)); @@ -3179,10 +3180,12 @@ int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], (void)strcat(object_traj_file[(*nbr_objects)], trajPathDir); (void)strcat(object_traj_file[(*nbr_objects)], directory_entry->d_name); - if (UtilCheckTrajectoryFileFormat(object_traj_file[*nbr_objects], sizeof (object_traj_file[*nbr_objects]))) { - LogMessage(LOG_LEVEL_ERROR, "Trajectory file <%s> is not valid", object_traj_file[*nbr_objects]); - retval = -1; - } + if (UtilCheckTrajectoryFileFormat + (object_traj_file[*nbr_objects], sizeof (object_traj_file[*nbr_objects]))) { + LogMessage(LOG_LEVEL_ERROR, "Trajectory file <%s> is not valid", + object_traj_file[*nbr_objects]); + retval = -1; + } if (0 == iForceObjectToLocalhost) { (void)strncat(object_address_name[(*nbr_objects)], directory_entry->d_name, @@ -3190,13 +3193,13 @@ int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], result = inet_pton(AF_INET, object_address_name[*nbr_objects], &sockaddr.sin_addr); if (result == -1) { LogMessage(LOG_LEVEL_ERROR, "Invalid address family"); - retval = -1; + retval = -1; continue; } else if (result == 0) { LogMessage(LOG_LEVEL_WARNING, "Address <%s> is not a valid IPv4 address", object_address_name[*nbr_objects]); - retval = -1; + retval = -1; continue; } else @@ -3214,7 +3217,7 @@ int iFindObjectsInfo(C8 object_traj_file[MAX_OBJECTS][MAX_FILE_PATH], } } (void)closedir(traj_directory); - return retval; + return retval; } diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 8f8ed2d2b..4406690f5 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -533,26 +533,27 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { iCommRecv(&iCommand, pcRecvBuffer, SC_RECV_MESSAGE_BUFFER, NULL); switch (iCommand) { - case COMM_FAILURE: - if (server_state == SERVER_STATE_INWORK) { - enum COMMAND failedCommand = (enum COMMAND)pcRecvBuffer[0]; - if (failedCommand == COMM_INIT && PreviousSystemControlCommand == InitializeScenario_0) { - server_state = SERVER_STATE_IDLE; - SystemControlCommand = Idle_0; - LogMessage(LOG_LEVEL_INFO, "Initialization failed"); - // TODO: report to user? - } - else { - LogMessage(LOG_LEVEL_ERROR, "Unhandled FAILURE (command: %u) reply in state %s", - pcRecvBuffer[0], SystemControlStatesArr[server_state]); - } - } - else { - LogMessage(LOG_LEVEL_WARNING, "Received unexpected FAILURE (command: %u) reply in state %s", - pcRecvBuffer[0], SystemControlStatesArr[server_state]); - // TODO: React more? - } - break; + case COMM_FAILURE: + if (server_state == SERVER_STATE_INWORK) { + enum COMMAND failedCommand = (enum COMMAND)pcRecvBuffer[0]; + + if (failedCommand == COMM_INIT && PreviousSystemControlCommand == InitializeScenario_0) { + server_state = SERVER_STATE_IDLE; + SystemControlCommand = Idle_0; + LogMessage(LOG_LEVEL_INFO, "Initialization failed"); + // TODO: report to user? + } + else { + LogMessage(LOG_LEVEL_ERROR, "Unhandled FAILURE (command: %u) reply in state %s", + pcRecvBuffer[0], SystemControlStatesArr[server_state]); + } + } + else { + LogMessage(LOG_LEVEL_WARNING, "Received unexpected FAILURE (command: %u) reply in state %s", + pcRecvBuffer[0], SystemControlStatesArr[server_state]); + // TODO: React more? + } + break; case COMM_OBC_STATE: break; case COMM_LOG: From 41657265fd473e692f34e14e21e243080e7265be Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 16:54:07 +0100 Subject: [PATCH 687/730] Ran it on one more file --- server/src/util.c | 559 +++++++++++++++++++++++----------------------- 1 file changed, 281 insertions(+), 278 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 983274a73..d1d2c00fe 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -98,25 +98,25 @@ -- Local type definitions ------------------------------------------------------------*/ typedef struct { - unsigned int ID; - char name[SMALL_BUFFER_SIZE_128]; - unsigned short majorVersion; - unsigned short minorVersion; - unsigned int numberOfLines; + unsigned int ID; + char name[SMALL_BUFFER_SIZE_128]; + unsigned short majorVersion; + unsigned short minorVersion; + unsigned int numberOfLines; } TrajectoryFileHeader; typedef struct { - double time; - double xCoord; - double yCoord; - double *zCoord; - double heading; - double *longitudinalVelocity; - double *lateralVelocity; - double *longitudinalAcceleration; - double *lateralAcceleration; - double curvature; - uint8_t mode; + double time; + double xCoord; + double yCoord; + double *zCoord; + double heading; + double *longitudinalVelocity; + double *lateralVelocity; + double *longitudinalAcceleration; + double *lateralAcceleration; + double curvature; + uint8_t mode; } TrajectoryFileLine; /*------------------------------------------------------------ @@ -138,9 +138,9 @@ static char rayFromPointIntersectsLine(double pointX, double pointY, double poly double polyPointBX, double polyPointBY); -static int UtilParseTrajectoryFileHeader(char *headerLine, TrajectoryFileHeader* header); -static int UtilParseTrajectoryFileFooter(char* footerLine); -static int UtilParseTrajectoryFileLine(char *fileLine, TrajectoryFileLine* line); +static int UtilParseTrajectoryFileHeader(char *headerLine, TrajectoryFileHeader * header); +static int UtilParseTrajectoryFileFooter(char *footerLine); +static int UtilParseTrajectoryFileLine(char *fileLine, TrajectoryFileLine * line); void CopyHTTPHeaderField(char *request, char *targetContainer, size_t targetContainerSize, @@ -2063,10 +2063,10 @@ int iCommSend(const enum COMMAND iCommand, const char *cpData, size_t dataLength break; case COMM_OBJECTS_CONNECTED: uiMessagePrio = PRIO_OBJECTS_CONNECTED; - break; - case COMM_FAILURE: - uiMessagePrio = PRIO_COMM_FAILURE; - break; + break; + case COMM_FAILURE: + uiMessagePrio = PRIO_COMM_FAILURE; + break; default: util_error("Unknown command"); } @@ -2427,74 +2427,74 @@ void UtilGetGeofenceDirectoryPath(char *path, size_t pathLen) { * \param header Pointer to struct to fill * \return -1 if parsing failed, 0 otherwise */ -int UtilParseTrajectoryFileHeader(char* line, TrajectoryFileHeader* header) { - char* token; - char* dotToken; - const char delimiter[3] = ";\n"; - unsigned int column = 0; - int noOfLines = 0; - int retval = 0; - - header->ID = 0; - memset(header->name, '\0', sizeof (header->name)); - header->majorVersion = 0; - header->minorVersion = 0; - header->numberOfLines = 0; - - token = strtok(line, delimiter); - if (!strcmp(token, "TRAJECTORY")) { - while (retval != -1 && (token = strtok(NULL, delimiter)) != NULL) { - column++; - switch (column) { - case 1: - header->ID = (unsigned int)atoi(token); - break; - case 2: - if (strlen(token) > sizeof (header->name)) { - LogMessage(LOG_LEVEL_ERROR, "Name field \"%s\" in trajectory too long", token); - retval = -1; - } - else { - strcpy(header->name, token); - } - break; - case 3: - header->majorVersion = (unsigned short)atoi(token); - if ((dotToken = strchr(token,'.')) != NULL && *(dotToken + 1) != '\0') { - header->minorVersion = (unsigned short)atoi(dotToken+1); - } - else { - header->minorVersion = 0; - } - break; - case 4: - noOfLines = atoi(token); - if (noOfLines >= 0) - header->numberOfLines = (unsigned int)noOfLines; - else { - LogMessage(LOG_LEVEL_ERROR, "Found negative number of lines in trajectory"); - retval = -1; - } - break; - default: - LogMessage(LOG_LEVEL_ERROR, "Found unexpected \"%s\" in header", token); - retval = -1; - } - } - } - else { - LogMessage(LOG_LEVEL_ERROR,"Cannot parse line \"%s\" as trajectory header", line); - retval = -1; - } - - if (retval == -1) { - header->ID = 0; - memset(header->name, '\0', sizeof (header->name)); - header->majorVersion = 0; - header->minorVersion = 0; - header->numberOfLines = 0; - } - return retval; +int UtilParseTrajectoryFileHeader(char *line, TrajectoryFileHeader * header) { + char *token; + char *dotToken; + const char delimiter[3] = ";\n"; + unsigned int column = 0; + int noOfLines = 0; + int retval = 0; + + header->ID = 0; + memset(header->name, '\0', sizeof (header->name)); + header->majorVersion = 0; + header->minorVersion = 0; + header->numberOfLines = 0; + + token = strtok(line, delimiter); + if (!strcmp(token, "TRAJECTORY")) { + while (retval != -1 && (token = strtok(NULL, delimiter)) != NULL) { + column++; + switch (column) { + case 1: + header->ID = (unsigned int)atoi(token); + break; + case 2: + if (strlen(token) > sizeof (header->name)) { + LogMessage(LOG_LEVEL_ERROR, "Name field \"%s\" in trajectory too long", token); + retval = -1; + } + else { + strcpy(header->name, token); + } + break; + case 3: + header->majorVersion = (unsigned short)atoi(token); + if ((dotToken = strchr(token, '.')) != NULL && *(dotToken + 1) != '\0') { + header->minorVersion = (unsigned short)atoi(dotToken + 1); + } + else { + header->minorVersion = 0; + } + break; + case 4: + noOfLines = atoi(token); + if (noOfLines >= 0) + header->numberOfLines = (unsigned int)noOfLines; + else { + LogMessage(LOG_LEVEL_ERROR, "Found negative number of lines in trajectory"); + retval = -1; + } + break; + default: + LogMessage(LOG_LEVEL_ERROR, "Found unexpected \"%s\" in header", token); + retval = -1; + } + } + } + else { + LogMessage(LOG_LEVEL_ERROR, "Cannot parse line \"%s\" as trajectory header", line); + retval = -1; + } + + if (retval == -1) { + header->ID = 0; + memset(header->name, '\0', sizeof (header->name)); + header->majorVersion = 0; + header->minorVersion = 0; + header->numberOfLines = 0; + } + return retval; } /*! @@ -2503,106 +2503,106 @@ int UtilParseTrajectoryFileHeader(char* line, TrajectoryFileHeader* header) { * \param header Pointer to struct to fill * \return -1 if parsing failed, 0 otherwise */ -int UtilParseTrajectoryFileLine(char* line, TrajectoryFileLine* fileLine) { - - char* tokenIndex = line; - char* nextTokenIndex; - const char delimiter = ';'; - char token[SMALL_BUFFER_SIZE_64]; - int retval = 0; - unsigned short column = 0; - - if (fileLine->zCoord) - free(fileLine->zCoord); - if (fileLine->lateralVelocity) - free(fileLine->lateralVelocity); - if (fileLine->lateralAcceleration) - free(fileLine->lateralAcceleration); - if (fileLine->longitudinalVelocity) - free(fileLine->longitudinalVelocity); - if (fileLine->lateralAcceleration) - free(fileLine->longitudinalAcceleration); - memset(fileLine, 0, sizeof (*fileLine)); - - // strtok() does not handle double delimiters well, more complicated parsing necessary - while ((nextTokenIndex = index(tokenIndex, delimiter)) != NULL && retval != -1) { - column++; - memset(token, '\0', sizeof (token)); - memcpy(token, tokenIndex, (unsigned long)(nextTokenIndex-tokenIndex)); - switch (column) { - case 1: - if (strcmp(token,"LINE")) { - LogMessage(LOG_LEVEL_ERROR, "Line start badly formatted"); - retval = -1; - } - break; - case 2: - fileLine->time = atof(token); - break; - case 3: - fileLine->xCoord = atof(token); - break; - case 4: - fileLine->yCoord = atof(token); - break; - case 5: - if (strlen(token) != 0) { - fileLine->zCoord = malloc(sizeof (fileLine->zCoord)); - *fileLine->zCoord = atof(token); - } - break; - case 6: - fileLine->heading = atof(token); - break; - case 7: - if (strlen(token) != 0) { - fileLine->longitudinalVelocity = malloc(sizeof (fileLine->longitudinalVelocity)); - *fileLine->longitudinalVelocity = atof(token); - } - break; - case 8: - if (strlen(token) != 0) { - fileLine->lateralVelocity = malloc(sizeof (fileLine->lateralVelocity)); - *fileLine->lateralVelocity = atof(token); - } - break; - case 9: - if (strlen(token) != 0) { - fileLine->longitudinalAcceleration = malloc(sizeof (fileLine->longitudinalAcceleration)); - *fileLine->longitudinalAcceleration = atof(token); - } - break; - case 10: - if (strlen(token) != 0) { - fileLine->lateralAcceleration = malloc(sizeof (fileLine->lateralAcceleration)); - *fileLine->lateralAcceleration = atof(token); - } - break; - case 11: - fileLine->curvature = atof(token); - break; - case 12: - fileLine->mode = (uint8_t)atoi(token); - break; - case 13: - if (strcmp(token,"ENDLINE")) { - LogMessage(LOG_LEVEL_ERROR, "Line end badly formatted"); - retval = -1; - } - break; - default: - LogMessage(LOG_LEVEL_ERROR,"Superfluous delimiter in line"); - retval = -1; - break; - } - tokenIndex = nextTokenIndex + 1; - } - if (column != 13 && retval == 0) { - LogMessage(LOG_LEVEL_ERROR, "Wrong number of fields (%u) in trajectory line", column); - retval = -1; - } - - return retval; +int UtilParseTrajectoryFileLine(char *line, TrajectoryFileLine * fileLine) { + + char *tokenIndex = line; + char *nextTokenIndex; + const char delimiter = ';'; + char token[SMALL_BUFFER_SIZE_64]; + int retval = 0; + unsigned short column = 0; + + if (fileLine->zCoord) + free(fileLine->zCoord); + if (fileLine->lateralVelocity) + free(fileLine->lateralVelocity); + if (fileLine->lateralAcceleration) + free(fileLine->lateralAcceleration); + if (fileLine->longitudinalVelocity) + free(fileLine->longitudinalVelocity); + if (fileLine->lateralAcceleration) + free(fileLine->longitudinalAcceleration); + memset(fileLine, 0, sizeof (*fileLine)); + + // strtok() does not handle double delimiters well, more complicated parsing necessary + while ((nextTokenIndex = index(tokenIndex, delimiter)) != NULL && retval != -1) { + column++; + memset(token, '\0', sizeof (token)); + memcpy(token, tokenIndex, (unsigned long)(nextTokenIndex - tokenIndex)); + switch (column) { + case 1: + if (strcmp(token, "LINE")) { + LogMessage(LOG_LEVEL_ERROR, "Line start badly formatted"); + retval = -1; + } + break; + case 2: + fileLine->time = atof(token); + break; + case 3: + fileLine->xCoord = atof(token); + break; + case 4: + fileLine->yCoord = atof(token); + break; + case 5: + if (strlen(token) != 0) { + fileLine->zCoord = malloc(sizeof (fileLine->zCoord)); + *fileLine->zCoord = atof(token); + } + break; + case 6: + fileLine->heading = atof(token); + break; + case 7: + if (strlen(token) != 0) { + fileLine->longitudinalVelocity = malloc(sizeof (fileLine->longitudinalVelocity)); + *fileLine->longitudinalVelocity = atof(token); + } + break; + case 8: + if (strlen(token) != 0) { + fileLine->lateralVelocity = malloc(sizeof (fileLine->lateralVelocity)); + *fileLine->lateralVelocity = atof(token); + } + break; + case 9: + if (strlen(token) != 0) { + fileLine->longitudinalAcceleration = malloc(sizeof (fileLine->longitudinalAcceleration)); + *fileLine->longitudinalAcceleration = atof(token); + } + break; + case 10: + if (strlen(token) != 0) { + fileLine->lateralAcceleration = malloc(sizeof (fileLine->lateralAcceleration)); + *fileLine->lateralAcceleration = atof(token); + } + break; + case 11: + fileLine->curvature = atof(token); + break; + case 12: + fileLine->mode = (uint8_t) atoi(token); + break; + case 13: + if (strcmp(token, "ENDLINE")) { + LogMessage(LOG_LEVEL_ERROR, "Line end badly formatted"); + retval = -1; + } + break; + default: + LogMessage(LOG_LEVEL_ERROR, "Superfluous delimiter in line"); + retval = -1; + break; + } + tokenIndex = nextTokenIndex + 1; + } + if (column != 13 && retval == 0) { + LogMessage(LOG_LEVEL_ERROR, "Wrong number of fields (%u) in trajectory line", column); + retval = -1; + } + + return retval; } /*! @@ -2610,23 +2610,23 @@ int UtilParseTrajectoryFileLine(char* line, TrajectoryFileLine* fileLine) { * \param line Line to be parsed * \return -1 if parsing failed, 0 otherwise */ -int UtilParseTrajectoryFileFooter(char* line) { - char* token; - const char delimiter[3] = ";\n"; - int retval = 0; - - token = strtok(line, delimiter); - if (!strcmp(token, "ENDTRAJECTORY")) { - while ((token = strtok(NULL, delimiter)) != NULL) { - LogMessage(LOG_LEVEL_ERROR, "Footer contained unexpected \"%s\"", token); - retval = -1; - } - } - else { - retval = -1; - } +int UtilParseTrajectoryFileFooter(char *line) { + char *token; + const char delimiter[3] = ";\n"; + int retval = 0; + + token = strtok(line, delimiter); + if (!strcmp(token, "ENDTRAJECTORY")) { + while ((token = strtok(NULL, delimiter)) != NULL) { + LogMessage(LOG_LEVEL_ERROR, "Footer contained unexpected \"%s\"", token); + retval = -1; + } + } + else { + retval = -1; + } - return retval; + return retval; } /*! @@ -2635,78 +2635,81 @@ int UtilParseTrajectoryFileFooter(char* line) { * \param pathLen Length of the path variable * \return -1 if the file does not follow the correct format, 0 otherwise */ -int UtilCheckTrajectoryFileFormat(const char* path, size_t pathLen) { - int retval = 0; - FILE* fp = fopen(path, "r"); - - char* line; - size_t len = 0; - ssize_t read; - - unsigned int row = 0; - - TrajectoryFileHeader header; - TrajectoryFileLine fileLine; - memset(&fileLine, 0, sizeof (fileLine)); - - if (fp == NULL) { - LogMessage(LOG_LEVEL_ERROR,"Could not open file <%s>",path); - return -1; - } - - // Read line by line - while ((read = getline(&line, &len, fp)) != -1) { - row++; - if (row == 1) { // Header parsing - // If header parsing failed, parsing the rest of the file could be risky - if ((retval = UtilParseTrajectoryFileHeader(line, &header)) == -1) { - LogMessage(LOG_LEVEL_ERROR,"Failed to parse header of file <%s>",path); - break; - } - LogPrint("No lines: %u",header.numberOfLines); - } - else if (row == header.numberOfLines + 2) { // Footer parsing - if ((retval = UtilParseTrajectoryFileFooter(line)) != 0) { - if (UtilParseTrajectoryFileLine(line, &fileLine) == 0) { - LogMessage(LOG_LEVEL_ERROR, "File <%s> contains more rows than specified", path); - break; - } - LogMessage(LOG_LEVEL_ERROR, "Failed to parse footer of file <%s>", path); - } - } - else if (row > header.numberOfLines + 2) { - LogMessage(LOG_LEVEL_ERROR, "File <%s> contains more rows than specified", path); - retval = -1; - break; - } - else { // Line parsing - if (UtilParseTrajectoryFileLine(line, &fileLine) != 0) { - if (UtilParseTrajectoryFileFooter(line) == 0) - LogMessage(LOG_LEVEL_ERROR, "File <%s> contains %u rows but %u were specified", path, row-2, header.numberOfLines); - else - LogMessage(LOG_LEVEL_ERROR, "Failed to parse line %u of file <%s>", row, path); - retval = -1; - } - } - } - - fclose(fp); - - if (line) - free(line); - if (fileLine.zCoord) - free(fileLine.zCoord); - if (fileLine.lateralVelocity) - free(fileLine.lateralVelocity); - if (fileLine.lateralAcceleration) - free(fileLine.lateralAcceleration); - if (fileLine.longitudinalVelocity) - free(fileLine.longitudinalVelocity); - if (fileLine.lateralAcceleration) - free(fileLine.longitudinalAcceleration); - - return retval; +int UtilCheckTrajectoryFileFormat(const char *path, size_t pathLen) { + int retval = 0; + FILE *fp = fopen(path, "r"); + + char *line; + size_t len = 0; + ssize_t read; + + unsigned int row = 0; + + TrajectoryFileHeader header; + TrajectoryFileLine fileLine; + + memset(&fileLine, 0, sizeof (fileLine)); + + if (fp == NULL) { + LogMessage(LOG_LEVEL_ERROR, "Could not open file <%s>", path); + return -1; + } + + // Read line by line + while ((read = getline(&line, &len, fp)) != -1) { + row++; + if (row == 1) { // Header parsing + // If header parsing failed, parsing the rest of the file could be risky + if ((retval = UtilParseTrajectoryFileHeader(line, &header)) == -1) { + LogMessage(LOG_LEVEL_ERROR, "Failed to parse header of file <%s>", path); + break; + } + LogPrint("No lines: %u", header.numberOfLines); + } + else if (row == header.numberOfLines + 2) { // Footer parsing + if ((retval = UtilParseTrajectoryFileFooter(line)) != 0) { + if (UtilParseTrajectoryFileLine(line, &fileLine) == 0) { + LogMessage(LOG_LEVEL_ERROR, "File <%s> contains more rows than specified", path); + break; + } + LogMessage(LOG_LEVEL_ERROR, "Failed to parse footer of file <%s>", path); + } + } + else if (row > header.numberOfLines + 2) { + LogMessage(LOG_LEVEL_ERROR, "File <%s> contains more rows than specified", path); + retval = -1; + break; + } + else { // Line parsing + if (UtilParseTrajectoryFileLine(line, &fileLine) != 0) { + if (UtilParseTrajectoryFileFooter(line) == 0) + LogMessage(LOG_LEVEL_ERROR, "File <%s> contains %u rows but %u were specified", path, + row - 2, header.numberOfLines); + else + LogMessage(LOG_LEVEL_ERROR, "Failed to parse line %u of file <%s>", row, path); + retval = -1; + } + } + } + + fclose(fp); + + if (line) + free(line); + if (fileLine.zCoord) + free(fileLine.zCoord); + if (fileLine.lateralVelocity) + free(fileLine.lateralVelocity); + if (fileLine.lateralAcceleration) + free(fileLine.lateralAcceleration); + if (fileLine.longitudinalVelocity) + free(fileLine.longitudinalVelocity); + if (fileLine.lateralAcceleration) + free(fileLine.longitudinalAcceleration); + + return retval; } + /*------------------------------------------------------------ -- Function traj2ldm -- converts a traj file format to a ldm:monitor_t From ef13d1d79d0258ab650296d87c2af374311c46ac Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 5 Dec 2019 17:25:55 +0100 Subject: [PATCH 688/730] Removed volatile from variables which are only used locally --- server/inc/util.h | 64 +++++++++++++++++++++++------------------------ 1 file changed, 32 insertions(+), 32 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 2b3691471..f11447230 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -487,16 +487,16 @@ typedef struct typedef struct { - volatile U32 MessageLengthU32; - volatile U32 ChannelCodeU32; - volatile U32 MTSPU32; - volatile dbl CurrentTimeDbl; - volatile dbl TimeToSyncPointDbl; - volatile dbl PrevTimeToSyncPointDbl; - volatile I32 SyncPointIndexI32; - volatile U32 CurrentTimeU32; - volatile I32 BestFoundIndexI32; - volatile U16 IterationTimeU16; + U32 MessageLengthU32; + U32 ChannelCodeU32; + U32 MTSPU32; + dbl CurrentTimeDbl; + dbl TimeToSyncPointDbl; + dbl PrevTimeToSyncPointDbl; + I32 SyncPointIndexI32; + U32 CurrentTimeU32; + I32 BestFoundIndexI32; + U16 IterationTimeU16; } ASPType; /*! Object control states */ @@ -566,7 +566,7 @@ typedef struct volatile U16 SupervisorTCPPortU16; U32 DataDictionaryRVSSConfigU32; U32 DataDictionaryRVSSRateU8; - volatile ASPType ASPData; + ASPType ASPData; C8 MiscDataC8[DD_CONTROL_BUFFER_SIZE_1024]; volatile OBCState_t OBCStateU8; } GSDType; @@ -747,32 +747,32 @@ typedef enum { typedef struct { - volatile U32 MessageLengthU32; - volatile U32 ChannelCodeU32; - volatile U16 YearU16; - volatile U8 MonthU8; - volatile U8 DayU8; - volatile U8 HourU8; - volatile U8 MinuteU8; - volatile U8 SecondU8; - volatile U16 MillisecondU16; - volatile U32 SecondCounterU32; - volatile U64 GPSMillisecondsU64; - volatile U32 GPSMinutesU32; - volatile U16 GPSWeekU16; - volatile U32 GPSSecondsOfWeekU32; - volatile U32 GPSSecondsOfDayU32; - volatile U8 FixQualityU8; - volatile U8 NSatellitesU8; + U32 MessageLengthU32; + U32 ChannelCodeU32; + U16 YearU16; + U8 MonthU8; + U8 DayU8; + U8 HourU8; + U8 MinuteU8; + U8 SecondU8; + U16 MillisecondU16; + U32 SecondCounterU32; + U64 GPSMillisecondsU64; + U32 GPSMinutesU32; + U16 GPSWeekU16; + U32 GPSSecondsOfWeekU32; + U32 GPSSecondsOfDayU32; + U8 FixQualityU8; + U8 NSatellitesU8; } RVSSTimeType; typedef struct { - volatile U32 MessageLengthU32; - volatile U32 ChannelCodeU32; - volatile U8 OBCStateU8; - volatile U8 SysCtrlStateU8; + U32 MessageLengthU32; + U32 ChannelCodeU32; + U8 OBCStateU8; + U8 SysCtrlStateU8; } RVSSMaestroType; From 8737fc39cc0e45ef7fbc47dc7cba471b846abf03 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 6 Dec 2019 10:48:38 +0100 Subject: [PATCH 689/730] Included tomcat as a special user in build script --- buildMaestro.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/buildMaestro.sh b/buildMaestro.sh index 318a72045..bad494e87 100755 --- a/buildMaestro.sh +++ b/buildMaestro.sh @@ -1,7 +1,7 @@ #!/bin/sh export PATH=$PATH:/usr/bin -if [ $USER = "jenkins" ]; then +if [ $USER = "jenkins" ] || [ $USER = "tomcat" ]; then # Show jenkins environment echo "Running as ${USER} with environment" printenv From acc585d418b3f40c4756418cdebef7707f275101 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 6 Dec 2019 15:00:16 +0100 Subject: [PATCH 690/730] Removed unnecessary printouts --- server/src/util.c | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index d1d2c00fe..0d979a788 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2663,8 +2663,7 @@ int UtilCheckTrajectoryFileFormat(const char *path, size_t pathLen) { if ((retval = UtilParseTrajectoryFileHeader(line, &header)) == -1) { LogMessage(LOG_LEVEL_ERROR, "Failed to parse header of file <%s>", path); break; - } - LogPrint("No lines: %u", header.numberOfLines); + } } else if (row == header.numberOfLines + 2) { // Footer parsing if ((retval = UtilParseTrajectoryFileFooter(line)) != 0) { From c94657debcc3c832c5eadb4e900a028ec2120023 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 6 Dec 2019 15:45:03 +0100 Subject: [PATCH 691/730] Added some wait times to allow for Maestro to work through the TCP recv buffer... --- .../integration-tests/249-uploadRowMismatchingTrajectories.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/server/integration-tests/249-uploadRowMismatchingTrajectories.py b/server/integration-tests/249-uploadRowMismatchingTrajectories.py index 0ce16bbc9..6b9d2f1e4 100644 --- a/server/integration-tests/249-uploadRowMismatchingTrajectories.py +++ b/server/integration-tests/249-uploadRowMismatchingTrajectories.py @@ -62,6 +62,8 @@ def checkProgramStatus(failurePrintout): userControl.Init() userControl.waitForObjectControlState("INITIALIZED") + + time.sleep(0.05) userControl.Disconnect() userControl.waitForObjectControlState("IDLE") @@ -87,6 +89,8 @@ def checkProgramStatus(failurePrintout): userControl.Init() userControl.waitForObjectControlState("INITIALIZED") + time.sleep(0.05) + userControl.Disconnect() userControl.waitForObjectControlState("IDLE") From 5d7c807c669d6be08b3b8f9c3a8e9b0dd37e19d9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 6 Dec 2019 15:50:23 +0100 Subject: [PATCH 692/730] Ran code formatter --- server/src/util.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index 0d979a788..119ee619e 100755 --- a/server/src/util.c +++ b/server/src/util.c @@ -2663,7 +2663,7 @@ int UtilCheckTrajectoryFileFormat(const char *path, size_t pathLen) { if ((retval = UtilParseTrajectoryFileHeader(line, &header)) == -1) { LogMessage(LOG_LEVEL_ERROR, "Failed to parse header of file <%s>", path); break; - } + } } else if (row == header.numberOfLines + 2) { // Footer parsing if ((retval = UtilParseTrajectoryFileFooter(line)) != 0) { From b43b623931482443eb8653bb2b5fbef82b638cb9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 6 Dec 2019 17:51:27 +0100 Subject: [PATCH 693/730] Added error state in which supervision only spams abort --- modules/Supervision/inc/supervisionstate.h | 3 ++- modules/Supervision/src/main.cpp | 13 +++++++------ modules/Supervision/src/supervisionstate.cpp | 6 ++++-- 3 files changed, 13 insertions(+), 9 deletions(-) diff --git a/modules/Supervision/inc/supervisionstate.h b/modules/Supervision/inc/supervisionstate.h index 19ce08d67..793e7074b 100644 --- a/modules/Supervision/inc/supervisionstate.h +++ b/modules/Supervision/inc/supervisionstate.h @@ -10,7 +10,8 @@ class SupervisionState { READY, VERIFYING_INIT, VERIFYING_ARM, - RUNNING + RUNNING, + ERROR } State; void set(State newState); State get() const { return this->currentState; } diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 927b36b7a..849b9b0ab 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -67,15 +67,16 @@ int main() util_error("Unable to initialize signal handler"); // Initialize message bus connection - while(iCommInit() && !quit) - { + while(iCommInit() && !quit) { nanosleep(&sleepTimePeriod,&remTime); } - while(!quit) - { - if (iCommRecv(&command, mqRecvData, sizeof (mqRecvData), nullptr) < 0) - { + while(!quit) { + if (state.get() == SupervisionState::ERROR) { + iCommSend(COMM_ABORT, nullptr, 0); + } + + if (iCommRecv(&command, mqRecvData, sizeof (mqRecvData), nullptr) < 0) { util_error("Message bus receive error"); } diff --git a/modules/Supervision/src/supervisionstate.cpp b/modules/Supervision/src/supervisionstate.cpp index ca5eca6db..64eb9727d 100644 --- a/modules/Supervision/src/supervisionstate.cpp +++ b/modules/Supervision/src/supervisionstate.cpp @@ -22,6 +22,7 @@ SupervisionState::SupervisionState() { // Transitions to verifying running this->transitions.insert( {SupervisionState::READY, SupervisionState::RUNNING} ); + } void SupervisionState::set(SupervisionState::State newState) { @@ -32,8 +33,7 @@ void SupervisionState::set(SupervisionState::State newState) { return; } } - throw std::invalid_argument("State transition from " + toString(currentState) + " to " - + toString(newState) + " is not allowed"); + currentState = ERROR; } std::string SupervisionState::toString(State state) { @@ -46,6 +46,8 @@ std::string SupervisionState::toString(State state) { return "VERIFYING ARM"; case RUNNING: return "RUNNING"; + case ERROR: + return "ERROR"; default: return "UNKNOWN"; } From 36492943158116082840db321bfd21466fded5f2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Mon, 9 Dec 2019 09:51:46 +0100 Subject: [PATCH 694/730] Changed version number and removed text from version --- server/inc/util.