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| Rev | Author | Line No. | Line |
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| 1595 | runge | 1 | /* |
| 2 | * |
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| 3 | * Copyright (C) 2010 Mattias Runge |
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| 4 | * |
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| 5 | * This program is free software; you can redistribute it and/or modify |
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| 6 | * it under the terms of the GNU General Public License as published by |
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| 7 | * the Free Software Foundation; either version 2 of the License, or |
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| 8 | * (at your option) any later version. |
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| 9 | * |
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| 10 | * This program is distributed in the hope that it will be useful, |
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| 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 13 | * GNU General Public License for more details. |
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| 14 | * |
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| 15 | * You should have received a copy of the GNU General Public License along |
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| 16 | * with this program; if not, write to the Free Software Foundation, Inc., |
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| 17 | * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. |
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| 18 | * |
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| 19 | */ |
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| 20 | |||
| 21 | #include "Network.h" |
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| 22 | |||
| 23 | #include <vector> |
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| 24 | |||
| 25 | #include <boost/algorithm/string.hpp> |
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| 26 | #include <boost/lexical_cast.hpp> |
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| 27 | |||
| 28 | #include "net/Manager.h" |
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| 29 | |||
| 30 | namespace atom { |
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| 31 | namespace can { |
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| 32 | |||
| 33 | Network::Network(std::string address): Subscriber(false), LOG("can::Network") |
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| 34 | { |
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| 35 | this->address_ = address; |
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| 36 | this->client_id_ = 0; |
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| 37 | |||
| 38 | net::Manager::Instance()->ConnectSlots(net::Client::SignalOnNewState::slot_type(&Network::SlotOnNewState, this, _1, _2, _3).track(this->tracker_), |
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| 39 | net::Client::SignalOnNewData::slot_type(&Network::SlotOnNewData, this, _1, _2, _3).track(this->tracker_)); |
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| 40 | |||
| 41 | // Examples of address |
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| 42 | // udp:192.168.1.250:1100 |
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| 43 | // serial:/dev/ttyUSB0:38400 |
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| 44 | |||
| 45 | std::vector<std::string> parts; |
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| 46 | boost::algorithm::split(parts, address, boost::is_any_of(":"), boost::algorithm::token_compress_off); |
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| 47 | |||
| 48 | if (parts.size() < 3) |
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| 49 | { |
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| 50 | LOG.Error("Malformed address string: " + address); |
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| 51 | return; |
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| 52 | } |
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| 53 | |||
| 54 | boost::algorithm::to_lower(parts[0]); |
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| 55 | |||
| 56 | if (parts[0] == "udp") |
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| 57 | { |
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| 58 | this->protocol_ = net::PROTOCOL_UDP; |
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| 59 | } |
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| 60 | else if (parts[0] == "serial") |
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| 61 | { |
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| 62 | this->protocol_ = net::PROTOCOL_SERIAL; |
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| 63 | } |
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| 64 | else |
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| 65 | { |
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| 66 | LOG.Error("Unknown protocol, only support udp and serial, got " + parts[0]); |
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| 67 | return; |
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| 68 | } |
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| 69 | |||
| 70 | this->address_ = parts[1]; |
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| 71 | this->port_or_baud_ = boost::lexical_cast<unsigned int>(parts[2]); |
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| 72 | |||
| 73 | try |
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| 74 | { |
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| 75 | this->client_id_ = net::Manager::Instance()->Connect(this->protocol_, this->address_, this->port_or_baud_); |
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| 76 | LOG.Info("Connected to CAN network at " + address); |
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| 77 | |||
| 78 | // TODO: Send ping |
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| 79 | } |
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| 80 | catch (std::exception e) |
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| 81 | { |
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| 82 | LOG.Error(e.what()); |
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| 83 | } |
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| 84 | } |
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| 85 | |||
| 86 | Network::~Network() |
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| 87 | { |
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| 88 | net::Manager::Instance()->Disconnect(this->client_id_); |
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| 89 | } |
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| 90 | |||
| 91 | void Network::SlotOnNewData(net::ClientId client_id, net::ServerId server_id, net::Buffer data) |
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| 92 | { |
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| 93 | if (client_id == this->client_id_) |
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| 94 | { |
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| 95 | this->io_service_.post(boost::bind(&Network::SlotOnNewDataHandler, this, client_id, server_id, data)); |
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| 96 | } |
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| 97 | } |
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| 98 | |||
| 99 | void Network::SlotOnNewState(net::ClientId client_id, net::ServerId server_id, net::ClientState client_state) |
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| 100 | { |
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| 101 | if (client_id == this->client_id_) |
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| 102 | { |
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| 103 | this->io_service_.post(boost::bind(&Network::SlotOnNewStateHandler, this, client_id, server_id, client_state)); |
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| 104 | } |
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| 105 | } |
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| 106 | |||
| 107 | void Network::SlotOnMessageHandler(broker::Message::Pointer message) |
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| 108 | { |
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| 109 | // TODO: Send to network |
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| 110 | } |
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| 111 | |||
| 112 | void Network::SlotOnNewDataHandler(net::ClientId client_id, net::ServerId server_id, net::Buffer data) |
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| 113 | { |
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| 114 | // TODO: Send to broker |
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| 115 | } |
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| 116 | |||
| 117 | void Network::SlotOnNewStateHandler(net::ClientId client_id, net::ServerId server_id, net::ClientState client_state) |
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| 118 | { |
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| 119 | if (client_state == net::CLIENT_STATE_DISCONNECTED) |
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| 120 | { |
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| 121 | LOG.Warning("Got disconnected from CAN network, will try to reconnect..."); |
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| 122 | |||
| 123 | this->client_id_ = 0; |
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| 124 | |||
| 125 | try |
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| 126 | { |
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| 127 | this->client_id_ = net::Manager::Instance()->Connect(this->protocol_, this->address_, this->port_or_baud_); |
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| 128 | LOG.Info("Connected to CAN network again."); |
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| 129 | } |
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| 130 | catch (std::exception e) |
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| 131 | { |
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| 132 | LOG.Error(e.what()); |
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| 133 | } |
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| 134 | } |
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| 135 | else |
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| 136 | { |
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| 137 | LOG.Debug("Got state: " + boost::lexical_cast<std::string>((int)client_state)); |
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| 138 | } |
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| 139 | } |
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| 140 | |||
| 141 | }; // namespace can |
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| 142 | }; // namespace atom |