small modifs
This commit is contained in:
Sébastien DI MERCURIO
parent
5da49a7e59
commit
111c118844
4 changed files with 113 additions and 54 deletions
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@ -200,6 +200,9 @@ public partial class MainWindow : Gtk.Window
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a.RetVal = true;
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}
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private byte[] imageComplete;
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private byte[] imageInProgress;
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/// <summary>
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/// Callback called when new message is received from server
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/// </summary>
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@ -208,17 +211,47 @@ public partial class MainWindow : Gtk.Window
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/// <param name="buffer">Raw buffer corresponding of received message</param>
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public void OnCommandReceivedEvent(string header, string data, byte[] buffer)
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{
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if (buffer==null)
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{
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// we have lost server
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ChangeState(SystemState.NotConnected);
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MessagePopup(MessageType.Error,
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ButtonsType.Ok, "Server lost",
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"Server is down: disconnecting");
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cmdManager.Close();
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}
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// if we have received a valid message
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if (header != null)
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{
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#if DEBUG
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// print message content
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Console.WriteLine("Received header (" + header.Length + "): " + header);
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if (header.ToUpper() != DestijlCommandList.HeaderStmImage)
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{
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if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
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}
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if (header.Length > 4)
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Console.WriteLine("Bad header(" + buffer.Length + ")");
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else
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Console.WriteLine("Received header (" + header.Length + "): " + header);
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//if (header.ToUpper() != DestijlCommandList.HeaderStmImage)
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//{
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// if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
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//}
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#endif
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// Image management
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if (header == DestijlCommandList.HeaderStmImage)
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{
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imageComplete = imageInProgress;
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imageInProgress = buffer;
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}
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else
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{
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if (imageInProgress == null) imageInProgress = buffer;
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else
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{
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Array.Resize<byte>(ref imageInProgress, imageInProgress.Length + buffer.Length);
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System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length);
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}
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}
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// depending on message received (based on header)
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// launch correponding action
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if (header.ToUpper() == DestijlCommandList.HeaderStmBat)
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@ -243,23 +276,26 @@ public partial class MainWindow : Gtk.Window
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{
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// if message is an image, convert it to a pixbuf
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// that can be displayed
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byte[] image = new byte[buffer.Length - 4];
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System.Buffer.BlockCopy(buffer, 4, image, 0, image.Length);
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if (imageComplete != null)
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{
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byte[] image = new byte[imageComplete.Length - 4];
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System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length);
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imageReceivedCounter++;
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try
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{
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drawingareaCameraPixbuf = new Pixbuf(image);
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drawingAreaCamera.QueueDraw();
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}
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catch (GLib.GException)
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{
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badImageReceivedCounter++;
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imageReceivedCounter++;
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try
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{
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drawingareaCameraPixbuf = new Pixbuf(image);
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drawingAreaCamera.QueueDraw();
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}
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catch (GLib.GException)
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{
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badImageReceivedCounter++;
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#if DEBUG
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Console.WriteLine("Bad Image: " + badImageReceivedCounter +
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" / " + imageReceivedCounter +
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" (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
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Console.WriteLine("Bad Image: " + badImageReceivedCounter +
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" / " + imageReceivedCounter +
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" (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
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#endif
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}
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}
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}
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}
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Binary file not shown.