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 2b3691471..bc8aab9d4 100755 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -36,7 +36,7 @@ extern "C"{ /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ -#define MaestroVersion "Maestro 0.1.x" +#define MaestroVersion "0.4.0" #define ISO_PROTOCOL_VERSION 2 #define ACK_REQ 0 From 62562dc61bfc3125e33a993ca180fcadc8c58a77 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 11 Dec 2019 13:08:12 +0100 Subject: [PATCH 695/730] Variable OBCState removed. --- server/src/objectcontrol.c | 3 --- 1 file changed, 3 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 4fd4bd41e..955533abd 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -345,7 +345,6 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { U8 ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_BOOTING; - OBCState_t OBCState = vInitializeState(OBC_STATE_IDLE, GSD); U8 uiTimeCycle = 0; I32 ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; @@ -390,7 +389,6 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { nextStateReportTime = currentTime; while (!iExit) { - //OBCState = vGetState(GSD); if (vGetState(GSD) == OBC_STATE_ERROR) { ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; @@ -1104,7 +1102,6 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { if (timercmp(¤tTime, &nextStateReportTime, >)) { timeradd(&nextStateReportTime, &stateReportPeriod, &nextStateReportTime); - OBCState = vGetState(GSD); bzero(Buffer2, sizeof (Buffer2)); Buffer2[0] = (uint8_t) (DataDictionaryGetOBCStateU8(GSD)); if (iCommSend(COMM_OBC_STATE, Buffer2, sizeof (Buffer2)) < 0) { From 8012fbfea38d43ca15b4c002d21f22abb3fe0c88 Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 11 Dec 2019 13:48:02 +0100 Subject: [PATCH 696/730] Reinserted vInitializeState(OBC_STATE_IDLE, GSD) :) --- server/src/objectcontrol.c | 1 + 1 file changed, 1 insertion(+) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 955533abd..d5c059529 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -345,6 +345,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { U8 ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_BOOTING; + vInitializeState(OBC_STATE_IDLE, GSD); U8 uiTimeCycle = 0; I32 ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; From e8237ec754f18e26fd606f4061a46612fd35455e Mon Sep 17 00:00:00 2001 From: Sebastian Loh Lindholm Date: Wed, 11 Dec 2019 14:31:15 +0100 Subject: [PATCH 697/730] Forgot to run FormatCheck. --- server/src/objectcontrol.c | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index d5c059529..c086b1e8b 100755 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -345,7 +345,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { U8 ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_BOOTING; - vInitializeState(OBC_STATE_IDLE, GSD); + vInitializeState(OBC_STATE_IDLE, GSD); U8 uiTimeCycle = 0; I32 ObjectcontrolExecutionMode = OBJECT_CONTROL_CONTROL_MODE; @@ -400,7 +400,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { MessageBuffer, MessageLength, 0); } - if (vGetState(GSD) == OBC_STATE_RUNNING || vGetState(GSD) == OBC_STATE_ARMED || vGetState(GSD) == OBC_STATE_CONNECTED) { + if (vGetState(GSD) == OBC_STATE_RUNNING || vGetState(GSD) == OBC_STATE_ARMED + || vGetState(GSD) == OBC_STATE_CONNECTED) { /*HEAB*/ for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { if (uiTimeCycle == 0) { //HeartbeatMessageCounter ++; @@ -428,7 +429,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { /* Close safety socket */ for (iIndex = 0; iIndex < nbr_objects; ++iIndex) { - vCloseSafetyChannel(&safety_socket_fd[iIndex]); + vCloseSafetyChannel(&safety_socket_fd[iIndex]); } vSetState(OBC_STATE_IDLE, GSD); break; @@ -436,7 +437,8 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } } - if (vGetState(GSD) == OBC_STATE_RUNNING || vGetState(GSD) == OBC_STATE_CONNECTED || vGetState(GSD) == OBC_STATE_ARMED) { + if (vGetState(GSD) == OBC_STATE_RUNNING || vGetState(GSD) == OBC_STATE_CONNECTED + || vGetState(GSD) == OBC_STATE_ARMED) { char buffer[RECV_MESSAGE_BUFFER]; size_t receivedMONRData = 0; @@ -938,7 +940,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { fclose(fd); /*DOTM*/ - MessageLength = ObjectControlBuildTRAJMessageHeader(TrajBuffer, + MessageLength = ObjectControlBuildTRAJMessageHeader(TrajBuffer, &RowCount, &HeaderData, &TRAJInfoData, From 692d2db387b1526de921c1ac105a69709db2a957 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Thu, 12 Dec 2019 12:00:26 +0100 Subject: [PATCH 698/730] Added a printout if init is sucessfulL --- server/src/main.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 3be4216a5..0f5bad218 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -125,9 +125,11 @@ int main(int argc, char *argv[]) { // Initialise data dictionary LogMessage(LOG_LEVEL_INFO, "Initializing data dictionary"); dataDictInitResult = DataDictionaryConstructor(GSD); - if (dataDictInitResult != READ_OK && dataDictInitResult != READ_WRITE_OK) + if (dataDictInitResult != READ_OK && dataDictInitResult != READ_WRITE_OK){ util_error("Unable to initialize shared memory space"); - + }else { + LogMessage(LOG_LEVEL_INFO, "Data dictionary succesfully initiated"); + } LogMessage(LOG_LEVEL_INFO, "About to enter mq init"); // Initialise message queue bus From 14d7c0bde753e65b90aa686d0246417811f39e1d Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Wed, 18 Dec 2019 13:49:15 +0100 Subject: [PATCH 699/730] format fix --- server/src/main.c | 9 +++++---- server/src/systemcontrol.c | 7 +++++-- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/server/src/main.c b/server/src/main.c index 0f5bad218..eca12b059 100755 --- a/server/src/main.c +++ b/server/src/main.c @@ -125,11 +125,12 @@ int main(int argc, char *argv[]) { // Initialise data dictionary LogMessage(LOG_LEVEL_INFO, "Initializing data dictionary"); dataDictInitResult = DataDictionaryConstructor(GSD); - if (dataDictInitResult != READ_OK && dataDictInitResult != READ_WRITE_OK){ + if (dataDictInitResult != READ_OK && dataDictInitResult != READ_WRITE_OK) { util_error("Unable to initialize shared memory space"); - }else { - LogMessage(LOG_LEVEL_INFO, "Data dictionary succesfully initiated"); - } + } + else { + LogMessage(LOG_LEVEL_INFO, "Data dictionary succesfully initiated"); + } LogMessage(LOG_LEVEL_INFO, "About to enter mq init"); // Initialise message queue bus diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index ea58f9988..05133af5e 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -564,8 +564,11 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { case Idle_0: break; case GetServerStatus_0: - LogMessage(LOG_LEVEL_INFO, "State: %s, OBCState: %s, %d", SystemControlStatesArr[server_state], - SystemControlOBCStatesArr[objectControlState], DataDictionaryGetOBCStateU8(GSD)); + if (SystemControlCommand != PreviousSystemControlCommand) { + LogMessage(LOG_LEVEL_INFO, "State: %s, OBCState: %s, %d", + SystemControlStatesArr[server_state], + SystemControlOBCStatesArr[objectControlState], DataDictionaryGetOBCStateU8(GSD)); + } SystemControlCommand = Idle_0; bzero(ControlResponseBuffer, SYSTEM_CONTROL_CONTROL_RESPONSE_SIZE); ControlResponseBuffer[0] = server_state; From c69ea4786c963946a11ecb3ded0782339d6eff02 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 14:43:38 +0100 Subject: [PATCH 700/730] Modified conf file to nicer defaults --- server/conf/test.conf | 39 ++++++--------------------------------- 1 file changed, 6 insertions(+), 33 deletions(-) diff --git a/server/conf/test.conf b/server/conf/test.conf index 53d353134..b11547f61 100644 --- a/server/conf/test.conf +++ b/server/conf/test.conf @@ -1,53 +1,26 @@ OrigoLatitude=57.777073115 OrigoLongitude=12.781295498333 OrigoAltitude=193.114 -VisualizationServerName=195.0.0.86 +VisualizationServerName=0 ForceObjectToLocalhost=0 ASPMaxTimeDiff=2.5 ASPMaxTrajDiff=1.52 ASPStepBackCount=0 ASPFilterLevel=5 ASPMaxDeltaTime=0.05 -TimeServerIP=0 +TimeServerIP=10.130.23.110 TimeServerPort=53000 SimulatorIP=0 SimulatorTCPPort=53001 SimulatorUDPPort=53002 SimulatorMode=1 -VOILReceivers=192.168.5.15, 22.43.66.3 -DTMReceivers=10.130.23.69, 1.130.22.88 +VOILReceivers= +DTMReceivers= SupervisorIP=0 SupervisorTCPPort=53010 RVSSConfig=3 RVSSRate=1 -MiscData=This can be anything... +MiscData= -VisualizationAdapter=./DefaultVisualizationAdapter +VisualizationAdapter= - - -//OrigoHeading=0.0 -//RemoteServerMode=0 -//RemoteServerIP=88.131.114.56 -//RemoteServerPort=80 -//RemoteServerUsername=server -//RemoteServerPassword=guest - -//192.168.0.191 -//Visualization adap ter options ../../websocket_visualization/build/websocket_visualization - -//OrigoLatidude=57.772915 -//OrigoLongitude=12.770008 -//OrigoAltitude=231.919 - -//OrigoLatidude=57.7773602 -//OrigoLongitude=12.7804715 - -//OrigoAltitude=201.485 -//OrigoLatidude=57.7773716 -//OrigoLongitude=12.7804629 - -//OrigoLatidude=57.777360 -//OrigoLongitude=12.780472 - -//SimulatorIP=10.130.23.53 From 2f7386984782a17c9535a52657068d7e8ae2b3ff Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 14:49:10 +0100 Subject: [PATCH 701/730] Added some trash values --- server/conf/test.conf | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/server/conf/test.conf b/server/conf/test.conf index b11547f61..698d6499a 100644 --- a/server/conf/test.conf +++ b/server/conf/test.conf @@ -14,13 +14,13 @@ SimulatorIP=0 SimulatorTCPPort=53001 SimulatorUDPPort=53002 SimulatorMode=1 -VOILReceivers= -DTMReceivers= +VOILReceivers=0 +DTMReceivers=0 SupervisorIP=0 SupervisorTCPPort=53010 RVSSConfig=3 RVSSRate=1 -MiscData= - -VisualizationAdapter= +MiscData=This can be anyhting +// TODO: remove +VisualizationAdapter=ls From 1b26eb6ad434c7f0d946d30f9bc7f4c668aa84e9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 15:00:52 +0100 Subject: [PATCH 702/730] Deleted rel folder --- server/rel/TEServer | Bin 28472 -> 0 bytes server/rel/conf/test.conf | 4 -- server/rel/traj/192.168.0.1 | 81 ------------------------------------ 3 files changed, 85 deletions(-) delete mode 100644 server/rel/TEServer delete mode 100644 server/rel/conf/test.conf delete mode 100644 server/rel/traj/192.168.0.1 diff --git a/server/rel/TEServer b/server/rel/TEServer deleted file mode 100644 index ec8958a2156c66d6b6216fdb844aa87f897ca24a..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 28472 zcmeHwe|%KcweOz%fQXnx1WVP*6v3jE5RhL2>I5=yQi%izsI@o=$s~*>nV6YDpi-m5 z_#DS*S{uu4wN3l1*S6kUo))!Kk^q*$KCHoNMdjVbAJrLxmHIPkuX*3K_TFdCOy;Py 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zr#-{|%`88%UVaWdTe%*v!FSr=zXwkFJ~+vRGa+~_4)hs(2*2;EE}UT?Kbr->c z*UCT_D*Ra`uk&32JX^jV8@vHH)mNXYFLfCfwC^L~`Yohl&RvM>6i)A&@SzlFpT%tX z{t!5oD>mQ7;*Ux#@rc4b7f8HY;eSy05{2t>0nTdwC=wjlA+EqJ?I<&1i1Cr_oYJ%T zna2}?Q%3an3BVoL2d-V0S7k7n@sa(V-ozDI#*>Q}A2}|qRQ73`2kWtp@sZ<00C=|j z@WKku+~4jl#;um+Ij!rHowC_32JTWK5822c0`62YR`Le$Z2Qk0M7zkgf1V?k@*R0h zu))7(gD!Y$QPsi z(0-qp`*-$pc~kQ%{mkr#%6{g)p1%g3ZQsz}DS6uOh7Nv42HI!i&!3dMbE1pHMLT~B z@fU?>?hl$&_^Xp$EUEXo{E%^_Y#~K9?Rl~dKGz1X0PeKd)u-!NzEEWD>q$FLWvlm_ zl>BpQT;*pzFm{`be7BPCR`JpMo<3wFf4~NR!3KX5c(!t#XVd<#>b#W-$9ZW>Ijl8I93kHIrhK76;`lJ7N%jr79DYJM+Cp7Yj~ z8_RtG^?HwzvuusYM)+NV)wK=Y;N~S8YVjgalT^p+RBgfac+o&?T!puuD&-3?$dxwx zOqWmF`4dKIvrUj-t|?N^%i4uhpoYpq+2rumhYA}r-g zOVBDF&(c+8m2MAS&!P=yxvuqjTEuB5()xhkgAmlyPPOG%Tv}FHu>`0^jNcgpg#GM2 zZbO+i%2xrZu3VxsS+;z|;Z6QOoYC znft@03x3k3yK*Dhba~qNwRLkkMjO_qBfN=hI;8j4O`)_YDp0v4?+BP)!xFwTk)n+XUkoHQvf+;Ztj~7TesCs zPoXzyg8mFlZpoVtav|^@RXRFiBi{66-ZwZMO50kOYPGpFT_A0H;Pj---I&ui=0%;N 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3e01222bb8318578b98a9b38b73671adde93717d +Subproject commit 13d1481a9be4ba2e851717c650f7ff884467ce1f From 62683d84fbd48c820def00e98a004ba606346ae9 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 16:52:37 +0100 Subject: [PATCH 704/730] Removed old server starter script and usercontrol --- server/src/usercontrol.c | 622 --------------------------------------- server/startserver | 16 - 2 files changed, 638 deletions(-) delete mode 100755 server/src/usercontrol.c delete mode 100644 server/startserver diff --git a/server/src/usercontrol.c b/server/src/usercontrol.c deleted file mode 100755 index 033cb630e..000000000 --- a/server/src/usercontrol.c +++ /dev/null @@ -1,622 +0,0 @@ -/*------------------------------------------------------------------------------ - -- Copyright : (C) 2017 CHRONOS project - ------------------------------------------------------------------------------ - -- File : usercontrol.c - -- Author : Sebastian Loh Lindholm - -- Description : CHRONOS - -- Purpose : - -- Reference : - ------------------------------------------------------------------------------*/ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "objectcontrol.h" -#include "util.h" -#include "maestroTime.h" - -/* -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "remotecontrol.h" -#include "systemcontrol.h" -#include "util.h" -*/ - - -#define IPC_BUFFER_SIZE 256 -#define USER_CONTROL_SYSTEM_CONTROL_IP "127.0.0.1" -#define USER_CONTROL_SYSTEM_CONTROL_PORT 54241 - - -#define USER_CONTROL_ARG_COUNT 2 -#define USER_CONTROL_COMMAND_MAX_LENGTH 10 - -#define COMMAND_MESSAGE_HEADER_LENGTH 5 -#define COMMAND_DOTM_ROW_MESSAGE_LENGTH 25 -#define COMMAND_DOTM_ROWS_IN_TRANSMISSION 40 - - - -typedef enum { - idle_0, status_0, arm_0, start_1, stop_0, abort_0, replay_1, control_0, exit_0, cx_0, cc_0, - cp_0, sb_0, cb_0, tp_0, tsp_1, sx_0, sc_0, help_0, tosem_0, tstrt_0, tdopm_0, - tmonr_0, disarm_0, tt_0, nocommand -} UserControlCommand_t; - -const char *UserControlCommandsArr[] = { - "idle_0", "status_0", "arm_0", "start_1", "stop_0", "abort_0", "replay_1", "control_0", "exit_0", "cx_0", - "cc_0", - "cp_0", "sb_0", "cb_0", "tp_0", "tsp_1", "sx_0", "sc_0", "help_0", "tosem_0", "tstrt_0", "tdopm_0", - "tmonr_0", "disarm_0", "tt_0" -}; - -UserControlCommand_t PreviousUserControlCommand = nocommand; -char UserControlCommandArgCnt[USER_CONTROL_ARG_COUNT]; -char UserControlStrippedCommand[USER_CONTROL_COMMAND_MAX_LENGTH]; - -UserControlCommand_t UserControlCommand = idle_0; -int CommandArgCount = 0, CurrentCommandArgCount = 0; -char SendBuffer[IPC_BUFFER_SIZE * 2]; -char RecordBuffer[IPC_BUFFER_SIZE * 2]; -char *SendBufferPtr; - - -/*------------------------------------------------------------ - -- Function declarations. - ------------------------------------------------------------*/ -UserControlCommand_t UserControlFindCommand(const char *CommandBuffer, UserControlCommand_t * CurrentCommand, - int *ArgCount); -void UserControlResetInputVariables(); -static void UserControlConnectServer(int *sockfd, const char *name, const uint32_t port); -static void UserControlSendString(const char *command, int *sockfd); -static void UserControlDisconnectObject(int *sockfd); - -/*------------------------------------------------------------ --- The main function. -------------------------------------------------------------*/ -int main(int argc, char *argv[]) { - - char pcBuffer[IPC_BUFFER_SIZE]; - char inchr; - struct timeval tvTime; - struct timespec tTime; - - int iExit = 0; - ObjectPosition OP; - - SendBufferPtr = SendBuffer; - bzero(SendBuffer, IPC_BUFFER_SIZE * 2); - - char Id[2]; - char Timestamp[20]; - char Latitude[20]; - char Longitude[20]; - char Altitude[20]; - char Heading[20]; - char Speed[20]; - char DriveDirection[2]; - char StatusFlag[2]; - char Buffer[100]; - - unsigned char TestBuffer[] = - { 7, 200, 65, 36, 135, 231, 3, 111, 230, 191, 0, 190, 10, 254, 0, 0, 86, 195, 44, 236, 1, 104, 0, 6 }; - - char MessageBuffer[100]; - int MessageLength, j; - int RowCount, i, Rest; - char TrajBuffer[COMMAND_DOTM_ROWS_IN_TRANSMISSION * COMMAND_DOTM_ROW_MESSAGE_LENGTH + - COMMAND_MESSAGE_HEADER_LENGTH]; - FILE *fd; - - int socketfd = -1; - char object_address_name[50]; - - bzero(object_address_name, 50); - uint32_t object_tcp_port = USER_CONTROL_SYSTEM_CONTROL_PORT; - - OSEMType OSEMData; - MONRType MONRData; - - if (argc > 1) { - strcat(object_address_name, argv[1]); - } - else { - strcat(object_address_name, USER_CONTROL_SYSTEM_CONTROL_IP); - } - - if (argc > 2) { - object_tcp_port = atoi(argv[2]); - } - - printf("Connecting to server... %s %d \n", object_address_name, object_tcp_port); - - j = 0; - UserControlConnectServer(&socketfd, object_address_name, object_tcp_port); - if (socketfd >= 0) { - printf("Client is connected.