rajout du support udp

software/monitor/monitor/ClientUDP.cs

@@ -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;
+        }
+    }
+}

software/monitor/monitor/monitor.csproj

@@ -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>

software/raspberry/superviseur-robot/lib/src/server.cpp

@@ -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);
 }

software/raspberry/testeur/testeur/nbproject/Makefile-Debug.mk

@@ -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:

software/raspberry/testeur/testeur/nbproject/private/private.xml

@@ -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>