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update simulator with watchdog, ping, reset, poweroff and relaod commands

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This commit is contained in:
pehladik 2020-03-19 15:27:25 +01:00
parent 7f0a9955db
commit 89a2bae5c0
1 changed files with 125 additions and 29 deletions
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152
software/simulateur/main.cpp
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@ -27,8 +27,14 @@ const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
const char LABEL_ROBOT_ENDING_CHAR = 0x0D;
int server_fd, new_socket, valread;
struct sockaddr_in address;
int addrlen;
#define PORT 6699
int status = 0;
int noerr = 0;
int isWD = 0;
long int ellapse(struct timespec ref, struct timespec cur) {
long int e;
e = cur.tv_sec - ref.tv_sec;
@ -47,13 +53,13 @@ void print_time(struct timespec start_time) {
int simulate_error() {
int r = rand() % 1000;
if (r > 950) {
printf(">>> I don't understand what you said (-1)\n");
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");
printf("[I'm mute, because I never got your message (-2)]\n");
return -2;
}
printf(">>> WILCO (0)\n");
printf("[WILCO (0)] ");
return 0;
}
@ -62,12 +68,8 @@ void simulate_transmission_time() {
}
void open_server() {
struct sockaddr_in address;
int opt = 1;
int addrlen = sizeof (address);
srand(time(NULL));
// Creating socket file descriptor
if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
perror("socket failed");
@ -80,11 +82,11 @@ void open_server() {
perror("setsockopt");
exit(EXIT_FAILURE);
}
address.sin_family = AF_INET;
address.sin_addr.s_addr = INADDR_ANY;
address.sin_port = htons(PORT);
cout << "<<< simulator >>>" << endl;
cout << ">>> Hello, I'm Mr " ;
if (noerr) cout << "perfect ";
cout << "Robot" << endl;
// Forcefully attaching socket to the port 8080
if (bind(server_fd, (struct sockaddr *) &address,
@ -94,13 +96,16 @@ void open_server() {
}
cout << ">>> I create a server" << endl;
cout << ">>> ..." << endl;
cout << ">>> I'm waiting a client" << endl;
}
void wait_connection() {
if (listen(server_fd, 3) < 0) {
perror("listen");
exit(EXIT_FAILURE);
}
cout << ">>> Hello, I'm Robot" << endl;
cout << ">>> I'm waiting a client" << endl;
if ((new_socket = accept(server_fd, (struct sockaddr *) &address,
(socklen_t*) & addrlen)) < 0) {
perror("accept");
@ -108,33 +113,97 @@ void open_server() {
}
}
void reset(){
isWD = 0;
status = 0;
cout << ">>> XX I stop XX" << endl;
}
int main(int argc, char const *argv[]) {
if (argc != 1){
if (argv[1] == std::string("noerror")){
noerr = 1;
}
}
char buffer[1024] = {0};
addrlen = sizeof (address);
address.sin_family = AF_INET;
address.sin_addr.s_addr = INADDR_ANY;
address.sin_port = htons(PORT);
srand(time(NULL));
open_server();
wait_connection();
cout << ">>> I'm ready to receive something" << endl;
struct timespec start_time;
clock_gettime(CLOCK_REALTIME, &start_time);
struct timespec start_wd;
while (1) {
valread = read(new_socket, buffer, 1024);
if (valread <= 0)
break;
print_time(start_time);
printf(" >>> I received a message : %s\n", buffer);
string s = "";
int error = simulate_error();
if (error == 0) {
struct timespec t;
long int e;
struct timespec last_call;
clock_gettime(CLOCK_REALTIME, &last_call);
isWD = 0;
while (status < 3) {
if (isWD) {
clock_gettime(CLOCK_REALTIME, &t);
e = ellapse(last_call, t);
if ((e / 1000000000) > 3) {
cout << ">>> You break my heart, you never talk at the right time." << endl;
break;
}
}
valread = read(new_socket, buffer, 1024);
if (valread <= 0) {
if (errno == EAGAIN) {
status = 3;
cout << ">>> You break my heart, I've been waiting too long for you." << endl;
break;
} else {
cout << ">>> Why did you hang up? Please, contact me again." << endl;
reset();
wait_connection();
clock_gettime(CLOCK_REALTIME, &last_call);
}
}
string s = "";
int error = 0;
if (!noerr) error = simulate_error();
if (error == 0) {
print_time(start_time);
printf(": I received a message %s\n", buffer);
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:
case LABEL_ROBOT_PING:
cout << ">>> ...Pong" << endl;
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_START_WITH_WD:
clock_gettime(CLOCK_REALTIME, &start_wd);
clock_gettime(CLOCK_REALTIME, &last_call);
struct timeval tv;
tv.tv_sec = 3;
tv.tv_usec = 0;
setsockopt(new_socket, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
cout << ">>> I start with watchdog" << endl;
s += LABEL_ROBOT_OK;
isWD = 1;
break;
case LABEL_ROBOT_MOVE:
switch (buffer[2]) {
case '0':
@ -175,11 +244,37 @@ int main(int argc, char const *argv[]) {
}
break;
case LABEL_ROBOT_RELOAD_WD:
cout << ">>> I start with watchdog" << endl;
clock_gettime(CLOCK_REALTIME, &t);
e = ellapse(start_wd, t);
e = (e / 1000000) % 1000;
if (isWD) {
if ((e < 50) || (e > 950)) {
cout << ">>> Just in time for a reload " << e << "ms" << endl;
last_call = t;
status = 0;
s += LABEL_ROBOT_OK;
} else {
status++;
cout << ">>> You missed the date, -1 point " << e << "ms (" << status << ")" << endl;
s += LABEL_ROBOT_UNKNOWN_COMMAND;
}
} else {
cout << "Why you said that, I do nothing" << endl;
}
break;
case LABEL_ROBOT_POWEROFF:
cout << ">>> Bye bye" << endl;
cout << ">>> Bye bye, see you soon" << endl;
s += LABEL_ROBOT_OK;
status = 10;
break;
case LABEL_ROBOT_RESET:
cout << ">>> I reset" << endl;
s += LABEL_ROBOT_OK;
reset();
break;
case LABEL_ROBOT_GET_STATE:
cout << ">>> I'm fine, thank you" << endl;
s += LABEL_ROBOT_OK;
break;
default:
@ -188,15 +283,16 @@ int main(int argc, char const *argv[]) {
}
simulate_transmission_time();
send(new_socket, s.c_str(), s.length(), 0);
} else if (error == -1){
} 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){
} else if (error == -2) {
/* Do nothing */
}
}
cout << "The robot is dead. End of story. " << endl;
cout << "The robot is out. End of story. " << endl;
cout << " /\\_/\\" << endl << "( o.o )" << endl << " > ^ <" << endl;
return 0;
}