\n"); - while (!iExit) { - bzero(pcBuffer, IPC_BUFFER_SIZE); - scanf("%49s", pcBuffer); - - if (strcmp(pcBuffer, "cc") != 0 && - strcmp(pcBuffer, "cx") != 0 && - strcmp(pcBuffer, "cp") != 0 && - strcmp(pcBuffer, "sb") != 0 && - strcmp(pcBuffer, "help") != 0 && - strcmp(pcBuffer, "cb") != 0 && strcmp(pcBuffer, "sx") != 0 && strcmp(pcBuffer, "sc") != 0) { - strncat(SendBufferPtr, pcBuffer, strlen(pcBuffer)); - SendBuffer[strlen(SendBuffer)] = 32; - SendBufferPtr = SendBuffer + strlen(SendBuffer); - bzero(RecordBuffer, IPC_BUFFER_SIZE * 2); - strncpy(RecordBuffer, SendBuffer, strlen(SendBuffer)); - } - - UserControlFindCommand(pcBuffer, &UserControlCommand, &CommandArgCount); - - switch (UserControlCommand) { - case idle_0: - CurrentCommandArgCount = 0; - break; - case status_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case arm_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case disarm_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case start_1: - if (CurrentCommandArgCount == CommandArgCount) { - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - } - else - CurrentCommandArgCount++; - break; - case stop_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case abort_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case replay_1: - if (CurrentCommandArgCount == CommandArgCount) { - if (!strcmp(pcBuffer, "-help")) { - UserControlSendString(SendBuffer, &socketfd); - } - else { - UserControlSendString(SendBuffer, &socketfd); - } - UserControlResetInputVariables(); - } - else - CurrentCommandArgCount++; - break; - case control_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case exit_0: - iExit = 1; - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case cx_0: - UserControlSendString("cx", &socketfd); - UserControlResetInputVariables(); - break; - case cc_0: - UserControlSendString("cc", &socketfd); - printf("Sendbuffer: %s\n", SendBuffer); - printf("Recordbuffer: %s\n", RecordBuffer); - UserControlCommand = PreviousUserControlCommand; - break; - case cp_0: - UserControlResetInputVariables(); - strncpy(SendBuffer, RecordBuffer, strlen(RecordBuffer)); - printf("Copy recorded buffer to send buffer\n"); - break; - case sb_0: - UserControlSendString(SendBuffer, &socketfd); - UserControlResetInputVariables(); - break; - case tt_0: - gettimeofday(&tvTime, NULL); - uint64_t uiTime = - (uint64_t) tvTime.tv_sec * 1000 + (uint64_t) tvTime.tv_usec / 1000 - - MS_FROM_1970_TO_2004_NO_LEAP_SECS + DIFF_LEAP_SECONDS_UTC_ETSI * 1000; - printf("Time: %lx\n", uiTime); - printf("Time: %ld\n", uiTime); - - clock_gettime(CLOCK_MONOTONIC_RAW, &tTime); - uiTime = - (uint64_t) tTime.tv_sec * 1000L + (uint64_t) tTime.tv_nsec / 1000000L - - (uint64_t) MS_FROM_1970_TO_2004_NO_LEAP_SECS + - (uint64_t) DIFF_LEAP_SECONDS_UTC_ETSI *1000; - printf("Time: %lx\n", uiTime); - printf("Time: %ld\n", uiTime); - - UserControlResetInputVariables(); - break; - case tp_0: - //UserControlCommand = idle_0; - // UtilCalcPositionDelta(57.6626302333,12.1056869167,57.6626269972, 12.1057250694, &OP); - //‭429.4967295‬ - //57,7773716 - UtilCalcPositionDelta(57.7773716086, 12.7804629583, 57.7773716000, 12.7804629000, &OP); - //UtilCalcPositionDelta(57.7773716086, 12.7804629583 ,57.7782802000, 12.7807861000, &OP); - //UtilCalcPositionDelta(57.7773298066,12.7818834416,57.777329775, 12.7818832583, &OP); - //UtilCalcPositionDelta(57.7771230833333,12.78156473, 57.777711,12.780829, &OP); - //UtilCalcPositionDelta(57.777360,12.780472, 57.777711,12.780829, &OP); - - // UtilCalcPositionDelta(57.7773716086,12.7804629583,57.7773717086, 12.7804630583, &OP); - printf - ("(57.7773716086, 12.7804629583 ,57.7773716000, 12.7804629000) => Calc d = %4.4f m, iterations = %d\n", - OP.OrigoDistance, OP.CalcIterations); - printf("Latitude = %3.10f \n", OP.Latitude); - printf("Longitude = %3.10f\n", OP.Longitude); - printf("ForwardAzimuth1 = %3.10f \n", OP.ForwardAzimuth1); - printf("ForwardAzimuth2 = %3.10f\n", OP.ForwardAzimuth2); - printf("DeltaForwardAzimuth = %3.15f \n", OP.ForwardAzimuth1 - OP.ForwardAzimuth2); - printf("x = %4.15lf\n", OP.x); - printf("y = %4.15lf\n", OP.y); - - //printf("d = 0.590 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626340000,12.1056979028,57.6626332417, 12.1057076556)); - //printf("d = 2.643 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626378750,12.1056752083,57.6626339472, 12.1057190472)); - //printf("d = 1.901 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626295889,12.1056851083,57.6626267528, 12.1057165278)); - //printf("d = 1.453 m, calc d = %4.3f m\n", UtilCalcPositionDelta(57.6626295444,12.1056859139,57.6626273222, 12.1057100556)); - UserControlResetInputVariables(); - - break; - case tsp_1: - if (CurrentCommandArgCount == 1) { - if (!strcmp(pcBuffer, "-help")) { - //printf("-----TEST SYNCHRONIZATION POINT FUNCTIONS-----\n"); - //printf("The function returns the time until reaching a specific position in the trajectory.\n"); - //printf("Arguments: 1\n"); - //printf("Syntax: tsp something\n"); - //printf("Ex: ftp traj/traj.txt 45.568 -80.445 0\n"); - //printf("Ex: tsp \n"); - } - } - - if (CurrentCommandArgCount == CommandArgCount) { - FILE *Trajfd; - - Trajfd = fopen("traj/192.168.0.119", "r"); - - OP.TrajectoryPositionCount = UtilCountFileRows(Trajfd) - 2; - float SpaceArr[OP.TrajectoryPositionCount]; - float TimeArr[OP.TrajectoryPositionCount]; - SpaceTime SpaceTimeArr[OP.TrajectoryPositionCount]; - - fclose(Trajfd); - OP.SpaceArr = SpaceArr; - OP.TimeArr = TimeArr; - OP.SpaceTimeArr = SpaceTimeArr; - - //15.293, 57.7773600000, 12.7804720000 ,57.7776729000, 12.7809877000 - //26.191, 57.7773600000, 12.7804720000 ,57.7774683000, 12.7818468000 - //26.168, 57.7773600000, 12.7804720000 ,57.7774671000, 12.7818475000 - //2.599, 57.7773600, 12.7804720 ,57.7776768, 12.7808503 - //2.577, 57.7773600, 12.7804720 ,57.7776776, 12.7808498 - //2.551, 57.7773600, 12.7804720 ,57.7776784, 12.7808493 - //5.602, 57.7773600, 12.7804720 ,57.7775458, 12.7809363 - //35.220, 57.7773600, 12.7804720 ,57.7778226, 12.7814385 - //25.505, 57.7773600, 12.7804720 ,57.7774398, 12.7817521 - //21.389, 57.7773600, 12.7804720 ,57.7772277, 12.7819276 - //19.2, 57.7773600, 12.7804720 ,57.7771761, 12.7817484 - //19.464, 57.7773600, 12.7804720 ,57.7771804, 12.7817730 - //19.273, 57.7773600, 12.7804720 ,57.7771772, 12.7817548 - - double CurrentTime = 19.273; - - UtilCalcPositionDelta(57.7773600, 12.7804720, 57.7771772, 12.7817548, &OP); //2 - - printf("Calc d = %4.4f m, iterations = %d\n", OP.OrigoDistance, OP.CalcIterations); - printf("Latitude = %3.10f \n", OP.Latitude); - printf("Longitude = %3.10f\n", OP.Longitude); - printf("ForwardAzimuth1 = %3.10f \n", OP.ForwardAzimuth1); - printf("ForwardAzimuth2 = %3.10f\n", OP.ForwardAzimuth2); - printf("DeltaForwardAzimuth = %3.15f \n", OP.ForwardAzimuth1 - OP.ForwardAzimuth2); - printf("x = %4.15lf\n", OP.x); - printf("y = %4.15lf\n", OP.y); - - if (OP.OrigoDistance > -1) { - - UtilPopulateSpaceTimeArr(&OP, "traj/192.168.0.119"); - UtilSetSyncPoint(&OP, 0, 0, 0, 36.5); - if (OP.SyncIndex > -1) { - printf("Sync point found=%4.3f, Time=%4.3f, Index=%d\n", - OP.SpaceArr[OP.SyncIndex], OP.TimeArr[OP.SyncIndex], OP.SyncIndex); - UtilFindCurrentTrajectoryPosition(&OP, 0, CurrentTime, 1.75, 2.5, 2); //2 - - if (OP.BestFoundTrajectoryIndex > -1 && OP.SyncIndex > -1) { - printf("\nCurrent origo distance=%4.3f m\n", OP.OrigoDistance); - printf("Matched origo distance=%4.3f m\n", - OP.SpaceArr[OP.BestFoundTrajectoryIndex]); - printf("Distance error=%4.3f m\n", - OP.OrigoDistance - OP.SpaceArr[OP.BestFoundTrajectoryIndex]); - printf("Current time=%4.3f s\n", CurrentTime); - printf("Expected time=%4.3f s (index=%d)\n", - OP.TimeArr[OP.BestFoundTrajectoryIndex], OP.BestFoundTrajectoryIndex); - printf("Time error=%4.3f s\n", - CurrentTime - OP.TimeArr[OP.BestFoundTrajectoryIndex]); - //printf("Time to sync point = %4.3f s\n", fabs(UtilCalculateTimeToSync(&OP) - (CurrentTime - OP.TimeArr[OP.BestFoundTrajectoryIndex]))); - printf("Time to sync point = %4.3f\n", UtilCalculateTimeToSync(&OP)); - printf("x=%4.3f m\n", OP.x); - printf("y=%4.3f m\n", OP.y); - } - else if (OP.BestFoundTrajectoryIndex == -1) { - printf("No trajectory position found.\n"); - } - else if (OP.BestFoundTrajectoryIndex == -2) { - printf("Master not in time\n"); - } - - } - else - printf("Failed to find sync point!\n"); - } - else - printf("Distance calculation to origo failed to converge.\n"); - UserControlResetInputVariables(); - } - else - CurrentCommandArgCount++; - break; - case sc_0: - UserControlConnectServer(&socketfd, object_address_name, object_tcp_port); - UserControlResetInputVariables(); - break; - case sx_0: - UserControlDisconnectObject(&socketfd); - close(socketfd); - socketfd = -1; - UserControlResetInputVariables(); - break; - case tosem_0: - /*MessageLength = ObjectControlBuildOSEMMessage(MessageBuffer, &OSEMData, - UtilSearchTextFile("conf/test.conf", "OrigoLatitude=", "", Latitude), - UtilSearchTextFile("conf/test.conf", "OrigoLongitude=", "", Longitude), - UtilSearchTextFile("conf/test.conf", "OrigoAltitude=", "", Altitude), - UtilSearchTextFile("conf/test.conf", "OrigoHeading=", "", Heading), - 1); - */ - UserControlResetInputVariables(); - break; - case tstrt_0: - //MessageLength = ObjectControlBuildSTRTMessage(MessageBuffer, 1, 1024, 1); - UserControlResetInputVariables(); - break; - case tdopm_0: - fd = fopen("traj/195.0.0.10", "r"); - RowCount = UtilCountFileRows(fd) - 1; - fclose(fd); - - //MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, RowCount-1, 1); - //MessageLength = ObjectControlBuildDOTMMessageHeader(TrajBuffer, 2, 1); - /*Send DOTM header */ - - fd = fopen("traj/195.0.0.10", "r"); - UtilReadLineCntSpecChars(fd, TrajBuffer); //Read first line - Rest = 0, i = 0; - do { - Rest = RowCount - COMMAND_DOTM_ROWS_IN_TRANSMISSION; - RowCount = RowCount - COMMAND_DOTM_ROWS_IN_TRANSMISSION; - if (Rest >= COMMAND_DOTM_ROWS_IN_TRANSMISSION) { - //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, COMMAND_DOTM_ROWS_IN_TRANSMISSION, 0); - //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, 2, 1); - } - else { - //MessageLength = ObjectControlBuildDOTMMessage(TrajBuffer, fd, Rest, 0); - } - printf("Transmission %d: %d bytes left to send.\n", ++i, - Rest * COMMAND_DOTM_ROW_MESSAGE_LENGTH); - - /*Send DOTM data */ - - } while (Rest >= COMMAND_DOTM_ROWS_IN_TRANSMISSION /*i < 2 */ ); - - fclose(fd); - UserControlResetInputVariables(); - break; - case tmonr_0: - //ObjectControlMONRToASCII(TestBuffer, 1, Id, Timestamp, Latitude, Longitude, Altitude, Speed, Heading, DriveDirection, StatusFlag, 1); - bzero(Buffer, 100); - strcat(Buffer, Timestamp); - strcat(Buffer, ";"); - strcat(Buffer, Latitude); - strcat(Buffer, ";"); - strcat(Buffer, Longitude); - strcat(Buffer, ";"); - strcat(Buffer, Altitude); - strcat(Buffer, ";"); - strcat(Buffer, Speed); - strcat(Buffer, ";"); - strcat(Buffer, Heading); - strcat(Buffer, ";"); - strcat(Buffer, DriveDirection); - strcat(Buffer, ";"); - //strcat(Buffer,StatusFlag); - //strcat(Buffer,";"); - printf("MONR message: %s\n", Buffer); - UserControlResetInputVariables(); - break; - case cb_0: - bzero(RecordBuffer, IPC_BUFFER_SIZE * 2); - break; - case help_0: - printf("cc - Echo Current Command.\n"); - printf("cp - Copy recorded buffer to send buffer.\n"); - printf("sb - Send content in send buffer.\n"); - printf("cx - Reset input commands.\n"); - printf("cb - Reset recorded buffer.\n"); - printf("status - Query server status.\n"); - printf("arm - Tell server to send \"ARM\".\n"); - printf("disarm - Tell server to send \"DISARM\".\n"); - printf("start - Tell server to send \"START\".\n"); - printf("stop - Tell server to send \"STOP\".\n"); - printf("abort - Tell server to send \"ABORT\".\n"); - printf("replay - Tell server to send \"REPLAY\". Write \"replay -help\" for more info.\n"); - printf("exit - Tell server to send \"EXIT\" and quit this client.\n"); - printf("sx - Close connection to server.\n"); - printf("sc - Open connection to server.\n"); - printf("tosem - Test to build OSEM message.\n"); - printf("tstrt - Test to build STRT message.\n"); - printf("tdopm - Test to build DOTM message.\n"); - printf("tmonr - Test to build MONR message.\n"); - break; - - default: - - break; - } - usleep(1000); - } - } - else - printf("Failed to start UserControl client!\n"); -} - -/*------------------------------------------------------------ - -- Private functions - ------------------------------------------------------------*/ - -UserControlCommand_t UserControlFindCommand(const char *CommandBuffer, UserControlCommand_t * CurrentCommand, - int *CommandArgCount) { - - UserControlCommand_t command; - - for (command = idle_0; command != nocommand; command++) { - bzero(UserControlCommandArgCnt, USER_CONTROL_ARG_COUNT); - bzero(UserControlStrippedCommand, USER_CONTROL_COMMAND_MAX_LENGTH); - strncpy(UserControlStrippedCommand, UserControlCommandsArr[(int)command], - (uint64_t) strchr(UserControlCommandsArr[(int)command], - '_') - (uint64_t) UserControlCommandsArr[(int)command]); - strncpy(UserControlCommandArgCnt, strchr(UserControlCommandsArr[(int)command], '_') + 1, - strlen(UserControlCommandsArr[(int)command]) - - ((uint64_t) strchr(UserControlCommandsArr[(int)command], '_') - - (uint64_t) UserControlCommandsArr[(int)command] + 1)); - - if (!strcmp(UserControlStrippedCommand, CommandBuffer)) { - if (command != cc_0) { - *CommandArgCount = atoi(UserControlCommandArgCnt); - *CurrentCommand = command; - return command; - } - else { - PreviousUserControlCommand = *CurrentCommand; - *CurrentCommand = command; - return command; - } - } - } - return nocommand; -} - -void UserControlResetInputVariables() { - SendBufferPtr = SendBuffer; - bzero(SendBuffer, IPC_BUFFER_SIZE * 2); - UserControlCommand = idle_0; - CurrentCommandArgCount = 0; - CommandArgCount = 0; -} - - -static void UserControlConnectServer(int *sockfd, const char *name, const uint32_t port) { - struct sockaddr_in serv_addr; - struct hostent *server; - - char buffer[256]; - int iResult; - - *sockfd = socket(AF_INET, SOCK_STREAM, 0); - - if (*sockfd < 0) { - util_error("ERR: Failed to open control socket"); - } - - server = gethostbyname(name); - if (server == NULL) { - util_error("ERR: Unknown host "); - } - - bzero((char *)&serv_addr, sizeof (serv_addr)); - serv_addr.sin_family = AF_INET; - - bcopy((char *)server->h_addr, (char *)&serv_addr.sin_addr.s_addr, server->h_length); - serv_addr.sin_port = htons(port); - -#ifdef DEBUG - printf("Try to connect to control socket: %s %i\n", name, port); - fflush(stdout); -#endif - - do { - iResult = connect(*sockfd, (struct sockaddr *)&serv_addr, sizeof (serv_addr)); - - if (iResult < 0) { - if (errno == ECONNREFUSED) { - printf("WAR: Was not able to connect to object, retry in 3 sec...