simulateur: ajout temps de réponse et erreur, comrobot : ajout msgAnswer adequat a la reponse
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a7eaa150df
commit
7f0a9955db
2 changed files with 140 additions and 78 deletions
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@ -86,6 +86,10 @@ int ComRobot::Open(string usart) {
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printf("\n Socket creation error \n");
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return -1;
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}
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struct timeval tv;
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tv.tv_sec = 0;
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tv.tv_usec = 80000;
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setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
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serv_addr.sin_family = AF_INET;
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serv_addr.sin_port = htons(PORT);
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@ -99,10 +103,6 @@ int ComRobot::Open(string usart) {
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if (connect(sock, (struct sockaddr *) &serv_addr, sizeof (serv_addr)) < 0) {
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return -1;
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}
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/*send(sock , hello , strlen(hello) , 0 );
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printf("Hello message sent\n");
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valread = read( sock , buffer, 1024);
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printf("%s\n",buffer ); */
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return 1;
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#else
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@ -154,11 +154,18 @@ Message *ComRobot::Write(Message* msg) {
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#ifdef __SIMULATION__
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char buffer[1024] = {0};
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cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
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cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;
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send(sock, s.c_str(), s.length(), 0);
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int valread = read(sock, buffer, 1024);
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msgAnswer = new Message(MESSAGE_ANSWER_ACK);
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printf("%s\n", buffer);
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if (valread < 0) {
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msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
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} else {
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string s(&buffer[0], valread);
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msgAnswer = StringToMessage(s);
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//msgAnswer = new Message(MESSAGE_ANSWER_ACK);
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}
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cout << "response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
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#else
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AddChecksum(s);
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@ -5,6 +5,7 @@
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#include <netinet/in.h>
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#include <string.h>
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#include <iostream>
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#include <time.h>
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using namespace std;
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const char LABEL_ROBOT_PING = 'p';
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@ -25,14 +26,47 @@ const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C';
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const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
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const char LABEL_ROBOT_ENDING_CHAR = 0x0D;
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int server_fd, new_socket, valread;
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#define PORT 6699
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int main(int argc, char const *argv[]) {
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int server_fd, new_socket, valread;
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long int ellapse(struct timespec ref, struct timespec cur) {
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long int e;
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e = cur.tv_sec - ref.tv_sec;
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e *= 1000000000;
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e += cur.tv_nsec - ref.tv_nsec;
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return e;
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}
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void print_time(struct timespec start_time) {
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struct timespec t;
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clock_gettime(CLOCK_REALTIME, &t);
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long int e = ellapse(start_time, t);
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fprintf(stdout, "%9ld", e / 1000000);
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}
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int simulate_error() {
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int r = rand() % 1000;
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if (r > 950) {
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printf(">>> I don't understand what you said (-1)\n");
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return -1;
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} else if (r > 900) {
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printf(">>> I don't want to respond (-2)\n");
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return -2;
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}
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printf(">>> WILCO (0)\n");
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return 0;
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}
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void simulate_transmission_time() {
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usleep((rand() % 30) * 1000);
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}
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void open_server() {
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struct sockaddr_in address;
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int opt = 1;
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int addrlen = sizeof (address);
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char buffer[1024] = {0};
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srand(time(NULL));
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// Creating socket file descriptor
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if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
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@ -58,28 +92,44 @@ int main(int argc, char const *argv[]) {
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perror("bind failed");
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exit(EXIT_FAILURE);
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}
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cout << ">>> waiting the opening" << endl;
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cout << ">>> I create a server" << endl;
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cout << ">>> ..." << endl;
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cout << ">>> I'm waiting a client" << endl;
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if (listen(server_fd, 3) < 0) {
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perror("listen");
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exit(EXIT_FAILURE);
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}
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cout << ">>> Hello, I'm Robot" << endl;
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if ((new_socket = accept(server_fd, (struct sockaddr *) &address,
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(socklen_t*) & addrlen)) < 0) {
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perror("accept");
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exit(EXIT_FAILURE);
