alartigu/Temps_Reel_Robot
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simulateur: ajout temps de réponse et erreur, comrobot : ajout msgAnswer adequat a la reponse

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This commit is contained in:
pehladik 2020-03-14 23:41:27 +01:00
parent a7eaa150df
commit 7f0a9955db
2 changed files with 140 additions and 78 deletions
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23
software/raspberry/superviseur-robot/lib/comrobot.cpp
View file

@ -80,12 +80,16 @@ int ComRobot::Open(string usart) {
struct termios options;
#ifdef __SIMULATION__
struct sockaddr_in serv_addr;
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
printf("\n Socket creation error \n");
return -1;
}
struct timeval tv;
tv.tv_sec = 0;
tv.tv_usec = 80000;
setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(PORT);
@ -99,10 +103,6 @@ int ComRobot::Open(string usart) {
if (connect(sock, (struct sockaddr *) &serv_addr, sizeof (serv_addr)) < 0) {
return -1;
}
/*send(sock , hello , strlen(hello) , 0 );
printf("Hello message sent\n");
valread = read( sock , buffer, 1024);
printf("%s\n",buffer ); */
return 1;
#else
@ -154,11 +154,18 @@ Message *ComRobot::Write(Message* msg) {
#ifdef __SIMULATION__
char buffer[1024] = {0};
cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;
send(sock, s.c_str(), s.length(), 0);
int valread = read(sock, buffer, 1024);
msgAnswer = new Message(MESSAGE_ANSWER_ACK);
printf("%s\n", buffer);
if (valread < 0) {
msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
} else {
string s(&buffer[0], valread);
msgAnswer = StringToMessage(s);
//msgAnswer = new Message(MESSAGE_ANSWER_ACK);
}
cout << "response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
#else
AddChecksum(s);

195
software/simulateur/main.cpp
View file

@ -5,6 +5,7 @@
#include <netinet/in.h>
#include <string.h>
#include <iostream>
#include <time.h>
using namespace std;
const char LABEL_ROBOT_PING = 'p';
@ -25,14 +26,47 @@ const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C';
const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
const char LABEL_ROBOT_ENDING_CHAR = 0x0D;
int server_fd, new_socket, valread;
#define PORT 6699
int main(int argc, char const *argv[]) {
int server_fd, new_socket, valread;
long int ellapse(struct timespec ref, struct timespec cur) {
long int e;
e = cur.tv_sec - ref.tv_sec;
e *= 1000000000;
e += cur.tv_nsec - ref.tv_nsec;
return e;
}
void print_time(struct timespec start_time) {
struct timespec t;
clock_gettime(CLOCK_REALTIME, &t);
long int e = ellapse(start_time, t);
fprintf(stdout, "%9ld", e / 1000000);
}
int simulate_error() {
int r = rand() % 1000;
if (r > 950) {
printf(">>> I don't understand what you said (-1)\n");
return -1;
} else if (r > 900) {
printf(">>> I don't want to respond (-2)\n");
return -2;
}
printf(">>> WILCO (0)\n");
return 0;
}
void simulate_transmission_time() {
usleep((rand() % 30) * 1000);
}
void open_server() {
struct sockaddr_in address;
int opt = 1;
int addrlen = sizeof (address);
char buffer[1024] = {0};
srand(time(NULL));
// Creating socket file descriptor
if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
@ -58,90 +92,111 @@ int main(int argc, char const *argv[]) {
perror("bind failed");
exit(EXIT_FAILURE);
}
cout << ">>> waiting the opening" << endl;
cout << ">>> I create a server" << endl;
cout << ">>> ..." << endl;
cout << ">>> I'm waiting a client" << endl;
if (listen(server_fd, 3) < 0) {
perror("listen");
exit(EXIT_FAILURE);
}
cout << ">>> Hello, I'm Robot" << endl;
if ((new_socket = accept(server_fd, (struct sockaddr *) &address,
(socklen_t*) & addrlen)) < 0) {
perror("accept");
exit(EXIT_FAILURE);
}
cout << ">>> The robot is ready to receive something" << endl;
unsigned long starttime = (unsigned long) time(NULL);
}
int main(int argc, char const *argv[]) {
char buffer[1024] = {0};
open_server();
cout << ">>> I'm ready to receive something" << endl;
struct timespec start_time;
clock_gettime(CLOCK_REALTIME, &start_time);
while (1) {
valread = read(new_socket, buffer, 1024);
if (valread <= 0)
break;
printf(">>> I received : %s\n", buffer);
cout << (unsigned long) time(NULL) << ": ";
print_time(start_time);
printf(" >>> I received a message : %s\n", buffer);
string s = "";
s += LABEL_ROBOT_OK;
switch (buffer[0]) {
case LABEL_ROBOT_START_WITHOUT_WD:
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_START_WITH_WD:
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_MOVE:
switch (buffer[2]) {
case '0':
cout << "oo I stop oo" << endl;
break;
case '-':
cout << "\\/ I move backward \\/" << endl;
break;
default:
cout << "/\\ I move forward /\\" << endl;
break;
}
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_TURN:
switch (buffer[2]) {
case '-':
cout << "<< I turn to the left <<" << endl;
break;
default:
cout << ">> I turn to the right >>" << endl;
break;
}
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_GET_BATTERY:
if ((unsigned long) time(NULL) - starttime > 20) {
s += '0';
} else {
if ((unsigned long) time(NULL) - starttime > 10) {
s += '1';
} else {
s += '2';
int error = simulate_error();
if (error == 0) {
struct timespec t;
long int e;
switch (buffer[0]) {
case LABEL_ROBOT_START_WITHOUT_WD:
cout << ">>> I start without watchdog" << endl;
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_START_WITH_WD:
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_MOVE:
switch (buffer[2]) {
case '0':
cout << ">>> XX I stop XX" << endl;
break;
case '-':
cout << ">>> \\/ I move backward \\/" << endl;
break;
default:
cout << ">>> /\\ I move forward /\\" << endl;
break;
}
}
break;
case '0':
//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
break;
case '1':
//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
break;
case '2':
//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
break;
default:
//msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << buffer << ")" << endl << flush;
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_TURN:
switch (buffer[2]) {
case '-':
cout << ">>> << I turn to the left <<" << endl;
break;
default:
cout << ">>> >> I turn to the right >>" << endl;
break;
}
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_GET_BATTERY:
cout << ">>> I give you my battery level :-o" << endl;
clock_gettime(CLOCK_REALTIME, &t);
e = ellapse(start_time, t);
if (e > 20000000000) {
s += '0';
} else {
if (e > 10000000000) {
s += '1';
} else {
s += '2';
}
}
break;
case LABEL_ROBOT_RELOAD_WD:
cout << ">>> I start with watchdog" << endl;
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_POWEROFF:
cout << ">>> Bye bye" << endl;
s += LABEL_ROBOT_OK;
break;
default:
//msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << buffer << ")" << endl << flush;
}
simulate_transmission_time();
send(new_socket, s.c_str(), s.length(), 0);
} else if (error == -1){
s += LABEL_ROBOT_UNKNOWN_COMMAND;
simulate_transmission_time();
send(new_socket, s.c_str(), s.length(), 0);
} else if (error == -2){
/* Do nothing */
}
send(new_socket, s.c_str(), s.length(), 0);
//printf("%s sent\n", s);
}
cout << "The robot is dead. End of story " << endl;
cout << "The robot is dead. End of story. " << endl;
cout << " /\\_/\\" << endl << "( o.o )" << endl << " > ^ <" << endl;
return 0;
}