\n"); - fflush(stdout); - (void)sleep(3); - } - else { - util_error("ERR: Failed to connect to control socket"); - } - } - } while (iResult < 0); - - //#ifdef DEBUG - printf("Client connected to server: %s %i\n", name, port); - fflush(stdout); - //#endif - -} - -static void UserControlSendString(const char *command, int *sockfd) { - int n; - - printf("Sending: %s\n", command); - fflush(stdout); - - - n = write(*sockfd, command, strlen(command)); - if (n < 0) { - util_error("[UserControl] ERR: Failed to send on control socket"); - } -} - - -static void UserControlDisconnectObject(int *sockfd) { - close(*sockfd); -} diff --git a/server/startserver b/server/startserver deleted file mode 100644 index 875e28814..000000000 --- a/server/startserver +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/bash -#script to start TEServer - -echo "Cleaning..." - -su root -rm /dev/mqueue/* -kill $(pidof TEServer) -pkill -f "DefaultVisualiz" -exit -echo "Cleaning done." -echo "Starting server..." -cd build -./TEServer - - From f414c5a2c88589e744f2931464de710cc8720130 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 16:53:43 +0100 Subject: [PATCH 705/730] Removed execute permissions from source files --- server/src/citscontrol.c | 0 server/src/datadictionary.c | 0 server/src/logger.c | 0 server/src/main.c | 0 server/src/objectcontrol.c | 0 server/src/remotecontrol.c | 0 server/src/simulatorcontrol.c | 0 server/src/timecontrol.c | 0 server/src/util.c | 0 server/src/visualization.c | 0 10 files changed, 0 insertions(+), 0 deletions(-) mode change 100755 => 100644 server/src/citscontrol.c mode change 100755 => 100644 server/src/datadictionary.c mode change 100755 => 100644 server/src/logger.c mode change 100755 => 100644 server/src/main.c mode change 100755 => 100644 server/src/objectcontrol.c mode change 100755 => 100644 server/src/remotecontrol.c mode change 100755 => 100644 server/src/simulatorcontrol.c mode change 100755 => 100644 server/src/timecontrol.c mode change 100755 => 100644 server/src/util.c mode change 100755 => 100644 server/src/visualization.c diff --git a/server/src/citscontrol.c b/server/src/citscontrol.c old mode 100755 new mode 100644 diff --git a/server/src/datadictionary.c b/server/src/datadictionary.c old mode 100755 new mode 100644 diff --git a/server/src/logger.c b/server/src/logger.c old mode 100755 new mode 100644 diff --git a/server/src/main.c b/server/src/main.c old mode 100755 new mode 100644 diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c old mode 100755 new mode 100644 diff --git a/server/src/remotecontrol.c b/server/src/remotecontrol.c old mode 100755 new mode 100644 diff --git a/server/src/simulatorcontrol.c b/server/src/simulatorcontrol.c old mode 100755 new mode 100644 diff --git a/server/src/timecontrol.c b/server/src/timecontrol.c old mode 100755 new mode 100644 diff --git a/server/src/util.c b/server/src/util.c old mode 100755 new mode 100644 diff --git a/server/src/visualization.c b/server/src/visualization.c old mode 100755 new mode 100644 From d2a167a866a49d2a079ed6e7b18efcdcb97b5687 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 16:56:10 +0100 Subject: [PATCH 706/730] Removed execute permissions from header files --- server/inc/citscontrol.h | 0 server/inc/logger.h | 0 server/inc/objectcontrol.h | 0 server/inc/remotecontrol.h | 0 server/inc/simulatorcontrol.h | 0 server/inc/systemcontrol.h | 0 server/inc/timecontrol.h | 0 server/inc/util.h | 0 8 files changed, 0 insertions(+), 0 deletions(-) mode change 100755 => 100644 server/inc/citscontrol.h mode change 100755 => 100644 server/inc/logger.h mode change 100755 => 100644 server/inc/objectcontrol.h mode change 100755 => 100644 server/inc/remotecontrol.h mode change 100755 => 100644 server/inc/simulatorcontrol.h mode change 100755 => 100644 server/inc/systemcontrol.h mode change 100755 => 100644 server/inc/timecontrol.h mode change 100755 => 100644 server/inc/util.h diff --git a/server/inc/citscontrol.h b/server/inc/citscontrol.h old mode 100755 new mode 100644 diff --git a/server/inc/logger.h b/server/inc/logger.h old mode 100755 new mode 100644 diff --git a/server/inc/objectcontrol.h b/server/inc/objectcontrol.h old mode 100755 new mode 100644 diff --git a/server/inc/remotecontrol.h b/server/inc/remotecontrol.h old mode 100755 new mode 100644 diff --git a/server/inc/simulatorcontrol.h b/server/inc/simulatorcontrol.h old mode 100755 new mode 100644 diff --git a/server/inc/systemcontrol.h b/server/inc/systemcontrol.h old mode 100755 new mode 100644 diff --git a/server/inc/timecontrol.h b/server/inc/timecontrol.h old mode 100755 new mode 100644 diff --git a/server/inc/util.h b/server/inc/util.h old mode 100755 new mode 100644 From 81b7d1c60d7fb18b264d26e27bd8244e8e0cf16e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 16:58:23 +0100 Subject: [PATCH 707/730] Removed old visualization --- server/src/visualization.c | 216 ------------------------------------- 1 file changed, 216 deletions(-) delete mode 100644 server/src/visualization.c diff --git a/server/src/visualization.c b/server/src/visualization.c deleted file mode 100644 index c168a4618..000000000 --- a/server/src/visualization.c +++ /dev/null @@ -1,216 +0,0 @@ -/*------------------------------------------------------------------------------ - -- Copyright : (C) 2016 CHRONOS project - ------------------------------------------------------------------------------ - -- File : visualization.c - -- Author : Karl-Johan Ode - -- Description : CHRONOS - -- Purpose : - -- Reference : - ------------------------------------------------------------------------------*/ - -/*------------------------------------------------------------ - -- Include files. - ------------------------------------------------------------*/ -#include -#include -#include -#include -#include -#include -#include -#include - -#include "util.h" - -/*------------------------------------------------------------ - -- Defines - ------------------------------------------------------------*/ -#define RECV_MESSAGE_BUFFER 1024 -#define VISUAL_SERVER_NAME "localhost" -#define VISUAL_SERVER_PORT 53250 -#define VISUAL_CONTROL_MODE 0 -#define VISUAL_REPLAY_MODE 1 - -#define SMALL_ITEM_TEXT_BUFFER_SIZE 20 -/*------------------------------------------------------------ - -- Function declarations. - ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int *sockfd, struct sockaddr_in *addr); -static void vDisconnectVisualizationChannel(int *sockfd); -static void vSendVisualization(int *sockfd, struct sockaddr_in *addr, const char *message); - -void vISOtoCHRONOSmsg(char *ISOmsg, char *tarCHRONOSmsg, int MSG_size); - -/*------------------------------------------------------------ --- Private variables -------------------------------------------------------------*/ - -/*------------------------------------------------------------ - -- Public functions - ------------------------------------------------------------*/ -int main(int argc, char *argv[]) { - int visual_server; - struct sockaddr_in visual_server_addr; - char cpBuffer[RECV_MESSAGE_BUFFER]; - char chronosbuff[RECV_MESSAGE_BUFFER]; - - printf("[Visualization] DefaultVisualizationAdapter started\n"); - fflush(stdout); - - (void)iCommInit(IPC_RECV, MQ_VA, 0); - - vConnectVisualizationChannel(&visual_server, &visual_server_addr); - - /* Listen for commands */ - int iExit = 0; - int iCommand; - - /* Execution mode */ - int VisualExecutionMode = VISUAL_CONTROL_MODE; - - while (!iExit) { - bzero(cpBuffer, RECV_MESSAGE_BUFFER); - (void)iCommRecv(&iCommand, cpBuffer, RECV_MESSAGE_BUFFER, NULL); - - if (iCommand == COMM_MONI) { - DEBUG_LPRINT(DEBUG_LEVEL_LOW, "INF: Recieved MONITOR message: %s\n", cpBuffer); - - vISOtoCHRONOSmsg(cpBuffer, chronosbuff, RECV_MESSAGE_BUFFER); - vSendVisualization(&visual_server, &visual_server_addr, chronosbuff); - - } - else if (iCommand == COMM_REPLAY) { - VisualExecutionMode = VISUAL_REPLAY_MODE; - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM, "Visualization in REPLAY mode: %s\n", cpBuffer); - } - else if (iCommand == COMM_CONTROL) { - VisualExecutionMode = VISUAL_CONTROL_MODE; - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM, "Visualization in CONTROL mode: %s\n", cpBuffer); - } - else if (iCommand == COMM_EXIT) { - iExit = 1; - } - else if (iCommand == COMM_OBC_STATE) { - - } - else { - DEBUG_LPRINT(DEBUG_LEVEL_LOW, "Vizualization unhandled command: %d", iCommand); - } - } - - /* Close visualization socket */ - vDisconnectVisualizationChannel(&visual_server); - - (void)iCommClose(); -} - -/*------------------------------------------------------------ - -- Private functions - ------------------------------------------------------------*/ -static void vConnectVisualizationChannel(int *sockfd, struct sockaddr_in *addr) { - struct hostent *server; - char pcTempBuffer[MAX_UTIL_VARIBLE_SIZE]; - - /* Setup connection to visualization */ - DEBUG_LPRINT(DEBUG_LEVEL_LOW, "%s", "INF: Creating visualization socket.\n"); - - *sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); - - if (*sockfd < 0) { - util_error("ERR: Failed to create visualization socket"); - } - - bzero((char *)addr, sizeof (*addr)); - - bzero(pcTempBuffer, MAX_UTIL_VARIBLE_SIZE); - if (!iUtilGetParaConfFile("VisualizationServer", pcTempBuffer)) { - strcat(pcTempBuffer, VISUAL_SERVER_NAME); - } - - DEBUG_LPRINT(DEBUG_LEVEL_LOW, "[Visualization] UDP visualization sending to %s %d\n", pcTempBuffer, - VISUAL_SERVER_PORT); - - - server = gethostbyname(pcTempBuffer); - - if (server == NULL) { - util_error("ERR: Unkonown host\n"); - } - bcopy((char *)server->h_addr, (char *)&addr->sin_addr.s_addr, server->h_length); - - addr->sin_family = AF_INET; - addr->sin_port = htons(VISUAL_SERVER_PORT); -} - -static void vDisconnectVisualizationChannel(int *sockfd) { - close(*sockfd); -} - -static void vSendVisualization(int *sockfd, struct sockaddr_in *addr, const char *message) { - char buffer[1024]; - int result; - - DEBUG_LPRINT(DEBUG_LEVEL_MEDIUM, "INF: Buffer to visualization: <%s>\n", message); - - result = sendto(*sockfd, - message, strlen(message), 0, (const struct sockaddr *)addr, sizeof (struct sockaddr_in)); - - if (result < 0) { - util_error("ERR: Failed to send on monitor socket"); - } -} - -void vISOtoCHRONOSmsg(char *ISOmsg, char *tarCHRONOSmsg, int MSG_size) { - char IP_address[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char ID[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Timestamp[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Latitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Longitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Altitude[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char Heading[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LonSpeed[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LatSpeed[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LonAcc[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char LatAcc[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char DriveDirection[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char StateFlag[SMALL_ITEM_TEXT_BUFFER_SIZE]; - char StatusFlag[SMALL_ITEM_TEXT_BUFFER_SIZE]; - - bzero(tarCHRONOSmsg, MSG_size); - - char *item_p = strtok(ISOmsg, ";"); - int item_num = 0; // The placement incoming message - - while (item_p != NULL) { - // What to do with each item at the current placement - switch (item_num) { - case 0: - case 1: - case 2: - case 3: - case 4: - case 5: - case 11: - case 12: - strcat(tarCHRONOSmsg, item_p); - strcat(tarCHRONOSmsg, ";"); - break; - case 6: - bzero(Heading, SMALL_ITEM_TEXT_BUFFER_SIZE); - int mod_heading = atoi(item_p) / 10; - - sprintf(Heading, "%d;", mod_heading); - break; - case 7: - strcat(tarCHRONOSmsg, item_p); - strcat(tarCHRONOSmsg, ";"); - strcat(tarCHRONOSmsg, Heading); - break; - default: - break; - } - item_num++; - item_p = strtok(NULL, ";"); - } - -} From f5f141f896e1cf0d7cdf234ef6392e06aa70de13 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 17:03:52 +0100 Subject: [PATCH 708/730] Removed unused define in object control --- server/src/objectcontrol.c | 2 -- 1 file changed, 2 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 728229e5f..2bdd1ed73 100644 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -57,8 +57,6 @@ #define TASK_PERIOD_MS 1 #define HEARTBEAT_TIME_MS 10 -#define OBC_STATE_REPORT_PERIOD_S 1 -#define OBC_STATE_REPORT_PERIOD_US 0 #define OBJECT_CONTROL_CONTROL_MODE 0 #define OBJECT_CONTROL_REPLAY_MODE 1 #define OBJECT_CONTROL_ABORT_MODE 1 From abb4e8f23633c407fa3baa7a9fc59aa1d9ff063c Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 19 Dec 2019 17:05:39 +0100 Subject: [PATCH 709/730] Removed unused old T&A code (which had a TODO to remove) --- server/src/objectcontrol.c | 56 -------------------------------------- 1 file changed, 56 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 2bdd1ed73..399aa92d8 100644 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -116,18 +116,7 @@ #define COMMAND_MTSP_CODE 0xA104 #define COMMAND_MTSP_MESSAGE_LENGTH sizeof(MTSPType) -// Old T&A (TODO: remove) -#define COMMAND_ACM_CODE 11 //Action Configuration Message: Server->Object, TCP -#define COMMAND_ACM_MESSAGE_LENGTH 6 -#define COMMAND_EAM_CODE 12 //Execution Action Message: Server->Object, UDP -#define COMMAND_EAM_MESSAGE_LENGTH 6 - -#define COMMAND_TCM_CODE 13 //Trigger Configuration Message: Server->Object, TCP -#define COMMAND_TCM_MESSAGE_LENGTH 5 - -#define COMMAND_TOM_CODE 14 //Trigger Occurred Message: Object->Server, UDP -#define COMMAND_TOM_MESSAGE_LENGTH 8 #define ASP_MESSAGE_LENGTH sizeof(ASPType) @@ -209,8 +198,6 @@ I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, C8 * Heading, C8 * DriveDirection, C8 * ObjectState, C8 * ReadyToArm, C8 * ErrorStatus, C8 debug); I32 ObjectControlBuildMONRMessage(C8 * MonrData, MONRType * MONRData, U8 debug); -int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId, char *TriggAction, char *TriggDelay, - char debug); I32 ObjectControlBuildVOILMessage(C8 * MessageBuffer, VOILType * VOILData, C8 * SimData, U8 debug); I32 ObjectControlSendDTMMessage(C8 * DTMData, I32 * Socket, I32 RowCount, C8 * IP, U32 Port, DOTMType * DOTMData, U8 debug); @@ -1537,49 +1524,6 @@ I32 ObjectControlMONRToASCII(MONRType * MONRData, GeoPosition * OriginPosition, return 0; } -int ObjectControlTOMToASCII(unsigned char *TomData, char *TriggId, char *TriggAction, char *TriggDelay, - char debug) { - char Buffer[6]; - long unsigned int MonrValueU64; - unsigned int MonrValueU32; - unsigned short MonrValueU16; - unsigned char MonrValueU8; - int i, j; - - bzero(TriggId, SMALL_BUFFER_SIZE_1); - bzero(TriggAction, SMALL_BUFFER_SIZE_1); - bzero(TriggDelay, SMALL_BUFFER_SIZE_0); - - if (*TomData == COMMAND_TOM_CODE) { - - if (debug == 1) { - for (i = 0; i < COMMAND_MESSAGE_HEADER_LENGTH + COMMAND_TOM_MESSAGE_LENGTH; i++) - printf("%x-", (unsigned char)TomData[i]); - printf("\n"); - } - - //Trigg id - j = 5; - MonrValueU8 = (unsigned char)*(TomData + j); - sprintf(TriggId, "%" PRIu8, MonrValueU8); - j++; - - //Trigg type - MonrValueU8 = (unsigned char)*(TomData + j); - sprintf(TriggAction, "%" PRIu8, MonrValueU8); - j++; - - //Delay - MonrValueU64 = 0; - for (i = 0; i <= 5; i++, j++) - MonrValueU64 = *(TomData + j) | (MonrValueU64 << 8); - sprintf(TriggDelay, "%" PRIu64, MonrValueU64); - - } - - return 0; -} - I32 ObjectControlBuildOSEMMessage(C8 * MessageBuffer, OSEMType * OSEMData, TimeType * GPSTime, C8 * Latitude, C8 * Longitude, C8 * Altitude, U8 debug) { From 694b76b77a3cfbe1adf77a7466a0f6da4624c554 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 11:15:28 +0100 Subject: [PATCH 710/730] Removed COMM_SUCCESS mq prio --- server/src/util.c | 1 - 1 file changed, 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index 119ee619e..bf1b05096 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -64,7 +64,6 @@ #define PRIO_COMM_TRCM 20 // Messages affecting state change messages #define PRIO_OBJECTS_CONNECTED 18 -#define PRIO_COMM_SUCCESS 18 #define PRIO_COMM_FAILURE 18 // State change messages #define PRIO_COMM_STRT 16 From f009c165ec0ea8473a067fb79ab65767ce9ef049 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 11:21:57 +0100 Subject: [PATCH 711/730] Removed old trigger function --- server/src/util.c | 79 ----------------------------------------------- 1 file changed, 79 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index bf1b05096..586f1479e 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -618,85 +618,6 @@ int UtilSetAdaptiveSyncPoint(AdaptiveSyncPoint * ASP, FILE * filefd, char debug) return 0; } -/* TODO: DELETE -int UtilSetTriggActions(TriggActionType *TAA, FILE *filefd, char debug) -{ - - char DataBuffer[MAX_FILE_PATH]; - char RowBuffer[MAX_FILE_PATH]; - char *ptr, *ptr1, *ptr2; - bzero(DataBuffer,MAX_FILE_PATH); - bzero(RowBuffer,MAX_FILE_PATH); - - bzero(RowBuffer, MAX_FILE_PATH); - UtilReadLineCntSpecChars(filefd, RowBuffer); - - ptr = strchr(RowBuffer, ';'); - strncpy(DataBuffer, RowBuffer, (uint64_t)ptr - (uint64_t)RowBuffer); - strncpy(TAA->TriggerIP, DataBuffer, strlen(DataBuffer)); - - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+1, ';'); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - TAA->TriggerId = (uint8_t)atoi(DataBuffer); - - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, '['); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - strncpy(TAA->TriggerType, DataBuffer, strlen(DataBuffer)); - - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, ']'); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - strncpy(TAA->TriggerTypeVar, DataBuffer, strlen(DataBuffer)); - ptr = strchr(ptr, ';'); - - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, '['); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - strncpy(TAA->ActionType, DataBuffer, strlen(DataBuffer)); - - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, ']'); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - strncpy(TAA->ActionTypeVar, DataBuffer, strlen(DataBuffer)); - ptr = strchr(ptr, ';'); - - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, '['); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - if(strstr(DataBuffer,"SEND_START") != NULL) TAA->Action = TAA_ACTION_EXT_START; - else if(strstr(DataBuffer,"TEST_SIGNAL") != NULL) TAA->Action = TAA_ACTION_TEST_SIGNAL; - - bzero(DataBuffer, strlen(DataBuffer)); - ptr1 = ptr+1; - ptr = strchr(ptr+2, ']'); - strncpy(DataBuffer, ptr1, (uint64_t)ptr - (uint64_t)ptr1); - strncpy(TAA->ActionDelay, DataBuffer, strlen(DataBuffer)); - - - if(debug) - { - LogPrint("TriggerIP: %s", TAA->TriggerIP); - LogPrint("TriggerId: %d", TAA->TriggerId); - LogPrint("TriggerType: %s", TAA->TriggerType); - LogPrint("TriggerTypeVar: %s", TAA->TriggerTypeVar); - LogPrint("ActionType: %s", TAA->ActionType); - LogPrint("ActionTypeVar: %s", TAA->ActionTypeVar); - LogPrint("Action: %d", TAA->Action); - LogPrint("ActionDelay: %s", TAA->ActionDelay); - } - - return 0; -} -*/ - void UtilSetObjectPositionIP(ObjectPosition * OP, char *IP) { strncpy(OP->IP, IP, strlen(IP)); From 3deb5515e9aa15f73d901713b718f5b54aa7077b Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 11:25:03 +0100 Subject: [PATCH 712/730] Tried reformatting section of code --- server/src/util.c | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index 586f1479e..908442833 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -874,12 +874,8 @@ int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, deltaSigma = B * sin(sigma) * (cos(sigma2m) + 0.25 * B * (cos(sigma) * (-1.0 + 2.0 * pow(cos(sigma2m), 2)) - - B / 6 * cos(sigma2m) * (-3.0 + 4.0 * pow(sin(sigma), 2.0)) * (-3.0 + - 4.0 * - pow - (cos - (sigma2m), - 2)) + B / 6 * cos(sigma2m) * (-3.0 + 4.0 * pow(sin(sigma), 2.0)) + * (-3.0 + 4.0 * pow(cos(sigma2m),2)) ) ); sigma = init_sigma + deltaSigma; From 28f11cc5001745fc0bfc0d6c97063dfb94c3417a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 11:25:48 +0100 Subject: [PATCH 713/730] Ran code formatter --- server/src/util.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index 908442833..aa6c02b1b 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -875,7 +875,7 @@ int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, B * sin(sigma) * (cos(sigma2m) + 0.25 * B * (cos(sigma) * (-1.0 + 2.0 * pow(cos(sigma2m), 2)) - B / 6 * cos(sigma2m) * (-3.0 + 4.0 * pow(sin(sigma), 2.0)) - * (-3.0 + 4.0 * pow(cos(sigma2m),2)) + * (-3.0 + 4.0 * pow(cos(sigma2m), 2)) ) ); sigma = init_sigma + deltaSigma; From 9c97ed2897e8be8d1e35b352732820a1aed6eb78 Mon Sep 17 00:00:00 2001 From: Viktor Johansson Date: Fri, 20 Dec 2019 11:26:05 +0100 Subject: [PATCH 714/730] Added a line about the Jenkins tests --- doc/release_procedure/README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/doc/release_procedure/README.md b/doc/release_procedure/README.md index dae2caa19..409657e62 100644 --- a/doc/release_procedure/README.md +++ b/doc/release_procedure/README.md @@ -14,9 +14,10 @@ A release is the process of moving code from the `dev` branch to the `master` br feature -> dev ``` Testing should be performed and documented through a lightweight protocol: -* Complete a normal test with one virtual test object +* Pass Jenkins tests +* Complete a normal manual test with one virtual test object * Complete a normal test with two virtual test objects -* Complete a aborting test with two virtual test objects +* Complete an aborting test with two virtual test objects # Release Phase From c8efa9611a2209579127cb5dd66c2784c6443098 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 12:18:58 +0100 Subject: [PATCH 715/730] Re-enabled warning printout for full MQ --- server/src/util.c | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index aa6c02b1b..b2d4ba550 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -887,8 +887,7 @@ int UtilVincentyDirect(double refLat, double refLon, double a1, double distance, pow(sin(U1) * sin(sigma) - cos(U1) * cos(sigma) * cos(a1), 2)) )); - lambda = atan2(sin(sigma) * sin(a1), cos(U1) * cos(sigma) - sin(U1) * sin(sigma) * cos(a1) - ); + lambda = atan2(sin(sigma) * sin(a1), cos(U1) * cos(sigma) - sin(U1) * sin(sigma) * cos(a1)); C = f / 16 * pow2cosa * (4 + f * (4 - 3 * pow2cosa)); @@ -2004,7 +2003,7 @@ int iCommSend(const enum COMMAND iCommand, const char *cpData, size_t dataLength case MQBUS_OK: return 0; case MQBUS_MQ_FULL: - //LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); + LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); return 1; case MQBUS_INVALID_INPUT_ARGUMENT: LogMessage(LOG_LEVEL_WARNING, "Invalid message queue message length"); From 6afef4abb843ccd58bac6c7ee2886f8dc31f6f28 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 12:25:29 +0100 Subject: [PATCH 716/730] Made a 2norm function use z as well as x and y --- server/src/util.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/server/src/util.c b/server/src/util.c index b2d4ba550..7600014b5 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -4002,10 +4002,12 @@ double UtilGetDistance(double th1, double ph1, double th2, double ph2) { * \brief UtilCoordinateDistance calculates the distance between two cordinates using distance formula. * \param x1 x of first coordinate * \param y1 y of first coordinate + * \param z1 z of first coordinate * \param x2 x of second coordinate * \param y2 y of second coordinate + * \param z2 z of second coordinate * \return Distance */ -float UtilCoordinateDistance(float x1, float y1, float x2, float y2) { - return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2) * 1.0); +float UtilCoordinateDistance(float x1, float y1, float z1, float x2, float y2, float z2) { + return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2) + pow(z2 - z1, 2)); } From e3114c62c13e3dc4d689acacba8364ef77804cda Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 12:26:19 +0100 Subject: [PATCH 717/730] Ran code formatter --- server/src/util.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/server/src/util.c b/server/src/util.c index 7600014b5..9ce4dbb64 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -2003,7 +2003,9 @@ int iCommSend(const enum COMMAND iCommand, const char *cpData, size_t dataLength case MQBUS_OK: return 0; case MQBUS_MQ_FULL: - LogMessage(LOG_LEVEL_WARNING, "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, cpData); + LogMessage(LOG_LEVEL_WARNING, + "Attempted to write to full message queue - message may be lost: <%d><%s>", iCommand, + cpData); return 1; case MQBUS_INVALID_INPUT_ARGUMENT: LogMessage(LOG_LEVEL_WARNING, "Invalid message queue message length"); From c37051792035e0ecdf7a6bf1c0a862bb612d962f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 13:01:53 +0100 Subject: [PATCH 718/730] Made Visualisation buildable again --- modules/Visualization/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/Visualization/CMakeLists.txt b/modules/Visualization/CMakeLists.txt index 538c8f749..332f31024 100644 --- a/modules/Visualization/CMakeLists.txt +++ b/modules/Visualization/CMakeLists.txt @@ -40,7 +40,7 @@ add_executable(Visualization install(TARGETS Visualization DESTINATION bin) target_link_libraries(Visualization MaestroTime MaestroLogging util) -target_link_libraries(util MQBus MaestroLogging) +target_link_libraries(util MQBus MaestroLogging MaestroTime) target_link_libraries(MQBus rt m) From 3c89732cb92e9c7938dc67b6caf925ecbe8688a2 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 13:16:43 +0100 Subject: [PATCH 719/730] Added some todos --- modules/Visualization/src/main.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/modules/Visualization/src/main.c b/modules/Visualization/src/main.c index e7301475e..9bb2f52c5 100644 --- a/modules/Visualization/src/main.c +++ b/modules/Visualization/src/main.c @@ -79,7 +79,9 @@ int main() { // Ignore old style MONR data break; case COMM_MONR: - LogMessage(LOG_LEVEL_INFO, "got MONR.\n"); + // TODO: Call util function to fill MonitorDataType struct + // TODO: Convert to temporary visualisation protocol - implement this function in this main.c + // ((TODO define this protocol clearly - leave this for now)) UtilSendUDPData("Visualization", &visual_server, &visual_server_addr, busReceiveBuffer, sizeof (busReceiveBuffer), 0); break; From 742718df1b293dadcd0501684bc1cfafab5ff493 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 13:27:10 +0100 Subject: [PATCH 720/730] Replaced DOTM with TRAJ --- server/src/objectcontrol.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 399aa92d8..21a426394 100644 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -916,7 +916,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { UtilSendTCPData("Object Control", MessageBuffer, MessageLength, &socket_fds[iIndex], 0); - /*Here we send DOTM, if the IP-address not is found */ + /*Here we send TRAJ, if the IP-address not is found */ if (strstr(DTMReceivers, object_address_name[iIndex]) == NULL) { fd = fopen(object_traj_file[iIndex], "r"); @@ -931,7 +931,7 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { UtilReadLineCntSpecChars(fd, FileHeaderBufferC8); fclose(fd); - /*DOTM*/ + /*TRAJ*/ MessageLength = ObjectControlBuildTRAJMessageHeader(TrajBuffer, &RowCount, &HeaderData, @@ -941,11 +941,11 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { //printf("RowCount: %d\n", RowCount); - /*Send DOTM header */ + /*Send TRAJ header */ UtilSendTCPData("Object Control", TrajBuffer, MessageLength, &socket_fds[iIndex], 0); - /*Send DOTM data */ + /*Send TRAJ data */ ObjectControlSendTRAJMessage(object_traj_file[iIndex], &socket_fds[iIndex], RowCount, (char *)&object_address_name[iIndex], From 389bc81b9761f389080b8123ef8eeea1cea2fb07 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 20 Dec 2019 13:32:56 +0100 Subject: [PATCH 721/730] Deleted unused util function --- server/inc/util.h | 1 - 1 file changed, 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 12a015aec..1f43ce8c5 100644 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -868,7 +868,6 @@ int UtilSetMasterObject(ObjectPosition *OP, char *Filename, char debug); int UtilSetSlaveObject(ObjectPosition *OP, char *Filename, char debug); int UtilSetAdaptiveSyncPoint(AdaptiveSyncPoint *ASP, FILE *filefd, char debug); void UtilSetObjectPositionIP(ObjectPosition *OP, char *IP); -//int UtilSetTriggActions(TriggActionType *TAA, FILE *filefd, char debug); // TODO DELETE void llhToXyz(double lat, double lon, double height, double *x, double *y, double *z); void enuToLlh(const double *iLlh, const double *xyz, double *llh); From 1d9958b0a3a9952afd88c9be8ce17660c4eed62f Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 Jan 2020 16:05:48 +0100 Subject: [PATCH 722/730] Implemented util functions for converting MQ MONR data to readable format --- server/inc/util.h | 6 ++- server/src/util.c | 94 ++++++++++++++++++++++++++++++++++++++++++++--- 2 files changed, 93 insertions(+), 7 deletions(-) diff --git a/server/inc/util.h b/server/inc/util.h index 1f43ce8c5..c2b97659b 