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}
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cout << ">>> The robot is ready to receive something" << endl;
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unsigned long starttime = (unsigned long) time(NULL);
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}
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int main(int argc, char const *argv[]) {
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char buffer[1024] = {0};
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open_server();
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cout << ">>> I'm ready to receive something" << endl;
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struct timespec start_time;
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clock_gettime(CLOCK_REALTIME, &start_time);
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while (1) {
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valread = read(new_socket, buffer, 1024);
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if (valread <= 0)
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break;
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printf(">>> I received : %s\n", buffer);
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cout << (unsigned long) time(NULL) << ": ";
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print_time(start_time);
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printf(" >>> I received a message : %s\n", buffer);
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string s = "";
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s += LABEL_ROBOT_OK;
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int error = simulate_error();
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if (error == 0) {
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struct timespec t;
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long int e;
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switch (buffer[0]) {
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case LABEL_ROBOT_START_WITHOUT_WD:
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cout << ">>> I start without watchdog" << endl;
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s += LABEL_ROBOT_OK;
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break;
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case LABEL_ROBOT_START_WITH_WD:
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@ -88,13 +138,13 @@ int main(int argc, char const *argv[]) {
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case LABEL_ROBOT_MOVE:
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switch (buffer[2]) {
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case '0':
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cout << "oo I stop oo" << endl;
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cout << ">>> XX I stop XX" << endl;
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break;
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case '-':
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cout << "\\/ I move backward \\/" << endl;
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cout << ">>> \\/ I move backward \\/" << endl;
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break;
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default:
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cout << "/\\ I move forward /\\" << endl;
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cout << ">>> /\\ I move forward /\\" << endl;
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break;
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}
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s += LABEL_ROBOT_OK;
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@ -102,46 +152,51 @@ int main(int argc, char const *argv[]) {
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case LABEL_ROBOT_TURN:
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switch (buffer[2]) {
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case '-':
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cout << "<< I turn to the left <<" << endl;
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cout << ">>> << I turn to the left <<" << endl;
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break;
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default:
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cout << ">> I turn to the right >>" << endl;
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cout << ">>> >> I turn to the right >>" << endl;
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break;
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}
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s += LABEL_ROBOT_OK;
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break;
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case LABEL_ROBOT_GET_BATTERY:
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if ((unsigned long) time(NULL) - starttime > 20) {
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cout << ">>> I give you my battery level :-o" << endl;
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clock_gettime(CLOCK_REALTIME, &t);
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e = ellapse(start_time, t);
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if (e > 20000000000) {
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s += '0';
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} else {
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if ((unsigned long) time(NULL) - starttime > 10) {
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if (e > 10000000000) {
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s += '1';
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} else {
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s += '2';
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}
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}
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break;
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case '0':
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//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
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case LABEL_ROBOT_RELOAD_WD:
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cout << ">>> I start with watchdog" << endl;
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s += LABEL_ROBOT_OK;
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break;
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case '1':
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//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
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break;
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case '2':
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//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
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case LABEL_ROBOT_POWEROFF:
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cout << ">>> Bye bye" << endl;
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s += LABEL_ROBOT_OK;
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break;
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default:
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//msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
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cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << buffer << ")" << endl << flush;
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}
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simulate_transmission_time();
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send(new_socket, s.c_str(), s.length(), 0);
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//printf("%s sent\n", s);
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} else if (error == -1){
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s += LABEL_ROBOT_UNKNOWN_COMMAND;
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simulate_transmission_time();
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send(new_socket, s.c_str(), s.length(), 0);
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} else if (error == -2){
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/* Do nothing */
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}
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cout << "The robot is dead. End of story " << endl;
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}
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cout << "The robot is dead. End of story. " << endl;
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cout << " /\\_/\\" << endl << "( o.o )" << endl << " > ^ <" << endl;
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return 0;
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}
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