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@ -63,6 +63,8 @@ MessageToMon messageAnswered;
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std::thread *threadTimer;
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std::thread *threadServer;
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char* imgMsg = NULL;
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using namespace std;
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/*
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@ -80,6 +82,7 @@ void ThreadTimer(void) {
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struct timespec tim, tim2;
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tim.tv_sec = 0;
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tim.tv_nsec = 100000000;
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int cnt =0;
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while (1) {
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//std::this_thread::sleep_for(std::chrono::seconds )
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@ -89,24 +92,32 @@ void ThreadTimer(void) {
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return;
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}
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sysTick = true;
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cnt++;
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if (cnt>=1)
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{
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sysTick = true;
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cnt=0;
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}
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}
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}
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void printReceivedMessage(MessageFromMon *mes) {
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cout << "Received " + to_string(receivedLength) + " data\n";
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cout << "Received " + to_string(receivedLength) + " data";
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cout << std::endl;
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cout << "Header: ";
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for (int i = 0; i < 4; i++) {
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cout << mes->header[i];
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}
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cout << "\nData: ";
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cout << std::endl;
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cout << "Data: ";
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for (int i = 0; i < receivedLength - 4; i++) {
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cout << mes->data[i];
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}
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cout << "\n";
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cout << std::endl;
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}
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int sendAnswer(string cmd, string data) {
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@ -115,7 +126,7 @@ int sendAnswer(string cmd, string data) {
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msg = cmd + ':' + data;
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cout << "Answer: " + msg;
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cout << "\n";
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cout << std::endl;
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sendDataToServer((char*) msg.c_str(), msg.length());
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return status;
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@ -123,20 +134,23 @@ int sendAnswer(string cmd, string data) {
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int sendBinaryData(string cmd, char* data, int length) {
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int status = 0;
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char* msg;
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int lengthSend;
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msg = (char*) malloc(length + 4);
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msg[0] = cmd[0];
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msg[1] = cmd[1];
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msg[2] = cmd[2];
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msg[3] = ':';
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if (imgMsg != NULL) free((void*) imgMsg);
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imgMsg = (char*) malloc(length + 4);
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imgMsg[0] = cmd[0];
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imgMsg[1] = cmd[1];
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imgMsg[2] = cmd[2];
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imgMsg[3] = ':';
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memcpy((void*) &msg[4], (const void *) data, length);
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memcpy((void*) &imgMsg[4], (const void *) data, length);
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cout << "Answer: " + cmd;
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cout << "\n";
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sendDataToServer(msg, length + 4);
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cout << std::endl;
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free((void*) msg);
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lengthSend=sendDataToServer(imgMsg, length + 4);
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cout << "Requested Length: " + to_string(length) + " / Send Length: " + to_string(lengthSend);
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cout << std::endl;
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return status;
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}
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@ -198,30 +212,39 @@ int main(int argc, char** argv) {
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#else
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if (open_communication_robot("/dev/ttyS0") != 0) {
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#endif /*__FOR_PC__ */
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cerr << "Unable to open /dev/ttyUSB0: abort\n";
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cerr << "Unable to open /dev/ttyUSB0: abort";
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cout << std::endl;
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return -1;
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}
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cout << "Com port opened\n";
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cout << "Com port opened";
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cout << std::endl;
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// Ouverture de la camera
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if (open_camera(&cam) == -1) {
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cerr << "Unable to open camera: abort\n";
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cerr << "Unable to open camera: abort";
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cout << std::endl;
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return -1;
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}
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cout << "Camera opened\n";
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cout << "Camera opened";
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cout << std::endl;
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// Ouverture du serveur
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socketID = openServer(5544);
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cout << "Server opened on port 5544\n";
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cout << "Server opened on port 5544";
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cout << std::endl;
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threadTimer = new std::thread(ThreadTimer);
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for (;;) {
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cout << "Waiting for client to connect ...\n";
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cout << "Waiting for client to connect ...";
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cout << std::endl;
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acceptClient();
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disconnected = false;
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dataReady = false;
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cout << "Client connected\n";
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cout << "Client connected";
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cout << std::endl;
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threadServer = new std::thread(ThreadServer);
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while (disconnected == false) {
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@ -1,26 +1,26 @@
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#Mon Nov 12 09:47:39 CET 2018
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#Mon Nov 12 11:20:04 CET 2018
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/project.xml=c1541775358000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-impl.mk=c1541775357000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/project.xml=c1542014288000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-impl.mk=c1542014288000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/main.cpp=c1541778496000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/main.cpp=c1542017998000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp=c1542014288000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Release.mk=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Debug.bash=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/.gitignore=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-variables.mk=c1541775358000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/private/Makefile-variables.mk=c1541775358000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-variables.mk=c1542014288000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/private/Makefile-variables.mk=c1542014288000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/Makefile=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Debug-rpi.mk=c1541776257000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Debug-rpi.mk=c1542014288000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Makefile-Debug.mk=c1541775193000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.h=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp=c1541778370000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp=c1542014288000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Release.bash=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/.dep.inc=c1541685829000
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VERSION=1.3
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/definitions.h=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Debug-rpi.bash=c1541775358000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/testeur/testeur/nbproject/Package-Debug-rpi.bash=c1542014288000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp=c1541685829000
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