100644 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -32,6 +32,7 @@ extern "C"{ #include #include "mqbus.h" #include "iso22133.h" +#include "logging.h" /*------------------------------------------------------------ -- Defines @@ -195,7 +196,7 @@ extern "C"{ // The do - while loop makes sure that each function call is properly handled using macros #define LOG_SEND(buf, ...) \ - do {sprintf(buf,__VA_ARGS__);iCommSend(COMM_LOG,buf,strlen(buf)+1);printf("%s\n",buf);fflush(stdout);} while (0) + do {sprintf(buf,__VA_ARGS__);iCommSend(COMM_LOG,buf,strlen(buf)+1);LogMessage(LOG_LEVEL_INFO,buf);fflush(stdout);} while (0) #define GetCurrentDir getcwd #define MAX_PATH_LENGTH 255 @@ -237,7 +238,6 @@ enum COMMAND COMM_STRT = 1, COMM_ARM = 2, COMM_STOP = 3, -COMM_MONI = 4, COMM_EXIT = 5, COMM_REPLAY = 6, COMM_CONTROL = 7, @@ -838,6 +838,8 @@ int UtilCheckTrajectoryFileFormat(const char *path, size_t pathLen); // CartesianPosition MONRToCartesianPosition(MonitorDataType MONR); +int UtilMonitorDataToString(MonitorDataType monrData, char* monrString, size_t stringLength); +int UtilStringToMonitorData(const char* monrString, size_t stringLength, MonitorDataType * monrData); uint8_t UtilIsPositionNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_m); uint8_t UtilIsAngleNearTarget(CartesianPosition position, CartesianPosition target, double tolerance_deg); double UtilCalcPositionDelta(double P1Lat, double P1Long, double P2Lat, double P2Long, ObjectPosition *OP); diff --git a/server/src/util.c b/server/src/util.c index 9ce4dbb64..8a69edc78 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -25,9 +25,9 @@ #include #include #include +#include #include "util.h" -#include "logging.h" #include "maestroTime.h" #include "datadictionary.h" @@ -90,7 +90,6 @@ // Server exit message #define PRIO_COMM_EXIT 3 // Monitoring messages -#define PRIO_COMM_MONI 0 #define PRIO_COMM_MONR 0 /*------------------------------------------------------------ @@ -709,6 +708,94 @@ CartesianPosition MONRToCartesianPosition(MonitorDataType MONR) { return retval; } +/*! + * \brief UtilMonitorDataToString Converts the data from a message queue monitor data struct into ASCII format + * \param monrData Struct containing relevant monitor data + * \param monrString String in which converted data is to be placed + * \param stringLength Length of string in which converted data is to be placed + * \return 0 upon success, -1 otherwise + */ +int UtilMonitorDataToString(MonitorDataType monrData, char* monrString, size_t stringLength) { + memset(monrString, 0, stringLength); + inet_ntop(AF_INET, &monrData.ClientIP, monrString, (stringLength > UINT_MAX) ? UINT_MAX : (socklen_t)stringLength); + strcat(monrString, ";0;"); + sprintf(monrString + strlen(monrString), "%u;", + monrData.MONR.GPSQmsOfWeekU32); + sprintf(monrString + strlen(monrString), "%d;%d;%d;%u;", + monrData.MONR.XPositionI32, monrData.MONR.YPositionI32, monrData.MONR.ZPositionI32, monrData.MONR.HeadingU16); + sprintf(monrString + strlen(monrString), "%d;%d;%d;%d;", + monrData.MONR.LongitudinalSpeedI16, monrData.MONR.LateralSpeedI16, + monrData.MONR.LongitudinalAccI16, monrData.MONR.LateralAccI16); + sprintf(monrString + strlen(monrString), "%u;%u;%u;%u;", + monrData.MONR.DriveDirectionU8, monrData.MONR.StateU8, + monrData.MONR.ReadyToArmU8, monrData.MONR.ErrorStatusU8); + return 0; +} + +/*! + * \brief UtilStringToMonitorData Converts the data from an ASCII string into a message queue monitor data struct + * \param monrString String in which converted data is to be placed + * \param stringLength Length of string in which converted data is to be placed + * \param monrData Struct containing relevant monitor data + * \return 0 upon success, -1 otherwise + */ +int UtilStringToMonitorData(const char* monrString, size_t stringLength, MonitorDataType * monrData) { + const char* token; + const char delim[] = ";"; + const int NumberBaseDecimal = 10; + struct in_addr addr; + + token = strtok(monrString, delim); + + // IP address + inet_pton(AF_INET, token, &addr); + monrData->ClientIP = addr.s_addr; + + // Skip the 0 + token = strtok(NULL, delim); + + // MONR data + token = strtok(NULL, delim); + monrData->MONR.GPSQmsOfWeekU32 = (U32)strtoul(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.XPositionI32 = (I32)strtol(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.YPositionI32 = (I32)strtol(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.ZPositionI32 = (I32)strtol(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.HeadingU16 = (U16)strtoul(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.LongitudinalSpeedI16 = (I16)strtol(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.LateralSpeedI16 = (I16)strtol(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.LongitudinalAccI16 = (I16)strtol(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.LateralAccI16 = (I16)strtol(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.DriveDirectionU8 = (U8)strtoul(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.StateU8 = (U8)strtoul(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.ReadyToArmU8 = (U8)strtoul(token, NULL, NumberBaseDecimal); + + token = strtok(NULL, delim); + monrData->MONR.ErrorStatusU8 = (U8)strtoul(token, NULL, NumberBaseDecimal); + return 0; +} + /*! * \brief UtilIsPositionNearTarget Checks if position lies within or on a sphere with radius equal to tolerance_m * and centre at target. @@ -1911,9 +1998,6 @@ int iCommSend(const enum COMMAND iCommand, const char *cpData, size_t dataLength case COMM_STOP: uiMessagePrio = PRIO_COMM_STOP; break; - case COMM_MONI: - uiMessagePrio = PRIO_COMM_MONI; - break; case COMM_MONR: uiMessagePrio = PRIO_COMM_MONR; break; From fb98fd6309eb7379fa264fb59ac4e190a65ee84a Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 Jan 2020 16:06:24 +0100 Subject: [PATCH 723/730] Disabled logger replay function since it is currently very out of date and would not function --- server/src/logger.c | 83 +++++++++------------------------------------ 1 file changed, 16 insertions(+), 67 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index 26c68dbb0..f112290cb 100644 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -181,37 +181,6 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { LogMessage(LOG_LEVEL_WARNING, "Received command %u while log uninitialized", command); break; - case COMM_MONI: - LogMessage(LOG_LEVEL_DEBUG, "Disregarding old MONR data"); - /* TODO: Delete this (superseded by COMM_MONR) - filefd = fopen(pcLogFile, ACCESS_MODE_APPEND_AND_READ); - - strcpy(subStrings,busReceiveBuffer); - - char* GPSSecondOfWeek = strtok(subStrings, ";"); - - int counter = 0; - while (GPSSecondOfWeek != NULL && counter < 2) // Get GPS second of week - { - //printf("%s\n", token); - GPSSecondOfWeek = strtok(NULL, ";"); - counter++; - } - - TimeSetToGPStime(&time, (uint16_t)GPSweek, (uint32_t)(atoi(GPSSecondOfWeek)*4)); - - bzero(DateBuffer, sizeof(DateBuffer)); - TimeGetAsDateTime(&recvTime, "%Y;%m;%d;%H;%M;%S;%q", DateBuffer, sizeof(DateBuffer)); - - bzero(pcBuffer, sizeof(pcBuffer)); - sprintf (pcBuffer, "%s;%ld;%ld;%d;%s\n", DateBuffer, TimeGetAsUTCms(&time), TimeGetAsGPSms(&time), command, busReceiveBuffer); - - (void)fwrite(pcBuffer,1,strlen(pcBuffer),filefd); - - fclose(filefd); - */ - break; - case COMM_OSEM: strcpy(subStrings, busReceiveBuffer); @@ -237,6 +206,12 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { break; case COMM_REPLAY: + // This function was not kept up to date and some work must be done to make it work again + LogMessage(LOG_LEVEL_WARNING, "Replay function out of date"); + if (iCommSend(COMM_CONTROL, NULL, 0) < 0) + util_error("Communication error - exiting"); + break; + LoggerExecutionMode = LOG_REPLAY_MODE; LogMessage(LOG_LEVEL_INFO, "Logger in REPLAY mode <%s>", busReceiveBuffer); @@ -247,9 +222,8 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { replayfd = fopen(busReceiveBuffer, ACCESS_MODE_READ); LogMessage(LOG_LEVEL_INFO, "Rows: %d", RowCount);; if (replayfd) { - UtilReadLineCntSpecChars(replayfd, pcReadBuffer); //Just read first line + UtilReadLineCntSpecChars(replayfd, pcReadBuffer); // Just read first line and ignore it int SpecChars = 0, j = 0; - char TimestampBuffer[TIMESTAMP_BUFFER_LENGTH]; int FirstIteration = 1; //char *src; @@ -260,15 +234,9 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { j++; if (SpecChars == SPECIFIC_CHAR_THRESHOLD_COUNT) { - /* Read to second ';' in row = 418571059920: 3 1;0;418571059920;577776566;127813082;0;0;3600;0; */ - src = strchr(pcReadBuffer, ';'); - src = strchr(src + 1, ';'); - - /* Get the current timestamp */ - bzero(TimestampBuffer, TIMESTAMP_BUFFER_LENGTH); - strncpy(TimestampBuffer, src + 1, - (uint64_t) strchr(src + 1, ';') - (uint64_t) strchr(src, ';') - 1); - NewTimestamp = atol(TimestampBuffer); + MonitorDataType monrData; + UtilStringToMonitorData(pcReadBuffer, sizeof (pcReadBuffer), &monrData); + NewTimestamp = monrData.MONR.GPSQmsOfWeekU32; if (!FirstIteration) { /* Wait a little bit */ sleep_time.tv_sec = 0; @@ -278,32 +246,13 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { else OldTimestamp = NewTimestamp; - //printf("Wait time : %ld ms\n", NewTimestamp - OldTimestamp); - //printf("Timestamp: %s\n", TimestampBuffer); - /* Build the message */ - /* Read to second ' ' in row = 418571059920: 3 1;0;418571059920;577776566;127813082;0;0;3600;0; */ - src = strchr(pcReadBuffer, ' '); - src = strchr(src + 1, ' '); - bzero(busSendBuffer, sizeof (busSendBuffer)); - //strcpy(busSendBuffer, "MONR;"); - strcat(busSendBuffer, src + 1); - if (iCommSend(COMM_MONI, busSendBuffer, strlen(busSendBuffer) + 1) < 0) - util_error("Communication error - exiting"); + // TODO: Convert monrData to binary form + //if (iCommSend(COMM_MONR, , ) < 0) + // util_error("Communication error - exiting"); FirstIteration = 0; OldTimestamp = NewTimestamp; - }; - LogMessage(LOG_LEVEL_INFO, "%d:%d:%d<%s>", RowCount, j, SpecChars, busSendBuffer); - - /* - bzero(TimeStampUTCBufferRecv,MQ_ETSI_LENGTH); - (void)iCommRecv(&iCommand,busReceiveBuffer,MQ_MAX_MESSAGE_LENGTH,TimeStampUTCBufferRecv); - - if(iCommand == COMM_STOP) - { - printf("Replay stopped by user.\n"); - (void)iCommSend(COMM_CONTROL, NULL); - } */ + } } while (--RowCount >= 0); @@ -549,8 +498,8 @@ void vInitializeLog(char *logFilePath, unsigned int filePathLength, char *csvLog (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); bzero(pcBuffer, sizeof (pcBuffer)); sprintf(pcBuffer, - "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONI%d\nCOMM_MONR%d\nCOMM_EXIT:%d\nCOMM_ARM:%d\nCOMM_DISARM:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n", - COMM_STRT, COMM_STOP, COMM_MONI, COMM_MONR, COMM_EXIT, COMM_ARM, COMM_DISARM, COMM_REPLAY, + "Command message nr:\nCOMM_START:%d\nCOMM_STOP:%d\nCOMM_MONR:%d\nCOMM_EXIT:%d\nCOMM_ARM:%d\nCOMM_DISARM:%d\nCOMM_REPLAY:%d\nCOMM_CONTROL:%d\nCOMM_ABORT:%d\nCOMM_INIT:%d\nCOMM_CONNECT:%d\nCOMM_OBC_STATE:%d\nCOMM_DISCONNECT:%d\nCOMM_LOG:%d\nCOMM_VIOP:%d\nCOMM_INV:%d\n------------------------------------------\n Log start\n------------------------------------------\n", + COMM_STRT, COMM_STOP, COMM_MONR, COMM_EXIT, COMM_ARM, COMM_DISARM, COMM_REPLAY, COMM_CONTROL, COMM_ABORT, COMM_INIT, COMM_CONNECT, COMM_OBC_STATE, COMM_DISCONNECT, COMM_LOG, COMM_VIOP, COMM_INV); (void)fwrite(pcBuffer, 1, strlen(pcBuffer), filefd); From 9fba83f7761bd50bda22bffe3d805420445218aa Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 Jan 2020 16:07:01 +0100 Subject: [PATCH 724/730] Made system control and object control stop using COMM_MONI --- server/src/objectcontrol.c | 36 +++++++++++++++++++++++------------- server/src/systemcontrol.c | 34 ++++++++++++++++++---------------- 2 files changed, 41 insertions(+), 29 deletions(-) diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 21a426394..3aabd9ad3 100644 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -542,18 +542,6 @@ void objectcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { strcat(buffer, ";"); } - LogMessage(LOG_LEVEL_DEBUG, "Sending MONR message: %s", buffer); - - if (ObjectcontrolExecutionMode == OBJECT_CONTROL_CONTROL_MODE) { - // Send MONR message on old (ASCII) format - if (iCommSend(COMM_MONI, buffer, strlen(buffer)) < 0) { - LogMessage(LOG_LEVEL_ERROR, - "Fatal communication fault when sending MONI command - entering error state"); - vSetState(OBC_STATE_ERROR, GSD); - ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT; - } - } - //Ok, let's do the ASP for (i = 0; i < SyncPointCount; i++) { if (TEST_SYNC_POINTS == 0 @@ -2016,6 +2004,20 @@ I32 ObjectControlSendTRAJMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * DOTMType * DOTMData, U8 debug) { FILE *fd; + // Save socket settings and set it to blocking + int retval = fcntl(*Socket, F_GETFL); + if (retval < 0) { + LogMessage(LOG_LEVEL_ERROR, "Error getting socket options with fcntl"); + return -1; + } + int socketOptions = retval; + retval = fcntl(*Socket, F_SETFL, socketOptions & ~O_NONBLOCK); + if (retval < 0) { + LogMessage(LOG_LEVEL_ERROR, "Error setting socket options with fcntl"); + return -1; + } + + fd = fopen(Filename, "r"); if (fd == NULL) { LogMessage(LOG_LEVEL_ERROR, "Unable to open file <%s>", Filename); @@ -2029,6 +2031,7 @@ I32 ObjectControlSendTRAJMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * Rest = RowCount % COMMAND_DOTM_ROWS_IN_TRANSMISSION; U16 CrcU16 = 0; + for (i = 0; i < Transmissions; i++) { MessageLength = ObjectControlBuildTRAJMessage(TrajBuffer, fd, COMMAND_DOTM_ROWS_IN_TRANSMISSION, DOTMData, debug); @@ -2061,9 +2064,16 @@ I32 ObjectControlSendTRAJMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * } LogMessage(LOG_LEVEL_INFO, "%d DOTM bytes sent to %s:%d", SumMessageLength, IP, Port); - fclose(fd); + // Reset socket settings + retval = fcntl(*Socket, F_SETFL, socketOptions); + if (retval < 0) { + LogMessage(LOG_LEVEL_ERROR, "Error setting socket options with fcntl"); + return -1; + } + + return 0; } diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 066818a69..166517d64 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -185,7 +185,7 @@ I32 SystemControlBuildRVSSTimeChannelMessage(C8 * RVSSData, U32 * RVSSDataLength I32 SystemControlBuildRVSSMaestroChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, GSDType * GSD, U8 SysCtrlState, U8 Debug); I32 SystemControlBuildRVSSAspChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, U8 Debug); -I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, C8 * MonrData, U8 Debug); +I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, MonitorDataType MonrData, U8 Debug); static C8 SystemControlVerifyHostAddress(char *ip); static void signalHandler(int signo); @@ -208,6 +208,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { struct sockaddr_in RVSSChannelAddr; struct in_addr ip_addr; I32 