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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1309 | runge | 1 | /* |
| 2 | * CanNet.cpp |
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| 3 | * |
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| 4 | * Created on: Apr 27, 2009 |
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| 5 | * Author: Mattias Runge |
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| 6 | */ |
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| 7 | |||
| 8 | #include "CanNet.h" |
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| 9 | #include <iostream> |
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| 10 | |||
| 11 | using namespace std; |
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| 12 | |||
| 13 | namespace atom { |
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| 14 | namespace subscribers { |
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| 15 | |||
| 16 | // TODO Fix input on the form of a URL: |
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| 17 | // ex. udp://192.168.1.250:1100 |
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| 18 | // ex. dev://dev/ttyUSB0:57000 |
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| 19 | CanNet::CanNet(Broker::pointer broker, string address, unsigned int port) : Subscriber(broker, false) |
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| 20 | { |
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| 21 | LOG.setName("CanNetSubscriber"); |
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| 22 | |||
| 1317 | runge | 23 | this->myUdpServer = net::UdpServer::getInstance(port); |
| 1311 | runge | 24 | this->myUdpServer->connect(boost::bind(&CanNet::onNewData, this, _1, _2)); |
| 1309 | runge | 25 | |
| 1311 | runge | 26 | this->myEndpoint = this->myUdpServer->getEndpoint(address); |
| 1309 | runge | 27 | |
| 28 | this->sendPing(); |
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| 29 | |||
| 30 | this->start(); |
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| 31 | } |
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| 32 | |||
| 33 | CanNet::~CanNet() |
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| 34 | { |
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| 35 | } |
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| 36 | |||
| 37 | byte_list CanNet::buildPacket(unsigned int id, byte_list data) |
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| 38 | { |
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| 39 | byte_list packet; |
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| 40 | |||
| 41 | packet.push_back((unsigned char) PACKET_START); |
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| 42 | |||
| 43 | packet.push_back((unsigned char) (id & 0xFF)); |
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| 44 | packet.push_back((unsigned char) ((id >> 8) & 0xFF)); |
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| 45 | packet.push_back((unsigned char) ((id >> 16) & 0xFF)); |
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| 46 | packet.push_back((unsigned char) ((id >> 24) & 0xFF)); |
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| 47 | |||
| 48 | packet.push_back((unsigned char) 1); // Ext |
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| 49 | packet.push_back((char) 0); // Rtr |
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| 50 | |||
| 51 | packet.push_back((unsigned char) data.size()); |
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| 52 | |||
| 53 | for (unsigned char n = 0; n < 8; n++) |
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| 54 | { |
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| 55 | if (n < data.size()) |
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| 56 | { |
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| 57 | packet.push_back(data[n]); |
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| 58 | } |
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| 59 | else |
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| 60 | { |
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| 61 | packet.push_back(' '); |
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| 62 | } |
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| 63 | } |
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| 64 | |||
| 65 | packet.push_back((unsigned char) PACKET_END); |
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| 66 | |||
| 67 | return packet; |
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| 68 | } |
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| 69 | |||
| 70 | void CanNet::processBuffer() |
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| 71 | { |
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| 72 | if (this->myBuffer.size() != 15) |
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| 73 | { |
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| 1314 | runge | 74 | LOG.warn("Received packet of length " + convert::int2string(this->myBuffer.size() + 2) + ", should be 17."); |
| 1309 | runge | 75 | this->myBuffer.clear(); |
| 76 | return; |
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| 77 | } |
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| 78 | |||
| 79 | byte_list data; |
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| 80 | |||
| 81 | data.push_back(this->myBuffer[0]); |
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| 82 | data.push_back(this->myBuffer[1]); |
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| 83 | data.push_back(this->myBuffer[2]); |
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| 84 | data.push_back(this->myBuffer[3]); |
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| 85 | |||
| 86 | unsigned char length = this->myBuffer[4]; |
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| 87 | |||
| 88 | for (unsigned char n = 0; n < length; n++) |
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| 89 | { |
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| 90 | data.push_back(this->myBuffer[5 + n]); |
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| 91 | } |
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| 92 | |||
| 93 | BitBuffer buffer(data); |
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| 94 | |||
| 1323 | runge | 95 | Header header(buffer); |
| 1309 | runge | 96 | |
| 1323 | runge | 97 | this->put(boost::make_shared<Message>(header)); |
| 1309 | runge | 98 | |
| 99 | this->myBuffer.clear(); |
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| 100 | } |
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| 101 | |||
| 102 | void CanNet::sendPing() |
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| 103 | { |
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| 104 | byte_list data(1, (unsigned char) PACKET_PING); |
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| 105 | |||
| 106 | LOG.info("Sending ping packet..."); |
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| 1311 | runge | 107 | this->myUdpServer->sendTo(this->myEndpoint, data); |
| 1309 | runge | 108 | } |
| 109 | |||
| 110 | void CanNet::onNewMessage(Message::pointer message) |
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| 111 | { |
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| 112 | LOG.debug("update called"); |
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| 113 | |||
| 114 | BitBuffer buffer; |
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| 115 | |||
| 1323 | runge | 116 | message->getHeader().writeBits(buffer); |
| 117 | |||
| 1309 | runge | 118 | unsigned long id; |
| 1326 | runge | 119 | buffer.read(32, id); |
| 1309 | runge | 120 | |
| 1323 | runge | 121 | buffer.clear(); |
| 122 | |||
| 123 | message->writeBits(buffer); |
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| 124 | |||
| 125 | byte_list data = buffer.getAsBytes(); |
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| 126 | |||
| 1311 | runge | 127 | this->myUdpServer->sendTo(this->myEndpoint, buildPacket(id, data)); |
| 1309 | runge | 128 | } |
| 129 | |||
| 130 | void CanNet::onNewData(const udp::endpoint & sender, const byte_list & bytes) |
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| 131 | { |
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| 132 | //LOG.debug(udp::endpoint(sender).address().to_string() + "==" + this->myEndpoint.address().to_string()); |
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| 133 | //LOG.debug(itos(udp::endpoint(sender).port()) + "==" + itos(this->myEndpoint.port())); |
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| 134 | if (sender.address() == this->myEndpoint.address()) // Port is wrong sometimes, therefor we only compare address |
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| 135 | { |
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| 136 | LOG.debug("Got data."); |
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| 137 | |||
| 138 | for (unsigned int n = 0; n < bytes.size(); n++) |
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| 139 | { |
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| 140 | if (bytes[n] == PACKET_START) |
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| 141 | { |
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| 142 | this->myBuffer.clear(); |
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| 143 | } |
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| 144 | else if (bytes[n] == PACKET_END) |
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| 145 | { |
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| 146 | this->processBuffer(); |
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| 147 | } |
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| 148 | else if (bytes[n] == PACKET_PING) |
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| 149 | { |
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| 150 | LOG.info("Received pong."); |
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| 151 | } |
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| 152 | else |
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| 153 | { |
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| 154 | //LOG.info("Received byte. " + itos(bytes[n])); |
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| 155 | this->myBuffer.push_back(bytes[n]); |
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| 156 | } |
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| 157 | } |
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| 158 | } |
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| 159 | else |
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| 160 | { |
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| 161 | LOG.debug("This message was not for me."); |
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| 162 | } |
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| 163 | } |
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| 164 | |||
| 165 | } |
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| 166 | } |