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  1. /*
  2.  * CanNet.cpp
  3.  *
  4.  *  Created on: Apr 27, 2009
  5.  *      Author: Mattias Runge
  6.  */
  7.  
  8. #include "CanNet.h"
  9. #include <iostream>
  10.  
  11. using namespace std;
  12.  
  13. namespace atom {
  14. namespace subscribers {
  15.  
  16. // TODO Fix input on the form of a URL:
  17. // ex. udp://192.168.1.250:1100
  18. // ex. dev://dev/ttyUSB0:57000
  19. CanNet::CanNet(Broker::pointer broker, string address, unsigned int port) : Subscriber(broker, false)
  20. {
  21.     LOG.setName("CanNetSubscriber");
  22.  
  23.     this->myUdpServer = UdpServer::getInstance(port);
  24.     this->myUdpServer->connect(boost::bind(&CanNet::onNewData, this, _1, _2));
  25.  
  26.     this->myEndpoint = this->myUdpServer->getEndpoint(address);
  27.  
  28.     this->sendPing();
  29.  
  30.     this->start();
  31. }
  32.  
  33. CanNet::~CanNet()
  34. {
  35. }
  36.  
  37. byte_list CanNet::buildPacket(unsigned int id, byte_list data)
  38. {
  39.     byte_list packet;
  40.  
  41.     packet.push_back((unsigned char) PACKET_START);
  42.  
  43.     packet.push_back((unsigned char) (id & 0xFF));
  44.     packet.push_back((unsigned char) ((id >> 8) & 0xFF));
  45.     packet.push_back((unsigned char) ((id >> 16) & 0xFF));
  46.     packet.push_back((unsigned char) ((id >> 24) & 0xFF));
  47.  
  48.     packet.push_back((unsigned char) 1); // Ext
  49.     packet.push_back((char) 0); // Rtr
  50.  
  51.     packet.push_back((unsigned char) data.size());
  52.  
  53.     for (unsigned char n = 0; n < 8; n++)
  54.     {
  55.         if (n < data.size())
  56.         {
  57.             packet.push_back(data[n]);
  58.         }
  59.         else
  60.         {
  61.             packet.push_back(' ');
  62.         }
  63.     }
  64.  
  65.     packet.push_back((unsigned char) PACKET_END);
  66.  
  67.     return packet;
  68. }
  69.  
  70. void CanNet::processBuffer()
  71. {
  72.     if (this->myBuffer.size() != 15)
  73.     {
  74.         LOG.warn("Received packet of length " + itos(this->myBuffer.size() + 2) + ", should be 17.");
  75.         this->myBuffer.clear();
  76.         return;
  77.     }
  78.  
  79.     byte_list data;
  80.  
  81.     data.push_back(this->myBuffer[0]);
  82.     data.push_back(this->myBuffer[1]);
  83.     data.push_back(this->myBuffer[2]);
  84.     data.push_back(this->myBuffer[3]);
  85.  
  86.     unsigned char length = this->myBuffer[4];
  87.  
  88.     for (unsigned char n = 0; n < length; n++)
  89.     {
  90.         data.push_back(this->myBuffer[5 + n]);
  91.     }
  92.  
  93.  
  94.     BitBuffer buffer(data);
  95.  
  96.     Header header;
  97.  
  98.     header.readBits(buffer);
  99.  
  100.     // TODO how do we convert from moduleType and messageId to their string names... where are these ids stored?
  101.  
  102.     /*string moduleType = header.getVariable("moduleType").getValue().
  103.     unsigned int moduleId = header.getVariable("moduleId").getValue().
  104.     string messageType = header.getVariable("messageId").getValue().
  105.  
  106.     Message::pointer message = boost::make_shared<Message>(moduletype, moduleId, messageType);
  107.  
  108.     message.readBits(buffer);
  109.  
  110.     this->put(message);*/
  111.  
  112.     this->myBuffer.clear();
  113. }
  114.  
  115. void CanNet::sendPing()
  116. {
  117.     byte_list data(1, (unsigned char) PACKET_PING);
  118.  
  119.     LOG.info("Sending ping packet...");
  120.     this->myUdpServer->sendTo(this->myEndpoint, data);
  121. }
  122.  
  123. void CanNet::onNewMessage(Message::pointer message)
  124. {
  125.     LOG.debug("update called");
  126.  
  127.     BitBuffer buffer;
  128.     // TODO Convert message-variables to bitbuffer then to byte_list
  129.     byte_list data;
  130.  
  131.     // TODO Convert message-id to long
  132.     unsigned long id;
  133.  
  134.     this->myUdpServer->sendTo(this->myEndpoint, buildPacket(id, data));
  135. }
  136.  
  137. void CanNet::onNewData(const udp::endpoint & sender, const byte_list & bytes)
  138. {
  139.     //LOG.debug(udp::endpoint(sender).address().to_string() + "==" + this->myEndpoint.address().to_string());
  140.     //LOG.debug(itos(udp::endpoint(sender).port()) + "==" + itos(this->myEndpoint.port()));
  141.     if (sender.address() == this->myEndpoint.address()) // Port is wrong sometimes, therefor we only compare address
  142.     {
  143.         LOG.debug("Got data.");
  144.  
  145.         for (unsigned int n = 0; n < bytes.size(); n++)
  146.         {
  147.             if (bytes[n] == PACKET_START)
  148.             {
  149.                 this->myBuffer.clear();
  150.             }
  151.             else if (bytes[n] == PACKET_END)
  152.             {
  153.                 this->processBuffer();
  154.             }
  155.             else if (bytes[n] == PACKET_PING)
  156.             {
  157.                 LOG.info("Received pong.");
  158.             }
  159.             else
  160.             {
  161.                 //LOG.info("Received byte. " + itos(bytes[n]));
  162.                 this->myBuffer.push_back(bytes[n]);
  163.             }
  164.         }
  165.     }
  166.     else
  167.     {
  168.         LOG.debug("This message was not for me.");
  169.     }
  170. }
  171.  
  172. }
  173. }
  174.