RVSSChannelSocket; + MonitorDataType monrData; ServerState_t server_state = SERVER_STATE_UNDEFINED; OBCState_t objectControlState = OBC_STATE_UNDEFINED; @@ -224,6 +225,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { char *StartPtr, *StopPtr, *CmdPtr, *OpeningQuotationMarkPtr, *ClosingQuotationMarkPtr, *StringPos; struct timespec tTime; enum COMMAND iCommand; + ssize_t bytesReceived = 0; char pcRecvBuffer[SC_RECV_MESSAGE_BUFFER]; char ObjectIP[SMALL_BUFFER_SIZE_16]; char ObjectPort[SMALL_BUFFER_SIZE_6]; @@ -530,7 +532,7 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { } bzero(pcRecvBuffer, SC_RECV_MESSAGE_BUFFER); - iCommRecv(&iCommand, pcRecvBuffer, SC_RECV_MESSAGE_BUFFER, NULL); + bytesReceived = iCommRecv(&iCommand, pcRecvBuffer, SC_RECV_MESSAGE_BUFFER, NULL); switch (iCommand) { case COMM_FAILURE: @@ -562,16 +564,12 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { break; case COMM_MONR: // TODO: Decode - break; - case COMM_MONI: - if (RVSSChannelSocket != 0) { - //printf("Monr sys %s\n", pcRecvBuffer); - if (RVSSConfigU32 & RVSS_MONR_CHANNEL) { - SystemControlBuildRVSSMONRChannelMessage(RVSSData, &RVSSMessageLengthU32, pcRecvBuffer, - 0); - UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, - RVSSMessageLengthU32, 0); - } + if (RVSSChannelSocket != 0 && RVSSConfigU32 & RVSS_MONR_CHANNEL && bytesReceived >= 0) { + UtilPopulateMonitorDataStruct(pcRecvBuffer, (size_t)bytesReceived, &monrData, 0); + SystemControlBuildRVSSMONRChannelMessage(RVSSData, &RVSSMessageLengthU32, monrData, + 0); + UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, + RVSSMessageLengthU32, 0); } break; case COMM_INV: @@ -2297,7 +2295,7 @@ I32 SystemControlBuildRVSSMaestroChannelMessage(C8 * RVSSData, U32 * RVSSDataLen - +#define MAX_MONR_STRING_LENGTH 116 /* SystemControlBuildRVSSMONRChannelMessage builds a message from data in *MonrData. The message is stored in *RVSSData. See the architecture document for the protocol of RVSS. @@ -2308,10 +2306,14 @@ See the architecture document for the protocol of RVSS. - Debug enable(1)/disable(0) debug printouts (Not used) */ -I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, C8 * MonrData, U8 Debug) { +I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, MonitorDataType MonrData, U8 Debug) { I32 MessageLength = 0; + char MonrDataString[MAX_MONR_STRING_LENGTH]; + + // TODO: Convert MonrData to string + UtilMonitorDataToString(MonrData, MonrDataString, sizeof (MonrDataString)); - MessageLength = strlen(MonrData) + 8; + MessageLength = strlen(MonrDataString) + 8; bzero(RVSSData, MessageLength); *RVSSDataLengthU32 = MessageLength; @@ -2320,7 +2322,7 @@ I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLength *(RVSSData + 2) = (C8) (MessageLength >> 8); *(RVSSData + 3) = (C8) (MessageLength); *(RVSSData + 7) = (C8) (RVSS_MONR_CHANNEL); - strcat(RVSSData + 8, MonrData); + strcat(RVSSData + 8, MonrDataString); if (Debug) { From bef387b624abd11853a9e8005cedb804620ff21e Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 Jan 2020 16:19:30 +0100 Subject: [PATCH 725/730] Added 15 minute timeout to entire Jenkins pipeline --- Jenkinsfile | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 6b5bb5405..71c65f554 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,7 +1,10 @@ pipeline { agent any - + + options { + timeout(time: 15, unit: 'MINUTES') + } stages { stage('Build') { steps { From 2782043d2007462c36deb2d71dfa4ecaa61a9ca5 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 Jan 2020 16:28:19 +0100 Subject: [PATCH 726/730] Made scenario control stop accepting COMM_MONI --- modules/ScenarioControl/src/main.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/modules/ScenarioControl/src/main.cpp b/modules/ScenarioControl/src/main.cpp index e4fa26988..821dc8be1 100644 --- a/modules/ScenarioControl/src/main.cpp +++ b/modules/ScenarioControl/src/main.cpp @@ -129,10 +129,7 @@ int main() // Update triggers UtilPopulateMonitorDataStruct(reinterpret_cast(mqRecvData), sizeof(mqRecvData), &monr, 0); scenario.updateTrigger(monr); - break; - case COMM_MONI: - // Ignore - break; + break; case COMM_DISCONNECT: LogMessage(LOG_LEVEL_INFO,"Received disconnect command"); state = UNINITIALIZED; From e887bd6c04bd6da40db07b47a1b35b6ba8642c31 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Thu, 9 Jan 2020 16:29:18 +0100 Subject: [PATCH 727/730] Made supervision stop accepting COMM_MONI --- modules/Supervision/src/main.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/modules/Supervision/src/main.cpp b/modules/Supervision/src/main.cpp index 849b9b0ab..98e0183fd 100644 --- a/modules/Supervision/src/main.cpp +++ b/modules/Supervision/src/main.cpp @@ -105,10 +105,7 @@ int main() case COMM_OSEM: // TODO: check so that OSEM is not null island? - break; - case COMM_MONI: - // Ignore old style MONR data - break; + break; case COMM_MONR: MonitorDataType MONRMessage; UtilPopulateMonitorDataStruct((unsigned char *)mqRecvData, sizeof (mqRecvData), &MONRMessage, 0); From 6b7a1dc616119290e148f78efb08e864d5e58416 Mon Sep 17 00:00:00 2001 From: Jesper Blidkvist Date: Fri, 10 Jan 2020 09:36:26 +0100 Subject: [PATCH 728/730] Updated release number for master release Pls double check if 1 comes after 0 --- server/inc/util.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/inc/util.h b/server/inc/util.h index 1f43ce8c5..a28f865f7 100644 --- a/server/inc/util.h +++ b/server/inc/util.h @@ -36,7 +36,7 @@ extern "C"{ /*------------------------------------------------------------ -- Defines ------------------------------------------------------------*/ -#define MaestroVersion "0.4.0" +#define MaestroVersion "0.4.1" #define ISO_PROTOCOL_VERSION 2 #define ACK_REQ 0 From f86a2e2e833b72ae8ae3e0dc58768c2b6896c385 Mon Sep 17 00:00:00 2001 From: Lukas Wikander Date: Fri, 10 Jan 2020 09:36:38 +0100 Subject: [PATCH 729/730] Ran code formatter --- server/src/logger.c | 3 ++- server/src/objectcontrol.c | 2 ++ server/src/systemcontrol.c | 11 ++++---- server/src/util.c | 51 +++++++++++++++++++------------------- 4 files changed, 35 insertions(+), 32 deletions(-) diff --git a/server/src/logger.c b/server/src/logger.c index f112290cb..01c6f4612 100644 --- a/server/src/logger.c +++ b/server/src/logger.c @@ -235,6 +235,7 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { j++; if (SpecChars == SPECIFIC_CHAR_THRESHOLD_COUNT) { MonitorDataType monrData; + UtilStringToMonitorData(pcReadBuffer, sizeof (pcReadBuffer), &monrData); NewTimestamp = monrData.MONR.GPSQmsOfWeekU32; @@ -248,7 +249,7 @@ void logger_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { // TODO: Convert monrData to binary form //if (iCommSend(COMM_MONR, , ) < 0) - // util_error("Communication error - exiting"); + // util_error("Communication error - exiting"); FirstIteration = 0; OldTimestamp = NewTimestamp; diff --git a/server/src/objectcontrol.c b/server/src/objectcontrol.c index 3aabd9ad3..87542be21 100644 --- a/server/src/objectcontrol.c +++ b/server/src/objectcontrol.c @@ -2006,11 +2006,13 @@ I32 ObjectControlSendTRAJMessage(C8 * Filename, I32 * Socket, I32 RowCount, C8 * // Save socket settings and set it to blocking int retval = fcntl(*Socket, F_GETFL); + if (retval < 0) { LogMessage(LOG_LEVEL_ERROR, "Error getting socket options with fcntl"); return -1; } int socketOptions = retval; + retval = fcntl(*Socket, F_SETFL, socketOptions & ~O_NONBLOCK); if (retval < 0) { LogMessage(LOG_LEVEL_ERROR, "Error setting socket options with fcntl"); diff --git a/server/src/systemcontrol.c b/server/src/systemcontrol.c index 166517d64..68adcba69 100644 --- a/server/src/systemcontrol.c +++ b/server/src/systemcontrol.c @@ -185,7 +185,8 @@ I32 SystemControlBuildRVSSTimeChannelMessage(C8 * RVSSData, U32 * RVSSDataLength I32 SystemControlBuildRVSSMaestroChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, GSDType * GSD, U8 SysCtrlState, U8 Debug); I32 SystemControlBuildRVSSAspChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, U8 Debug); -I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, MonitorDataType MonrData, U8 Debug); +I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, MonitorDataType MonrData, + U8 Debug); static C8 SystemControlVerifyHostAddress(char *ip); static void signalHandler(int signo); @@ -565,9 +566,8 @@ void systemcontrol_task(TimeType * GPSTime, GSDType * GSD, LOG_LEVEL logLevel) { case COMM_MONR: // TODO: Decode if (RVSSChannelSocket != 0 && RVSSConfigU32 & RVSS_MONR_CHANNEL && bytesReceived >= 0) { - UtilPopulateMonitorDataStruct(pcRecvBuffer, (size_t)bytesReceived, &monrData, 0); - SystemControlBuildRVSSMONRChannelMessage(RVSSData, &RVSSMessageLengthU32, monrData, - 0); + UtilPopulateMonitorDataStruct(pcRecvBuffer, (size_t) bytesReceived, &monrData, 0); + SystemControlBuildRVSSMONRChannelMessage(RVSSData, &RVSSMessageLengthU32, monrData, 0); UtilSendUDPData("SystemControl", &RVSSChannelSocket, &RVSSChannelAddr, RVSSData, RVSSMessageLengthU32, 0); } @@ -2306,7 +2306,8 @@ See the architecture document for the protocol of RVSS. - Debug enable(1)/disable(0) debug printouts (Not used) */ -I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, MonitorDataType MonrData, U8 Debug) { +I32 SystemControlBuildRVSSMONRChannelMessage(C8 * RVSSData, U32 * RVSSDataLengthU32, MonitorDataType MonrData, + U8 Debug) { I32 MessageLength = 0; char MonrDataString[MAX_MONR_STRING_LENGTH]; diff --git a/server/src/util.c b/server/src/util.c index 8a69edc78..ed2634a18 100644 --- a/server/src/util.c +++ b/server/src/util.c @@ -715,20 +715,19 @@ CartesianPosition MONRToCartesianPosition(MonitorDataType MONR) { * \param stringLength Length of string in which converted data is to be placed * \return 0 upon success, -1 otherwise */ -int UtilMonitorDataToString(MonitorDataType monrData, char* monrString, size_t stringLength) { +int UtilMonitorDataToString(MonitorDataType monrData, char *monrString, size_t stringLength) { memset(monrString, 0, stringLength); - inet_ntop(AF_INET, &monrData.ClientIP, monrString, (stringLength > UINT_MAX) ? UINT_MAX : (socklen_t)stringLength); + inet_ntop(AF_INET, &monrData.ClientIP, monrString, + (stringLength > UINT_MAX) ? UINT_MAX : (socklen_t) stringLength); strcat(monrString, ";0;"); - sprintf(monrString + strlen(monrString), "%u;", - monrData.MONR.GPSQmsOfWeekU32); + sprintf(monrString + strlen(monrString), "%u;", monrData.MONR.GPSQmsOfWeekU32); sprintf(monrString + strlen(monrString), "%d;%d;%d;%u;", - monrData.MONR.XPositionI32, monrData.MONR.YPositionI32, monrData.MONR.ZPositionI32, monrData.MONR.HeadingU16); - sprintf(monrString + strlen(monrString), "%d;%d;%d;%d;", - monrData.MONR.LongitudinalSpeedI16, monrData.MONR.LateralSpeedI16, - monrData.MONR.LongitudinalAccI16, monrData.MONR.LateralAccI16); - sprintf(monrString + strlen(monrString), "%u;%u;%u;%u;", - monrData.MONR.DriveDirectionU8, monrData.MONR.StateU8, - monrData.MONR.ReadyToArmU8, monrData.MONR.ErrorStatusU8); + monrData.MONR.XPositionI32, monrData.MONR.YPositionI32, monrData.MONR.ZPositionI32, + monrData.MONR.HeadingU16); + sprintf(monrString + strlen(monrString), "%d;%d;%d;%d;", monrData.MONR.LongitudinalSpeedI16, + monrData.MONR.LateralSpeedI16, monrData.MONR.LongitudinalAccI16, monrData.MONR.LateralAccI16); + sprintf(monrString + strlen(monrString), "%u;%u;%u;%u;", monrData.MONR.DriveDirectionU8, + monrData.MONR.StateU8, monrData.MONR.ReadyToArmU8, monrData.MONR.ErrorStatusU8); return 0; } @@ -739,8 +738,8 @@ int UtilMonitorDataToString(MonitorDataType monrData, char* monrString, size_t s * \param monrData Struct containing relevant monitor data * \return 0 upon success, -1 otherwise */ -int UtilStringToMonitorData(const char* monrString, size_t stringLength, MonitorDataType * monrData) { - const char* token; +int UtilStringToMonitorData(const char *monrString, size_t stringLength, MonitorDataType * monrData) { + const char *token; const char delim[] = ";"; const int NumberBaseDecimal = 10; struct in_addr addr; @@ -756,43 +755,43 @@ int UtilStringToMonitorData(const char* monrString, size_t stringLength, Monitor // MONR data token = strtok(NULL, delim); - monrData->MONR.GPSQmsOfWeekU32 = (U32)strtoul(token, NULL, NumberBaseDecimal); + monrData->MONR.GPSQmsOfWeekU32 = (U32) strtoul(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.XPositionI32 = (I32)strtol(token, NULL, NumberBaseDecimal); + monrData->MONR.XPositionI32 = (I32) strtol(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.YPositionI32 = (I32)strtol(token, NULL, NumberBaseDecimal); + monrData->MONR.YPositionI32 = (I32) strtol(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.ZPositionI32 = (I32)strtol(token, NULL, NumberBaseDecimal); + monrData->MONR.ZPositionI32 = (I32) strtol(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.HeadingU16 = (U16)strtoul(token, NULL, NumberBaseDecimal); + monrData->MONR.HeadingU16 = (U16) strtoul(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.LongitudinalSpeedI16 = (I16)strtol(token, NULL, NumberBaseDecimal); + monrData->MONR.LongitudinalSpeedI16 = (I16) strtol(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.LateralSpeedI16 = (I16)strtol(token, NULL, NumberBaseDecimal); + monrData->MONR.LateralSpeedI16 = (I16) strtol(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.LongitudinalAccI16 = (I16)strtol(token, NULL, NumberBaseDecimal); + monrData->MONR.LongitudinalAccI16 = (I16) strtol(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.LateralAccI16 = (I16)strtol(token, NULL, NumberBaseDecimal); + monrData->MONR.LateralAccI16 = (I16) strtol(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.DriveDirectionU8 = (U8)strtoul(token, NULL, NumberBaseDecimal); + monrData->MONR.DriveDirectionU8 = (U8) strtoul(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.StateU8 = (U8)strtoul(token, NULL, NumberBaseDecimal); + monrData->MONR.StateU8 = (U8) strtoul(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.ReadyToArmU8 = (U8)strtoul(token, NULL, NumberBaseDecimal); + monrData->MONR.ReadyToArmU8 = (U8) strtoul(token, NULL, NumberBaseDecimal); token = strtok(NULL, delim); - monrData->MONR.ErrorStatusU8 = (U8)strtoul(token, NULL, NumberBaseDecimal); + monrData->MONR.ErrorStatusU8 = (U8) strtoul(token, NULL, NumberBaseDecimal); return 0; } From 361fc2343956c9d44dfce7f3ba4ced47b5c0f7ff Mon Sep 17 00:00:00 2001 From: LukasWikander Date: Fri, 10 Jan 2020 10:58:33 +0100 Subject: [PATCH 730/730] Update runServer.sh Disabled supervision module by default since it currently prevents start --- runServer.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/runServer.sh b/runServer.sh index e00e986c9..3b989f36f 100755 --- a/runServer.sh +++ b/runServer.sh @@ -2,7 +2,7 @@ #### User settings # Modify this array by adding more modules to include them in the execution -MODULES=(Supervision ScenarioControl) +MODULES=(ScenarioControl) #### # Save top directory