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rajout du support udp

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This commit is contained in:
Sebastien DI MERCURIO 2018-11-11 22:42:18 +01:00
parent 1f907870f6
commit 59f1442eba
5 changed files with 141 additions and 13 deletions
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69
software/monitor/monitor/ClientUDP.cs Normal file
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@ -0,0 +1,69 @@
using System;
using System.Net;
using System.Net.Sockets;
using System.Text;
namespace monitor
{
public static class ClientUDP
{
private const int listenPort = 11000;
private static byte[] ImageBuffer = null;
private static UdpClient listener = null;
private static IPEndPoint groupEP = null;
public static void UDPOpen(int port)
{
listener = new UdpClient(port);
groupEP = new IPEndPoint(IPAddress.Any, port);
}
public static void UDPClose()
{
listener.Close();
}
public static byte[] GetImage()
{
bool done = false;
try
{
while (!done)
{
Console.WriteLine("Waiting for broadcast");
byte[] bytes = listener.Receive(ref groupEP);
Console.WriteLine("Received broadcast from {0} :\n {1}\n",
groupEP.ToString(),
Encoding.ASCII.GetString(bytes, 0, bytes.Length));
if (bytes[0]=='I') {
// Nouvelle trame recu
ImageBuffer = bytes;
}
else if (bytes[bytes.Length-1]=='D')
{
Array.Resize<byte>(ref ImageBuffer, ImageBuffer.Length + bytes.Length); // resize currrent buffer
System.Buffer.BlockCopy(ImageBuffer, 0, bytes, ImageBuffer.Length-bytes.Length, bytes.Length);
done = true;
}
else{
Array.Resize<byte>(ref ImageBuffer, ImageBuffer.Length + bytes.Length); // resize currrent buffer
System.Buffer.BlockCopy(ImageBuffer, 0, bytes, ImageBuffer.Length-bytes.Length, bytes.Length);
}
}
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
}
return ImageBuffer;
}
}
}

1
software/monitor/monitor/monitor.csproj
View file

@ -70,6 +70,7 @@
<Compile Include="Client.cs" />
<Compile Include="CommandManager.cs" />
<Compile Include="DestijlCommandManager.cs" />
<Compile Include="ClientUDP.cs" />
</ItemGroup>
<Import Project="$(MSBuildBinPath)\Microsoft.CSharp.targets" />
</Project>

65
software/raspberry/superviseur-robot/lib/src/server.cpp
View file

@ -19,15 +19,22 @@
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#define NB_CONNECTION_MAX 1
int socketFD = -1;
int clientID = -1;
int socketUDP= -1;
struct sockaddr_in UDPcliaddr;
int UDPcliaddrlen = -1;
char *UDPBuffer=0;
int openServer(int port) {
struct sockaddr_in server;
struct sockaddr_in serverUDP;
socketFD = socket(AF_INET, SOCK_STREAM, 0);
if (socketFD < 0) {
perror("Can not create socket");
@ -45,13 +52,33 @@ int openServer(int port) {
listen(socketFD, NB_CONNECTION_MAX);
/* Open UDP connection */
socketUDP = socket(AF_INET, SOCK_DGRAM, 0);
if (socketUDP < 0) {
perror("Can not create UDP socket");
exit(-1);
}
serverUDP.sin_addr.s_addr = INADDR_ANY;
serverUDP.sin_family = AF_INET;
serverUDP.sin_port = htons(port+1);
memset(&UDPcliaddr, 0, sizeof(UDPcliaddr));
if (bind(socketUDP, (struct sockaddr *) &serverUDP, sizeof (serverUDP)) < 0) {
perror("Can not bind UDP socket");
exit(-1);
}
return socketFD;
}
int closeServer() {
close(socketFD);
close(socketUDP);
socketFD = -1;
socketUDP = -1;
return 0;
}
@ -80,6 +107,40 @@ int sendDataToServerForClient(int client, char *data, int length) {
else return 0;
}
void waitUDPClientAddr(void)
{
char buffer[10];
recvfrom(socketUDP, (char *)buffer, 10,
MSG_WAITALL, ( struct sockaddr *) &UDPcliaddr, &UDPcliaddrlen);
}
int sendImage(char *data, int length) {
if (clientID >= 0)
{
UDPBuffer= (char*)malloc(length+12);
UDPBuffer[0]='I';
UDPBuffer[1]='N';
UDPBuffer[2]='S';
UDPBuffer[3]='A';
UDPBuffer[4]='B';
UDPBuffer[5]='G';
UDPBuffer[length+6]='A';
UDPBuffer[length+7]='S';
UDPBuffer[length+8]='N';
UDPBuffer[length+9]='I';
UDPBuffer[length+10]='E';
UDPBuffer[length+11]='D';
memcpy((void*)(UDPBuffer+6),(const void *)data, length);
return sendto(socketUDP, data, length,
MSG_CONFIRM, (const struct sockaddr *) &UDPcliaddr, UDPcliaddrlen);
}
else return 0;
}
int receiveDataFromServer(char *data, int size) {
return receiveDataFromServerFromClient(clientID, data, size);
}

10
software/raspberry/testeur/testeur/nbproject/Makefile-Debug.mk
View file

@ -69,27 +69,27 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur: ${OBJECTFILES}
${OBJECTDIR}/_ext/e4d40e25/image.o: ../../superviseur-robot/lib/src/image.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/image.o ../../superviseur-robot/lib/src/image.cpp
$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/image.o ../../superviseur-robot/lib/src/image.cpp
${OBJECTDIR}/_ext/e4d40e25/message.o: ../../superviseur-robot/lib/src/message.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/message.o ../../superviseur-robot/lib/src/message.cpp
$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/message.o ../../superviseur-robot/lib/src/message.cpp
${OBJECTDIR}/_ext/e4d40e25/robot.o: ../../superviseur-robot/lib/src/robot.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/robot.o ../../superviseur-robot/lib/src/robot.cpp
$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/robot.o ../../superviseur-robot/lib/src/robot.cpp
${OBJECTDIR}/_ext/e4d40e25/server.o: ../../superviseur-robot/lib/src/server.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/server.o ../../superviseur-robot/lib/src/server.cpp
$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/server.o ../../superviseur-robot/lib/src/server.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
# Subprojects
.build-subprojects:

9
software/raspberry/testeur/testeur/nbproject/private/private.xml
View file

@ -7,12 +7,9 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/main.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h</file>
<file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp</file>
<file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp</file>
<file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/testeur/testeur/main.cpp</file>
</group>
</open-files>
</project-private>